diff --git a/.gitignore b/.gitignore index e85860466..8ae663a42 100644 --- a/.gitignore +++ b/.gitignore @@ -48,3 +48,13 @@ temp_dir/** scratch/ external_ckpts/ external/MANO/ +.venv/ +.venv +__pycache__/ + +# RICL: regenerable outputs + vendored model artifacts (kept on disk, not versioned) +egomimic/ricl/outputs/ +egomimic/ricl/pg_tokenizer/ + +# Vendored reference repo (pi0-FAST architecture reference), not our source +external/ricl_openpi/ diff --git a/AGENTS.md b/AGENTS.md deleted file mode 100644 index 60a3f3cb8..000000000 --- a/AGENTS.md +++ /dev/null @@ -1,13 +0,0 @@ -# Repo Agent Rules - -## Shell / Command Execution -to run commands in the interactive shell make sure to source emimic/bin/activate - -Apply this before running project Python tooling (for example: `python`, `pytest`, `pip`). - -## Model settings -use plan mode for anything except extremely simple tasks - -## Slurm rules -If you're on a slurm cluster, request a GPU before running or testing training. -On sky1/sky2: salloc -p rl2-lab -A rl2-lab --gres=gpu:a40:1 -c 12 --mem=30G \ No newline at end of file diff --git a/CLAUDE.md b/CLAUDE.md index f2920b842..38807f1c5 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -2,10 +2,41 @@ This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository. +## Maintaining this file + +Whenever you learn something important that would help future work in this repo — a non-obvious convention, a gotcha, a fix to a recurring problem, a corrected assumption, or a workflow that isn't documented here — update this CLAUDE.md to capture it. Keep additions concise and place them in the relevant section. Don't wait to be asked. + +## This branch: RICL (`ryanco/in-context-learning`) + +This branch exists for **one experiment — RICL** (retrieval-based in-context learning on +pi0.5). Start at `egomimic/ricl/CLAUDE.md` (navigation) and `egomimic/ricl/README.md` +(architecture). The RICL working set is: `egomimic/ricl/**`, `algo/pi_ricl.py` (+ its +parent `algo/pi.py`), `eval/pi_ricl_eval.py`, `pl_utils/pl_data_utils.py`, the +`*_ricl*` / `ricl_stats_*` / `eva_pi` / `pi0.5_ricl` configs, +`scripts/embedding_process/zarr_embedding.py`, `scripts/human_robot_pairs.json`, and +the shared infra `trainHydra.py` + `rldb/**` + `utils/action_utils.py`. + +**Not part of this branch — skip unless explicitly needed** (avoid filling context): +other algos/models/evals (`algo/{act,hpt}.py`, `models/{act_nets,hpt_nets,denoising_*, +diffusion_policy,ddim_scheduler}.py`, `eval/{eval_act,eval_hpt,eval_latent,eval_video}.py`); +`egomimic/robot/**`; most `egomimic/scripts/*` subdirs (`aria_process`, `eva_process`, +`tutorials`, `language_process`, `mecka_process`, `mps_process`, `data_download`, +`data_upload`, `data_visualization`, `backfill_scripts`, `benchmark`, `plotting`, +`calibrate_camera`, `evaluation`); `external/{lerobot,scale,rpl_vision_utils}/**`; +all `*.ipynb`. **Never read into context**: venvs (`emimic/`, `.venv/`), caches +(`**/__pycache__`, `.pytest_cache`, `.ruff_cache`, `egomimic.egg-info`), outputs +(`outputs/`, `egomimic/logs/`, `egomimic/ricl/outputs/`, `egomimic/ricl/pg_tokenizer/`, +`assets/`), any `*.zarr`, and the large data files noted in +`egomimic/ricl/CLAUDE.md`. ## Environment -- **You are on a shared SLURM cluster.** Do not run anything GPU- or CPU-intensive yourself unless told to (no training, no eval, no large data conversions, no full dataset loads, no heavy `pytest` runs that spin up models or pull data). Defer to the user to actually execute those commands — your job is to prepare the command and explain it. Lightweight read-only work (lint, type checks, small unit tests, file edits, single-file syntax checks) is fine on the login node. +- **You are on a shared SLURM cluster.** Don't run GPU/CPU-intensive work on the login node. Grab an interactive node first with `salloc`, e.g.: + ``` + salloc -A gts-dxu345-rl2 -N1 -q inferno -t 1:00:00 --mem=75G --gres=gpu:h200:1 + ``` + Always use the `inferno` queue (`-q inferno`) rather than `ember` — it's faster. Adjust `-t`, `--mem`, and `--gres` to the job. `salloc` is best for interactive / iterative work (smoke tests, debugging) where you hold the node and run into it repeatedly. For large or long-running jobs (real training runs), submit through Hydra's submitit launcher instead (`hydra/launcher/submitit.yaml`) so the job queues and runs unattended. Lightweight read-only work (lint, type checks, small unit tests, file edits, single-file syntax checks) is fine on the login node. +- **Short GPU runs (eval-only, smoke, a few hundred forward passes): export `TORCH_COMPILE_DISABLE=1`.** pi0.5's `sample_actions` triggers a `torch.compile` max-autotune compile on the first call — minutes of warmup that only pays off across a long training run. Disabling it runs eager (slower per call, no warmup), a net win when you're not training for a while. Leave compile ON for real training. - Python 3.11. Activate the project venv before any Python tooling: `source emimic/bin/activate`. - Package is installed editable as `egomimic` (see `pyproject.toml`). Linting is `ruff` via pre-commit. - AWS/Cloudflare R2 credentials are required for SQL episode registry + data download. Bootstrap with `aws configure` then `./egomimic/utils/aws/setup_secret.sh` (writes `~/.egoverse_env`). `load_env()` from `egomimic.utils.aws.aws_data_utils` is called automatically at the top of `trainHydra.py`. diff --git a/egomimic/algo/pi_ricl.py b/egomimic/algo/pi_ricl.py new file mode 100644 index 000000000..c712efbd6 --- /dev/null +++ b/egomimic/algo/pi_ricl.py @@ -0,0 +1,214 @@ +"""PIRicl: pi0.5 + retrieval-based in-context learning (P2). + +A thin subclass of :class:`egomimic.algo.pi.PI`. Per P0, the flow pi0.5 +``embed_prefix`` embeds *all* images in the observation plus the full +``tokenized_prompt`` as one bidirectional prefix, so RICL needs **no change to +``PI0Pytorch``**. This subclass only augments how the observation is built: + +- ``_build_prompts``: splice each query's k retrieved demos' (state, action), + discretized with the same binning as the State block, into the prompt text. +- ``_robomimic_to_pi_data``: append the k retrieved ``base_0_rgb`` frames as + extra entries in the observation image dict (the model embeds them into the + prefix automatically). +- ``process_batch_for_training``: carry the collate's ``ricl_*`` keys through to + the per-embodiment processed batch. + +If no ``ricl_*`` keys are present (e.g. the k=0 zero-context floor used in eval), +behaviour is identical to the base ``PI``. The actual injection logic lives in +:mod:`egomimic.ricl.conditioning` (import-light, unit-tested without openpi). +""" + +from __future__ import annotations + +import logging +import random + +import torch +from overrides import override + +from egomimic.algo.pi import PI +from egomimic.ricl import conditioning as ricl_cond +from egomimic.rldb.embodiment.embodiment import get_embodiment_id + +logger = logging.getLogger(__name__) + + +def _install_retrieved_image_passthrough() -> None: + """Make openpi keep the retrieved demo images instead of dropping them. + + ``augment_images_with_retrieved`` appends ``retrieved_*`` keys to the + observation image dict, and pi0.5's ``embed_prefix`` *does* embed every image + it is handed. But ``preprocess_observation_pytorch`` (called just before + ``embed_prefix``) iterates a FIXED ``IMAGE_KEYS`` = (base_0_rgb, + left_wrist_0_rgb, right_wrist_0_rgb) and silently drops every other key — so + the retrieved demo *images* never reach the model (only the discretized + text). This wraps that function to also pass through any extra image keys + present on the observation (e.g. ``retrieved_*``). Backward compatible: + non-RICL observations carry no extra keys, so behaviour is identical there. + + We patch the module attribute (``pi0_pytorch`` calls + ``_preprocessing.preprocess_observation_pytorch`` by attribute lookup), so + the override takes effect without editing vendored openpi. + """ + import openpi.models_pytorch.preprocessing_pytorch as _pp + + if getattr(_pp, "_ricl_image_passthrough", False): + return + _orig = _pp.preprocess_observation_pytorch + + def _preprocess_with_retrieved( + observation, + *, + train: bool = False, + image_keys=_pp.IMAGE_KEYS, + image_resolution=_pp.IMAGE_RESOLUTION, + ): + extra = tuple(k for k in observation.images if k not in image_keys) + keys = tuple(image_keys) + extra + return _orig( + observation, + train=train, + image_keys=keys, + image_resolution=image_resolution, + ) + + _pp.preprocess_observation_pytorch = _preprocess_with_retrieved + _pp._ricl_image_passthrough = True + logger.info( + "PIRicl: patched preprocess_observation_pytorch to pass through " + "retrieved_* demo images (were being dropped by fixed IMAGE_KEYS)." + ) + + +_install_retrieved_image_passthrough() + +# Keys the RICL collate attaches per query sample (see egomimic/ricl + P3 collate). +RICL_BATCH_KEYS = ( + "ricl_retrieved_images", # (B, k, C, H, W) or (B, k, H, W, C) + "ricl_retrieved_state", # (B, k, Ds) normalized to the query convention + "ricl_retrieved_action", # (B, k, Ha, Da) or (B, k, Da), normalized 32-D + "ricl_retrieved_mask", # (B, k) bool, valid neighbor (handles < k) + "ricl_retrieved_dist", # (B, k) float, kNN distances (for future interpolation) +) + + +class PIRicl(PI): + """pi0.5 with prefix-concatenated retrieved in-context demonstrations.""" + + def __init__( + self, + *args, + num_retrieved_observations: int = 4, + retrieved_action_steps: int = 1, + ricl_base_key: str = "base_0_rgb", + **kwargs, + ): + super().__init__(*args, **kwargs) + self.num_retrieved_observations = int(num_retrieved_observations) + self.retrieved_action_steps = int(retrieved_action_steps) + self.ricl_base_key = ricl_base_key + + est = ricl_cond.estimate_prompt_tokens( + self.num_retrieved_observations, self.retrieved_action_steps + ) + if self.tokenizer_max_length is not None and est > self.tokenizer_max_length: + logger.warning( + "RICL prompt may exceed tokenizer_max_length (~%d est tokens vs %d). " + "Increase model.max_token_len / tokenizer_max_length, or reduce " + "num_retrieved_observations / retrieved_action_steps.", + est, + self.tokenizer_max_length, + ) + logger.info( + "PIRicl: k=%d retrieved obs, action_steps=%d, base_key=%s", + self.num_retrieved_observations, + self.retrieved_action_steps, + self.ricl_base_key, + ) + + # ------------------------------------------------------------------ + # Carry ricl_* keys through process_batch_for_training + # ------------------------------------------------------------------ + @override + def process_batch_for_training(self, batch): + processed = super().process_batch_for_training(batch) + for embodiment_name, _batch in batch.items(): + emb_id = get_embodiment_id(embodiment_name) + if emb_id not in processed: + continue + for key in RICL_BATCH_KEYS: + if key in _batch: + val = _batch[key] + if isinstance(val, torch.Tensor): + val = val.to(self.device) + if val.is_floating_point(): + val = val.float() + processed[emb_id][key] = val + return processed + + # ------------------------------------------------------------------ + # Splice retrieved (state, action) text into the prompt + # ------------------------------------------------------------------ + def _raw_prompts(self, _batch, batch_size: int) -> list[str]: + """Sample one *raw* task string per item (mirrors ``PI._build_prompts``'s + own sampling), used to label each retrieved demo exemplar. Within-group + retrieval means the demos share the query's task, so reusing the query's + task text is faithful and needs no per-demo prompt plumbing in the collate. + """ + if self.annotation_key is None or self.annotation_key not in _batch: + return [self.default_prompt] * batch_size + out = [] + for sample in _batch[self.annotation_key]: + if not sample: + out.append(self.default_prompt) + elif self.sampling_mode == "random": + out.append(sample[random.randint(0, len(sample) - 1)]) + else: # "first" + out.append(sample[0]) + return out + + @override + def _build_prompts( + self, _batch, embodiment_name: str, batch_size: int + ) -> list[str]: + prompts = super()._build_prompts(_batch, embodiment_name, batch_size) + if "ricl_retrieved_state" not in _batch: + return prompts # zero-context (k=0) -> identical to base PI + states = _batch["ricl_retrieved_state"] + actions = _batch["ricl_retrieved_action"] + valid = _batch.get("ricl_retrieved_mask") + raw = self._raw_prompts(_batch, batch_size) + spliced = [] + for i in range(batch_size): + block = ricl_cond.build_retrieved_prompt_block( + states[i], + actions[i], + valid[i] if valid is not None else None, + prompt=raw[i], + num_bins=self.state_num_bins, + action_steps=self.retrieved_action_steps, + ) + spliced.append(ricl_cond.splice_retrieved_into_prompt(prompts[i], block)) + return spliced + + # ------------------------------------------------------------------ + # Append retrieved images to the observation image dict + # ------------------------------------------------------------------ + @override + def _robomimic_to_pi_data( + self, batch, cam_keys, proprio_keys, lang_keys, ac_key, embodiment + ): + obs, action32 = super()._robomimic_to_pi_data( + batch, cam_keys, proprio_keys, lang_keys, ac_key, embodiment + ) + if "ricl_retrieved_images" in batch: + image_resolution = getattr(self, "image_resolution", (224, 224)) + ricl_cond.augment_images_with_retrieved( + obs.images, + obs.image_masks, + batch["ricl_retrieved_images"], + batch.get("ricl_retrieved_mask"), + image_resolution=image_resolution, + base_key=self.ricl_base_key, + ) + return obs, action32 diff --git a/egomimic/eval/pi_ricl_eval.py b/egomimic/eval/pi_ricl_eval.py new file mode 100644 index 000000000..c724db229 --- /dev/null +++ b/egomimic/eval/pi_ricl_eval.py @@ -0,0 +1,396 @@ +"""PIRiclEval: compare retrieval-conditioned pi0.5 vs the zero-context floor. (P4) + +For each validation batch this runs the model twice on the *same* eva query frames: + - retrieval: the full batch (with ``ricl_*`` keys) -> PIRicl injects k retrieved + in-context demos, + - floor: the same batch with ``ricl_*`` keys stripped -> PIRicl == base pi0.5 + (k=0, zero-context). +It reports flow val loss + Cartesian paired/final MSE + L1 + gripper accuracy for +both, and the deltas (``RICL/delta_*`` and ``RICL/retrieval_helps``). Retrieval +"works" when loss/MSE drop vs the floor. For the within-embodiment **oracle** +(D0, bank = eva), point ``data.bank_*`` at an eva bank; the same metrics then +bound the ceiling. Mirrors ``ricl_openpi/scripts/eval_cross_embodiment.py``. + +Self-contained (one ``forward_eval`` per condition); the cam-frame revert MSE of +the base :class:`PIEvalVideo` is intentionally omitted here — native-frame MSE, +loss and gripper accuracy are the headline numbers. + +**Clean floor (strip before tokenize).** This evaluator receives the *raw* batch +(``wants_raw_batch = True`` -> :class:`ModelWrapper.validation_step` skips its +``process_batch_for_training``) and builds each condition itself. The floor must +be built by stripping ``ricl_*`` from the **raw** batch and *then* processing it: +``process_batch_for_training`` is what splices the retrieved demos' state/action +into the prompt and tokenizes it, so stripping *after* processing (the old path) +left the demo *text* baked into ``tokenized_prompt`` — the "floor" still saw the +demos and the measured retrieval gain was understated. Stripping first makes +``_build_prompts`` see no demos and emit a plain prompt: a genuine k=0 floor. + +**Paired-seed flow loss (#3, ``compute_flow_loss``).** Alongside the sampled +``forward_eval`` metrics, each condition is also scored by the flow-matching +*training* loss under a single per-batch seed (``seed_base + batch_idx``). Sharing +the seed gives every condition identical noise/time, so ``RICL/flow_delta_*`` +isolates the conditioning rather than the sampling RNG — and it skips the slow +``torch.compile`` action-sampling path, so it's cheap to log every validation. + +**Random-retrieval control (#2, ``compute_random``).** A third condition derranges +the per-query ``ricl_retrieved_*`` blocks across the batch (``shuffle_ricl_keys``): +every query is spliced with *another* query's k real demos. ``floor < random`` +(``RICL/random_helps``) asks "does *any* in-context demo help?"; ``retrieval < +random`` (``RICL/beats_random``) asks "does it matter the demos are visually +*similar*?" — the actual RICL claim. Mirrors ``DroidRiclEval`` in +``egomimic/ricl/droid_eval.py``, where this ablation was first validated. +""" + +from __future__ import annotations + +import torch + +from egomimic.eval.eval_pi import PIEvalVideo +from egomimic.ricl import metrics as M +from egomimic.rldb.embodiment.embodiment import get_embodiment + + +class PIRiclEval(PIEvalVideo): + # Receive the raw (un-processed) batch so the floor can be built by stripping + # ricl_* *before* the prompt is tokenized (see module docstring). + wants_raw_batch = True + + def __init__( + self, + *args, + compute_floor: bool = True, + compute_flow_loss: bool = True, + compute_random: bool = True, + compute_sampled_random: bool = True, + n_flow_samples: int = 8, + seed_base: int = 1234, + gripper_threshold: float = 0.0, + gripper_indices=(6, 13), + interp_lamda: float = 0.0, + interp_lamdas=(0.5, 1.0, 2.0, 5.0, 10.0), + **kwargs, + ): + super().__init__(*args, **kwargs) + self.compute_floor = compute_floor + # Paired-seed flow loss (#3) + random-retrieval control (#2); see the + # ``_flow_loss`` / ``compute_metrics_and_viz`` docstrings. + self.compute_flow_loss = compute_flow_loss + self.compute_random = compute_random + # Also score the *sampled* actions for the random control (forward_eval — + # the slow torch.compile path) so ``beats_random`` can be judged on + # sampled-action MSE, not just the flow proxy. The DROID verification found + # the flow loss HIDES the retrieval-vs-random gap (retrieval≈random there) + # while sampled MSE reveals it — so this is the headline diagnostic here. + self.compute_sampled_random = compute_sampled_random + # Average the paired-seed flow loss over this many noise/time draws to cut + # the Monte-Carlo variance that otherwise swamps the small retrieval deltas. + self.n_flow_samples = max(1, int(n_flow_samples)) + self.seed_base = seed_base + self.gripper_threshold = gripper_threshold + self.gripper_indices = tuple(gripper_indices) + # Distance-weighted action interpolation sweep (inference-only): blend the + # sampled action toward the NEAREST retrieved demo's (native-space) chunk + # with w=exp(-lamda*dist/dist_max). On DROID λ≈1 was the single biggest + # lever (−62% MSE vs floor). Empty -> no interpolation. Needs the cache to + # store real ``ricl_retrieved_dist``. + if interp_lamdas: + self.interp_lamdas = tuple(float(x) for x in interp_lamdas if float(x) > 0) + elif interp_lamda and float(interp_lamda) > 0: + self.interp_lamdas = (float(interp_lamda),) + else: + self.interp_lamdas = () + self._batch_idx = 0 + + def _eval_condition(self, batch, make_viz: bool, return_preds: bool = False): + algo = self.model + preds = algo.forward_eval(batch) + metrics, viz = {}, {} + for embodiment_id, _batch in batch.items(): + _batch = algo.norm_stats.unnormalize(_batch, embodiment_id) + name = get_embodiment(embodiment_id).lower() + ac_key = algo.ac_keys[embodiment_id] + pred_key = f"{name}_{ac_key}" + loss_key = f"{name}_loss" + + if loss_key in preds: + metrics[f"{name}_loss"] = float(preds[loss_key]) + if pred_key in preds: + p = preds[pred_key].cpu() + g = _batch[ac_key].cpu() + metrics[f"{name}_paired_mse"] = M.cartesian_mse(p, g) + metrics[f"{name}_final_mse"] = M.cartesian_mse(p[:, -1], g[:, -1]) + metrics[f"{name}_paired_l1"] = M.cartesian_l1(p, g) + ga = M.gripper_accuracy( + p, g, self.gripper_indices, self.gripper_threshold + ) + if ga == ga: # not NaN (i.e. the 14-D bimanual layout) + metrics[f"{name}_gripper_acc"] = ga + if make_viz: + viz[embodiment_id] = self._visualize_preds(preds, _batch) + if return_preds: + return metrics, viz, preds + return metrics, viz + + def on_validation_step(self, batch, batch_idx, dataloader_idx=0): + # Record the batch index so the flow-loss conditions share one per-batch + # seed -> identical noise/time across retrieval/floor/random, so the delta + # isolates the conditioning rather than RNG (see ``_flow_loss``). + self._batch_idx = batch_idx + super().on_validation_step(batch, batch_idx, dataloader_idx) + + def _flow_loss(self, processed_batch, seed: int) -> dict: + """Flow-matching training loss under *seeded* noise/time. (#3) + + Cheaper than ``forward_eval``'s sampled-action path (no slow torch.compile + action sampling) and, because every condition is scored under the *same* + seeds, the retrieval/floor/random deltas isolate the conditioning, not the + sampling RNG. Averaged over ``n_flow_samples`` draws (each with a shared + per-draw seed ``seed + s*P``) so the Monte-Carlo variance of a single + noise/time draw doesn't swamp the small retrieval deltas. Renames the + ``{name}_loss`` keys to ``{name}_flow_loss`` so they don't clobber the + sampled-action ``{name}_loss`` of ``_eval_condition``. + """ + algo = self.model + n = self.n_flow_samples + accum: dict[str, float] = {} + with torch.no_grad(): + for s in range(n): + torch.manual_seed(seed + s * 100003) + preds = algo.forward_training(processed_batch) + for k, v in preds.items(): + if k.endswith("_loss"): + accum[k.replace("_loss", "_flow_loss")] = accum.get( + k.replace("_loss", "_flow_loss"), 0.0 + ) + float(v) + return {k: v / n for k, v in accum.items()} + + # ------------------------------------------------------------------ + # Distance-weighted action interpolation (inference-only; #2 from DROID). + # Ported/generalized from egomimic/ricl/droid_eval.py to eva's native action + # width: the neighbor action is unnormalized to physical units so it shares + # the space of forward_eval's predictions before blending. + # ------------------------------------------------------------------ + def _interp_scale(self, proc) -> float | None: + """Per-batch normalization scale for the interp weight: the max finite kNN + neighbor distance across the processed batch (mirrors ricl_openpi's global + ``max_distance``, computed per-batch from the *retrieval* condition so all + conditions share one scale). Returns ``None`` when no positive distance is + present (e.g. a cache that didn't store distances) so the sweep is skipped + rather than degenerating to w≡1 (pure neighbor replay).""" + best = 0.0 + for _b in proc.values(): + d = _b.get("ricl_retrieved_dist") + if d is not None: + df = d[torch.isfinite(d)] + if df.numel(): + best = max(best, float(df.max())) + return best if best > 0 else None + + def _neighbor_native_action(self, _b, emb_id, ac_key, width): + """Nearest retrieved demo's action chunk, mapped to NATIVE physical units. + + ``ricl_retrieved_action`` is stored quantile-normalized in the query + convention (width = data ``action_dim``); forward_eval's predictions are + ``from32``-converted + unnormalized. To blend the two we put the neighbor + in the same native space: (optionally ``from32`` if slot-filled to 32-D) + then ``norm_stats.unnormalize`` under ``ac_key``. Returns ``(B, Ha, width)`` + on CPU, or ``None`` if no neighbor action is present.""" + a_nn = _b.get("ricl_retrieved_action") + if a_nn is None: + return None + a0 = a_nn[:, 0].detach().float() # (B, Ha, Dw) nearest neighbor, normalized + if a0.shape[-1] != width: + if a0.shape[-1] == 32: + a0 = self.model.action_registry.get(emb_id, ac_key).from32(a0) + else: + a0 = a0[..., :width] + a0 = self.model.norm_stats.unnormalize({ac_key: a0}, emb_id)[ac_key] + return a0.detach().cpu() + + def _interpolate_toward_neighbor(self, p, a0, dist, mask, dist_max, lamda): + """``p <- w*a0 + (1-w)*p`` over the overlapping chunk, with + ``w=exp(-lamda*dist/dist_max)`` (masked, finite-guarded). ``p`` and ``a0`` + must already share a space (native). Returns ``(blended_p, mean_w)``.""" + d0 = dist[:, 0].detach().cpu().float() + m0 = ( + mask[:, 0].detach().cpu().float() + if mask is not None + else torch.ones_like(d0) + ) + finite = torch.isfinite(d0) + w = ( + torch.where(finite, torch.exp(-lamda * d0 / dist_max), torch.zeros_like(d0)) + * m0 + ) # (B,) + H = min(p.shape[1], a0.shape[1]) + out = p.clone() + wv = w[:, None, None] + out[:, :H] = wv * a0[:, :H] + (1.0 - wv) * out[:, :H] + return out, float(w.mean()) + + def _interp_sweep(self, preds, proc, dist_max) -> dict: + """For each λ, blend the retrieval sampled action toward the nearest + neighbor's native chunk and report the resulting full-chunk MSE (directly + comparable to the no-interp ``*_paired_mse``). Reuses ``preds`` (no extra + sampling). Empty if ``dist_max`` is None or no λ configured.""" + out: dict[str, float] = {} + if dist_max is None or not self.interp_lamdas: + return out + algo = self.model + for emb_id, _b in proc.items(): + name = get_embodiment(emb_id).lower() + ac_key = algo.ac_keys[emb_id] + pred_key = f"{name}_{ac_key}" + if pred_key not in preds: + continue + p = preds[pred_key].detach().cpu() + # GT is normalized in ``proc``; unnormalize a copy to native (preds + # are already native, and _eval_condition does not mutate ``proc``). + gt = algo.norm_stats.unnormalize(dict(_b), emb_id)[ac_key].detach().cpu() + a0 = self._neighbor_native_action(_b, emb_id, ac_key, p.shape[-1]) + if a0 is None: + continue + dist = _b.get("ricl_retrieved_dist") + mask = _b.get("ricl_retrieved_mask") + if dist is None: + continue + for lam in self.interp_lamdas: + p_l, wmean = self._interpolate_toward_neighbor( + p, a0, dist, mask, dist_max, lam + ) + out[f"{name}_sampled_mse_l{lam:g}"] = M.cartesian_mse(p_l, gt) + out[f"{name}_interp_wmean_l{lam:g}"] = wmean + return out + + @staticmethod + def _mse_only(metrics: dict) -> dict: + return {k: v for k, v in metrics.items() if "mse" in k or "l1" in k} + + def compute_metrics_and_viz(self, raw_batch): + algo = self.model + seed = self.seed_base + self._batch_idx + + # retrieval (sampled): process the full raw batch -> demos spliced + tokenized. + proc_ret = algo.process_batch_for_training(raw_batch) + ret_metrics, viz, ret_preds = self._eval_condition( + proc_ret, make_viz=True, return_preds=True + ) + out = {f"RICL/retrieval_{k}": v for k, v in ret_metrics.items()} + + proc_flr = None + floor_metrics = None + floor_preds = None + if self.compute_floor: + # floor: strip ricl_* from the RAW batch, *then* process, so the prompt + # is built/tokenized with no demo text -> a genuine k=0 zero-context floor. + proc_flr = algo.process_batch_for_training(M.strip_ricl_keys(raw_batch)) + floor_metrics, _, floor_preds = self._eval_condition( + proc_flr, make_viz=False, return_preds=True + ) + out.update({f"RICL/floor_{k}": v for k, v in floor_metrics.items()}) + cmp = M.compare_to_floor(ret_metrics, floor_metrics) + out.update({f"RICL/{k}": v for k, v in cmp.items()}) + + # (#2) Distance-weighted interpolation sweep (inference-only; reuses the + # sampled preds, no extra sampling). Each λ emits ``*_sampled_mse_l{λ}`` + # directly comparable to the no-interp ``*_paired_mse``. On DROID λ≈1 was the + # biggest lever. Run it on BOTH the retrieval prediction AND the floor + # prediction: the floor sweep is the fair "clean policy + kNN-action blend" + # control (the query frames — hence the neighbors in ``proc_ret`` — are + # identical for floor and retrieval), so it isolates whether interp helps + # *because of* the trained demo-reading or is a generic post-hoc trick that + # would lift a plain finetune just as much. + dist_max = self._interp_scale(proc_ret) + out.update( + { + f"RICL/retrieval_{k}": v + for k, v in self._interp_sweep(ret_preds, proc_ret, dist_max).items() + } + ) + if floor_preds is not None: + out.update( + { + f"RICL/floor_{k}": v + for k, v in self._interp_sweep( + floor_preds, proc_ret, dist_max + ).items() + } + ) + + # Random-retrieval control built ONCE and reused for both the sampled-MSE + # judging (#2 headline) and the flow-loss judging (#3): each query keeps its + # target but gets another query's k demos (same splice path, not kNN-matched). + proc_rnd = None + if self.compute_random: + shuffled = M.shuffle_ricl_keys(raw_batch, seed) + if shuffled is not None: + proc_rnd = algo.process_batch_for_training(shuffled) + + # (#2 headline) sampled-action MSE judging of retrieval vs random vs floor. + # The DROID verification showed the flow loss HIDES this gap (retrieval≈random + # there) while sampled MSE reveals it -> this is the diagnostic that decides + # whether retrieval is discriminative, so it drives ``beats_random_sampled``. + if self.compute_sampled_random and proc_rnd is not None: + rnd_metrics, _ = self._eval_condition(proc_rnd, make_viz=False) + out.update({f"RICL/random_{k}": v for k, v in rnd_metrics.items()}) + cmp_s = M.compare_to_floor( + self._mse_only(ret_metrics), self._mse_only(rnd_metrics) + ) + out["RICL/beats_random_sampled"] = float(cmp_s["retrieval_helps"]) + out["RICL/improvement_vs_random_sampled"] = cmp_s["mean_improvement"] + out.update( + { + f"RICL/vsrandom_sampled_{k}": v + for k, v in cmp_s.items() + if k.startswith("delta_") + } + ) + if floor_metrics is not None: + cmp_sf = M.compare_to_floor( + self._mse_only(rnd_metrics), self._mse_only(floor_metrics) + ) + out["RICL/random_helps_sampled"] = float(cmp_sf["retrieval_helps"]) + + # (#3) paired-seed flow loss under one shared seed so the deltas isolate the + # conditioning. Cheap; logged every validation as a low-variance signal. + if self.compute_flow_loss: + ret_flow = self._flow_loss(proc_ret, seed) + out.update({f"RICL/retrieval_{k}": v for k, v in ret_flow.items()}) + + floor_flow = None + if proc_flr is not None: + floor_flow = self._flow_loss(proc_flr, seed) + out.update({f"RICL/floor_{k}": v for k, v in floor_flow.items()}) + out.update( + { + f"RICL/flow_{k}": v + for k, v in M.compare_to_floor(ret_flow, floor_flow).items() + } + ) + + if proc_rnd is not None: + rnd_flow = self._flow_loss(proc_rnd, seed) + out.update({f"RICL/random_{k}": v for k, v in rnd_flow.items()}) + # does *similarity* matter? retrieval (kNN) vs random demos. + cmp_r = M.compare_to_floor(ret_flow, rnd_flow) + out["RICL/beats_random"] = float(cmp_r["retrieval_helps"]) + out["RICL/improvement_vs_random"] = cmp_r["mean_improvement"] + out.update( + { + f"RICL/vsrandom_{k}": v + for k, v in cmp_r.items() + if k.startswith("delta_") + } + ) + # does *any* in-context demo help? random vs the k=0 floor. + if floor_flow is not None: + cmp_rf = M.compare_to_floor(rnd_flow, floor_flow) + out["RICL/random_helps"] = float(cmp_rf["retrieval_helps"]) + out["RICL/random_improvement"] = cmp_rf["mean_improvement"] + + # Surface a scalar the trainer logs as the primary validation number. + for k, v in ret_metrics.items(): + if k.endswith("_loss"): + out["Valid/action_loss"] = v + break + return out, viz diff --git a/egomimic/hydra_configs/callbacks/checkpoints_ricl.yaml b/egomimic/hydra_configs/callbacks/checkpoints_ricl.yaml new file mode 100644 index 000000000..b6a7c3e59 --- /dev/null +++ b/egomimic/hydra_configs/callbacks/checkpoints_ricl.yaml @@ -0,0 +1,28 @@ +# RICL checkpointing: keep the BEST (lowest held-out RICL val loss) + last.ckpt. +# +# `callbacks=checkpoints` saves every 100 epochs with no `monitor` (keeps all, +# tracks nothing), so it can't capture the early-stopping operating point. This +# tracks `Valid/action_loss` — the scalar PIRiclEval surfaces (egomimic/eval/ +# pi_ricl_eval.py:200) — and keeps the single best + `last.ckpt`. The DROID +# verification found new-task val loss bottoms early then overfits +# (egomimic/ricl/DROID_VERIFICATION.md), so "best by val loss" + "last" is exactly +# what's wanted: a finished run can be re-evaluated / resumed from the best step +# without retraining. +# +# Pair with `trainer=ddp_pi_ricl` (step-based validation) so the monitored metric +# updates often enough for the best checkpoint to be meaningful. +defaults: + - defaults + - _self_ + +model_checkpoint: + _target_: lightning.pytorch.callbacks.ModelCheckpoint + dirpath: ${paths.output_dir}/checkpoints + # `/` in the metric name is a placeholder key, not a path separator, when + # auto_insert_metric_name=False (yields e.g. `step1500-0.0467.ckpt`). + filename: "step{step}-{Valid/action_loss:.4f}" + monitor: "Valid/action_loss" + mode: "min" + save_top_k: 1 + save_last: true + auto_insert_metric_name: false diff --git a/egomimic/hydra_configs/data/aria_keypoints.yaml b/egomimic/hydra_configs/data/aria_keypoints.yaml deleted file mode 100644 index 9c817e791..000000000 --- a/egomimic/hydra_configs/data/aria_keypoints.yaml +++ /dev/null @@ -1,30 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - mode: keypoints - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: keypoints_headframe_ypr - filters: - robot_name: "aria_bimanual" - task: "fold_clothes_indomain" - mode: total - -valid_datasets: - aria_bimanual: ${train_datasets.aria_bimanual} - -train_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 6 -valid_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/aria_keypoints_wrist.yaml b/egomimic/hydra_configs/data/aria_keypoints_wrist.yaml deleted file mode 100644 index b227ee30f..000000000 --- a/egomimic/hydra_configs/data/aria_keypoints_wrist.yaml +++ /dev/null @@ -1,30 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - mode: keypoints - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: keypoints_wristframe_ypr - filters: - robot_name: "aria_bimanual" - task: "fold_clothes_indomain" - mode: total - -valid_datasets: - aria_bimanual: ${train_datasets.aria_bimanual} - -train_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 6 -valid_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/aria_pi.yaml b/egomimic/hydra_configs/data/aria_pi.yaml deleted file mode 100644 index c5d69af67..000000000 --- a/egomimic/hydra_configs/data/aria_pi.yaml +++ /dev/null @@ -1,29 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - filters: - _target_: egomimic.rldb.filters.DatasetFilter - filter_lambdas: - - "lambda row: row['episode_hash'] == '2025-09-20-17-47-54-000000'" - mode: total - -valid_datasets: - aria_bimanual: ${train_datasets.aria_bimanual} - -train_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 10 -valid_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 10 diff --git a/egomimic/hydra_configs/data/aria_qwen.yaml b/egomimic/hydra_configs/data/aria_qwen.yaml deleted file mode 100644 index 22b9e7753..000000000 --- a/egomimic/hydra_configs/data/aria_qwen.yaml +++ /dev/null @@ -1,39 +0,0 @@ -# Aria data with raw text annotations in the batch, so the HPT Qwen stem can -# sample one annotation per item. Mirror of `aria.yaml` plus -# `annotation_key: annotations` in the keymap (which adds a per-frame raw-text -# annotation key — see Embodiment.get_keymap). -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: cartesian - filters: null - mode: train - valid_ratio: 0.05 - -valid_datasets: - aria_bimanual: - _target_: ${train_datasets.aria_bimanual._target_} - resolver: ${train_datasets.aria_bimanual.resolver} - filters: ${train_datasets.aria_bimanual.filters} - mode: valid - valid_ratio: ${train_datasets.aria_bimanual.valid_ratio} - -train_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 10 -valid_dataloader_params: - aria_bimanual: - batch_size: 32 - num_workers: 10 diff --git a/egomimic/hydra_configs/data/bc_pickplace_eva_qwen.yaml b/egomimic/hydra_configs/data/bc_pickplace_eva_qwen.yaml deleted file mode 100644 index f7870aa94..000000000 --- a/egomimic/hydra_configs/data/bc_pickplace_eva_qwen.yaml +++ /dev/null @@ -1,55 +0,0 @@ -# BC eva-only pick_place dataset for the HPT + Qwen-annotation experiment. -# Same filters as cotrain_pickplace_qwen but aria_bimanual stripped out. -# train = 216 eva_bimanual -# valid = 12 eva_bimanual alignment -# Persistent zarr cache is shared with cotrain (no re-sync). -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' not in ((row.get('task_description') or '').lower())" - mode: total - -valid_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' in ((row.get('task_description') or '').lower())" - mode: total - -train_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 -valid_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/cotrain_pi_base.yaml b/egomimic/hydra_configs/data/cotrain_pi_base.yaml index f5375eff6..55b3c4ff3 100644 --- a/egomimic/hydra_configs/data/cotrain_pi_base.yaml +++ b/egomimic/hydra_configs/data/cotrain_pi_base.yaml @@ -32,19 +32,22 @@ train_datasets: mode: train valid_ratio: 0.05 +# NOTE: relative interpolations (`${...` = this config's root) — root-absolute +# `${train_datasets...}` does not resolve once the config is nested under +# `data` in the composed train config. valid_datasets: eva_bimanual: - _target_: ${train_datasets.eva_bimanual._target_} - resolver: ${train_datasets.eva_bimanual.resolver} - filters: ${train_datasets.eva_bimanual.filters} + _target_: ${...train_datasets.eva_bimanual._target_} + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: ${...train_datasets.eva_bimanual.filters} mode: valid - valid_ratio: ${train_datasets.eva_bimanual.valid_ratio} + valid_ratio: ${...train_datasets.eva_bimanual.valid_ratio} aria_bimanual: - _target_: ${train_datasets.aria_bimanual._target_} - resolver: ${train_datasets.aria_bimanual.resolver} - filters: ${train_datasets.aria_bimanual.filters} + _target_: ${...train_datasets.aria_bimanual._target_} + resolver: ${...train_datasets.aria_bimanual.resolver} + filters: ${...train_datasets.aria_bimanual.filters} mode: valid - valid_ratio: ${train_datasets.aria_bimanual.valid_ratio} + valid_ratio: ${...train_datasets.aria_bimanual.valid_ratio} train_dataloader_params: eva_bimanual: diff --git a/egomimic/hydra_configs/data/cotrain_pi_lang.yaml b/egomimic/hydra_configs/data/cotrain_pi_lang.yaml deleted file mode 100644 index 5b9766b15..000000000 --- a/egomimic/hydra_configs/data/cotrain_pi_lang.yaml +++ /dev/null @@ -1,34 +0,0 @@ -defaults: - - cotrain_pi_base - - _self_ - -train_datasets: - eva_bimanual: - resolver: - key_map: - keymap_mode: cartesian_pi - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: "dense-language" - filter_lambdas: - - "lambda row: (row['robot_name'] == 'eva_bimanual') & (row['task'] == 'pick_place') & (row['zarr_processed_path'] != '')" - aria_bimanual: - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: "dense-language" - filter_lambdas: - - "lambda row: (row['robot_name'] == 'aria_bimanual') & (row['task'] == 'pick_place') & (row['zarr_processed_path'] != '')" - -valid_datasets: - eva_bimanual: - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: "dense-language" - filter_lambdas: - - "lambda row: row['robot_name'] == 'eva_bimanual' and row['task'] == 'pick_place' and row['zarr_processed_path'] != '' and 'alignment' not in (row.get('task_description') or '')" - aria_bimanual: - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: "dense-language" - filter_lambdas: - - "lambda row: row['robot_name'] == 'aria_bimanual' and row['task'] == 'pick_place' and row['zarr_processed_path'] != '' and 'alignment' not in (row.get('task_description') or '')" diff --git a/egomimic/hydra_configs/data/cotrain_pi_lang_wrist.yaml b/egomimic/hydra_configs/data/cotrain_pi_lang_wrist.yaml deleted file mode 100644 index 14783e782..000000000 --- a/egomimic/hydra_configs/data/cotrain_pi_lang_wrist.yaml +++ /dev/null @@ -1,17 +0,0 @@ -defaults: - - cotrain_pi_lang - - _self_ - -train_datasets: - eva_bimanual: - resolver: - key_map: - keymap_mode: cartesian_wristframe_ypr - transform_list: - mode: cartesian_wristframe_6d - aria_bimanual: - resolver: - key_map: - keymap_mode: cartesian - transform_list: - mode: cartesian_wristframe_6d diff --git a/egomimic/hydra_configs/data/cotrain_pi_latent.yaml b/egomimic/hydra_configs/data/cotrain_pi_latent.yaml deleted file mode 100644 index f20e32195..000000000 --- a/egomimic/hydra_configs/data/cotrain_pi_latent.yaml +++ /dev/null @@ -1,139 +0,0 @@ -# Unified latent-eval data config. -# -# Three modes, picked via `latent_mode`: -# -# random — every pick_place episode of the given embodiment is included; -# frame count = batch_size × trainer.limit_val_batches. -# Override the per-batch knob with `+n_latents=N` (default 500). -# -# pairs — restrict to the fixed list of (eva, aria) pair hashes below. -# Each episode is subsampled to `frames_per_episode` evenly- -# spaced frames (deterministic, in temporal order). -# -# custom — restrict to an arbitrary set of hashes you provide on the CLI: -# data.custom_hashes.eva='[...]' -# data.custom_hashes.aria='[...]' -# Same EvenStrideDataset subsampling as pairs. -# -# All modes turn on `require_annotations: true` so episodes without a -# language annotation field on disk are skipped. -# -# Examples: -# data=cotrain_pi_latent latent_mode=random +n_latents=64 -# data=cotrain_pi_latent latent_mode=pairs -# data=cotrain_pi_latent latent_mode=custom \ -# 'data.custom_hashes.eva=["2026-04-21-21-56-58-170000"]' \ -# 'data.custom_hashes.aria=["2026-03-17-02-35-26-000000"]' - -defaults: - - cotrain_pi_base - - _self_ - -# Override the base config's _target_ with a thin wrapper that drops our -# latent-specific top-level keys (latent_mode, *_hashes, etc.) before -# forwarding to MultiDataModuleWrapper — they live at the data root for -# OmegaConf interpolation but aren't kwargs of the data module. -_target_: egomimic.eval.latent_dataset.build_MultiDataModuleWrapper - -# ----- Mode selector -------------------------------------------------------- -latent_mode: random # 'random' | 'pairs' | 'custom' - -# ----- Per-mode hash lists -------------------------------------------------- -# These lists are read by the build() factory only when the matching mode -# is selected — they're harmless when not used. - -# pairs mode (the four matched (human, robot) episodes from the original -# cotrain_pi_latent_pairs config): -pair_hashes: - eva: ["2026-04-14-04-01-06-517000", "2026-04-14-03-36-19-145000"] - aria: ["2026-04-14-03-39-11-000000", "2026-04-14-04-03-19-000000"] - -# custom mode — fill these in via CLI or edit here: -custom_hashes: - eva: [] - aria: [] - -# Per-episode subsample for pairs / custom (ignored in random mode). -# Set EXACTLY ONE of these: -# frames_per_episode: K → K evenly-spaced frames per episode -# (stride varies with each episode's length) -# stride: S → take every Sth frame (0, S, 2S, ...). -# Per-episode count varies with length. -# stride wins when both are set. -frames_per_episode: 128 -stride: null - -# ----- Dataset builders ----------------------------------------------------- -# A single Python factory dispatches on `mode` and chooses between -# MultiDataset (random) and EvenStrideDataset (pairs / custom). The -# correct hash list for the current mode is selected via OmegaConf -# interpolation per embodiment. - -train_datasets: - eva_bimanual: - _target_: egomimic.eval.latent_dataset.build_dataset - mode: ${data.latent_mode} - task: pick_place - embodiment: eva_bimanual - frames_per_episode: ${data.frames_per_episode} - stride: ${data.stride} - hashes: ${oc.select:data.${data.latent_mode}_hashes.eva, []} - resolver: - require_annotations: true - aria_bimanual: - _target_: egomimic.eval.latent_dataset.build_dataset - mode: ${data.latent_mode} - task: pick_place - embodiment: aria_bimanual - frames_per_episode: ${data.frames_per_episode} - stride: ${data.stride} - hashes: ${oc.select:data.${data.latent_mode}_hashes.aria, []} - resolver: - require_annotations: true - -valid_datasets: - eva_bimanual: - _target_: egomimic.eval.latent_dataset.build_dataset - mode: ${data.latent_mode} - task: pick_place - embodiment: eva_bimanual - frames_per_episode: ${data.frames_per_episode} - stride: ${data.stride} - hashes: ${oc.select:data.${data.latent_mode}_hashes.eva, []} - resolver: - require_annotations: true - aria_bimanual: - _target_: egomimic.eval.latent_dataset.build_dataset - mode: ${data.latent_mode} - task: pick_place - embodiment: aria_bimanual - frames_per_episode: ${data.frames_per_episode} - stride: ${data.stride} - hashes: ${oc.select:data.${data.latent_mode}_hashes.aria, []} - resolver: - require_annotations: true - -# ----- Tokenizer / annotations --------------------------------------------- -use_tokenizer: true -model_name: "google/paligemma-3b-mix-224" -sampling_mode: "random" -annotation_key: "annotations" -default_prompt: "" - -# ----- Loader knobs -------------------------------------------------------- -# random mode: shuffle on, batch_size = n_latents (CLI overridable) -# pairs / custom mode: shuffle off (temporal order), modest batch -valid_dataloader_params: - eva_bimanual: - batch_size: ${oc.select:n_latents,500} - num_workers: 6 - shuffle: ${oc.select:data._shuffle_${data.latent_mode}, true} - aria_bimanual: - batch_size: ${oc.select:n_latents,500} - num_workers: 6 - shuffle: ${oc.select:data._shuffle_${data.latent_mode}, true} - -# Lookup table for shuffle behavior per mode. -_shuffle_random: true -_shuffle_pairs: false -_shuffle_custom: false diff --git a/egomimic/hydra_configs/data/cotrain_pi_no_lang.yaml b/egomimic/hydra_configs/data/cotrain_pi_no_lang.yaml deleted file mode 100644 index f28bc4426..000000000 --- a/egomimic/hydra_configs/data/cotrain_pi_no_lang.yaml +++ /dev/null @@ -1,18 +0,0 @@ -defaults: - - cotrain_pi_base - - _self_ - -train_datasets: - eva_bimanual: - resolver: - key_map: - keymap_mode: cartesian_pi - filters: - _target_: egomimic.rldb.filters.DatasetFilter - filter_lambdas: - - "lambda row: (row['robot_name'] == 'eva_bimanual') & (row['task'] == 'fold_clothes') & (row['zarr_processed_path'] != '')" - aria_bimanual: - filters: - _target_: egomimic.rldb.filters.DatasetFilter - filter_lambdas: - - "lambda row: (row['robot_name'] == 'aria_bimanual') & (row['task'] == 'fold_clothes') & (row['zarr_processed_path'] != '')" diff --git a/egomimic/hydra_configs/data/cotrain_pi_pickplace_qwen.yaml b/egomimic/hydra_configs/data/cotrain_pi_pickplace_qwen.yaml deleted file mode 100644 index d3b004475..000000000 --- a/egomimic/hydra_configs/data/cotrain_pi_pickplace_qwen.yaml +++ /dev/null @@ -1,75 +0,0 @@ -# Pi0.5 cotrain pick_place data — same filters as cotrain_pickplace_qwen but -# eva uses keymap_mode=cartesian_pi so the batch keys match Pi's expected -# camera names (base_0_rgb, right_wrist_0_rgb, left_wrist_0_rgb). Aria uses -# cartesian (the only valid mode for the Aria class). -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian_pi - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' not in ((row.get('task_description') or '').lower())" - mode: total - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - keymap_mode: cartesian_pi - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'aria_bimanual' and (row.get('zarr_processed_path') or '') != '' and any(s in ((row.get('task_description') or '').lower()) for s in ('base', 'object')) and (row.get('episode_hash') or '') not in ('2026-04-26-00-17-53-000000', '2026-04-26-00-27-26-000000', '2026-05-01-02-52-58-000000')" - mode: total - -valid_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian_pi - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' in ((row.get('task_description') or '').lower())" - mode: total - -train_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 - aria_bimanual: - batch_size: 32 - num_workers: 6 -valid_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl.yaml new file mode 100644 index 000000000..baf91d1a1 --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl.yaml @@ -0,0 +1,54 @@ +# RICL data: eva query loader + retrieved in-context demos from a bank. +# +# Inherits the eva-only pi query datasets (cartesian_pi) and swaps the datamodule +# for RiclDataModuleWrapper, which wraps query samples to expose frame_idx and +# attaches each sample's top-k retrieved (image, state, action) blocks from a +# precomputed retrieval cache. +# +# This base config wires the cross-embodiment headline setup (bank = aria) but +# leaves the run-specific artifacts (cache / stats / scope) unset — use the +# concrete experiment configs: +# data=cotrain_pi_ricl_d0 eva->eva within_alignment sanity (LOEO) +# data=cotrain_pi_ricl_d1 aria->eva cross_similar headline +# Pipeline + commands: egomimic/ricl/D0_D1_RUNBOOK.md +defaults: + - eva_pi + - _self_ + +_target_: egomimic.pl_utils.pl_data_utils.RiclDataModuleWrapper + +# --- RICL wiring (must be provided at run time) --- +retrieval_cache_dir: ??? # dir written by RetrievalCache.save +bank_zarr_root: ??? # '{hash}' template -> each bank episode's zarr store +num_retrieved_observations: 4 +# norm_stats.json holding the BANK embodiment's stats. Must be the SAME file the +# run passes as norm_stats.precomputed_norm_path: retrieved (state, action) are +# normalized with it before discretization so their bins match the query State +# block (then converted via bank_converter.to32, mirroring the query path). +# null = raw bank values — smoke tests only. +bank_norm_path: null +bank_embodiment: aria_bimanual +bank_norm_mode: quantile +bank_converter: + _target_: egomimic.utils.action_utils.HumanBimanualCartesianEuler +# Bank (aria) per-frame loader runs the same keymap/transform as the query path, +# so retrieved frames are built into base_0_rgb / observations.state.ee_pose / +# actions_cartesian on the fly (these are never stored in the raw zarr). +bank_keymap: + _target_: egomimic.rldb.embodiment.human.Aria.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations +bank_transform_list: + _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list + mode: cartesian +image_hw: [224, 224] +# Gather the first 15 action steps of each retrieved demo's chunk (matches the +# query prediction horizon and model retrieved_action_steps=15). Bank-frame actions +# are sliced to this many leading steps before normalization. +action_horizon: 15 +# Width of the retrieved (state, action) blocks discretized into the prompt text. +# Override per experiment to match the embodiment's real occupied dims (shorter +# prompt) or keep the 32-D shared layout. Re-check prompt budget with +# egomimic/ricl/scripts/check_prompt_budget.py if you change k / dims / action_steps. +state_dim: 32 +action_dim: 32 diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl_cup_eval.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl_cup_eval.yaml new file mode 100644 index 000000000..366c865e2 --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl_cup_eval.yaml @@ -0,0 +1,15 @@ +# RICL OOD eval: fold-trained RICL evaluated on cup_on_saucer WITH retrieved cup +# demos (set retrieval_cache_dir to the cup cache: query=cup/bank=cup/LOSO-episode). +# valid = all cup_on_saucer frames (held out of training). train_datasets inherited +# (fold), not iterated in eval mode. +defaults: + - cotrain_pi_ricl_fold + - _self_ + +valid_datasets: + eva_bimanual: + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.fold_cup_splits', fromlist=['cup_eval_episode_hashes']).cup_eval_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'cup_on_saucer' and row.get('episode_hash') in _eps" + mode: total diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl_fold.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl_fold.yaml new file mode 100644 index 000000000..b88c71eac --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl_fold.yaml @@ -0,0 +1,52 @@ +# RICL training data: pi0.5 + retrieval finetuned on fold_clothes (eva_bimanual). +# Query = fold frames; bank = fold frames (set retrieval_cache_dir to the fold cache, +# query=fold/bank=fold/LOSO-episode). Model learns the in-context mechanism on fold; +# it is later eval'd zero-shot on cup_on_saucer with a cup cache. 15-step chunks. +defaults: + - cotrain_pi_ricl + - _self_ + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.fold_cup_splits', fromlist=['fold_train_episode_hashes']).fold_train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'fold_clothes' and row.get('episode_hash') in _eps" + mode: train + valid_ratio: 0.05 + aria_bimanual: null + +valid_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: ${...train_datasets.eva_bimanual.filters} + mode: valid + valid_ratio: 0.05 + aria_bimanual: null + +# Bank = eva (robot), same keymap/transform as the query path, 15-step chunks. +bank_embodiment: eva_bimanual +bank_zarr_root: ${paths.dataset_dir}/{hash} +bank_converter: + _target_: egomimic.utils.action_utils.RobotBimanualCartesianEuler +bank_keymap: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations +bank_transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl_foldbag.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl_foldbag.yaml new file mode 100644 index 000000000..99f704c9f --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl_foldbag.yaml @@ -0,0 +1,61 @@ +# RICL training data: pi0.5 + retrieval finetuned on fold_clothes + bag_groceries +# (eva_bimanual). Query = fold+bag frames; bank = fold+bag frames (set +# retrieval_cache_dir to the foldbag train cache: query=foldbag/bank=foldbag/ +# LOSO-episode). The model learns the in-context mechanism on fold+bag; it is later +# eval'd zero-shot on cup_on_saucer with a cup cache. 15-step chunks. eva's real +# layout is 14-D, so discretize retrieved (state, action) blocks at width 14 (not +# padded to 32). Splits: egomimic/ricl/foldbag_cup_splits.py. +defaults: + - cotrain_pi_ricl + - _self_ + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.foldbag_cup_splits', fromlist=['foldbag_train_episode_hashes']).foldbag_train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') in {'fold_clothes', 'bag_groceries'} and row.get('episode_hash') in _eps" + mode: train + valid_ratio: 0.05 + aria_bimanual: null + +valid_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: ${...train_datasets.eva_bimanual.filters} + mode: valid + valid_ratio: 0.05 + aria_bimanual: null + +# Bank = eva (robot), same keymap/transform as the query path, 15-step chunks. +bank_embodiment: eva_bimanual +bank_zarr_root: ${paths.dataset_dir}/{hash} +bank_converter: + _target_: egomimic.utils.action_utils.RobotBimanualCartesianEuler +bank_keymap: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations +bank_transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + +# eva's real layout is 14-D (2 arms x [xyz, ypr, gripper]) for both the ee_pose +# state and the per-step action; discretize the retrieved blocks at their true +# width instead of padding to 32. +state_dim: 14 +action_dim: 14 diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl_foldbag_cup_eval.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl_foldbag_cup_eval.yaml new file mode 100644 index 000000000..e68882b01 --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl_foldbag_cup_eval.yaml @@ -0,0 +1,16 @@ +# RICL OOD eval: (fold+bag)-trained RICL evaluated on cup_on_saucer WITH retrieved +# cup demos (set retrieval_cache_dir to the cup cache: query=cup/bank=cup/LOSO-episode). +# valid = the 100 held-out cup_on_saucer eval episodes (held out of training). +# train_datasets inherited (fold+bag), not iterated in eval mode. Splits: +# egomimic/ricl/foldbag_cup_splits.py. +defaults: + - cotrain_pi_ricl_foldbag + - _self_ + +valid_datasets: + eva_bimanual: + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.foldbag_cup_splits', fromlist=['cup_eval_episode_hashes']).cup_eval_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'cup_on_saucer' and row.get('episode_hash') in _eps" + mode: total diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl_pickplace.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl_pickplace.yaml new file mode 100644 index 000000000..e04a45096 --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl_pickplace.yaml @@ -0,0 +1,73 @@ +# RICL training data: pi0.5 + retrieval finetuned on four pick/place segment +# groups (eva_bimanual). Query = train-group frames; bank = train-group frames +# (set retrieval_cache_dir to the pickplace train cache; query=train/bank=train/ +# LOSO-episode). Frame-level SegmentFilteredDataset keeps only the train-group +# spans inside pick_place episodes. valid = held-out train-group episodes (same +# groups, NEW episodes). Held-out eval groups live in cotrain_pi_ricl_pickplace_eval. +# 15-step action chunks. Groups defined in egomimic/ricl/pickplace_splits.py. +defaults: + - cotrain_pi_ricl + - _self_ + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.SegmentFilteredDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 # predict a 15-step action chunk (matches model.action_horizon=15) + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['train_episode_hashes']).train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + mode: total + segments_csv: &segments_csv ${paths.work_dir}/egomimic/ricl/episode_lists/action_segments.csv + by: &segment_by ["verb", "object", "hand"] + groups: &train_groups + - ["pick", "blue stuffed toy", "left"] + - ["pick", "white cup", "right"] + - ["place", "eggplant", "left"] + - ["place", "green bowl", "right"] + aria_bimanual: null + +valid_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.SegmentFilteredDataset._from_resolver + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['valid_episode_hashes']).valid_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + mode: total + segments_csv: *segments_csv + by: *segment_by + groups: *train_groups + aria_bimanual: null + +# Bank = eva (robot) train-group segments, same keymap/transform as the query +# path, 15-step chunks. +bank_embodiment: eva_bimanual +bank_zarr_root: ${paths.dataset_dir}/{hash} +bank_converter: + _target_: egomimic.utils.action_utils.RobotBimanualCartesianEuler +bank_keymap: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations +bank_transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 # retrieved demos carry a 15-step action chunk (sliced by action_horizon=15) + +# eva's real layout is 14-D (2 arms x [xyz, ypr, gripper]) for both the ee_pose +# state and the per-step action; discretize the retrieved blocks at their true +# width instead of padding to 32. +state_dim: 14 +action_dim: 14 diff --git a/egomimic/hydra_configs/data/cotrain_pi_ricl_pickplace_eval.yaml b/egomimic/hydra_configs/data/cotrain_pi_ricl_pickplace_eval.yaml new file mode 100644 index 000000000..5a7cd265c --- /dev/null +++ b/egomimic/hydra_configs/data/cotrain_pi_ricl_pickplace_eval.yaml @@ -0,0 +1,22 @@ +# RICL eval: pickplace-trained RICL evaluated on the four HELD-OUT pick/place +# segment groups WITH retrieved demos (set retrieval_cache_dir to the pickplace +# eval cache: query=eval/bank=eval/LOSO-episode). valid = eval-group frames only +# (never trained — frame-level disjoint from the train groups even in shared +# pick_place episodes). train_datasets inherited (train groups), not iterated in +# eval mode. Groups defined in egomimic/ricl/pickplace_splits.py. +defaults: + - cotrain_pi_ricl_pickplace + - _self_ + +valid_datasets: + eva_bimanual: + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['eval_episode_hashes']).eval_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + groups: + - ["pick", "croissant", "left"] + - ["pick", "doritos", "right"] + - ["place", "juice pouch", "left"] + - ["place", "pink mug", "right"] + mode: total diff --git a/egomimic/hydra_configs/data/cotrain_pickplace_qwen.yaml b/egomimic/hydra_configs/data/cotrain_pickplace_qwen.yaml deleted file mode 100644 index f58b60528..000000000 --- a/egomimic/hydra_configs/data/cotrain_pickplace_qwen.yaml +++ /dev/null @@ -1,85 +0,0 @@ -# defaults removed: hardcoding folder_path below for standalone load by the annotation pipeline - - - -# Cotrain pick_place dataset for the HPT + Qwen-annotation experiment. -# -# train = 216 eva_bimanual + 103 aria_bimanual = 319 episodes (mode: total). -# valid = 12 eva_bimanual alignment episodes (aria has 0 alignment episodes in -# the dense-language Scale project today; left out intentionally). -# -# All four filters are gated by ScaleAnnotationDatasetFilter(dense-language) -# so the scale_to_bucket -> bucket_to_zarr pipeline can process exactly the -# episodes referenced here. -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' not in ((row.get('task_description') or '').lower())" - mode: total - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'aria_bimanual' and (row.get('zarr_processed_path') or '') != '' and any(s in ((row.get('task_description') or '').lower()) for s in ('base', 'object')) and (row.get('episode_hash') or '') not in ('2026-04-26-00-17-53-000000', '2026-04-26-00-27-26-000000', '2026-05-01-02-52-58-000000')" - mode: total - -valid_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' in ((row.get('task_description') or '').lower())" - mode: total - -train_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 - aria_bimanual: - batch_size: 32 - num_workers: 6 - -valid_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/cotrain_pickplace_qwen_objgen.yaml b/egomimic/hydra_configs/data/cotrain_pickplace_qwen_objgen.yaml deleted file mode 100644 index 718798bb5..000000000 --- a/egomimic/hydra_configs/data/cotrain_pickplace_qwen_objgen.yaml +++ /dev/null @@ -1,100 +0,0 @@ -# Cotrain pick_place dataset with object_gen monitoring. -# -# Same train set as cotrain_pickplace_qwen.yaml. Valid additionally includes -# aria_bimanual object_gen episodes (36 ep) — a subset of train, used for -# monitoring object_gen-specific train loss (NOT held-out generalization). -# -# train = 216 eva_bimanual + 105 aria_bimanual = 321 episodes -# valid = 12 eva_bimanual alignment + ~36 aria_bimanual object_gen = ~48 ep -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' not in ((row.get('task_description') or '').lower())" - mode: total - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: cartesian_padded - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'aria_bimanual' and (row.get('zarr_processed_path') or '') != '' and any(s in ((row.get('task_description') or '').lower()) for s in ('base', 'object')) and (row.get('episode_hash') or '') not in ('2026-04-26-00-17-53-000000', '2026-04-26-00-27-26-000000', '2026-05-01-02-52-58-000000')" - mode: total - -valid_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' in ((row.get('task_description') or '').lower())" - mode: total - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: cartesian_padded - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'aria_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'object' in ((row.get('task_description') or '').lower())" - mode: total - -train_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 - aria_bimanual: - batch_size: 32 - num_workers: 6 -valid_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 - aria_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/cotrain_pickplace_qwen_wrist.yaml b/egomimic/hydra_configs/data/cotrain_pickplace_qwen_wrist.yaml deleted file mode 100644 index 479b425b4..000000000 --- a/egomimic/hydra_configs/data/cotrain_pickplace_qwen_wrist.yaml +++ /dev/null @@ -1,77 +0,0 @@ -# Wristframe variant of cotrain_pickplace_qwen.yaml. -# Transform list uses cartesian_wristframe_ypr — actions are in each EEF wrist -# frame instead of head/base frame. Action chunk key + dim unchanged -# (actions_cartesian, 14D for eva). Pair with viz=cartesian_wrist_lang. - -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian_wristframe_ypr - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' not in ((row.get('task_description') or '').lower())" - mode: total - aria_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.human.Aria.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.human.Aria.get_transform_list - mode: cartesian_wristframe_ypr - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'aria_bimanual' and (row.get('zarr_processed_path') or '') != '' and any(s in ((row.get('task_description') or '').lower()) for s in ('base', 'object')) and (row.get('episode_hash') or '') not in ('2026-04-26-00-17-53-000000', '2026-04-26-00-27-26-000000', '2026-05-01-02-52-58-000000')" - mode: total - -valid_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3AnnotationCutoffEpisodeResolver - folder_path: /storage/project/r-dxu345-0/paphiwetsa3/datasets/pickplace_qwen - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - keymap_mode: cartesian - annotation_key: annotations - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - mode: cartesian_wristframe_ypr - filters: - _target_: egomimic.rldb.filters.ScaleAnnotationDatasetFilter - project_name: dense-language - filter_lambdas: - - "lambda row: row.get('task') == 'pick_place' and row.get('embodiment') == 'eva_bimanual' and (row.get('zarr_processed_path') or '') != '' and 'alignment' in ((row.get('task_description') or '').lower())" - mode: total - -train_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 - aria_bimanual: - batch_size: 32 - num_workers: 6 - -valid_dataloader_params: - eva_bimanual: - batch_size: 32 - num_workers: 6 diff --git a/egomimic/hydra_configs/data/eva_pi.yaml b/egomimic/hydra_configs/data/eva_pi.yaml index c99ab0acd..a7617ffad 100644 --- a/egomimic/hydra_configs/data/eva_pi.yaml +++ b/egomimic/hydra_configs/data/eva_pi.yaml @@ -16,6 +16,8 @@ train_datasets: mode: total aria_bimanual: null +# Relative interpolation: resolves whether or not this config is nested +# under `data` (root-absolute ${train_datasets...} does not). valid_datasets: - eva_bimanual: ${train_datasets.eva_bimanual} + eva_bimanual: ${..train_datasets.eva_bimanual} aria_bimanual: null diff --git a/egomimic/hydra_configs/data/eva_pi_base.yaml b/egomimic/hydra_configs/data/eva_pi_base.yaml new file mode 100644 index 000000000..3bbf08e31 --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_base.yaml @@ -0,0 +1,47 @@ +# Eva-only pi0.5 base data config: single embodiment (eva_bimanual), no aria. +# Self-contained root for eva-only pi finetune/eval recipes (mirrors +# cotrain_pi_base but drops the aria_bimanual stream and uses the cartesian_pi +# keymap). Default = all eva_bimanual episodes, 5% frame-level valid split. +# Override `train_datasets.eva_bimanual.filters` to scope to a task/episode set. +_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row: row.get('embodiment') == 'eva_bimanual'" + mode: train + valid_ratio: 0.05 + +# Relative interpolations (`${...` = this config's root) — root-absolute +# `${train_datasets...}` does not resolve once nested under `data` in the +# composed train config. +valid_datasets: + eva_bimanual: + _target_: ${...train_datasets.eva_bimanual._target_} + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: ${...train_datasets.eva_bimanual.filters} + mode: valid + valid_ratio: ${...train_datasets.eva_bimanual.valid_ratio} + +train_dataloader_params: + eva_bimanual: + batch_size: 32 + num_workers: 6 + +valid_dataloader_params: + eva_bimanual: + batch_size: 32 + num_workers: 6 diff --git a/egomimic/hydra_configs/data/eva_pi_cup_eval.yaml b/egomimic/hydra_configs/data/eva_pi_cup_eval.yaml new file mode 100644 index 000000000..762452c07 --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_cup_eval.yaml @@ -0,0 +1,14 @@ +# Baseline OOD eval: fold-trained baseline evaluated on cup_on_saucer (no retrieval). +# valid = all cup_on_saucer frames (held out of training). train_datasets inherited +# (fold) but not iterated in eval mode. +defaults: + - eva_pi_fold + - _self_ + +valid_datasets: + eva_bimanual: + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.fold_cup_splits', fromlist=['cup_eval_episode_hashes']).cup_eval_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'cup_on_saucer' and row.get('episode_hash') in _eps" + mode: total diff --git a/egomimic/hydra_configs/data/eva_pi_fold.yaml b/egomimic/hydra_configs/data/eva_pi_fold.yaml new file mode 100644 index 000000000..9aa6edc51 --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_fold.yaml @@ -0,0 +1,39 @@ +# Baseline training data: plain pi0.5 finetune on fold_clothes (eva_bimanual). +# Full-episode task (not segment-filtered). 15-step action chunk. A 5% frame-level +# valid split monitors fold convergence; the real held-out eval is cup_on_saucer. +defaults: + - eva_pi + - _self_ + +_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.fold_cup_splits', fromlist=['fold_train_episode_hashes']).fold_train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'fold_clothes' and row.get('episode_hash') in _eps" + mode: train + valid_ratio: 0.05 + aria_bimanual: null + +valid_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: ${...train_datasets.eva_bimanual.filters} + mode: valid + valid_ratio: 0.05 + aria_bimanual: null diff --git a/egomimic/hydra_configs/data/eva_pi_foldbag.yaml b/egomimic/hydra_configs/data/eva_pi_foldbag.yaml new file mode 100644 index 000000000..017e08cfc --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_foldbag.yaml @@ -0,0 +1,40 @@ +# Baseline training data: plain pi0.5 finetune on fold_clothes + bag_groceries +# (eva_bimanual). Full-episode tasks (not segment-filtered). 15-step action chunk. +# A 5% frame-level valid split monitors convergence; the real held-out eval is +# cup_on_saucer (eva_pi_foldbag_cup_eval). Splits: egomimic/ricl/foldbag_cup_splits.py. +defaults: + - eva_pi + - _self_ + +_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.foldbag_cup_splits', fromlist=['foldbag_train_episode_hashes']).foldbag_train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') in {'fold_clothes', 'bag_groceries'} and row.get('episode_hash') in _eps" + mode: train + valid_ratio: 0.05 + aria_bimanual: null + +valid_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: ${...train_datasets.eva_bimanual.filters} + mode: valid + valid_ratio: 0.05 + aria_bimanual: null diff --git a/egomimic/hydra_configs/data/eva_pi_foldbag_cup_eval.yaml b/egomimic/hydra_configs/data/eva_pi_foldbag_cup_eval.yaml new file mode 100644 index 000000000..36474ca6c --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_foldbag_cup_eval.yaml @@ -0,0 +1,15 @@ +# Baseline OOD eval: (fold+bag)-trained baseline evaluated zero-context on +# cup_on_saucer (no retrieval). valid = the 100 held-out cup_on_saucer eval +# episodes (never trained). train_datasets inherited (fold+bag) but not iterated in +# eval mode. Splits: egomimic/ricl/foldbag_cup_splits.py. +defaults: + - eva_pi_foldbag + - _self_ + +valid_datasets: + eva_bimanual: + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.foldbag_cup_splits', fromlist=['cup_eval_episode_hashes']).cup_eval_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'cup_on_saucer' and row.get('episode_hash') in _eps" + mode: total diff --git a/egomimic/hydra_configs/data/eva_pi_pickplace.yaml b/egomimic/hydra_configs/data/eva_pi_pickplace.yaml new file mode 100644 index 000000000..942f0ee7b --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_pickplace.yaml @@ -0,0 +1,51 @@ +# Baseline training data: plain pi0.5 finetune (NO retrieval) on the four +# pick/place train segment groups (eva_bimanual). Same train/valid split and +# 15-step chunks as cotrain_pi_ricl_pickplace, so the only difference vs RICL is +# the retrieval mechanism. Groups defined in egomimic/ricl/pickplace_splits.py. +defaults: + - eva_pi + - _self_ + +_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper + +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.SegmentFilteredDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: ${paths.dataset_dir} + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 # predict a 15-step action chunk (matches RICL for a fair compare) + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['train_episode_hashes']).train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + mode: total + segments_csv: &segments_csv ${paths.work_dir}/egomimic/ricl/episode_lists/action_segments.csv + by: &segment_by ["verb", "object", "hand"] + groups: &train_groups + - ["pick", "blue stuffed toy", "left"] + - ["pick", "white cup", "right"] + - ["place", "eggplant", "left"] + - ["place", "green bowl", "right"] + aria_bimanual: null + +valid_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.SegmentFilteredDataset._from_resolver + resolver: ${...train_datasets.eva_bimanual.resolver} + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['valid_episode_hashes']).valid_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + mode: total + segments_csv: *segments_csv + by: *segment_by + groups: *train_groups + aria_bimanual: null diff --git a/egomimic/hydra_configs/data/eva_pi_pickplace_eval.yaml b/egomimic/hydra_configs/data/eva_pi_pickplace_eval.yaml new file mode 100644 index 000000000..279cbd7b2 --- /dev/null +++ b/egomimic/hydra_configs/data/eva_pi_pickplace_eval.yaml @@ -0,0 +1,21 @@ +# Baseline eval: pickplace-trained baseline (no retrieval) evaluated zero-context +# on the four HELD-OUT eval segment groups. valid = eval-group frames only (never +# trained). train_datasets inherited (train groups), not iterated in eval mode. +# Mirror of cotrain_pi_ricl_pickplace_eval without the retrieval path. Groups +# defined in egomimic/ricl/pickplace_splits.py. +defaults: + - eva_pi_pickplace + - _self_ + +valid_datasets: + eva_bimanual: + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['eval_episode_hashes']).eval_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + groups: + - ["pick", "croissant", "left"] + - ["pick", "doritos", "right"] + - ["place", "juice pouch", "left"] + - ["place", "pink mug", "right"] + mode: total diff --git a/egomimic/hydra_configs/data/industry_eva_pi.yaml b/egomimic/hydra_configs/data/industry_eva_pi.yaml deleted file mode 100644 index cb9325c4d..000000000 --- a/egomimic/hydra_configs/data/industry_eva_pi.yaml +++ /dev/null @@ -1,80 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - eva_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap - transform_list: - _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list - filters: - robot_name: "eva_bimanual" - task: "fold_clothes" - mode: train - mecka_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Mecka.get_keymap - transform_list: - _target_: egomimic.rldb.embodiment.human.Mecka.get_transform_list - filters: - lab: "mecka" - task: "fold_clothes" - mode: train - scale_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Scale.get_keymap - transform_list: - _target_: egomimic.rldb.embodiment.human.Scale.get_transform_list - filters: - lab: "scale" - task: "flagship_fold_clothes" - mode: train - -valid_datasets: - eva_bimanual: - _target_: ${train_datasets.eva_bimanual._target_} - resolver: ${train_datasets.eva_bimanual.resolver} - filters: ${train_datasets.eva_bimanual.filters} - mode: valid - mecka_bimanual: - _target_: ${train_datasets.mecka_bimanual._target_} - resolver: ${train_datasets.mecka_bimanual.resolver} - filters: ${train_datasets.mecka_bimanual.filters} - mode: valid - scale_bimanual: - _target_: ${train_datasets.scale_bimanual._target_} - resolver: ${train_datasets.scale_bimanual.resolver} - filters: ${train_datasets.scale_bimanual.filters} - mode: valid - -train_dataloader_params: - eva_bimanual: - batch_size: 21 - num_workers: 10 - mecka_bimanual: - batch_size: 21 - num_workers: 10 - scale_bimanual: - batch_size: 21 - num_workers: 10 -valid_dataloader_params: - eva_bimanual: - batch_size: 21 - num_workers: 10 - mecka_bimanual: - batch_size: 21 - num_workers: 10 - scale_bimanual: - batch_size: 21 - num_workers: 10 diff --git a/egomimic/hydra_configs/data/mecka.yaml b/egomimic/hydra_configs/data/mecka.yaml deleted file mode 100644 index 1805ed75b..000000000 --- a/egomimic/hydra_configs/data/mecka.yaml +++ /dev/null @@ -1,31 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - mecka_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Mecka.get_keymap - mode: cartesian - transform_list: - _target_: egomimic.rldb.embodiment.human.Mecka.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.DatasetFilter - filter_lambdas: - - "lambda row: row['episode_hash'] == '69199812208123403bbdb24f'" - mode: total - -valid_datasets: - mecka_bimanual: ${train_datasets.mecka_bimanual} - -train_dataloader_params: - mecka_bimanual: - batch_size: 32 - num_workers: 10 -valid_dataloader_params: - mecka_bimanual: - batch_size: 32 - num_workers: 10 diff --git a/egomimic/hydra_configs/data/ricl_stats_fold.yaml b/egomimic/hydra_configs/data/ricl_stats_fold.yaml new file mode 100644 index 000000000..c299252e3 --- /dev/null +++ b/egomimic/hydra_configs/data/ricl_stats_fold.yaml @@ -0,0 +1,23 @@ +# Standalone norm-stats scope for the fold_clothes RICL/baseline runs. +# Consumed by egomimic.ricl.scripts.compute_norm_stats (absolute paths). Uses +# chunk_length=15 so actions_cartesian stats come out as (15, 14) — matching the +# 15-step prediction horizon, no slicing needed. +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: /storage/project/r-dxu345-0/shared/egoverseS3ZarrDatasets + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.fold_cup_splits', fromlist=['fold_train_episode_hashes']).fold_train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') == 'fold_clothes' and row.get('episode_hash') in _eps" + mode: total diff --git a/egomimic/hydra_configs/data/ricl_stats_foldbag.yaml b/egomimic/hydra_configs/data/ricl_stats_foldbag.yaml new file mode 100644 index 000000000..508b23a18 --- /dev/null +++ b/egomimic/hydra_configs/data/ricl_stats_foldbag.yaml @@ -0,0 +1,24 @@ +# Standalone norm-stats scope for the (fold_clothes + bag_groceries) RICL/baseline +# runs. Consumed by egomimic.ricl.scripts.compute_norm_stats (absolute paths). +# chunk_length=15 -> actions_cartesian stats come out as (15, 14), matching the +# 15-step prediction horizon (no slicing). Scoped to the fold+bag TRAIN episodes +# only -> the held-out cup_on_saucer eval task never enters the stats. +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: /storage/project/r-dxu345-0/shared/egoverseS3ZarrDatasets + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.foldbag_cup_splits', fromlist=['foldbag_train_episode_hashes']).foldbag_train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('task') in {'fold_clothes', 'bag_groceries'} and row.get('episode_hash') in _eps" + mode: total diff --git a/egomimic/hydra_configs/data/ricl_stats_pickplace.yaml b/egomimic/hydra_configs/data/ricl_stats_pickplace.yaml new file mode 100644 index 000000000..61d125076 --- /dev/null +++ b/egomimic/hydra_configs/data/ricl_stats_pickplace.yaml @@ -0,0 +1,35 @@ +# Standalone norm-stats scope for the pickplace RICL/baseline runs. +# Consumed by egomimic.ricl.scripts.compute_norm_stats via load_config_from_path, +# so paths are ABSOLUTE (no ${paths.*} interpolation) and there is no defaults +# chain. Stats are computed over exactly the training distribution: the four +# train-group segments inside the TRAIN episodes (train_episode_hashes), so the +# held-out valid/eval groups never enter the stats. chunk_length=15 -> actions +# come out (15, 14), matching the 15-step prediction horizon (no slicing needed). +# One file feeds both the query path (precomputed_norm_path) and, for RICL, the +# retrieval bank (bank_norm_path). +train_datasets: + eva_bimanual: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.SegmentFilteredDataset._from_resolver + resolver: + _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver + folder_path: /storage/project/r-dxu345-0/shared/egoverseS3ZarrDatasets + key_map: + _target_: egomimic.rldb.embodiment.eva.Eva.get_keymap + keymap_mode: cartesian_pi + annotation_key: annotations + transform_list: + _target_: egomimic.rldb.embodiment.eva.Eva.get_transform_list + mode: cartesian + chunk_length: 15 + filters: + _target_: egomimic.rldb.filters.DatasetFilter + filter_lambdas: + - "lambda row, _eps=__import__('egomimic.ricl.pickplace_splits', fromlist=['train_episode_hashes']).train_episode_hashes(): row.get('embodiment') == 'eva_bimanual' and row.get('episode_hash') in _eps" + mode: total + segments_csv: /storage/project/r-dxu345-0/rco3/EgoVerse2/egomimic/ricl/episode_lists/action_segments.csv + by: ["verb", "object", "hand"] + groups: + - ["pick", "blue stuffed toy", "left"] + - ["pick", "white cup", "right"] + - ["place", "eggplant", "left"] + - ["place", "green bowl", "right"] diff --git a/egomimic/hydra_configs/data/scale.yaml b/egomimic/hydra_configs/data/scale.yaml deleted file mode 100644 index 6eb5e7162..000000000 --- a/egomimic/hydra_configs/data/scale.yaml +++ /dev/null @@ -1,31 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - scale_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Scale.get_keymap - mode: cartesian - transform_list: - _target_: egomimic.rldb.embodiment.human.Scale.get_transform_list - mode: cartesian - filters: - _target_: egomimic.rldb.filters.DatasetFilter - filter_lambdas: - - "lambda row: row['episode_hash'] in {'2026-03-16-01-22-26-448000'}" - mode: total - -valid_datasets: - scale_bimanual: ${train_datasets.scale_bimanual} - -train_dataloader_params: - scale_bimanual: - batch_size: 32 - num_workers: 10 -valid_dataloader_params: - scale_bimanual: - batch_size: 32 - num_workers: 10 diff --git a/egomimic/hydra_configs/data/scale_pi.yaml b/egomimic/hydra_configs/data/scale_pi.yaml deleted file mode 100644 index ec0e27ff2..000000000 --- a/egomimic/hydra_configs/data/scale_pi.yaml +++ /dev/null @@ -1,34 +0,0 @@ -_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper - -train_datasets: - scale_bimanual: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver - resolver: - _target_: egomimic.rldb.zarr.zarr_dataset_multi.S3EpisodeResolver - folder_path: ${paths.dataset_dir} - key_map: - _target_: egomimic.rldb.embodiment.human.Scale.get_keymap - transform_list: - _target_: egomimic.rldb.embodiment.human.Scale.get_transform_list - filters: - filter_lambdas: - - "lambda row: ((row['task'] == 'Folding Clothes') | (row['task'] == '[flagship] Folding Clothes')) & (row['lab'] == 'scale') & (row['robot_name'] == 'scale_bimanual') & (row['is_deleted'] == false)" - mode: train - -valid_datasets: - scale_bimanual: - _target_: ${train_datasets.scale_bimanual._target_} - resolver: ${train_datasets.scale_bimanual.resolver} - filters: - task: - - "lambda row: ((row['task'] == 'Folding Clothes') | (row['task'] == '[flagship] Folding Clothes')) & (row['lab'] == 'scale') & (row['robot_name'] == 'scale_bimanual') & (row['is_deleted'] == false)" - mode: valid - -train_dataloader_params: - scale_bimanual: - batch_size: 32 - num_workers: 10 -valid_dataloader_params: - scale_bimanual: - batch_size: 32 - num_workers: 10 diff --git a/egomimic/hydra_configs/evaluator/eval_pi_ricl.yaml b/egomimic/hydra_configs/evaluator/eval_pi_ricl.yaml new file mode 100644 index 000000000..acb8886de --- /dev/null +++ b/egomimic/hydra_configs/evaluator/eval_pi_ricl.yaml @@ -0,0 +1,20 @@ +# RICL evaluator: retrieval (k) vs zero-context floor (k=0) on the eva query set. +# Same viz / revert transforms as eval_pi, but the metrics report the bank-vs-floor +# comparison (RICL/retrieval_*, RICL/floor_*, RICL/delta_*, RICL/retrieval_helps). +defaults: + - viz@viz_func: pi_cartesian_lang + - _self_ + +_target_: egomimic.eval.pi_ricl_eval.PIRiclEval + +compute_floor: true +gripper_threshold: 0.0 +gripper_indices: [6, 13] + +transform_lists: + eva_bimanual: + _target_: egomimic.rldb.embodiment.eva._build_eva_bimanual_revert_eef_frame_transform_list + is_quat: false + aria_bimanual: + _target_: egomimic.rldb.embodiment.human._build_aria_cartesian_revert_eef_frame_transform_list + is_quat: false diff --git a/egomimic/hydra_configs/logger/csv.yaml b/egomimic/hydra_configs/logger/csv.yaml new file mode 100644 index 000000000..2a8606dbb --- /dev/null +++ b/egomimic/hydra_configs/logger/csv.yaml @@ -0,0 +1,5 @@ +csv: + _target_: lightning.pytorch.loggers.csv_logs.CSVLogger + save_dir: "${paths.output_dir}" + name: "csv" + version: "" diff --git a/egomimic/hydra_configs/logger/csv_wandb.yaml b/egomimic/hydra_configs/logger/csv_wandb.yaml new file mode 100644 index 000000000..2bc805e09 --- /dev/null +++ b/egomimic/hydra_configs/logger/csv_wandb.yaml @@ -0,0 +1,22 @@ +# CSV + Weights & Biases. instantiate_loggers() iterates every top-level key +# here, so both loggers run together. W&B logs into the "ricl" project. + +csv: + _target_: lightning.pytorch.loggers.csv_logs.CSVLogger + save_dir: "${paths.output_dir}" + name: "csv" + version: "" + +wandb: + _target_: lightning.pytorch.loggers.wandb.WandbLogger + save_dir: "${paths.output_dir}" + offline: False + id: "${name}_${description}_${now:%Y-%m-%d_%H-%M-%S}" # pass correct id to resume experiment! + anonymous: null + project: "ricl" + log_model: False # upload lightning ckpts + prefix: "" + entity: "rl2-group" # wandb team + group: "" + tags: [] + job_type: "" diff --git a/egomimic/hydra_configs/model/pi0.5_base.yaml b/egomimic/hydra_configs/model/pi0.5_base.yaml index b3fa8f362..374ce34fa 100644 --- a/egomimic/hydra_configs/model/pi0.5_base.yaml +++ b/egomimic/hydra_configs/model/pi0.5_base.yaml @@ -52,7 +52,7 @@ robomimic_model: size: 224 interpolation: 3 -enable_grad_norm: false +enable_grad_norm: true optimizer: _target_: torch.optim.AdamW diff --git a/egomimic/hydra_configs/model/pi0.5_ricl.yaml b/egomimic/hydra_configs/model/pi0.5_ricl.yaml new file mode 100644 index 000000000..d480c2bff --- /dev/null +++ b/egomimic/hydra_configs/model/pi0.5_ricl.yaml @@ -0,0 +1,41 @@ +# pi0.5 + retrieval-based in-context learning (RICL). +# +# Inherits the single-eva pi0.5 setup (domains / converters / camera_transforms / +# openpi-base pytorch_weight_path) and only: +# - swaps the algo target to PIRicl, +# - adds the RICL knobs (k, retrieved action steps), +# - bumps the token budget so the spliced retrieved (state, action) text fits. +# +# The query embodiment is eva; retrieved aria/eva blocks are pre-encoded into the +# shared 32-D space by the bank provider (see data=cotrain_pi_ricl), so the algo +# only needs the eva domain. Run: +# python -m egomimic.trainHydra model=pi0.5_ricl data=cotrain_pi_ricl \ +# data.retrieval_cache_dir= data.bank_zarr_root='<.../{hash}.zarr>' +defaults: + - pi0.5_bc_eva + - _self_ + +robomimic_model: + _target_: egomimic.algo.pi_ricl.PIRicl + num_retrieved_observations: 4 + # Each retrieved demo carries the FULL 15-step action chunk (matches the query + # prediction horizon set below via config.model.action_horizon=15), so the + # in-context exemplar shows a whole trajectory rather than a single next action. + retrieved_action_steps: 15 + ricl_base_key: "base_0_rgb" + # k retrieved (state, action) blocks inflate the text prompt. They're kept at the + # full 32-D openpi layout (data/cotrain_pi_ricl.yaml) to stay in pi0.5's pretrained + # distribution, so the prompt is long: at k=4 with retrieved_action_steps=15 the + # worst case is ~8377 tokens (measured by + # egomimic/ricl/scripts/check_prompt_budget.py --action-steps 15 against the real + # PaliGemma tokenizer). Truncation drops the trailing `;\nAction:` anchor, so do + # NOT let the prompt exceed this — raise it (and re-run the budget check) if you + # raise k / retrieved_action_steps. 8704 clears the worst case with margin. + tokenizer_max_length: 8704 + config: + model: + max_token_len: 8704 + # Predict a 15-step action chunk (down from the base 100) so the query + # prediction horizon matches the retrieved demos' action chunk. The query + # data transform (chunk_length) and the sliced norm stats must agree. + action_horizon: 15 diff --git a/egomimic/hydra_configs/trainer/ddp_pi_ricl.yaml b/egomimic/hydra_configs/trainer/ddp_pi_ricl.yaml new file mode 100644 index 000000000..9f75fa94a --- /dev/null +++ b/egomimic/hydra_configs/trainer/ddp_pi_ricl.yaml @@ -0,0 +1,22 @@ +# RICL trainer: STEP-based validation so the held-out RICL val-loss curve is +# visible and early-stopping is possible. +# +# `ddp_pi` validates only every 200 EPOCHS, and `trainer/default.yaml` caps an +# epoch at 100 train batches — so on the large RICL frame sets validation lands +# roughly every ~20k steps, far too coarse to catch the early minimum the DROID +# verification found (new-task val loss bottoms ~step 500, then overfits while +# train loss keeps falling; see egomimic/ricl/DROID_VERIFICATION.md). Here we +# validate every `val_check_interval` optimizer steps instead. +# +# Pair with `callbacks=checkpoints_ricl` (monitors Valid/action_loss) so the best +# operating point + last.ckpt are saved without retraining. +defaults: + - ddp_pi + +max_epochs: -1 # disable the epoch cap; let max_steps govern +min_epochs: null # ddp_pi/default force min_epochs=2000 — drop it +max_steps: 6000 # starting point; override per run (trainer.max_steps=...) +limit_train_batches: 1.0 # default.yaml caps an epoch at 100 batches — lift it +val_check_interval: 250 # validate every 250 optimizer steps +check_val_every_n_epoch: null # required so val_check_interval counts GLOBAL steps +limit_val_batches: 20 diff --git a/egomimic/pl_utils/pl_data_utils.py b/egomimic/pl_utils/pl_data_utils.py index 28fec7e8b..a8eef8e5d 100644 --- a/egomimic/pl_utils/pl_data_utils.py +++ b/egomimic/pl_utils/pl_data_utils.py @@ -453,3 +453,122 @@ def _collate(batch): return collated return _collate + + +class RiclDataModuleWrapper(MultiDataModuleWrapper): + """``MultiDataModuleWrapper`` that attaches retrieved in-context demos (RICL). + + On top of the base behaviour it (1) wraps every query dataset in + :class:`egomimic.ricl.data.RiclQueryDataset` so samples expose ``frame_idx``, + and (2) swaps the collate for one that, per query sample, reads a precomputed + retrieval cache and loads its top-k bank frames into ``ricl_*`` batch keys + consumed by :class:`egomimic.algo.pi_ricl.PIRicl`. + + Build the cache first with ``python -m egomimic.ricl.retrieval`` (see + ``egomimic/ricl/README.md``). Samples whose episode isn't in the cache fall + back to the zero-context behaviour (all retrieved slots masked out). + + Args (beyond the base four): + retrieval_cache_dir: dir written by ``RetrievalCache.save``. + num_retrieved_observations: k. + bank_zarr_root: ``{hash}`` template -> each bank episode's zarr store. + bank_converter: action converter applied to retrieved actions (-> 32-D), + e.g. ``HumanBimanualCartesianEuler`` for an aria bank. + bank_norm_path: ``norm_stats.json`` (file or dir) holding the bank + embodiment's stats. MUST be the same file the run passes as + ``norm_stats.precomputed_norm_path`` — retrieved (state, action) + are normalized with these stats before discretization so their + bins match the query State block. Unset = raw values (smoke only). + bank_embodiment: embodiment name of the bank episodes (e.g. + ``aria_bimanual``) — selects which entry of the stats json applies. + bank_norm_mode: normalization formula, must match the training run's + ``norm_stats.norm_mode`` (default ``quantile``). + """ + + def __init__( + self, + train_datasets: dict, + valid_datasets: dict, + train_dataloader_params: dict, + valid_dataloader_params: dict, + *, + retrieval_cache_dir: str, + num_retrieved_observations: int = 4, + bank_zarr_root: str | None = None, + bank_converter=None, + bank_keymap: dict | None = None, + bank_transform_list: list | None = None, + bank_norm_path: str | None = None, + bank_embodiment: str | None = None, + bank_norm_mode: str = "quantile", + image_hw=(224, 224), + action_horizon: int = 1, + state_dim: int = 32, + action_dim: int = 32, + ): + super().__init__( + train_datasets, + valid_datasets, + train_dataloader_params, + valid_dataloader_params, + ) + from egomimic.ricl.data import ( + RiclQueryDataset, + ZarrBankFrameProvider, + build_ricl_collate, + load_bank_norm_stats, + ) + from egomimic.ricl.retrieval import RetrievalCache + + if bank_zarr_root is None: + raise ValueError( + "RiclDataModuleWrapper requires bank_zarr_root ('{hash}' template " + "to per-episode bank zarr stores) to load retrieved frames." + ) + + bank_norm_stats = None + if bank_norm_path is not None: + if bank_embodiment is None: + raise ValueError( + "bank_norm_path set but bank_embodiment is None — the stats " + "json is keyed per embodiment (e.g. 'aria_bimanual')." + ) + from egomimic.rldb.embodiment.embodiment import get_embodiment_id + + bank_norm_stats = load_bank_norm_stats( + bank_norm_path, get_embodiment_id(bank_embodiment) + ) + + cache = RetrievalCache.load(retrieval_cache_dir) + provider = ZarrBankFrameProvider( + resolve_store=lambda h: bank_zarr_root.format(hash=h), + converter=bank_converter, + keymap=bank_keymap, + transform_list=bank_transform_list, + action_horizon=action_horizon, + norm_stats=bank_norm_stats, + norm_mode=bank_norm_mode, + ) + # Surface frame_idx on query samples (retrieval cache is per-frame). + self.train_datasets = { + k: RiclQueryDataset(v) for k, v in self.train_datasets.items() + } + self.valid_datasets = { + k: RiclQueryDataset(v) for k, v in self.valid_datasets.items() + } + self.collate_fn = build_ricl_collate( + cache, + provider, + k=num_retrieved_observations, + base_collate=annotation_collate, + image_hw=tuple(image_hw), + state_dim=state_dim, + action_dim=action_dim, + action_horizon=action_horizon, + ) + logger.info( + "RiclDataModuleWrapper: k=%d, cache=%s, %d cached query episodes", + num_retrieved_observations, + retrieval_cache_dir, + len(cache.query_hashes), + ) diff --git a/egomimic/pl_utils/pl_model.py b/egomimic/pl_utils/pl_model.py index 48247c776..f2e9fbca0 100644 --- a/egomimic/pl_utils/pl_model.py +++ b/egomimic/pl_utils/pl_model.py @@ -145,7 +145,14 @@ def training_step(self, batch, batch_idx): info = {} info["losses"] = TensorUtils.detach(losses) for k, v in self.model.log_info(info).items(): - self.log("Train/" + k, v, sync_dist=True, on_step=False, on_epoch=True) + self.log( + "Train/" + k, + v, + sync_dist=True, + on_step=True, + on_epoch=True, + prog_bar=(k == "Loss"), + ) return losses["action_loss"] @@ -221,19 +228,17 @@ def validation_step(self, batch, batch_idx, dataloader_idx=0): active = self.train_viz_evaluator if dataloader_idx == 1 else self.evaluator if active is None: return - # When val_dataloader returns a list of CombinedLoaders (valid + train_viz), - # Lightning wraps it in an outer sequential CombinedLoader. The outer iterator - # calls next() on each inner CombinedLoader, which itself yields a - # (batch_dict, batch_idx, dataloader_idx) triple — that triple lands here as - # `batch`. Unwrap to recover the dict. - if isinstance(batch, tuple) and len(batch) == 3 and isinstance(batch[0], dict): - batch = batch[0] - batch = self.model.process_batch_for_training(batch) print( f"[VAL_STEP] rank={self.global_rank}, batch_idx={batch_idx}, dataloader_idx={dataloader_idx}", flush=True, ) - active.on_validation_step(batch, batch_idx, dataloader_idx) + # Evaluators that build their own conditions from the raw batch (e.g. + # PIRiclEval, which must strip ricl_* *before* the prompt is tokenized to + # get a genuine zero-context floor) receive it un-processed; everyone else + # gets the processed batch as before. + if not getattr(self.evaluator, "wants_raw_batch", False): + batch = self.model.process_batch_for_training(batch) + self.evaluator.on_validation_step(batch, batch_idx, dataloader_idx) def on_validation_end(self): print(f"[ON_VALIDATION_END] rank={self.global_rank}", flush=True) diff --git a/egomimic/ricl/CLAUDE.md b/egomimic/ricl/CLAUDE.md new file mode 100644 index 000000000..991860d2e --- /dev/null +++ b/egomimic/ricl/CLAUDE.md @@ -0,0 +1,92 @@ +# RICL (retrieval-based in-context learning) — navigation + +This directory is the entire RICL experiment on EgoVerse pi0.5: for each query +observation, retrieve k≈4 nearest human (aria) demos and splice their +`(image, state, action)` into the pi0.5 prefix. `PI0Pytorch` is unchanged; RICL is a +thin `PI` subclass + a data wrapper + DINOv2 retrieval. + +## Read these first (don't re-derive — they're current) +- `README.md` — architecture + cluster runbook (canonical). + +## Files in this dir, by role +Layout: importable **core** modules live at the top level; runnable utilities are +under `scripts/` (package `egomimic.ricl.scripts`) and CPU unit tests under +`tests/`. Inter-script imports use the `egomimic.ricl.scripts.` path; scripts +resolve `episode_lists/`, `pg_tokenizer/`, `outputs/` relative to the parent dir. + +- Core logic (top level): `retrieval.py` (DINOv2 pool + cKDTree + per-query top-k + cache), `conditioning.py` (prefix surgery), `data.py` (`RiclQueryDataset`, + `ZarrBankFrameProvider`, `build_ricl_collate`), `metrics.py`. +- DROID verification core (top level; the original-RICL data as a known-good + testbed — "thin shim, not a port"; see `DROID_VERIFICATION.md`): + `droid_data.py` (corpus + query dataset + bank provider + leave-one-out cache + builder over the pre-pooled `top_image_embeddings`; runnable `--build-cache`), + `droid_eval.py` (`DroidRiclEval` retrieval vs a *true* zero-context floor, + paired flow-loss; `DroidRiclModelWrapper`). +- Embedding -> index: embed a corpus with + `egomimic/scripts/embedding_process/zarr_embedding.py` — supports SQL-registry + filters (`--filter-lambda` + `--sync-root`) and writes to a writable mirror + folder (`--output-root ` -> `//observations.embeddings.dinov2.front_1`) + when the source stores are read-only. `scripts/build_embedding_index.py` then + consolidates `/` stores into one `/_index/` (vectors.npy + + refs.npz + manifest.json) for efficient kNN; `build_retrieval_index()` loads + it back into a `retrieval.RetrievalIndex`. Embeddings are an OFFLINE-only + artifact (used to build the cache; not read at train time). Note: embedding + arrays are zero-padded to a chunk multiple — readers slice to `total_frames`. +- Segment-scoped retrieval: `scripts/segment_retrieval.py` builds a `RetrievalCache` + whose pool is the frames *inside selected action segments* (vs `retrieval.py`'s + episode-level pairs). Segments come from `episode_lists/action_segments.csv` + (one row per `[start,end)` unit) selected by a `--filter` lambda over the row + dict; bank == query == the in-segment pool with **leave-one-segment-out** + (`--loso-scope segment|episode`, self-retrieval excluded for free). Reads vectors + from a consolidated `--index` (recommended) or per-episode `--zarr-root`; output + is the standard cache format (absolute frame index; out-of-segment frames are + padding). Run repeatedly with different `--filter`/`--out` for multiple caches. +- `scripts/` — annotation pipeline (`build_action_table.py`, + `build_episode_objects.py`, `extract_action_groups.py`, + `extract_object_segments.py`, `validate_object_labels.py`, + `compute_norm_stats.py`, `check_bank_norm.py`, `viz_retrieval.py`), smoke-test + helpers (`build_ricl_smoke_cache.py`, `preview_aligned_pairs.py`, + `ricl_smoke.sbatch`), and the DROID trainer (`train_droid_ricl.py` + `--stage cpu|full`, reuses the real `ModelWrapper`+`Trainer`; + `train_droid_ricl.sbatch`). +- `tests/` — CPU unit tests (run `pytest egomimic/ricl/tests/`): + `conditioning_test.py`, `data_test.py`, `metrics_test.py`, `droid_data_test.py`. +- Data (LARGE — grep/inspect targeted, never Read whole): `episode_annotations.json` + (~15 MB), `episode_lists/*.{csv,json,txt}` (e.g. `action_segments.csv` ~1.1 MB). +- Gitignored (on disk, never committed/Read): `outputs/` (regenerable viz, smoke cache, + aligned-pair previews), `pg_tokenizer/` (vendored PaliGemma tokenizer for offline runs). + +### Data folders live INSIDE the repo, under `egomimic/ricl/outputs/` (gitignored) +All RICL on-disk data artifacts go under `egomimic/ricl/outputs/` — **never** the home +dir or the project root (`/storage/project/r-dxu345-0/rco3/…`). This keeps a run's inputs +and outputs co-located with the code and uncommittable in one shot (the whole `outputs/` +tree is gitignored at `.gitignore:53`). Canonical layout (`` e.g. `pickplace_eva`): +- `outputs/ricl_embeddings///` — per-episode DINOv2 mirror + (`observations.embeddings.dinov2.front_1`), written by `zarr_embedding.py --output-root`. +- `outputs/ricl_embeddings//_index/` — consolidated kNN index + (`vectors.npy` + `refs.npz` + `manifest.json`) from `build_embedding_index.py`. +- `outputs/ricl_sync_cache//` — S3 sync scratch for `zarr_embedding.py --sync-root`. +- `outputs/ricl_caches//` — `RetrievalCache`s (episode-level or segment-LOSO). +- `outputs//…` — viz montages and other regenerable artifacts. + +These are LARGE (raw patch tokens ≈ 0.77 MB/frame; the smoke set of 5 eva episodes × +3000 frames = 13 GB). The per-episode mirror is offline-only (consumed solely by the +index build, never at train time), so it can be deleted once `_index/` exists if disk is +tight. Pass these paths explicitly on the CLI (the scripts default to no output path). + +## RICL's integration points OUTSIDE this dir (the rest of its working set) +- `egomimic/algo/pi_ricl.py` — `PIRicl(PI)`, 3 overrides; parent `egomimic/algo/pi.py`. +- `egomimic/eval/pi_ricl_eval.py` — `PIRiclEval` (retrieval-vs-floor). +- `egomimic/pl_utils/pl_data_utils.py` — `RiclDataModuleWrapper`. +- Configs: `egomimic/hydra_configs/{data/cotrain_pi_ricl*.yaml, data/ricl_stats_*.yaml, + data/eva_pi.yaml, model/pi0.5_ricl.yaml, model/pi0.5_base.yaml, evaluator/eval_pi_ricl.yaml}`. +- Pre-embedding: `egomimic/scripts/embedding_process/{zarr_embedding,dinov2_embedding}.py`. +- Pairing: `egomimic/scripts/{human_robot_pairs.json, human_robot_pairing.md, + pair_episodes_by_language.py, inspect_episode_metadata.py}`. +- Builds on (don't modify casually): `egomimic/trainHydra.py`, `egomimic/rldb/**` + (esp. `rldb/embodiment/{eva,human}.py`, `rldb/zarr/`), `egomimic/utils/action_utils.py`. +- Reference only (read when needed, never edit): `external/openpi/` (pi0.5 base), + `external/ricl_openpi/` (pi0-FAST architecture reference). + +Keep this file updated when the RICL working set changes. diff --git a/egomimic/ricl/DROID_VERIFICATION.md b/egomimic/ricl/DROID_VERIFICATION.md new file mode 100644 index 000000000..9b5448fc7 --- /dev/null +++ b/egomimic/ricl/DROID_VERIFICATION.md @@ -0,0 +1,242 @@ +# Verifying the RICL pipeline on original-RICL (DROID) data + +**Goal.** Prove EgoVerse's RICL machinery doesn't just *run* but *works the way RICL +is supposed to*: train the real `PIRicl` on one set of tasks, then on a **separate set +of genuinely new tasks** show that conditioning on retrieved in-context demos beats +both a zero-context floor *and* a plain finetune — i.e. the model learns to *use* +retrieved demos to do a task its weights never trained on. + +**Not a port.** The original RICL paper's DROID demos (a clean, known-good retrieval +dataset) are fed through a thin in-memory shim — no Zarr writing, no SQL, no new +embodiment, no `trainHydra`. The model, collate, prefix conditioning, +optimizer/grad-norm, Lightning `Trainer`, and eval are all **production code**; only +the Zarr data layer and the Hydra entrypoint are bypassed. + +--- + +## Experiment structure + +### 1 · Train / eval split (mirrors `ricl_openpi`'s `baseline` mode) + +The eval tasks are **structurally different** from the train tasks and the weights +never see them — so retrieved demos are the *only* source of task information. + +- **Train** — `collected_demos_training/`, 11 tasks, 218 demos, 15,415 frames. The + model finetunes here (retrieve within-group → splice into prefix → predict), + learning the *in-context mechanism*: + `move_apple_to_the_right`, `move_box_to_the_left`, `move_cup_to_the_left`, + `move_duck_to_the_left`, `move_orange_to_the_right`, `move_pan_to_the_left`, + `move_strawberry_to_the_right`, `move_the_coffee_pod_to_the_right`, + `move_the_cup_to_the_right`, `move_pot_to_the_left`, + `pick_up_a_coffee_pod_from_the_container_and_put_it_in_the_bowl`. +- **Eval** — `collected_demos/`, **9 NEW tasks**, 182 demos, ~10.3k frames: + `move_the_idli_plate_to_the_right`, `pick_up_the_poke_ball_and_put_it_in_the_tray`, + `move_the_squeegee_to_the_right_and_try_to_drag_it`, + `open_the_door_of_the_bottom_shelf`, `pick_up_the_bagel_and_put_it_in_the_toaster`, + `pick_up_the_bagel_and_put_it_in_the_toaster_other_side`, + `push_the_lever_on_the_toaster`, `move_the_idli_plate_to_the_sink`, + `use_the_squeegee_to_clean_the_counter_and_push_everything_into_the_sink`. + (The `-5demos` / `-10demos` idli subset dirs are dropped so each task counts once.) + An eval query retrieves its k demos from **its own new task's** bank (within-group + leave-one-out). + +> Earlier within-task splits (holding out *episodes*, or a few *training* tasks) were +> discarded: the model had already seen the task, so the floor was strong and "does +> retrieval help on a **new** task" was never actually tested. + +### 2 · Eval conditions + the plain-finetune baseline + +Two kinds of comparison, both scored on the new tasks under one shared per-batch seed +(so deltas isolate the conditioning, not the sampling RNG): + +**(a) The RICL checkpoint at four inference conditions** — same weights, different +demos in the prompt: + +| condition | demos shown | isolates | +|---|---|---| +| **retrieval** | k **nearest** (kNN) from the query's own new task | — | +| **random-within** | k **random** from the query's **own** task | does kNN *ranking* matter, given the right task? | +| **random-bank** | k **random** from **all** new tasks pooled | does the *right task* matter at all? | +| **floor** | none (k=0, clean) | does any in-context demo help? | + +**(b) A separately-trained plain finetune** (`--no-incontext`) — a vanilla pi0.5 +finetune on the same 11 train tasks whose weights **never saw a retrieved demo**. This +is the honest "what does plain finetuning give you" number that condition (a)'s k=0 +*floor cannot provide* — the floor reuses the RICL weights (trained *with* the +mechanism) denied demos at eval. Same val collate, so it's scored head-to-head. + +### 3 · What makes retrieval actually work (three pieces from `ricl_openpi`) + +A direct comparison against `external/ricl_openpi` (`pi0_fast_droid_ricl`: +`action_horizon=15, num_retrieved_observations=4, use_action_interpolation=True`) +surfaced three things the pipeline lacked. Without them retrieval merely ties random; +with them it beats random *and* floor. + +- **#1 Full retrieved action chunk** — was 1 step (near-zero, indistinguishable across + kNN vs random); now the bank provider + collate carry the full `action_horizon` + chunk (`--retrieved-action-steps`, default = full). Worst-case k=4 prompt ≈ 2150 + tok → `--max-token-len 2304`. +- **#4 Per-demo exemplar prompt** — was one `Demos: …` blob; now each demo is a + self-contained `Task: …, State: …;\nAction: …|` exemplar prepended before the query + block (demos-then-query order), mirroring ricl_openpi's per-observation blocks. + Prompt structure only, no attention-mask surgery; shared with the eva path + (`conditioning.py` / `pi_ricl.py`). +- **#2 Distance-weighted action interpolation** — **inference-only**, not trained-in. + At sampling time, blend the predicted action toward the nearest demo's chunk: + `a ← w·a_nn + (1−w)·a_model`, `w = exp(−λ·dist/dist_max)` (the continuous-flow analog + of ricl_openpi's logit interpolation). Distances are normalized by the **batch-max + kNN distance**, so the original's λ=10 is *inactive* here (w≈0) — the operating point + is **λ≈1**. (`build_random_neighbor_cache` also fixed to store the true embedding + distance so random demos don't get a fake interpolation weight.) + +### 4 · The metric: sampled-action MSE, **not** flow loss + +The flow-matching (velocity-matching) loss is the wrong yardstick — it's insensitive +to the difference the *integrated* action reveals, showing retrieval ≈ random +(retrieval−random ≈ −0.001) even when the real action error shows a clear gap. +Routine validation logs flow loss (cheap); **judge RICL on the sampled-action MSE** +(`--compute-sampled`, the slow `sample_actions` path the original repo reports). +`--flow-samples N` averages N noise/time draws — a *single* draw has noise as large as +the retrieval−floor gap and produced two wrong early reads (a phantom "overfits at +step 500" and a phantom "similarity edge shrinks"). + +--- + +## Results + +Run `fullchunk_v1` (train on the 11 tasks, eval on the 9 new tasks; 2500 steps, bs2, +k4, ah15, lr 3e-5) vs the `baseline_noicl` plain finetune (**identical config**, +`--no-incontext`, same 2500/bs2/seed42). **Both `last.ckpt`s were scored in one matched +validate pass — same 25 val batches, same frames, `--flow-samples 8` — so the +head-to-head is strictly apples-to-apples** (`ricl_match_validate` / `baseline_noicl_validate`). +Sampled-action MSE on the new tasks (lower = better): + +| model / condition | no-interp | interp λ=1 | +|---|--:|--:| +| **RICL — retrieval (nearest)** | **0.171** | **0.126** ✅ best | +| RICL — random-within (same-task random) | 0.168 | 0.137 | +| RICL — random-bank (cross-task) | 0.165 | 0.160 | +| RICL — floor (k=0) | 0.353 | — | +| **plain finetune — floor (no demos, its natural mode)** | **0.224** | — | +| plain finetune — *with* retrieved demos | 0.308 | 0.170 | + +**What it shows.** + +1. **The in-context architecture beats a plain finetune — the headline.** Every RICL + demo condition (0.165–0.171, or 0.126–0.160 with interpolation) beats the plain + finetune's *best* new-task number — its no-demo floor, **0.224**. RICL retrieval is + **−24%** (0.171 vs 0.224); with interpolation λ=1, **−44%** (0.126 vs 0.224). The + weights never trained on these tasks, so the win comes from the in-context machinery. +2. **It's the architecture, not just inference-time demo access.** Feeding the *same* + retrieved demos to the plain finetune makes it **worse** (0.308 vs its 0.224 floor): + weights that never learned to read in-context demos just see distribution shift. The + 0.308 → 0.171 gap between the two models *given identical demos* is the value of + training with the mechanism. +3. **Why the separate baseline mattered (the gap the k=0 floor hid).** The plain + finetune is *better* at bare zero-context than the RICL model's own k=0 floor + (**0.224 vs 0.353**) — it spent no capacity learning to lean on demos, so its + no-demo prediction is stronger. So the RICL-floor was a *flattering*, not honest, + baseline; against the true plain finetune RICL still wins, but the comparison is now + fair. RICL uses retrieval to go below the plain finetune's 0.224 ceiling. +4. **Retrieval ≥ random, amplified by interpolation.** On this 25-batch subset the + model's raw predictions rank retrieval ≈ random (0.171/0.168/0.165 — a tie within + noise, as the doc warns for small deltas); interpolation (#2, λ≈1) separates them + (retrieval 0.126 < random-within 0.137 < random-bank 0.160), because the nearest + neighbor sits closer and earns a larger blend weight — distance-weighting working as + designed. + +> **Originally-published headline (15 val batches), for the record.** The first +> `fullchunk_v1` write-up scored RICL on 15 batches: retrieval **0.137** (interp λ=1 +> **0.094**), random-within 0.144, random-bank 0.150, floor 0.246 — i.e. retrieval +> cleanly beat both random and floor there. The matched 25-batch pass above adds 10 +> harder batches (raising every absolute level) but is the *only* like-for-like +> comparison to the baseline, so it's the authoritative head-to-head; the plain-finetune +> win holds under both. +> +> **Earlier (weaker) configuration.** Before #1/#4/#2, retrieval beat the floor by only +> ~13–16% sampled MSE and merely *tied* random. The full chunk + exemplar prompt + +> interpolation are what turned the similarity signal from negligible into usable. + +Reproduce: `--validate-only --compute-sampled --interp-lamdas "0.5,1,2,5,10"` on each +`last.ckpt`; per-condition metrics in +`outputs/droid_train/{ricl_match_validate,baseline_noicl_validate}/version_0/metrics.csv` +(baseline training trajectory in `baseline_noicl/version_0/metrics.csv`). + +--- + +## Files + +- `droid_data.py` — `DroidCorpus` (lazy per-array npz loader), `DroidQueryDataset`, + `make_droid_bank_provider`, `build_droid_retrieval_cache` (within-group LOO kNN over + the pre-pooled `top_image_embeddings`), `build_random_neighbor_cache` (within/bank + controls), `DroidNormStats`/`Passthrough32`. CLI: `--build-cache`. +- `droid_eval.py` — `DroidRiclEval` (the four conditions vs a *true* zero-context + floor + interpolation) and `DroidRiclModelWrapper`. +- `scripts/train_droid_ricl.py` — `--stage cpu` (data/collate/prompt/token checks, no + model) and `--stage full` (PIRicl + ModelWrapper + Trainer fit). Key flags: + `--eval-root` (selects the new-task split), `--no-incontext` (plain-finetune + baseline), `--retrieved-action-steps`, `--interp-lamdas`, `--max-token-len`. +- `scripts/*.sbatch` (`baseline_noicl.sbatch`, etc.); `tests/droid_data_test.py`. + +## Key design decisions + +- **8→32 mapping.** DROID is single-arm 8-D; the model works in pi0.5's shared 32-D + space. The query's continuous state/action are quantile-normalized to [-1,1] and + slot-filled into dims 0..7 (no-op `Passthrough32` keeps them 32-D). Retrieved demos' + state/action are **text-only** (the real 8 dims) — encoding the 24 pad-dims ballooned + the prompt to ~1200 tokens; 8-D keeps it ~334. +- **Clean floor (strip before tokenize).** `process_batch_for_training` splices + tokenizes + the demos, so stripping `ricl_*` *after* leaves demo text baked into the prompt. The + eval strips `ricl_*` from the **raw** batch and *then* processes each condition → + genuine k=0 floor. Now also fixed in production `PIRiclEval` (`wants_raw_batch`). +- **Retrieval.** Within new-task LOO over `top_image_embeddings` (ricl_openpi retrieves + on the top view), raw-L2, k=4. + +## Run + +EgoVerse2's own venv lacks openpi; use the sibling env + this repo on the path +(`source /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/activate; +export PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2`). + +```bash +EVAL=/storage/project/r-dxu345-0/rco3/ricl_openpi/preprocessing/collected_demos + +# 1) build the train-task retrieval cache once (GPU node; torch.cdist for distances) +python -u egomimic/ricl/droid_data.py --build-cache --k 4 \ + --out egomimic/ricl/outputs/droid_cache + +# 2) train + new-task eval (compile ON for the real run). Drop --no-incontext for RICL. +python -u egomimic/ricl/scripts/train_droid_ricl.py --stage full [--no-incontext] \ + --cache-dir egomimic/ricl/outputs/droid_cache --eval-root "$EVAL" --groups 0 \ + --max-steps 2500 --warmup-steps 200 --lr 3e-5 --seed 42 \ + --action-horizon 15 --k 4 --max-token-len 2304 --batch-size 2 \ + --val-every 250 --limit-val-batches 25 --ckpt-every 1000 --flow-samples 8 --name + +# 3) refined eval of a finished checkpoint, no retraining (eager via TORCH_COMPILE_DISABLE): +TORCH_COMPILE_DISABLE=1 python -u egomimic/ricl/scripts/train_droid_ricl.py --stage full \ + --validate-only --resume-from egomimic/ricl/outputs/droid_train//version_0/checkpoints/last.ckpt \ + --eval-root "$EVAL" --groups 0 --action-horizon 15 --k 4 --max-token-len 2304 \ + --flow-samples 8 --compute-sampled --interp-lamdas "0.5,1,2,5,10" \ + --batch-size 8 --limit-val-batches 25 --name _validate +``` + +> **Always keep checkpoints** — best (by `Valid/action_loss`) + `last.ckpt` every +> `--ckpt-every` steps, so new eval conditions are added by `--resume-from` not retrain. + +## Gotchas + +- **Short / eval-only runs: `TORCH_COMPILE_DISABLE=1`.** `--compute-sampled` triggers a + `torch.compile` max-autotune warmup (minutes on the first call) — pure overhead for a + one-shot eval. Eager skips it. Leave compile ON for real training. +- **Use `sbatch`, not interactive `salloc`, for unattended jobs.** On the shared + `inferno` `gpu-h200` queue salloc allocations get preempted mid-run; a wedged `srun` + hangs at *"Requested nodes are busy"* (clear with `scancel .`, relaunch + `srun --overlap`). +- **Don't build the retrieval cache on the login node.** numpy 2.4.x BLAS here is ~0.4 + GFLOP/s (one 49152-D matmul = 13.7 s) and a cKDTree in 49152-D is pathological, so + distances use `torch.cdist` (per-group brute force) on a GPU/many-core node. +- `processed_demo.npz` is uncompressed but `np.load(...)[key]` still materializes the + whole array — load lazily per-key so the cache build never decompresses images. Skip + dot-dirs (`.git/`) in group discovery. +- The `--stage cpu` path asserts `ricl_*` keys exist, so it's incompatible with + `--no-incontext`; smoke-test that flag with a short `--stage full` run instead. diff --git a/egomimic/ricl/README.md b/egomimic/ricl/README.md new file mode 100644 index 000000000..7631a3b09 --- /dev/null +++ b/egomimic/ricl/README.md @@ -0,0 +1,128 @@ +# RICL on EgoVerse pi0.5 — retrieval-based in-context learning + +Adds **retrieval-based in-context learning (RICL)** to EgoVerse's own **pi0.5**, +reusing the existing zarr / Cartesian / `trainHydra` / `PI`-algo stack plus a +DINOv2 embedding pass. +For each query observation we retrieve the *k* nearest demonstrations and inject +their `(image, state, action)` into the policy's prefix so it can imitate a task +it was never trained on. **Cross-embodiment**: retrieval **bank = human (aria)**, +**query = robot (eva)**, scoped by `egomimic/scripts/human_robot_pairs.json`. + +`ricl_openpi` (pi0-FAST) is an architecture **reference only** — this is a native +pi0.5 (flow) implementation. + +## How it works (no model surgery) + +The flow pi0.5 `PI0Pytorch.embed_prefix(images, img_masks, lang_tokens, lang_masks)` +already (a) iterates over **all** images in the observation and (b) embeds the full +`tokenized_prompt`, with the entire prefix attended **bidirectionally**. EgoVerse +already feeds a variable image set to that same model (eva = 3 real cams; aria = 1 +real + 2 masked duplicates). So RICL is purely *extending the inputs*: + +1. **Retrieved images** → appended as extra entries in the observation `images` + dict (`retrieved_{i}_base_0_rgb`); the model embeds them as prefix vision tokens. +2. **Retrieved state + action** → discretized with the *same* binning as the + pi0.5 State block (`PI._discretize_state_for_sample`) and spliced into the + prompt text (before the `;\nAction:` anchor). + +`PIRicl` (a thin `PI` subclass) does only this; `PI0Pytorch` is unchanged. + +Locked design (see `/Users/ryan/.claude/plans/async-sleeping-marble.md`): +finetune from the **openpi pi0.5 base**; retrieval representation = **DINOv2** +(`torch.hub dinov2_vitb14`, replicating ricl_openpi's encoder exactly) over +`base_0_rgb`, pooled to the 64-super-patch descriptor (8×8 grid, 49152-d, raw +L2 — ricl_openpi's `EMBEDDING_TYPE='64PATCHES'`); **per-observation, k≈4**; +retrieved actions as **discrete tokens**; eval = **D0 eva→eva sanity → D1 +aria→eva** (Tier-2 pairs). + +## Files + +| File | Role | +|------|------| +| `egomimic/ricl/retrieval.py` | DINOv2 pooling + cKDTree index + per-query top-k cache; pairs→task-groups; CLI + `--smoke`. | +| `egomimic/ricl/conditioning.py` | The prefix surgery: discretize retrieved state/action → prompt text; append retrieved images to the obs dict. (import-light) | +| `egomimic/ricl/data.py` | `RiclQueryDataset` (surfaces `frame_idx`), `ZarrBankFrameProvider`, `build_ricl_collate` (attaches `ricl_*` batch keys). | +| `egomimic/ricl/metrics.py` | Cartesian MSE/L1, gripper accuracy, retrieval-vs-floor comparison. | +| `egomimic/algo/pi_ricl.py` | `PIRicl(PI)` — three small overrides wire the conditioning in. | +| `egomimic/eval/pi_ricl_eval.py` | `PIRiclEval` — retrieval (k) vs zero-context floor (k=0) on held-out eva. | +| `egomimic/pl_utils/pl_data_utils.py` | `+ RiclDataModuleWrapper`. | +| `egomimic/hydra_configs/model/pi0.5_ricl.yaml` | `_target_: PIRicl`, k=4, `max_token_len: 1280`, openpi base. | +| `egomimic/hydra_configs/data/cotrain_pi_ricl.yaml` | `_target_: RiclDataModuleWrapper`, eva query + aria bank. | +| `egomimic/hydra_configs/evaluator/eval_pi_ricl.yaml` | `_target_: PIRiclEval`. | +| `egomimic/ricl/tests/{conditioning,data,metrics}_test.py` | CPU unit tests (torch+numpy, no openpi/data). | +| `egomimic/ricl/scripts/**` | Runnable utilities (build/extract/validate/viz, DROID trainer, sbatch). | + +## Cluster runbook + +**0. Prereqs.** The full `emimic` env (with `openpi`, the pi0.5 base checkpoint at +`pytorch_weight_path`, and R2 access). `human_robot_pairs.json` is in the repo. + +**1. DINOv2-embed `base_0_rgb` for bank + query episodes.** Reuse the in-repo +pipeline to write `observations.embeddings.dinov2.front_1` (patch tokens, +`(T, 256, 768)`) into each episode's zarr: +```bash +python egomimic/scripts/embedding_process/zarr_embedding.py \ + --transform dinov2 \ + --dataset-config-path egomimic/hydra_configs/data/cotrain_pi_ricl.yaml \ + --input-keys observations.images.front_1 \ + --output-keys observations.embeddings.dinov2.front_1 \ + --batch-size 64 --device cuda +``` + +**2. Build the retrieval cache** (pools the patch tokens into the 64-super-patch +descriptor, builds a cKDTree per task group, caches per-query top-k). +`--zarr-root` is a `{hash}` template to each episode's zarr store: +```bash +# D1 cross-embodiment (bank = aria): one group per aria scene, queries = matched eva +python -m egomimic.ricl.retrieval --mode cross_similar -k 4 \ + --zarr-root '/path/to/zarr/{hash}.zarr' --out ricl_cache_cross_k4 +# D0 within-embodiment sanity (bank = eva) +python -m egomimic.ricl.retrieval --mode within_alignment -k 4 \ + --zarr-root '/path/to/zarr/{hash}.zarr' --out ricl_cache_within_k4 +``` +Sanity-check neighbors against `shared_objects` in `human_robot_pairs.json`. + +**3. Finetune pi0.5 with retrieval** (from the openpi base). Use +`trainer=ddp_pi_ricl callbacks=checkpoints_ricl` — step-based validation (every 250 +steps) + best-by-`Valid/action_loss` + `last.ckpt`. Plain `ddp_pi` validates only +every 200 epochs and `callbacks=checkpoints` tracks no monitor, so neither the +val-loss curve nor the best operating point is captured (the DROID verification +found new-task val loss bottoms early, ~step 500, then overfits). `trainer.max_steps` +defaults to 6000 — override per run. +```bash +python -m egomimic.trainHydra \ + model=pi0.5_ricl data=cotrain_pi_ricl evaluator=eval_pi_ricl \ + trainer=ddp_pi_ricl callbacks=checkpoints_ricl \ + data.retrieval_cache_dir=ricl_cache_cross_k4 \ + data.bank_zarr_root='/path/to/zarr/{hash}.zarr' +# D0 sanity uses bank=eva: also override the bank converter: +# data.retrieval_cache_dir=ricl_cache_within_k4 \ +# data.bank_converter._target_=egomimic.utils.action_utils.RobotBimanualCartesianEuler +``` +Hold out the eval task from the eva training filter so the cross-embodiment claim +is meaningful (edit the eva filter in `data=cotrain_pi_ricl`, inherited from `eva_pi`). + +**4. Evaluate (retrieval vs zero-context floor).** `eval_pi_ricl` reports +`RICL/retrieval_*`, `RICL/floor_*`, `RICL/delta_*`, `RICL/retrieval_helps`. +**D0 (eva→eva) must beat its floor before trusting D1 (aria→eva).** + +## Design notes / knobs + +- **k & token budget**: k=4 retrieved images add ~1024 prefix vision tokens; + retrieved state+action add text. The text block is encoded at the **full 32-D** + openpi layout (`state_dim 32`, `action_dim 32` in `cotrain_pi_ricl.yaml`) so the + bins stay in pi0.5's pretrained distribution — not compacted. That makes the k=4 + worst case ~1150 tokens, so `max_token_len`/`tokenizer_max_length` is 1280. + Truncation drops the trailing `;\nAction:` anchor, so the budget must always + exceed the worst case: re-check with + `python -m egomimic.ricl.scripts.check_prompt_budget` (tokenizes the real + worst-case prompt; exits non-zero if it would overflow) whenever you change + `num_retrieved_observations`, `retrieved_action_steps`, or `max_token_len`. +- **Shared 32-D action space**: eva (14-D) and aria (12-D, no gripper→slot 0) are + both mapped to the same 32-D layout by the converters, so retrieved-aria and + query-eva bins are directly comparable (no manual padding). +- **Retrieval view**: `base_0_rgb` only (the single view both embodiments share; + eva exterior vs aria ego — a real domain gap). If DINOv2 distances saturate, + add per-task distance normalization (cf. ricl_openpi `max_distance.json`). +- **`num_workers`**: the collate closure holds the cache + a lazily-opened + per-worker zarr handle; fine under fork (Linux), but watch worker memory. diff --git a/egomimic/ricl/__init__.py b/egomimic/ricl/__init__.py new file mode 100644 index 000000000..edca80cbc --- /dev/null +++ b/egomimic/ricl/__init__.py @@ -0,0 +1,16 @@ +"""EgoVerse-native RICL (Retrieval-based In-Context Learning) on pi0.5. + +This package adds *retrieval-based in-context learning* to EgoVerse's own pi0.5 +policy, reusing the existing zarr/Cartesian/trainHydra/PI-algo stack. The idea +(from ``ricl_openpi``, used here as an architecture reference only): for each +query observation, retrieve the k nearest demonstrations and inject their +(image, state, action) into the policy's prefix so it can imitate a task it was +never trained on. Cross-embodiment = retrieval **bank = human (aria)**, +**query = robot (eva)**, scoped by ``egomimic/scripts/human_robot_pairs.json``. + +Modules: +- ``retrieval``: build the kNN index (DINOv3 over ``base_0_rgb`` -> cKDTree) and + cache, per query frame, the top-k bank refs. (P1) + +See ``egomimic/ricl/README.md`` for the M4-vs-cluster split and the runbook. +""" diff --git a/egomimic/ricl/conditioning.py b/egomimic/ricl/conditioning.py new file mode 100644 index 000000000..e71a85579 --- /dev/null +++ b/egomimic/ricl/conditioning.py @@ -0,0 +1,233 @@ +"""RICL prefix-conditioning helpers (import-light: torch + numpy only). + +These functions implement the *only* real surgery RICL needs on pi0.5. Per P0, +``PI0Pytorch.embed_prefix`` iterates over **all** images in the observation and +embeds the full ``tokenized_prompt``, with the entire prefix attended +bidirectionally. So injecting k retrieved demonstrations is purely a matter of: + +1. ``augment_images_with_retrieved`` - append the k retrieved ``base_0_rgb`` + frames as extra entries in the observation's ``images``/``image_masks`` dicts + (the model embeds them into the prefix automatically), and +2. ``build_retrieved_prompt_block`` - turn each retrieved demo's (state, action) + into discretized **text tokens** spliced into the prompt, reusing the same + binning pi0.5 already uses for the State block (``PI._discretize_state_for_sample``). + +Kept free of any ``openpi`` / ``egomimic.algo`` import so the logic is unit-testable +on a CPU-only box (see ``egomimic/ricl/tests/conditioning_test.py``). The pi0.5 image +resize (``openpi.shared.image_tools.resize_with_pad_torch``) is imported lazily and +falls back to ``F.interpolate`` when openpi is unavailable. +""" + +from __future__ import annotations + +import numpy as np +import torch + +# The pi0.5 generation anchor appended by ``PI._build_prompts`` (keep in sync). +PI05_ANCHOR = ";\nAction: " + + +# --------------------------------------------------------------------------- +# Discretization (mirrors PI._discretize_state_for_sample binning exactly) +# --------------------------------------------------------------------------- + + +def _bin_edges(num_bins: int, lo: float = -1.0, hi: float = 1.0) -> np.ndarray: + # Matches pi.py: np.linspace(lo, hi, num_bins + 1)[:-1] + return np.linspace(lo, hi, num_bins + 1)[:-1] + + +def discretize_vector( + v, num_bins: int = 256, lo: float = -1.0, hi: float = 1.0 +) -> list[int]: + """Clip a vector to [lo, hi] and digitize into ``num_bins`` bins. + + Accepts a torch.Tensor or array-like; returns a flat list[int] of bin ids, + identical to the State-block discretization used in ``PI._build_prompts``. + """ + if isinstance(v, torch.Tensor): + v = v.detach().cpu().numpy() + v = np.asarray(v, dtype=np.float32).reshape(-1) + v = np.clip(v, lo, hi) + bins = np.digitize(v, bins=_bin_edges(num_bins, lo, hi)) - 1 + return bins.astype(int).tolist() + + +def build_retrieved_prompt_block( + states, + actions, + valid=None, + *, + prompt: str = "", + num_bins: int = 256, + action_steps: int = 1, +) -> str: + """Build in-context demo *exemplars* for one sample's k retrieved demos. + + Each demo is rendered as a self-contained ``State -> Action`` exemplar that + mirrors the pi0.5 query block format, so the model sees a sequence of + demonstrations followed by the query (prompt-structure RICL, after the + original ``ricl_openpi`` per-observation blocks — but flattened into one text + prefix, *no* attention-mask surgery):: + + 'Task: {prompt}, State: {s};\\nAction: {a}|' + + The action carries the FULL retrieved chunk (``action_steps`` leading steps, + flattened over (step, dim)) so the discriminative *trajectory* — not just one + near-zero step — reaches the model. That is what lets a kNN-retrieved demo + differ from a random one; encoding a single step throws the signal away. + + Args: + states: ``(k, Ds)`` retrieved proprio (already in the query's normalized + convention so bins are comparable). + actions: ``(k, Ha, Da)`` or ``(k, Da)`` retrieved actions (same norm). + valid: ``(k,)`` bool/0-1 mask; falsy entries are skipped (padding). + prompt: the demos' task text (within-group retrieval -> the query's task). + action_steps: how many leading action steps to encode per demo. + + Returns: + e.g. ``"Task: idli, State: 12 200 ...;\\nAction: 130 90 ...| Task: idli, ..."`` + or ``""`` when no demo is valid. + """ + states = _to_numpy(states) + actions = _to_numpy(actions) + k = states.shape[0] + if valid is None: + valid = np.ones(k, dtype=bool) + else: + valid = _to_numpy(valid).reshape(-1).astype(bool) + + if actions.ndim == 3: # (k, Ha, Da) -> keep leading `action_steps`, flatten + actions = actions[:, :action_steps, :].reshape(k, -1) + elif actions.ndim == 2: # (k, Da) + pass + else: + raise ValueError(f"actions must be (k,Ha,Da) or (k,Da), got {actions.shape}") + + head = f"Task: {prompt}" if prompt else "Demo" + pieces = [] + for i in range(k): + if not valid[i]: + continue + s = " ".join(map(str, discretize_vector(states[i], num_bins))) + a = " ".join(map(str, discretize_vector(actions[i], num_bins))) + pieces.append(f"{head}, State: {s}{PI05_ANCHOR}{a}|") + return " ".join(pieces) + + +def splice_retrieved_into_prompt(prompt: str, retrieved_block: str) -> str: + """Prepend the retrieved demo exemplars in front of the query block. + + In-context learning order is *demonstrations then query*: the demos go first, + then the full query block (which already ends with the pi0.5 anchor + ``;\\nAction: ``). The anchor must stay terminal to cue generation, so we never + touch the query's tail — we only prepend. Empty block -> passthrough. + """ + if not retrieved_block: + return prompt + return f"{retrieved_block} {prompt}" + + +# --------------------------------------------------------------------------- +# Image-dict augmentation +# --------------------------------------------------------------------------- + + +def _to_numpy(x) -> np.ndarray: + if isinstance(x, torch.Tensor): + return x.detach().cpu().numpy() + return np.asarray(x) + + +def _ensure_bchw(t: torch.Tensor) -> torch.Tensor: + if t.ndim != 4: + raise ValueError(f"expected 4D image, got {tuple(t.shape)}") + if t.shape[1] in (1, 3): + return t + if t.shape[-1] in (1, 3): + return t.permute(0, 3, 1, 2).contiguous() + return t + + +def _to_minus1_1(img: torch.Tensor) -> torch.Tensor: + if img.dtype in (torch.uint8, torch.int8, torch.int16, torch.int32, torch.int64): + img = img.to(torch.float32) / 255.0 + else: + img = torch.clamp(img.to(torch.float32), 0.0, 1.0) + return img * 2.0 - 1.0 + + +def _resize_to(img: torch.Tensor, hw) -> torch.Tensor: + if tuple(img.shape[-2:]) == tuple(hw): + return img + try: # match the base path exactly when openpi is present + from openpi.shared.image_tools import resize_with_pad_torch + + return resize_with_pad_torch(img, *hw) + except Exception: + return torch.nn.functional.interpolate( + img, size=tuple(hw), mode="bilinear", align_corners=False + ) + + +def augment_images_with_retrieved( + images: dict, + image_masks: dict, + retrieved_images: torch.Tensor, + retrieved_mask: torch.Tensor | None = None, + *, + image_resolution=(224, 224), + base_key: str = "base_0_rgb", + key_prefix: str = "retrieved", +) -> tuple[dict, dict]: + """Append k retrieved ``base_0_rgb`` frames to the observation image dicts. + + Args: + images / image_masks: the query observation dicts (mutated in place). + retrieved_images: ``(B, k, C, H, W)`` or ``(B, k, H, W, C)``. + retrieved_mask: ``(B, k)`` bool (valid neighbor). Defaults to all-True. + + Returns the (images, image_masks) dicts with ``k`` new keys + ``{key_prefix}_{i}_{base_key}`` appended (so the model embeds them into the + bidirectional prefix). Query camera entries are left untouched / first, which + preserves the pretrained model's camera-slot priors. + """ + if retrieved_images.ndim != 5: + raise ValueError( + f"retrieved_images must be (B,k,C,H,W) or (B,k,H,W,C), got {tuple(retrieved_images.shape)}" + ) + B, k = retrieved_images.shape[0], retrieved_images.shape[1] + device = next(iter(images.values())).device if images else retrieved_images.device + for i in range(k): + img_i = _ensure_bchw(retrieved_images[:, i].to(device)) + img_i = _to_minus1_1(img_i) + img_i = _resize_to(img_i, image_resolution) + key = f"{key_prefix}_{i}_{base_key}" + images[key] = img_i + if retrieved_mask is not None: + mask_i = retrieved_mask[:, i].to(device=device, dtype=torch.bool) + else: + mask_i = torch.ones(B, dtype=torch.bool, device=device) + image_masks[key] = mask_i + return images, image_masks + + +def estimate_prompt_tokens( + num_retrieved: int, + action_steps: int, + state_dim: int = 32, + action_dim: int = 32, + base_prompt_tokens: int = 60, +) -> int: + """Rough ballpark of prompt tokens so configs can size ``max_token_len``. + + NOTE: a loose under-estimate, not an upper bound — it assumes ~1.3 tokens per + discretized number, but 3-digit bin ids cost ~3-4 PaliGemma tokens each, so the + real worst case runs ~2.5x higher (k=4 @ 32/32 dims: this returns ~416 vs ~1147 + measured). Used only for a soft warning in the algo; for the authoritative + check tokenize the real worst-case prompt with + ``egomimic/ricl/scripts/check_prompt_budget.py``. + """ + per_demo_numbers = state_dim + action_steps * action_dim + per_demo_tokens = int(1.3 * per_demo_numbers) + 6 # + label/separators + return base_prompt_tokens + num_retrieved * per_demo_tokens diff --git a/egomimic/ricl/data.py b/egomimic/ricl/data.py new file mode 100644 index 000000000..a850e1c9f --- /dev/null +++ b/egomimic/ricl/data.py @@ -0,0 +1,393 @@ +"""RICL data layer: attach k retrieved (image, state, action) blocks per query. (P3) + +Three pieces (kept import-light: torch + numpy; zarr / pl imported lazily): + +- ``RiclQueryDataset``: thin wrapper over a query ``MultiDataset`` that surfaces + ``frame_idx`` on each sample (derived from ``MultiDataset.index_map``), since + the stock ``ZarrDataset.__getitem__`` returns ``episode_hash`` but not the + frame index — and the retrieval cache is keyed by ``(episode_hash, frame_idx)``. +- ``BankFrameProvider`` / ``ZarrBankFrameProvider``: load a single bank frame's + (image, state, action) by ``(episode_hash, frame_idx)``, normalized into the + query's 32-D convention (so retrieved bins are comparable to the query State). +- ``build_ricl_collate``: wrap the base collate; for each query sample look up its + top-k neighbors (``RetrievalCache``) and gather their blocks via the provider + into batch keys ``ricl_retrieved_{images,state,action,mask,dist}`` consumed by + :class:`egomimic.algo.pi_ricl.PIRicl`. + +Samples with no cache entry (or fewer than k neighbors) are zero-padded and +mask=False — i.e. the model sees k slots but the invalid ones are masked out and +omitted from the prompt, gracefully degrading toward the zero-context floor. +""" + +from __future__ import annotations + +import json +import logging +import os +from typing import Callable, Protocol + +import numpy as np +import torch +from torch.utils.data import Dataset + +logger = logging.getLogger(__name__) + + +# --------------------------------------------------------------------------- +# Bank norm stats: load + apply (mirrors MultiDataset's stats machinery) +# --------------------------------------------------------------------------- + + +def load_bank_norm_stats(path: str, embodiment_id: int) -> dict: + """Load one embodiment's per-key stats from a ``norm_stats.json``. + + ``path`` may be the json file itself or a directory containing + ``norm_stats.json`` (possibly under a ``norm_stats/`` subdir — the layout + ``MultiDataset.cache_stats`` writes). Returns + ``{key_name: {stat_name: np.ndarray}}`` for ``payload["stats"][str(id)]``, + matching what ``MultiDataset.infer_norm_from_dataset(precomputed_norm_path=...)`` + loads for the query path — point both at the SAME file so retrieved bins + are comparable to the query State block. + """ + p = path + if os.path.isdir(p): + for cand in ("norm_stats.json", os.path.join("norm_stats", "norm_stats.json")): + c = os.path.join(p, cand) + if os.path.isfile(c): + p = c + break + if not os.path.isfile(p): + raise FileNotFoundError(f"bank norm stats not found at {path!r}") + with open(p) as f: + payload = json.load(f) + stats = payload.get("stats", {}).get(str(int(embodiment_id))) + if not stats: + raise ValueError( + f"{p} has no stats for embodiment {embodiment_id} " + f"(available: {sorted(payload.get('stats', {}).keys())})" + ) + return { + key: {name: np.asarray(arr, dtype=np.float32) for name, arr in d.items()} + for key, d in stats.items() + } + + +def normalize_with_stats(arr, stats: dict, norm_mode: str = "quantile") -> np.ndarray: + """Numpy mirror of ``MultiDataset._apply_norm_one`` (same formulas/epsilon). + + Stats arrays may carry more leading rows than ``arr``: action stats are + computed per chunk position with shape ``(chunk, dim)`` while a retrieved + action keeps only the first ``action_horizon`` steps — slice the leading + axis so retrieved step ``t`` is normalized with stats row ``t``, exactly as + the query path normalizes the full chunk. + """ + a = np.asarray(arr, dtype=np.float32) + + def _stat(name: str) -> np.ndarray: + s = np.asarray(stats[name], dtype=np.float32) + # Slice extra leading (chunk) rows only for >=2-D values — for 1-D the + # single axis is the feature axis and any mismatch is an error. + if a.ndim >= 2 and s.ndim == a.ndim and s.shape[0] > a.shape[0]: + s = s[: a.shape[0]] + if s.shape != a.shape and s.shape != a.shape[-s.ndim :]: + raise ValueError( + f"bank norm stats shape {s.shape} incompatible with value shape " + f"{a.shape} — stats were computed over a different representation" + ) + return s + + if norm_mode == "zscore": + return (a - _stat("mean")) / (_stat("std") + 1e-6) + if norm_mode == "minmax": + mn, mx = _stat("min"), _stat("max") + return 2.0 * ((a - mn) / (mx - mn + 1e-6)) - 1.0 + if norm_mode == "quantile": + q1, q99 = _stat("quantile_1"), _stat("quantile_99") + return 2.0 * ((a - q1) / (q99 - q1 + 1e-6)) - 1.0 + raise ValueError(f"Invalid normalization mode: {norm_mode}") + + +# --------------------------------------------------------------------------- +# Query dataset wrapper: surface frame_idx +# --------------------------------------------------------------------------- + + +class RiclQueryDataset(Dataset): + """Wrap a query ``MultiDataset`` so each sample carries ``frame_idx``. + + ``MultiDataset.index_map[global_idx] -> (dataset_name, local_idx)`` where + ``local_idx`` is the start frame within the episode (== the value passed to + the per-episode ``ZarrDataset.__getitem__``). We read it for the requested + global index and stamp it on the sample. ``episode_hash`` (authoritative) is + already set by the base dataset; ``frame_idx`` is best-effort (a rare + bad-frame fallback inside the base may shift the actual frame, in which case + the cache lookup is clamped — acceptable for per-observation retrieval). + """ + + def __init__(self, base: Dataset): + self.base = base + + def __len__(self) -> int: + return len(self.base) + + def __getitem__(self, idx: int): + sample = self.base[idx] + if "frame_idx" not in sample: + try: + _, local_idx = self.base.index_map[idx] + sample["frame_idx"] = int(local_idx) + except Exception: + sample["frame_idx"] = 0 + return sample + + def __getattr__(self, name: str): + # Delegate everything else (e.g. set_norm_stats_from and other + # MultiDataset hooks trainHydra calls) to the wrapped base dataset. + # Guard ``base`` to avoid infinite recursion before __init__ sets it. + if name == "base": + raise AttributeError(name) + return getattr(self.base, name) + + +# --------------------------------------------------------------------------- +# Bank frame provider +# --------------------------------------------------------------------------- + + +class BankFrameProvider(Protocol): + """Loads one bank frame's retrieved block, normalized to the query convention.""" + + def __call__(self, episode_hash: str, frame_idx: int) -> dict: + """Return ``{"image": (C,H,W) or (H,W,C), "state": (Ds,), "action": (Ha,Da)}``.""" + ... + + +class ZarrBankFrameProvider: + """Load (image, state, action) for a bank frame via the embodiment's own + keymap + transform_list (the same per-episode pipeline the query path uses), + so retrieved frames live in the identical post-transform representation. + + Mirrors the query pipeline's value processing exactly (MultiDataset + normalizes in ``__getitem__``, then ``PI._robomimic_to_pi_data`` applies + ``to32`` — see ``pi.py``): state and action are quantile-normalized with the + *bank embodiment's* stats (``norm_stats``), then the action goes through the + embodiment's converter ``to32`` into the shared 32-D space (aria's missing + gripper -> slot 0; see ``HumanBimanualCartesianEuler``). The state is never + converted — the query State block uses normalized raw dims too. + + Without ``norm_stats`` the retrieved values stay in raw physical units, + whose discretized bins do NOT match the query State block — acceptable only + for smoke tests. Cluster-side; unit tests use a mock provider. + """ + + def __init__( + self, + resolve_store: Callable[[str], str], + converter=None, + keymap: dict | None = None, + transform_list: list | None = None, + image_key: str = "base_0_rgb", + state_key: str = "observations.state.ee_pose", + action_key: str = "actions_cartesian", + action_horizon: int = 15, + norm_stats: dict | None = None, + norm_mode: str = "quantile", + ): + self.resolve_store = resolve_store + self.converter = converter + self.keymap = keymap + self.transform_list = transform_list + self.image_key = image_key + self.state_key = state_key + self.action_key = action_key + self.action_horizon = action_horizon + self.norm_stats = norm_stats + self.norm_mode = norm_mode + if norm_stats is not None: + missing = [k for k in (state_key, action_key) if k not in norm_stats] + if missing: + raise ValueError( + f"bank norm_stats missing keys {missing} " + f"(available: {sorted(norm_stats.keys())})" + ) + else: + logger.warning( + "ZarrBankFrameProvider: no norm_stats — retrieved state/action " + "stay in raw units and their bins will NOT match the query " + "State block. Pass data.bank_norm_path for real training." + ) + self._cache: dict = {} + + def _normalize(self, key: str, arr: np.ndarray) -> np.ndarray: + if self.norm_stats is None: + return arr + return normalize_with_stats(arr, self.norm_stats[key], self.norm_mode) + + def _open(self, episode_hash: str): + if episode_hash not in self._cache: + # Build the bank embodiment's own per-episode dataset (keymap + + # transform_list), so each retrieved frame goes through the SAME + # SLAM->head-frame / chunk / concat pipeline as query samples. The + # post-transform keys (``state_key`` / ``action_key`` / ``image_key``) + # are produced on the fly -- they are never stored in the raw zarr. + from egomimic.rldb.zarr.zarr_dataset_multi import ZarrDataset + + self._cache[episode_hash] = ZarrDataset( + self.resolve_store(episode_hash), + key_map=self.keymap, + transform_list=self.transform_list, + ) + return self._cache[episode_hash] + + def __call__(self, episode_hash: str, frame_idx: int) -> dict: + ds = self._open(episode_hash) + fi = int(np.clip(frame_idx, 0, len(ds) - 1)) + sample = ds[fi] # post-transform dict; images are CHW float in [0,1] + + image = _to_numpy(sample[self.image_key]) + state = _to_numpy(sample[self.state_key]).astype(np.float32).reshape(-1) + state = self._normalize(self.state_key, state) + # actions_cartesian is the full (chunk, dim) target; keep only the first + # ``action_horizon`` retrieved steps, normalize (per chunk position, + # like the query path), THEN map to the shared 32-D space — to32 runs on + # normalized values in the query pipeline too. + action = _to_numpy(sample[self.action_key]).astype(np.float32) + action = action[: self.action_horizon] + action = self._normalize(self.action_key, action) + if self.converter is not None: + action = self.converter.to32( + torch.as_tensor(action, dtype=torch.float32) + ) # (H, dim) -> (H, 1, 32) + action = _to_numpy(action).astype(np.float32) + action = action.reshape(action.shape[0], -1) # -> (H, 32) + return {"image": image, "state": state, "action": action} + + +# --------------------------------------------------------------------------- +# RICL collate +# --------------------------------------------------------------------------- + + +def _to_numpy(x) -> np.ndarray: + if isinstance(x, torch.Tensor): + return x.detach().cpu().numpy() + return np.asarray(x) + + +def _as_chw(img) -> torch.Tensor: + t = torch.as_tensor(_to_numpy(img)) + if t.ndim == 3 and t.shape[-1] in (1, 3): # HWC -> CHW + t = t.permute(2, 0, 1) + return t.contiguous() + + +def build_ricl_collate( + cache, + bank_provider: BankFrameProvider, + k: int, + *, + base_collate: Callable | None = None, + image_hw=(224, 224), + state_dim: int = 32, + action_dim: int = 32, + action_horizon: int = 1, +): + """Return a collate_fn that attaches k retrieved blocks to each query sample. + + ``cache`` is a :class:`egomimic.ricl.retrieval.RetrievalCache`. ``bank_provider`` + loads a single bank frame. Output adds these keys to the collated batch: + ``ricl_retrieved_images`` (B,k,C,H,W), ``ricl_retrieved_state`` (B,k,state_dim), + ``ricl_retrieved_action`` (B,k,action_horizon,action_dim), + ``ricl_retrieved_mask`` (B,k) bool, ``ricl_retrieved_dist`` (B,k) float. + """ + if base_collate is None: + from egomimic.pl_utils.pl_data_utils import annotation_collate + + base_collate = annotation_collate + + H, W = image_hw + zero_img = torch.zeros(3, H, W, dtype=torch.float32) + zero_state = torch.zeros(state_dim, dtype=torch.float32) + zero_action = torch.zeros(action_horizon, action_dim, dtype=torch.float32) + + def _gather_one(query_hash, frame_idx): + imgs = [zero_img.clone() for _ in range(k)] + states = [zero_state.clone() for _ in range(k)] + acts = [zero_action.clone() for _ in range(k)] + mask = torch.zeros(k, dtype=torch.bool) + dist = torch.full((k,), float("inf"), dtype=torch.float32) + + if query_hash in getattr(cache, "_entries", {}): + bh, bf, dd = cache.neighbors(query_hash, frame_idx) + for i in range(min(k, len(bh))): + h = str(bh[i]) + if not h: # padded slot + continue + blk = bank_provider(h, int(bf[i])) + img = _as_chw(blk["image"]).float() + if img.max() > 1.5: # uint8 -> [0,1] (PIRicl maps to [-1,1]) + img = img / 255.0 + imgs[i] = _resize_chw(img, (H, W)) + st = torch.as_tensor( + _to_numpy(blk["state"]), dtype=torch.float32 + ).reshape(-1) + states[i] = _fit(st, state_dim) + ac = torch.as_tensor(_to_numpy(blk["action"]), dtype=torch.float32) + acts[i] = _fit_action(ac, action_horizon, action_dim) + mask[i] = True + dist[i] = float(dd[i]) + return ( + torch.stack(imgs), + torch.stack(states), + torch.stack(acts), + mask, + dist, + ) + + def _collate(batch): + imgs, states, acts, masks, dists = [], [], [], [], [] + for sample in batch: + qh = sample.get("episode_hash") + fi = int(sample.get("frame_idx", 0)) + ri, rs, ra, rm, rd = _gather_one(qh, fi) + imgs.append(ri) + states.append(rs) + acts.append(ra) + masks.append(rm) + dists.append(rd) + collated = base_collate(batch) + collated["ricl_retrieved_images"] = torch.stack(imgs) + collated["ricl_retrieved_state"] = torch.stack(states) + collated["ricl_retrieved_action"] = torch.stack(acts) + collated["ricl_retrieved_mask"] = torch.stack(masks) + collated["ricl_retrieved_dist"] = torch.stack(dists) + return collated + + return _collate + + +def _fit(v: torch.Tensor, dim: int) -> torch.Tensor: + """Pad/truncate a 1-D tensor to length ``dim``.""" + if v.numel() == dim: + return v + out = torch.zeros(dim, dtype=torch.float32) + n = min(dim, v.numel()) + out[:n] = v.reshape(-1)[:n] + return out + + +def _fit_action(a: torch.Tensor, horizon: int, dim: int) -> torch.Tensor: + if a.ndim == 1: + a = a[None, :] + h = min(horizon, a.shape[0]) + out = torch.zeros(horizon, dim, dtype=torch.float32) + out[:h, : min(dim, a.shape[1])] = a[:h, : min(dim, a.shape[1])] + return out + + +def _resize_chw(img: torch.Tensor, hw) -> torch.Tensor: + if tuple(img.shape[-2:]) == tuple(hw): + return img + return torch.nn.functional.interpolate( + img[None], size=tuple(hw), mode="bilinear", align_corners=False + )[0] diff --git a/egomimic/ricl/droid_data.py b/egomimic/ricl/droid_data.py new file mode 100644 index 000000000..1b921374a --- /dev/null +++ b/egomimic/ricl/droid_data.py @@ -0,0 +1,531 @@ +"""DROID shim data layer for the RICL training-pipeline verification. + +Feeds the *original* RICL paper's flat ``processed_demo.npz`` demos through +EgoVerse's real RICL machinery (``build_ricl_collate`` -> ``PIRicl`` prefix +conditioning -> pi0.5) without porting anything into Zarr/SQL. This is the +"thin shim, not a port" path from the bring-up plan, scaled up to a real +multi-step train + eval so we can check that retrieval-conditioning actually +*helps* on a known-good retrieval dataset. + +What this module provides +------------------------- +- ``DroidCorpus`` : discover + lazily load the npz demos (LRU-cached). +- ``DroidQueryDataset`` : a torch ``Dataset`` yielding the post-transform keys + the RICL query path consumes (``base_0_rgb`` etc., a 32-D slot-filled state, + a (horizon,32) action target, ``episode_hash``, ``frame_idx``, ``annotations``), + already quantile-normalized to [-1, 1] (PI assumes pre-normalized input). +- ``make_droid_bank_provider`` : a ``BankFrameProvider`` returning a neighbor's + (top image, normalized 8-D state, normalized (1,8) action); the ricl collate's + ``_fit`` pads state/action to 32, so the bank and query sides share a layout. +- ``build_droid_retrieval_cache`` : within-group leave-one-out retrieval cache + built directly from the pre-pooled ``top_image_embeddings`` via + ``egomimic.ricl.retrieval.build_cache`` (same code the Zarr path uses). +- ``DroidNormStats`` / ``Passthrough32`` : the minimal norm-stats surface PI's + constructor + ``process_batch_for_training`` touch, and a no-op 8->32 action + converter (DROID actions are slot-filled to 32 already). + +DROID layout (verified): per demo ``state (T,8) f64``, ``actions (T,8) f64`` +(7 joint vel + gripper), ``top/wrist/right_image (T,224,224,3) u8``, +``*_image_embeddings (T,49152) f32`` (DINOv2 64-patch pooled), ``prompt`` scalar. +Norm stats (q01/q99, 8-D) at +``external/ricl_openpi/assets/pi0_fast_droid_ricl/droid/norm_stats.json``. + +Slot-fill note: DROID's gripper is action/state dim 7, so it lands at slot 7 of +the 32-D vector (``DroidRiclEval`` uses ``gripper_indices=(7,)``). The padding +dims 8..31 are zero on both query and bank sides, so they cancel in the +retrieval-vs-floor delta. +""" + +from __future__ import annotations + +import argparse +import glob +import json +import logging +import os +from collections import OrderedDict +from functools import lru_cache + +import numpy as np +import torch +from torch.utils.data import Dataset + +from egomimic.ricl.retrieval import RetrievalCache +from egomimic.utils.action_utils import BaseActionConverter, _pad32 + +logger = logging.getLogger(__name__) + +# --------------------------------------------------------------------------- # +# Paths / constants +# --------------------------------------------------------------------------- # +DROID_ROOT = ( + "/storage/project/r-dxu345-0/rco3/ricl_openpi/preprocessing/" + "collected_demos_training" +) +# Original RICL eval set: genuinely NEW tasks (idli plate, poke ball, squeegee, +# door, bagel, toaster, ...) the model never trains on. The retrieval bank for an +# eval query is that new task's own demos (within-group leave-one-out) — the +# original repo's `baseline` mode. This is the canonical RICL train/eval split: +# train on `collected_demos_training`, evaluate on these held-out new tasks. +EVAL_ROOT = ( + "/storage/project/r-dxu345-0/rco3/ricl_openpi/preprocessing/" "collected_demos" +) +_REPO_ROOT = os.path.dirname( + os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +) +NORM_JSON = os.path.join( + _REPO_ROOT, + "external/ricl_openpi/assets/pi0_fast_droid_ricl/droid/norm_stats.json", +) +DEFAULT_CACHE_DIR = os.path.join(os.path.dirname(__file__), "outputs", "droid_cache") + +EMB_KEY = "top_image_embeddings" # ricl_openpi retrieves on the top (exterior) view +RAW_DIM = 8 # DROID state/action dim (7 joints/joint-vels + 1 gripper) +SHARED_DIM = 32 # pi0.5 shared action/state space +GRIPPER_SLOT = 7 # DROID gripper index, preserved by slot32 + +EMB_ID = 8 # eva_bimanual masquerade (get_embodiment_id("eva_bimanual")) +EMB_NAME = "eva_bimanual" +AC_KEY = "actions_joint" +STATE_KEY = "observations.state.ee_pose" # 32-D slot-fill -> model continuous proprio +PROMPT_STATE_KEY = "state8" # 8-D normalized state -> compact text State block +CAM_KEYS = ("base_0_rgb", "left_wrist_0_rgb", "right_wrist_0_rgb") +# query cameras map to DROID's three views (top -> base_0_rgb is the retrieval view) +_CAM_TO_DROID = { + "base_0_rgb": "top_image", + "left_wrist_0_rgb": "wrist_image", + "right_wrist_0_rgb": "right_image", +} + + +# --------------------------------------------------------------------------- # +# Normalization helpers (quantile -> [-1, 1], matching the State-block clip) +# --------------------------------------------------------------------------- # +@lru_cache(maxsize=1) +def _norm_quantiles(): + with open(NORM_JSON) as f: + ns = json.load(f)["norm_stats"] + out = {} + for name, key in (("state", "query_state"), ("actions", "query_actions")): + q01 = np.asarray(ns[key]["q01"], dtype=np.float32) + q99 = np.asarray(ns[key]["q99"], dtype=np.float32) + out[name] = (q01, q99) + return out + + +def quantile_norm(x: np.ndarray, which: str) -> np.ndarray: + """Map raw DROID state/actions to [-1, 1] using q01/q99 (mirrors the pi0.5 + State-block range). ``which`` is ``"state"`` or ``"actions"``.""" + q01, q99 = _norm_quantiles()[which] + x = np.asarray(x, dtype=np.float32) + return 2.0 * ((x - q01) / (q99 - q01 + 1e-6)) - 1.0 + + +def slot32(x8: np.ndarray) -> np.ndarray: + """Place an 8-D vector into dims 0..7 of a 32-D zero vector (last axis).""" + x8 = np.asarray(x8, dtype=np.float32) + out = np.zeros(x8.shape[:-1] + (SHARED_DIM,), dtype=np.float32) + out[..., :RAW_DIM] = x8[..., :RAW_DIM] + return out + + +# --------------------------------------------------------------------------- # +# Corpus +# --------------------------------------------------------------------------- # +def _demo_hash(group: str, ts: str) -> str: + # filesystem- and npz-filename-safe (no "/"); used as the cache query key + return f"{group}__{ts}" + + +class DroidCorpus: + """Discover and lazily load DROID ``processed_demo.npz`` demos. + + A *group* is a task-prompt folder (e.g. ``2025-03-14_move_apple_to_the_right``); + each contains many timestamped demo dirs. Episode hash = ``"{group}__{ts}"``. + Per-demo arrays are LRU-cached (one demo's 3 cams ~11 MB) so DataLoader + workers stay memory-bounded. + """ + + def __init__( + self, + root: str = DROID_ROOT, + groups: list[str] | None = None, + cache_size: int = 2048, + ): + self.root = root + self.hash_to_path: "OrderedDict[str, str]" = OrderedDict() + self.group_to_hashes: "OrderedDict[str, list[str]]" = OrderedDict() + all_groups = sorted( + d + for d in os.listdir(root) + if os.path.isdir(os.path.join(root, d)) and not d.startswith(".") + ) + if groups is not None: + all_groups = [g for g in all_groups if g in set(groups)] + for g in all_groups: + hs = [] + for npz in sorted( + glob.glob(os.path.join(root, g, "*", "processed_demo.npz")) + ): + ts = os.path.basename(os.path.dirname(npz)) + h = _demo_hash(g, ts) + self.hash_to_path[h] = npz + hs.append(h) + if hs: + self.group_to_hashes[g] = hs + if not self.hash_to_path: + raise FileNotFoundError(f"no processed_demo.npz found under {root}") + # Cache *individual* arrays keyed by (hash, npz_key) so loading embeddings + # for the retrieval build never decompresses the (much larger) image + # arrays, and per-frame training reads decompress each demo array once. + self._arr = lru_cache(maxsize=cache_size)(self._load_arr) + + def _load_arr(self, h: str, key: str) -> np.ndarray: + with np.load(self.hash_to_path[h], allow_pickle=True) as d: + return d[key] + + # ---- accessors ---- + @property + def hashes(self) -> list[str]: + return list(self.hash_to_path.keys()) + + def group_of(self, h: str) -> str: + return h.split("__", 1)[0] + + def num_frames(self, h: str) -> int: + return int(self._arr(h, "state").shape[0]) + + def embeddings(self, h: str) -> np.ndarray: + return np.asarray(self._arr(h, EMB_KEY), dtype=np.float32) # (T, 49152) + + def state(self, h: str, fi: int) -> np.ndarray: + return np.asarray(self._arr(h, "state")[fi], dtype=np.float32) # (8,) + + def action_chunk(self, h: str, fi: int, horizon: int) -> np.ndarray: + """Raw (horizon, 8) action chunk starting at ``fi`` (repeat-pad the last).""" + acts = np.asarray(self._arr(h, "actions"), dtype=np.float32) # (T, 8) + T = acts.shape[0] + idx = np.clip(np.arange(fi, fi + horizon), 0, T - 1) + return acts[idx] + + def image(self, h: str, fi: int, cam: str) -> np.ndarray: + return np.asarray(self._arr(h, _CAM_TO_DROID[cam])[fi]) # (224,224,3) u8 + + def prompt(self, h: str) -> str: + return str(self._arr(h, "prompt").item()) + + +# --------------------------------------------------------------------------- # +# Query dataset +# --------------------------------------------------------------------------- # +class DroidQueryDataset(Dataset): + """Flat per-frame query dataset over a set of DROID episodes. + + Each item is a flat dict (the RICL collate reads ``episode_hash`` / + ``frame_idx`` off the top level, then ``annotation_collate`` stacks the rest): + base_0_rgb / left_wrist_0_rgb / right_wrist_0_rgb : (224,224,3) uint8 HWC + observations.state.ee_pose : (32,) f32 slot32(quantile_norm(state)) + actions_joint : (H,32) f32 slot32(quantile_norm(chunk)) + annotations : [prompt] (list -> preserved by collate) + episode_hash, frame_idx + """ + + def __init__(self, corpus: DroidCorpus, hashes: list[str], action_horizon: int): + self.corpus = corpus + self.action_horizon = int(action_horizon) + self.index: list[tuple[str, int]] = [] + for h in hashes: + for fi in range(corpus.num_frames(h)): + self.index.append((h, fi)) + + def __len__(self) -> int: + return len(self.index) + + def __getitem__(self, idx: int) -> dict: + h, fi = self.index[idx] + c = self.corpus + state = slot32(quantile_norm(c.state(h, fi), "state")) # (32,) + chunk = c.action_chunk(h, fi, self.action_horizon) # (H, 8) + action = slot32(quantile_norm(chunk, "actions")) # (H, 32) + sample = { + STATE_KEY: state.astype(np.float32), + AC_KEY: action.astype(np.float32), + # 8-D normalized state for the *text* State block (the 32-D slot-fill + # of STATE_KEY feeds the model's continuous proprio; encoding its 24 + # zero pad-dims as tokens just bloats the prompt). See PROMPT_STATE_KEY. + PROMPT_STATE_KEY: quantile_norm(c.state(h, fi), "state").astype(np.float32), + "annotations": [c.prompt(h)], + "episode_hash": h, + "frame_idx": int(fi), + } + for cam in CAM_KEYS: + sample[cam] = c.image(h, fi, cam) # HWC uint8 + return sample + + +# --------------------------------------------------------------------------- # +# Bank frame provider +# --------------------------------------------------------------------------- # +def make_droid_bank_provider(corpus: DroidCorpus, action_horizon: int = 1): + """Return a ``BankFrameProvider``: (episode_hash, frame_idx) -> retrieved block. + + Returns the raw top image (HWC uint8; the collate scales to [0,1]) plus the + quantile-normalized 8-D state and the ``(action_horizon, 8)`` retrieved action + *chunk* (repeat-padded at the episode tail). Carrying the full chunk — not just + the first step — is what lets a kNN demo's trajectory differ from a random + one's (the discriminative RICL signal lives in the trajectory shape, cf. #1). + The collate keeps these 8-D (text-only prompt encoding); the model's own + continuous inputs are slot-filled to 32 separately. + """ + + def provider(episode_hash: str, frame_idx: int) -> dict: + fi = int(np.clip(frame_idx, 0, corpus.num_frames(episode_hash) - 1)) + state = quantile_norm(corpus.state(episode_hash, fi), "state") # (8,) + action = quantile_norm( + corpus.action_chunk(episode_hash, fi, action_horizon), "actions" + ) # (action_horizon, 8) + return { + "image": corpus.image(episode_hash, fi, "base_0_rgb"), # HWC u8 + "state": state.astype(np.float32), + "action": action.astype(np.float32), + } + + return provider + + +# --------------------------------------------------------------------------- # +# Retrieval cache (within-group leave-one-out) +# --------------------------------------------------------------------------- # +def build_droid_retrieval_cache(corpus: DroidCorpus, k: int): + """Build a within-group leave-one-out ``RetrievalCache`` over all frames. + + For each task group we stack every frame's pre-pooled ``top_image_embeddings`` + once, then for each query episode compute raw-L2 distances (vectorized) to all + group frames, mask out the query's own frames (leave-one-out), and keep the + top-k. This reuses one bank per group across its queries and avoids building a + cKDTree in 49152-D (pathologically slow), while matching the L2 metric and the + on-disk ``RetrievalCache`` format the collate reads. + """ + # Distances run in torch: numpy's BLAS on this cluster does ~0.4 GFLOP/s + # (a single (77,49152)@(49152,1551) took 13.7s); torch (192 threads / CUDA) + # does the same in milliseconds. + device = "cuda" if torch.cuda.is_available() else "cpu" + cache = RetrievalCache( + k=k, + meta={ + "source": "droid", + "k": k, + "emb_key": EMB_KEY, + "loeo": True, + "device": device, + }, + ) + for g, hs in corpus.group_to_hashes.items(): + if len(hs) < 2: + logger.warning("group %s has <2 episodes; skipping (no leave-one-out)", g) + continue + vecs, ref_hash, ref_frame = [], [], [] + for h in hs: + v = corpus.embeddings(h) # (T, D) + vecs.append(v) + ref_hash.append(np.full(v.shape[0], h)) + ref_frame.append(np.arange(v.shape[0], dtype=np.int32)) + ref_hash = np.concatenate(ref_hash) + ref_frame = np.concatenate(ref_frame) + bank = torch.from_numpy(np.concatenate(vecs, axis=0)).to(device) # (N, D) + + for qh in hs: + qv = torch.from_numpy(corpus.embeddings(qh)).to(device) # (Tq, D) + d = torch.cdist(qv, bank) # (Tq, N) raw L2 + self_rows = torch.from_numpy(ref_hash == qh).to(device) + d[:, self_rows] = float("inf") # leave-one-out + kk = min(k, int((ref_hash != qh).sum())) + dist, top = torch.topk(d, kk, dim=1, largest=False) # ascending + top = top.cpu().numpy() + dist = dist.cpu().numpy().astype(np.float32) + bh = ref_hash[top] + bf = ref_frame[top] + if kk < k: # pad to fixed width + pad = k - kk + bh = np.pad(bh, ((0, 0), (0, pad)), constant_values="") + bf = np.pad(bf, ((0, 0), (0, pad)), constant_values=-1) + dist = np.pad(dist, ((0, 0), (0, pad)), constant_values=np.inf) + cache.add( + qh, + bh.astype("U"), + bf.astype(np.int32), + dist.astype(np.float32), + group_id=f"{g}:loeo:{qh}", + ) + return cache + + +def build_random_neighbor_cache( + corpus: DroidCorpus, k: int, scope: str = "within", seed: int = 0 +): + """Random-retrieval control cache (a `RetrievalCache` with RANDOM neighbors). + + Instead of the k *nearest* bank frames, give each query frame k *random* bank + frames, so a retrieval-vs-random comparison isolates whether kNN *similarity* + matters (not just the presence of in-context demos). Two scopes: + + scope="within": random demos from the query's OWN task group (leave-one-out) + -> "given the right task bank, does kNN *ranking* matter?" + scope="bank" : random demos from ALL groups pooled (leave-one-episode-out) + -> "does retrieving the *right task* matter at all?" + + Unlike permuting neighbors within a minibatch, this is independent of loader + shuffling / batch composition. Same on-disk format the collate reads. + Deterministic given ``seed``. + + ``dist`` carries the *true* embedding L2 from each query frame to its random + neighbor (same metric as :func:`build_droid_retrieval_cache`). This matters for + the distance-weighted interpolation control (#2): a random neighbor sits far + away -> small ``w=exp(-lamda*dist/dist_max)`` -> the interpolation barely fires + and the prediction falls back to the model, exactly as it should. (Leaving + ``dist=0`` here would give random demos full interpolation weight toward a wrong + action and hand retrieval a meaningless win.) + """ + rng = np.random.default_rng(seed) + cache = RetrievalCache(k=k, meta={"source": "droid", "random": scope, "k": k}) + g2h = corpus.group_to_hashes + h2g = {h: g for g, hs in g2h.items() for h in hs} + all_h = [h for hs in g2h.values() for h in hs] + nf = {h: corpus.num_frames(h) for h in all_h} + for h in all_h: + T, g = nf[h], h2g[h] + if scope == "within": + pool = [x for x in g2h[g] if x != h] + else: + pool = [x for x in all_h if x != h] + if not pool: # singleton group under within-scope: fall back to whole bank + pool = [x for x in all_h if x != h] + ep = rng.integers(0, len(pool), size=(T, k)) + bh = np.empty((T, k), dtype=object) + bf = np.zeros((T, k), dtype=np.int32) + dist = np.zeros((T, k), dtype=np.float32) + emb_h = corpus.embeddings(h) # (T, D) — query embeddings + for t in range(T): + e = emb_h[t] + for j in range(k): + eh = pool[int(ep[t, j])] + fj = int(rng.integers(0, nf[eh])) + bh[t, j] = eh + bf[t, j] = fj + diff = e - corpus.embeddings(eh)[fj] # raw L2, matches kNN metric + dist[t, j] = float(np.sqrt(diff @ diff)) + cache.add( + h, + bh.astype("U"), + bf.astype(np.int32), + dist, + group_id=f"{g}:rand-{scope}:{h}", + ) + return cache + + +# --------------------------------------------------------------------------- # +# Norm-stats stub + action converter +# --------------------------------------------------------------------------- # +class DroidNormStats: + """Minimal norm-stats surface PI's constructor + process_batch touch. + + The shim normalizes in the dataset, so the only methods exercised in the + train + flow-loss-eval path are the three structural ones; ``unnormalize`` is + a pass-through in case a sampling eval calls it. + """ + + KEY_TYPES = { + "base_0_rgb": "camera_keys", + "left_wrist_0_rgb": "camera_keys", + "right_wrist_0_rgb": "camera_keys", + STATE_KEY: "proprio_keys", + AC_KEY: "action_keys", + } + + def __init__(self, emb_id: int = EMB_ID): + self.emb_id = int(emb_id) + + def keys_of_type(self, key_type: str, embodiment_id: int) -> list[str]: + if embodiment_id != self.emb_id: + return [] + return [k for k, t in self.KEY_TYPES.items() if t == key_type] + + def is_key_with_embodiment(self, key: str, embodiment_id: int) -> bool: + return embodiment_id == self.emb_id and key in self.KEY_TYPES + + def zarr_key_to_keyname(self, key: str, embodiment_id: int): + if embodiment_id == self.emb_id and key in self.KEY_TYPES: + return key + return None + + def unnormalize(self, batch, embodiment_id): # pragma: no cover (sampling-only) + return batch + + +class Passthrough32(BaseActionConverter): + """No-op converter: DROID actions are already slot-filled to 32-D.""" + + def to32(self, actions: torch.Tensor) -> torch.Tensor: + return _pad32(actions) + + def from32(self, actions32: torch.Tensor) -> torch.Tensor: + return actions32 + + +# --------------------------------------------------------------------------- # +# CLI: build + persist the retrieval cache +# --------------------------------------------------------------------------- # +def _verify_cache(cache, corpus: DroidCorpus) -> None: + """Spot-check: neighbors are in the query's group, never self, dists sorted.""" + n_checked = 0 + for qh in cache.query_hashes: + g = corpus.group_of(qh) + group_hashes = set(corpus.group_to_hashes[g]) + bh, bf, dd = cache.neighbors(qh, 0) + valid = [str(x) for x in bh if str(x)] + assert qh not in valid, f"{qh}: self in neighbors" + for h in valid: + assert h in group_hashes, f"{qh}: neighbor {h} not in group {g}" + finite = dd[np.isfinite(dd)] + assert np.all(np.diff(finite) >= -1e-3), f"{qh}: distances not ascending" + n_checked += 1 + print(f" verified {n_checked} query episodes (in-group, no self, sorted dists)") + + +def main() -> None: + p = argparse.ArgumentParser(description="Build the DROID RICL retrieval cache") + p.add_argument("--build-cache", action="store_true") + p.add_argument("--k", type=int, default=4) + p.add_argument("--out", default=DEFAULT_CACHE_DIR) + p.add_argument( + "--groups", + type=int, + default=0, + help="limit to the first N task groups (0 = all)", + ) + args = p.parse_args() + + groups = None + if args.groups > 0: + all_g = sorted( + d + for d in os.listdir(DROID_ROOT) + if os.path.isdir(os.path.join(DROID_ROOT, d)) + ) + groups = all_g[: args.groups] + + corpus = DroidCorpus(groups=groups) + print( + f"corpus: {len(corpus.group_to_hashes)} groups, " f"{len(corpus.hashes)} demos" + ) + if args.build_cache: + cache = build_droid_retrieval_cache(corpus, k=args.k) + _verify_cache(cache, corpus) + os.makedirs(args.out, exist_ok=True) + cache.save(args.out) + print(f"wrote cache for {len(cache.query_hashes)} query episodes -> {args.out}") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/droid_eval.py b/egomimic/ricl/droid_eval.py new file mode 100644 index 000000000..438315699 --- /dev/null +++ b/egomimic/ricl/droid_eval.py @@ -0,0 +1,383 @@ +"""Validation for the DROID RICL training run: retrieval vs a true zero-context floor. + +The stock :class:`egomimic.eval.pi_ricl_eval.PIRiclEval` receives the *already +processed* batch (the prompt has the retrieved demos already spliced in), so its +``strip_ricl_keys`` floor still carries the demo *text* — not a clean zero-context +baseline. Here we instead hand the evaluator the **raw** batch (see +:class:`DroidRiclModelWrapper`) and process each condition separately: + + - retrieval : process the full raw batch -> demos spliced + retrieved images + - random : process the raw batch after derangement-permuting the per-query + ``ricl_retrieved_*`` neighbor blocks across the batch -> every + query is spliced with *another* query's k real demos (same splice + path, neighbors no longer kNN-matched). Isolates whether retrieval + *quality* (similarity) matters, not just the presence of context. + - floor : process the raw batch with ``ricl_*`` keys removed -> base pi0.5, + no demo text, no retrieved images (a genuine k=0 floor) + +So floor < random checks "does any in-context demo help?"; retrieval < random +checks "does it matter that the demos are visually *similar*?" -- the real RICL +claim. All conditions are scored by the flow-matching loss under *identical* sampled +noise/time (seeded per batch), so the delta isolates the conditioning. We use the +flow loss rather than ``forward_eval``'s sampled actions to skip the (very slow) +``torch.compile`` action-sampling path during routine validation — lower loss +with retrieval is the headline "retrieval helps" signal, matching +``RICL/retrieval_helps`` / ``RICL/delta_*`` from :mod:`egomimic.ricl.metrics`. +""" + +from __future__ import annotations + +import torch + +from egomimic.eval.pi_ricl_eval import PIRiclEval +from egomimic.pl_utils.pl_model import ModelWrapper +from egomimic.ricl import droid_data as D +from egomimic.ricl import metrics as M +from egomimic.rldb.embodiment.embodiment import get_embodiment + + +def _strip_ricl_raw(raw_batch: dict) -> dict: + """Drop ``ricl_*`` keys from a raw ``{emb_name: {...}}`` batch (true floor).""" + out = {} + for emb_name, sub in raw_batch.items(): + if isinstance(sub, dict): + out[emb_name] = {k: v for k, v in sub.items() if not k.startswith("ricl_")} + else: + out[emb_name] = sub + return out + + +def _shuffle_ricl_raw(raw_batch: dict, seed: int): + """Derangement-permute the per-query ``ricl_retrieved_*`` blocks across the batch. + + Each query keeps its own image/state/action *target* but receives **another** + query's k retrieved demos -> a random-retrieval control: identical splice path, + neighbors no longer kNN-matched to the query. Returns ``None`` if any embodiment + has batch size < 2 (a derangement is impossible, so the control is undefined). + + The shift is a cyclic roll (offset in ``[1, B-1]``), which is a guaranteed + derangement -- no query ever keeps its own neighbors -- and is deterministic + given ``seed`` so the comparison is reproducible. + """ + out = {} + for emb_name, sub in raw_batch.items(): + if not isinstance(sub, dict): + out[emb_name] = sub + continue + ricl_keys = [k for k in sub if k.startswith("ricl_")] + if not ricl_keys: + out[emb_name] = dict(sub) + continue + ref = sub[ricl_keys[0]] + B = ref.shape[0] + if B < 2: + return None + offset = 1 + (seed % (B - 1)) + perm = torch.roll(torch.arange(B, device=ref.device), shifts=offset) + new = dict(sub) + for k in ricl_keys: + new[k] = sub[k].index_select(0, perm) + out[emb_name] = new + return out + + +_RICL_FIELDS = ("images", "state", "action", "mask", "dist") + + +def _has_variant(raw_batch: dict, prefix: str) -> bool: + return any( + isinstance(sub, dict) and f"{prefix}images" in sub for sub in raw_batch.values() + ) + + +def _use_ricl_variant(raw_batch: dict, source_prefix: str) -> dict: + """Return a batch whose canonical ``ricl_retrieved_*`` keys are taken from + ``source_prefix`` (e.g. ``ricl_randwithin_retrieved_``), all other ``ricl_*`` + keys dropped. So one set of retrieved blocks is active and the model (which + only reads ``ricl_retrieved_*``) sees exactly that condition's demos. + """ + out = {} + for emb_name, sub in raw_batch.items(): + if not isinstance(sub, dict): + out[emb_name] = sub + continue + new = {k: v for k, v in sub.items() if not k.startswith("ricl_")} + for f in _RICL_FIELDS: + src = sub.get(f"{source_prefix}{f}") + if src is not None: + new[f"ricl_retrieved_{f}"] = src + out[emb_name] = new + return out + + +class DroidRiclEval(PIRiclEval): + """Retrieval-vs-floor flow-loss eval over the *raw* batch.""" + + def __init__( + self, + *args, + seed_base: int = 1234, + compute_random: bool = True, + n_flow_samples: int = 8, + compute_sampled: bool = False, + interp_lamda: float = 0.0, + interp_lamdas=(), + **kwargs, + ): + super().__init__(*args, **kwargs) + self.seed_base = seed_base + self.compute_random = compute_random + # (#1) average the flow loss over this many noise/time draws to cut the + # Monte-Carlo variance that otherwise swamps the small retrieval deltas. + self.n_flow_samples = max(1, int(n_flow_samples)) + # (#2) also score the *sampled* actions (the slow torch.compile path) — + # the real action-prediction error, not just the flow-matching proxy. + self.compute_sampled = compute_sampled + # (#2, action interpolation) blend the sampled action toward the NEAREST + # retrieved demo's action chunk, weighted by w=exp(-lamda*dist/dist_max) + # (the continuous-flow analog of ricl_openpi's logit interpolation). This + # is a SWEEP: each lambda emits its own ``sampled_mse_l{lamda}`` so we can + # see the MSE-vs-lambda curve in one sampling pass. The headline + # ``sampled_mse`` is always the model's own (no-interp) prediction, so + # ``beats_random`` reflects what the trained model does, not the blend. + # Empty -> no interpolation. Needs the slow sampling path (--compute-sampled). + if interp_lamdas: + self.interp_lamdas = tuple(float(x) for x in interp_lamdas if float(x) > 0) + elif interp_lamda and float(interp_lamda) > 0: + self.interp_lamdas = (float(interp_lamda),) + else: + self.interp_lamdas = () + self._batch_idx = 0 + + def _flow_loss(self, processed_batch, seed: int) -> dict: + """Flow-matching loss averaged over ``n_flow_samples`` noise/time draws. + + A single draw of the flow noise/time is a high-variance Monte-Carlo + estimate of the expected flow loss, and that variance is large relative + to the ~0.005 retrieval-vs-random deltas we care about. Averaging N + independent draws cuts the variance ~1/N. Every condition reuses the + *same* per-draw seeds (``seed + s*P``), so averaging tightens the + estimate without decoupling the conditions — the retrieval/floor/random + deltas still isolate the conditioning, not the sampling RNG. + """ + algo = self.model + n = self.n_flow_samples + accum: dict[str, float] = {} + with torch.no_grad(): + for s in range(n): + torch.manual_seed(seed + s * 100003) + preds = algo.forward_training(processed_batch) + for k, v in preds.items(): + if k.endswith("_loss"): + accum[k] = accum.get(k, 0.0) + float(v) + return {k: v / n for k, v in accum.items()} + + def _interp_scale(self, proc) -> float: + """Normalization scale for the interpolation weight: the max finite kNN + neighbor distance in this batch (mirrors ricl_openpi's global + ``max_distance`` normalization, computed per-batch from the *retrieval* + condition so all conditions — incl. the larger-distance random ones — + share one scale).""" + for _b in proc.values(): + d = _b.get("ricl_retrieved_dist") + if d is not None: + df = d[torch.isfinite(d)] + if df.numel(): + return max(float(df.max()), 1e-6) + return 1.0 + + def _sampled_metrics(self, processed_batch, seed: int, *, dist_max: float = 1.0): + """Sampled-action error: run the flow sampler (``forward_eval`` — the slow + ``torch.compile`` path) to get *predicted actions*, then MSE / L1 / + gripper-accuracy vs ground truth. (#2) + + Unlike the flow loss (a proxy on the velocity field), this is the actual + action-prediction error the original RICL repo's offline eval reports. + Restricted to DROID's real dims ``0..RAW_DIM-1``: the 24 slot-fill pad + dims are zero in the target and would only dilute the error. Seeded so + every condition samples from the same initial noise — the delta isolates + the conditioning. + + Returns ``(base, sweep)``: ``base`` holds the model's own (no-interp) + ``sampled_mse``/``l1``/``gripper_acc`` — this is what ``beats_random`` is + computed from, so the headline reflects the trained model, not a hand-coded + blend. ``sweep`` holds, for each interpolation ``lambda``, the MSE after + blending the sampled action toward the NEAREST demo's chunk + (``w=exp(-lambda*dist/dist_max)``) plus the mean blend weight — used to + chart whether distance-weighted interpolation adds anything on top. + """ + algo = self.model + base: dict[str, float] = {} + sweep: dict[str, float] = {} + d = D.RAW_DIM + torch.manual_seed(seed) + preds = algo.forward_eval(processed_batch) # no_grad inside; sampled actions + for emb_id, _b in processed_batch.items(): + name = get_embodiment(emb_id).lower() + ac_key = algo.ac_keys[emb_id] + pred_key = f"{name}_{ac_key}" + if pred_key not in preds: + continue + p = preds[pred_key].detach().cpu()[..., :d] + g = _b[ac_key].detach().cpu()[..., :d] + base[f"{name}_sampled_mse"] = M.cartesian_mse(p, g) + base[f"{name}_sampled_l1"] = M.cartesian_l1(p, g) + ga = M.gripper_accuracy(p, g, (D.GRIPPER_SLOT,), 0.0) + if ga == ga: # not NaN + base[f"{name}_sampled_gripper_acc"] = ga + for lam in self.interp_lamdas: + p_l, wmean = self._interpolate_toward_neighbor(p, _b, dist_max, lam) + if p_l is None: + continue + sweep[f"{name}_sampled_mse_l{lam:g}"] = M.cartesian_mse(p_l, g) + sweep[f"{name}_interp_wmean_l{lam:g}"] = wmean + return base, sweep + + def _interpolate_toward_neighbor(self, p, _b, dist_max: float, lamda: float): + """``p <- w*a_nn + (1-w)*p`` with the nearest retrieved demo's action chunk + ``a_nn`` (8-D, step-aligned) and ``w=exp(-lamda*dist/dist_max)`` (masked). + Returns ``(blended_p, mean_w)`` or ``(None, 0.0)`` if no neighbors.""" + a_nn = _b.get("ricl_retrieved_action") + dist = _b.get("ricl_retrieved_dist") + if a_nn is None or dist is None: + return None, 0.0 + d = p.shape[-1] + a0 = a_nn[:, 0].detach().cpu().float()[..., :d] # (B, H, d) + d0 = dist[:, 0].detach().cpu().float() # (B,) + msk = _b.get("ricl_retrieved_mask") + m0 = ( + msk[:, 0].detach().cpu().float() if msk is not None else torch.ones_like(d0) + ) + finite = torch.isfinite(d0) + w = ( + torch.where(finite, torch.exp(-lamda * d0 / dist_max), torch.zeros_like(d0)) + * m0 + ) # (B,) + H = min(p.shape[1], a0.shape[1]) + wv = w[:, None, None] + out = p.clone() + out[:, :H] = wv * a0[:, :H] + (1.0 - wv) * out[:, :H] + return out, float(w.mean()) + + def on_validation_step(self, batch, batch_idx, dataloader_idx=0): + self._batch_idx = batch_idx + super().on_validation_step(batch, batch_idx, dataloader_idx) + + def compute_metrics_and_viz(self, raw_batch): + algo = self.model + seed = self.seed_base + self._batch_idx + + # retrieval: canonical kNN demos (drop any random-variant keys first so the + # model sees only the kNN block). Score both the (low-variance, #1) flow + # loss and, if enabled, the sampled-action error (#2). + proc_ret = algo.process_batch_for_training( + _use_ricl_variant(raw_batch, "ricl_retrieved_") + ) + ret = self._flow_loss(proc_ret, seed) + out = {f"RICL/retrieval_{k}": v for k, v in ret.items()} + # (#2) distance-weighted interpolation scale: shared across all conditions, + # computed from the kNN (retrieval) neighbor distances in this batch. + interp = bool(self.interp_lamdas) + dmax = self._interp_scale(proc_ret) if interp else 1.0 + ret_s = None + if self.compute_sampled: + # base = model's own (no-interp) sampled metrics -> drives beats_random; + # sweep = per-lambda interpolated MSE -> charts whether interp adds value. + ret_s, ret_sw = self._sampled_metrics(proc_ret, seed, dist_max=dmax) + out.update({f"RICL/retrieval_{k}": v for k, v in ret_s.items()}) + out.update({f"RICL/retrieval_{k}": v for k, v in ret_sw.items()}) + + flr = flr_s = None + if self.compute_floor: + proc_flr = algo.process_batch_for_training(_strip_ricl_raw(raw_batch)) + flr = self._flow_loss(proc_flr, seed) + out.update({f"RICL/floor_{k}": v for k, v in flr.items()}) + out.update( + {f"RICL/{k}": v for k, v in M.compare_to_floor(ret, flr).items()} + ) + if self.compute_sampled: + # floor batch has no ricl_* keys -> sweep is empty (no neighbors) + flr_s, flr_sw = self._sampled_metrics(proc_flr, seed, dist_max=dmax) + out.update({f"RICL/floor_{k}": v for k, v in flr_s.items()}) + out.update({f"RICL/floor_{k}": v for k, v in flr_sw.items()}) + out.update( + { + f"RICL/sampled_{k}": v + for k, v in M.compare_to_floor(ret_s, flr_s).items() + } + ) + + def _score_random(tag: str, proc): + rnd = self._flow_loss(proc, seed) + out.update({f"RICL/random_{tag}_{k}": v for k, v in rnd.items()}) + # Does *similarity/ranking* matter? kNN retrieval vs this random set. + cmp_r = M.compare_to_floor(ret, rnd) + out[f"RICL/beats_random_{tag}"] = float(cmp_r["retrieval_helps"]) + out[f"RICL/improvement_vs_random_{tag}"] = cmp_r["mean_improvement"] + # Does *this* random set help at all vs the k=0 floor? + if flr is not None: + cmp_rf = M.compare_to_floor(rnd, flr) + out[f"RICL/random_{tag}_helps"] = float(cmp_rf["retrieval_helps"]) + # Same comparisons on the sampled-action error (#2). + if self.compute_sampled and ret_s is not None: + rnd_s, rnd_sw = self._sampled_metrics(proc, seed, dist_max=dmax) + out.update({f"RICL/random_{tag}_{k}": v for k, v in rnd_s.items()}) + out.update({f"RICL/random_{tag}_{k}": v for k, v in rnd_sw.items()}) + cmp_rs = M.compare_to_floor(ret_s, rnd_s) + out[f"RICL/sampled_beats_random_{tag}"] = float( + cmp_rs["retrieval_helps"] + ) + out[f"RICL/sampled_improvement_vs_random_{tag}"] = cmp_rs[ + "mean_improvement" + ] + + if self.compute_random: + # Proper random controls when the collate provides them (eval-root runs): + # within = random demos from the query's OWN new-task group + # bank = random demos from ALL new tasks pooled + ran = False + for tag, prefix in ( + ("within", "ricl_randwithin_retrieved_"), + ("bank", "ricl_randbank_retrieved_"), + ): + if _has_variant(raw_batch, prefix): + ran = True + proc = algo.process_batch_for_training( + _use_ricl_variant(raw_batch, prefix) + ) + _score_random(tag, proc) + # Fallback for same-corpus runs (no variant keys): in-batch permutation. + if not ran: + shuffled = _shuffle_ricl_raw(raw_batch, seed) + if shuffled is not None: + _score_random("perm", algo.process_batch_for_training(shuffled)) + + # primary scalar the trainer surfaces (the low-variance flow loss) + for k, v in ret.items(): + if k.endswith("_loss"): + out["Valid/action_loss"] = v + break + return out, {} # no viz -> EvalVideo writes no videos + + +class DroidRiclModelWrapper(ModelWrapper): + """Pass the RAW val batch to the evaluator (so it can build a clean floor) and + make the fit/validation barriers safe under single-device (non-DDP) runs.""" + + def validation_step(self, batch, batch_idx, dataloader_idx=0): + if self.evaluator is None: + return + self.evaluator.on_validation_step(batch, batch_idx, dataloader_idx) + + def _maybe_barrier(self): + if torch.distributed.is_available() and torch.distributed.is_initialized(): + torch.distributed.barrier() + + def on_fit_start(self): + self.model.device = self.device + self._maybe_barrier() + + def on_validation_end(self): + if self.evaluator is not None: + self.evaluator.on_validation_end() + self._maybe_barrier() diff --git a/egomimic/ricl/episode_annotations.json b/egomimic/ricl/episode_annotations.json new file mode 100644 index 000000000..b9a60ccce --- /dev/null +++ b/egomimic/ricl/episode_annotations.json @@ -0,0 +1,473031 @@ +{ + "2026-03-03-05-11-26-461000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place play data with large task variations", + "total_frames": 3000, + "num_annotations": 194, + "annotations": [ + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Have the left arm pick the green bowl up from the table using a left-side diagonal lip grip.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the left side with a diagonal lip hold.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip on the left side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold on the left side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "With the left hand, take the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Grab the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Dump the bread on the top side of the table with the left hand.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Using the left hand, dump the bread onto the table's top side.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Have the left arm dump the bread on the top side of the table.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "With the left hand, tip out the bread onto the table's top side.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Dump the bread onto the table's top side.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Place the bread on the top side of the table.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "The bread goes on the table's top side.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Set the bread down on the table.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Move the bread onto the table.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Transfer the bread to the table surface.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Put the bread down.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Set the bread onto the table.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Place the bread on the table.", + "start_idx": 153, + "end_idx": 243 + }, + { + "text": "Put the green bowl to the left of the orange screwdriver with the left hand.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Using the left hand, place the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Have the left arm set the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "With the left hand, position the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Place the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Set the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Position the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Arrange the green bowl to the left of the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Move the green bowl beside the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Using the left hand, place the green bowl beside the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Have the left arm set the green bowl next to the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Position the green bowl beside the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Set the green bowl next to the orange screwdriver.", + "start_idx": 243, + "end_idx": 480 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Have the left hand take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, approaching diagonally and gripping the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Take the orange screwdriver from the table, approaching at a diagonal angle and grasping its middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "With a diagonal approach, pick up the orange screwdriver from the table by the middle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Have the left hand take the orange screwdriver from the table diagonally.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 1428, + "end_idx": 1836 + }, + { + "text": "Put the orange screwdriver into the green bowl with the left hand.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Using the left hand, place the orange screwdriver into the green bowl with its tip facing backwards.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Have the left arm set the orange screwdriver in the green bowl, tip oriented backward.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "With the left hand, deposit the orange screwdriver into the green bowl, keeping the tip pointed backwards.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Place the orange screwdriver into the green bowl.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Set the orange screwdriver in the green bowl.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Deposit the orange screwdriver into the green bowl.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Put the orange screwdriver into the green bowl with its tip facing backwards.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Arrange the orange screwdriver in the green bowl so the tip faces backward.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Place the orange screwdriver into the green bowl with the tip pointing backward.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Using the left hand, put the orange screwdriver into the green bowl.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Have the left arm place the orange screwdriver in the green bowl.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Set the orange screwdriver into the green bowl with the left hand.", + "start_idx": 1836, + "end_idx": 1977 + }, + { + "text": "Pick up the bread from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Using the left hand, pick up the bread from the table with a side grip at the bottom diagonally.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Have the left arm take the bread from the table with a side grasp at the bottom diagonal.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "With the left hand, grasp the bread from the table from the side at the bottom diagonally.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Pick up the bread from the table with a side grip at the bottom diagonally.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Take the bread from the table using a side grasp at the bottom diagonal.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Grasp the bread from the table from the side at the bottom diagonally.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Pick up the bread from the table with the left hand using a side grip.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Using the left hand, take the bread from the table with a side grasp.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Have the left arm grasp the bread from the table from the side.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Pick up the bread from the table with the left hand.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Using the left hand, take the bread from the table.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Grasp the bread from the table.", + "start_idx": 1977, + "end_idx": 2172 + }, + { + "text": "Put the bread into the green bowl to the left of the orange screwdriver with the left hand.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Using the left hand, place the bread in the green bowl to the left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Have the left arm put the bread into the green bowl left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "With the left hand, set the bread inside the green bowl positioned to the left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Place the bread in the green bowl to the left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Put the bread into the green bowl left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Set the bread inside the green bowl to the left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Transfer the bread to the green bowl left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "The bread goes into the green bowl to the left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Move the bread into the green bowl to the left of the orange screwdriver.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Using the left hand, place the bread in the green bowl.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Have the left arm set the bread inside the green bowl.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Put the bread into the green bowl.", + "start_idx": 2172, + "end_idx": 2310 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "With the left gripper, go to the home pose.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Return to the home position.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Move back to home.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Go to the home pose.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Have the arm return home.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Back to the home position.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Move to home.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Return home.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Go back to the home position.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Reposition to home.", + "start_idx": 2310, + "end_idx": 2358 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Have the right arm take the bell pepper from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "With the right hand, collect the bell pepper from the table diagonally using an all-around grasp.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Take the bell pepper from the table with a diagonal approach and a full-object grasp.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "From the table, collect the bell pepper diagonally while grasping the whole object.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Have the right arm take the bell pepper from the table.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "With the right hand, collect the bell pepper from the table.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Take the bell pepper from the table with a whole-object grasp.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "From the table, collect the bell pepper.", + "start_idx": 474, + "end_idx": 792 + }, + { + "text": "Put the bell pepper to the right of the bread with the right hand right side up with the front as the orientation reference point.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "With the right hand, place the bell pepper to the right of the bread, right side up using the front as the reference point.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Have the right arm set the bell pepper to the bread's right, keeping it right side up relative to the front.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Using your right hand, position the bell pepper on the right side of the bread, right side up with the front as the reference.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Place the bell pepper to the right of the bread, right side up with the front as the reference point.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Set the bell pepper on the bread's right side, right side up relative to the front.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Position the bell pepper to the right of the bread, keeping it right side up using the front as the reference.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "With the right hand, place the bell pepper to the right of the bread.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Using the right hand, set the bell pepper on the right side of the bread.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Have the right arm position the bell pepper to the bread's right.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Place the bell pepper to the right of the bread.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Set the bell pepper on the right side of the bread.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Have the bell pepper placed to the bread's right.", + "start_idx": 792, + "end_idx": 951 + }, + { + "text": "Pick up the pink mug from the table with the right hand using a lip grip at the bottom right from the top.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Using the right hand, take the pink mug from the table with a lip grip at the bottom right from the top.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Have the right arm grasp the pink mug from the table by the bottom-right lip from above.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "With the right hand, secure the pink mug from the table using a top lip grasp at the bottom right.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Take the pink mug from the table with a lip grip at the bottom right from the top.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Grasp the pink mug from the table by the bottom-right lip from above.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Get the pink mug from the table using a top lip hold at the bottom right.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Using the right hand, pick up the pink mug from the table with a lip grip.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Have the right arm take the pink mug from the table using a lip grasp.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "With the right hand, grasp the pink mug from the table using the lip.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Pick up the pink mug from the table from the top.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "From above, grasp the pink mug from the table.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Take the pink mug from the table with the right hand.", + "start_idx": 951, + "end_idx": 1164 + }, + { + "text": "Put the pink mug in front of the bell pepper with the handle facing bottom right side up using the right arm.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Using the right arm, place the pink mug in front of the bell pepper, handle facing bottom, right side up.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Have the right arm set the pink mug before the bell pepper with its handle toward the bottom, right side up.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "With the right arm, position the pink mug in front of the bell pepper so the handle points down and it stays upright.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Place the pink mug in front of the bell pepper with the handle facing bottom, right side up.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Set the pink mug before the bell pepper, keeping it upright with the handle toward the bottom.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Position the pink mug in front of the bell pepper so it is right side up and the handle faces down.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Using the right arm, put the pink mug in front of the bell pepper.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "With the right arm, place the pink mug before the bell pepper.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Have the right arm set the pink mug in front of the bell pepper.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Put the pink mug in front of the bell pepper.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Set the pink mug before the bell pepper.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Position the pink mug in front of the bell pepper.", + "start_idx": 1164, + "end_idx": 1428 + }, + { + "text": "Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Using the right hand, take the pink mug from the table with a diagonal lip grasp on the right.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Have the right arm pick up the pink mug from the table with the mug\u2019s right side in a diagonal lip grasp.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "With the right hand, grasp the pink mug from the table by the right lip at a diagonal angle.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Pick up the pink mug from the table with a diagonal lip grasp on the right.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Take the pink mug from the table, using a diagonal lip grasp on the right.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Grasp the pink mug from the table by the right lip at a diagonal angle.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Pick up the pink mug from the table with the right hand.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Using the right hand, take the pink mug from the table.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Have the right arm grasp the pink mug from the table.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Take the pink mug from the table.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Have the right arm pick up the pink mug from the table with a diagonal grasp.", + "start_idx": 2358, + "end_idx": 2634 + }, + { + "text": "Place the pink mug to the left of the bell pepper with the handle facing backwards right side up using the right arm.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Using the right arm, set the pink mug to the left of the bell pepper with the handle facing backwards, right side up.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Have the right arm place the pink mug left of the bell pepper, keeping it upright with the handle pointing backward.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "With the right arm, position the pink mug to the bell pepper's left, upright and with its handle facing backward.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Place the pink mug to the left of the bell pepper with the handle facing backwards, right side up.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Set the pink mug left of the bell pepper, with the handle pointing backward and the mug upright.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Position the pink mug to the left of the bell pepper, keeping the handle facing backward and the mug right side up.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Using the right arm, place the pink mug to the left of the bell pepper.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Have the right arm set the pink mug left of the bell pepper.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "With the right arm, position the pink mug to the bell pepper's left.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Place the pink mug to the left of the bell pepper.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Set the pink mug left of the bell pepper.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Have the right arm place the pink mug to the left of the bell pepper.", + "start_idx": 2634, + "end_idx": 2799 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "With the right gripper, go to home.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2799, + "end_idx": 3000 + }, + { + "text": "Resume the home pose.", + "start_idx": 2799, + "end_idx": 3000 + } + ] + }, + "2026-03-03-05-20-29-363000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place play data with large task variations", + "total_frames": 3000, + "num_annotations": 219, + "annotations": [ + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Have the right arm take the green bowl from the table using a diagonal grasp on its right lip.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "With the right hand, grasp the green bowl from the table at the right side in a diagonal lip hold.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold on the right side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Take the green bowl from the table with a diagonal grasp at its right lip.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Take the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 0, + "end_idx": 153 + }, + { + "text": "Put the green bowl to the right of the white coffee cup with the right hand.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Using the right hand, place the green bowl to the right of the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Have the right arm set the green bowl down to the right of the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "With the right hand, position the green bowl on the right side of the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Place the green bowl to the right of the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Set the green bowl on the right side of the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Position the green bowl to the right of the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Place the green bowl with the right hand next to the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Using the right hand, set the green bowl by the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Have the right arm place the green bowl beside the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Set the green bowl beside the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Position the green bowl next to the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Put the green bowl by the white coffee cup.", + "start_idx": 153, + "end_idx": 288 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grip at the handle.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Using the right hand, take hold of the white coffee cup from the table with a diagonal grip at the handle.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grip at the handle.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Take the white coffee cup from the table by the handle using a diagonal grasp.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "With the right hand, take the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 993 + }, + { + "text": "Put the white coffee cup on top of the pink plate with the handle facing backwards right side up using the right arm.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Using the right arm, place the white coffee cup on the pink plate with the handle pointing backward and the cup upright.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Have the right arm set the white coffee cup atop the pink plate, upright with its handle facing the back.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "With the right arm, position the white coffee cup on top of the pink plate so the handle faces backward and it remains right side up.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Place the white coffee cup on top of the pink plate with the handle facing backward and the cup right side up.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Set the white coffee cup atop the pink plate, with its handle pointing to the back and the cup upright.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Position the white coffee cup on the pink plate so the handle is at the back and it stays right side up.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Using the right arm, place the white coffee cup on top of the pink plate.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "With the right arm, set the white coffee cup atop the pink plate.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Have the right arm position the white coffee cup on the pink plate.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Put the white coffee cup on top of the pink plate.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Set the white coffee cup on the pink plate.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Place the white coffee cup atop the pink plate.", + "start_idx": 993, + "end_idx": 1176 + }, + { + "text": "Pick up the white coffee cup from the top of the pink plate with the right hand using a diagonal lip grasp on the right.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the top of the pink plate with a diagonal grasp on its right lip.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Have the right arm take the white coffee cup from the top of the pink plate using a right-side diagonal lip grasp.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "With the right hand, grasp the white coffee cup from the top of the pink plate at the right lip on a diagonal.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Pick up the white coffee cup from the top of the pink plate using a diagonal grasp on its right lip.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Take the white coffee cup from the top of the pink plate with a diagonal right-lip grasp.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Grasp the white coffee cup from the top of the pink plate at the right lip diagonally.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the top of the pink plate.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Have the right arm take the white coffee cup from the top of the pink plate.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "With the right hand, grasp the white coffee cup from the top of the pink plate.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Pick up the white coffee cup from the top of the pink plate.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Take the white coffee cup from the top of the pink plate.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Grasp the white coffee cup from the top of the pink plate.", + "start_idx": 1566, + "end_idx": 1821 + }, + { + "text": "Dump the blue stuffed toy to the right of the pink plate with the right hand.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Using the right hand, dump the blue stuffed toy to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Have the right arm place the blue stuffed toy to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "With the right hand, set down the blue stuffed toy on the pink plate's right side.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Dump the blue stuffed toy to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Place the blue stuffed toy on the right side of the pink plate.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Set the blue stuffed toy down to the pink plate's right.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Position the blue stuffed toy to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Move the blue stuffed toy beside the pink plate on its right side.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Using the right hand, dump the blue stuffed toy.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "With the right hand, place the blue stuffed toy down.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Have the right arm set down the blue stuffed toy.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Put down the blue stuffed toy.", + "start_idx": 1821, + "end_idx": 1896 + }, + { + "text": "Put the white coffee cup to the right of the green bowl with the right hand right side up with the front facing backwards.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the green bowl, right side up, with its front facing backward.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Have the right arm set the white coffee cup to the green bowl's right, upright, with the front directed backward.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "With the right hand, position the white coffee cup on the right side of the green bowl, keeping it right side up and facing backward.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Place the white coffee cup to the right of the green bowl, right side up, with its front facing backward.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Set the white coffee cup on the right side of the green bowl, upright and facing backward.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Position the white coffee cup to the green bowl's right, with the front facing backward and the cup right side up.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Using the right hand, put the white coffee cup to the right of the green bowl.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Have the right arm place the white coffee cup on the right side of the green bowl.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "With the right hand, set the white coffee cup to the green bowl's right.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Place the white coffee cup to the right of the green bowl.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Set the white coffee cup on the right side of the green bowl.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Position the white coffee cup to the green bowl's right.", + "start_idx": 1896, + "end_idx": 2073 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach and hold it at the middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally by its middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Take the blue stuffed toy from the table diagonally by the middle.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Take the blue stuffed toy from the table diagonally.", + "start_idx": 2451, + "end_idx": 2583 + }, + { + "text": "Put the blue stuffed toy to the left of the green bowl with the right hand facing bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the left of the green bowl with its front facing bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Have the right arm set the blue stuffed toy to the left of the green bowl, front oriented toward the bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "With the right hand, position the blue stuffed toy left of the green bowl so the front points bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Place the blue stuffed toy to the left of the green bowl.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Set the blue stuffed toy left of the green bowl.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Position the blue stuffed toy to the left of the green bowl.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the left of the green bowl.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Have the right arm set the blue stuffed toy left of the green bowl.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "With the right hand, position the blue stuffed toy beside the green bowl on its left side.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Put the blue stuffed toy to the left of the green bowl with its front facing bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Set the blue stuffed toy left of the green bowl, front facing bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Position the blue stuffed toy beside the green bowl on the left with the front toward bottom left.", + "start_idx": 2583, + "end_idx": 2730 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "With the right gripper, go to the home position.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Head to the home position.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Move into the home pose.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Have the manipulator return home.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Go back to home.", + "start_idx": 2730, + "end_idx": 3000 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table on a diagonal, holding the entire object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Retrieve the brown stuffed toy from the table on a diagonal while holding the whole object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach, enclosing the entire object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Grab the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 288, + "end_idx": 492 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with the left hand facing forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the green bowl facing forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Have the left arm set the brown stuffed toy into the green bowl with its front facing forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "With the left hand, position the brown stuffed toy in the green bowl so it faces forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Put the brown stuffed toy inside the green bowl facing forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Set the brown stuffed toy into the green bowl with its front facing forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Place the brown stuffed toy in the green bowl facing forwards.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the green bowl.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Have the left arm set the brown stuffed toy into the green bowl.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "With the left hand, position the brown stuffed toy in the green bowl.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Put the brown stuffed toy inside the green bowl.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Set the brown stuffed toy into the green bowl.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Place the brown stuffed toy in the green bowl.", + "start_idx": 491, + "end_idx": 654 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "With the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Have the left arm retrieve the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup while holding the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Retrieve the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "With the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Have the left arm retrieve the blue stuffed toy from the table.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 1176, + "end_idx": 1410 + }, + { + "text": "Put the blue stuffed toy inside the white coffee cup with the left hand upside down.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the white coffee cup upside down.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Have the left arm put the blue stuffed toy inside the white coffee cup in an upside-down orientation.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "With the left hand, insert the blue stuffed toy into the white coffee cup upside down.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Place the blue stuffed toy into the white coffee cup upside down.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Put the blue stuffed toy inside the white coffee cup in an upside-down position.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Insert the blue stuffed toy into the white coffee cup upside down.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the white coffee cup.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "With the left hand, put the blue stuffed toy inside the white coffee cup.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Have the left arm insert the blue stuffed toy into the white coffee cup.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Put the blue stuffed toy in the white coffee cup.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Place the blue stuffed toy into the white coffee cup with the left hand.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Have the left arm put the blue stuffed toy inside the white coffee cup.", + "start_idx": 1410, + "end_idx": 1566 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a side grip at the bottom diagonally.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Have the left arm grasp the yellow stuffed toy from the table with a diagonal side hold at the bottom.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "With the left hand, seize the yellow stuffed toy from the table using a side grasp on the bottom at a diagonal.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Pick up the yellow stuffed toy from the table using a side grip at the bottom diagonally.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Take the yellow stuffed toy from the table with a side grasp at the bottom diagonally.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Grasp the yellow stuffed toy from the table with a diagonal side hold at the bottom.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "With the left hand, grasp the yellow stuffed toy from the table.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at the bottom diagonally.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Grab the yellow stuffed toy from the table at the bottom diagonally.", + "start_idx": 2073, + "end_idx": 2274 + }, + { + "text": "Place the yellow stuffed toy on top of the pink plate with the left hand facing top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Using the left hand, set the yellow stuffed toy on top of the pink plate with its front facing the top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Have the left arm place the yellow stuffed toy onto the pink plate, front pointed toward the top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the pink plate so the front faces top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Place the yellow stuffed toy on top of the pink plate with its front facing the top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Set the yellow stuffed toy onto the pink plate, with the front oriented toward the top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Position the yellow stuffed toy on the pink plate so its front points to the top right.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Using the left hand, place the yellow stuffed toy on top of the pink plate.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "With the left hand, set the yellow stuffed toy onto the pink plate.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Have the left arm put the yellow stuffed toy on the pink plate.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Place the yellow stuffed toy on top of the pink plate.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Set the yellow stuffed toy onto the pink plate.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Put the yellow stuffed toy on the pink plate.", + "start_idx": 2274, + "end_idx": 2382 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "With the left hand, go back to the home pose.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Return to the home position.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Move back to home.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Go to the home pose.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Head back to the home position.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Reset to home.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Move to the home position.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Return home.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Go back to home.", + "start_idx": 2382, + "end_idx": 2451 + }, + { + "text": "Resume the home pose.", + "start_idx": 2382, + "end_idx": 2451 + } + ] + }, + "2026-03-03-05-29-34-981000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place play data with large task variations", + "total_frames": 3000, + "num_annotations": 221, + "annotations": [ + { + "text": "Pick up the pink plate from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Have the right hand take the pink plate from the table using a bottom-right diagonal lip grasp.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the bottom-right edge in a diagonal lip hold.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Take the pink plate from the table with a diagonal lip hold at the bottom right.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Grasp the pink plate from the table at the bottom right using a diagonal lip grip.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Using the right hand, pick up the pink plate from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Have the right hand take the pink plate from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "With the right hand, grasp the pink plate from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Grasp the pink plate from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Place the pink plate to the left side of the green bowl with the right hand right side up with the front as the orientation reference point.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Using the right hand, set the pink plate to the left of the green bowl, right side up, with the front as the reference point.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Have the right arm place the pink plate on the left side of the green bowl, keeping it right side up relative to the front.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "With the right hand, position the pink plate left of the green bowl, oriented right side up using the front as the reference point.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Place the pink plate to the left of the green bowl, keeping it right side up with the front as the reference point.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Set the pink plate on the left side of the green bowl, right side up relative to the front.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Position the pink plate left of the green bowl with the front as the reference point and right side up.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Using the right hand, place the pink plate to the left of the green bowl.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Have the right arm set the pink plate on the left side of the green bowl.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "With the right hand, position the pink plate left of the green bowl.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Put the pink plate to the left of the green bowl.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Set the pink plate on the left side of the green bowl.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Position the pink plate left of the green bowl.", + "start_idx": 210, + "end_idx": 363 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grasp from the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grasp from the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Have the right arm take the green bowl from the table, applying a lip grasp on the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the lip on the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Pick up the green bowl from the table with a lip grasp from the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Grasp the green bowl from the table by the lip on the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Take the green bowl from the table using a lip grasp from the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "With the right hand, pick up the green bowl from the table using a lip grasp.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Using the right hand, take the green bowl from the table by the lip.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Pick up the green bowl from the table with the right hand from the right at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Using the right hand, take the green bowl from the table at a diagonal angle.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 654, + "end_idx": 813 + }, + { + "text": "Dump the stuffed toys between the pink plate and white mug with the right hand.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Using the right hand, dump the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Have the right arm place the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "With the right hand, empty out the stuffed toys into the space between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Dump the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Place the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Set the stuffed toys down between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Position the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Put the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Empty the stuffed toys out between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Between the pink plate and white mug, dump the stuffed toys.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Deposit the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Arrange the stuffed toys between the pink plate and white mug.", + "start_idx": 813, + "end_idx": 906 + }, + { + "text": "Put the green bowl in front of the pink plate with the right hand.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Using the right hand, place the green bowl in front of the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Have the right arm set the green bowl down in front of the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "With the right hand, position the green bowl before the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Place the green bowl in front of the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Set the green bowl down in front of the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Position the green bowl before the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Put the green bowl by the pink plate with the right hand.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Using the right hand, place the green bowl near the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Have the right arm set the green bowl next to the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Place the green bowl by the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Set the green bowl near the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Position the green bowl next to the pink plate.", + "start_idx": 906, + "end_idx": 1044 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 1044, + "end_idx": 1236 + }, + { + "text": "Place the brown stuffed toy on top of the pink plate with the right hand facing top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Using the right hand, set the brown stuffed toy on top of the pink plate with its front facing the top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Have the right arm place the brown stuffed toy onto the pink plate, front directed toward the top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "With the right hand, position the brown stuffed toy on the pink plate so the front points top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Place the brown stuffed toy on top of the pink plate with its front facing the top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Set the brown stuffed toy onto the pink plate, with the front oriented toward the top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Position the brown stuffed toy on the pink plate so its front faces top right.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Using the right hand, place the brown stuffed toy on top of the pink plate.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "With the right hand, set the brown stuffed toy onto the pink plate.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Have the right arm position the brown stuffed toy on the pink plate.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Place the brown stuffed toy on top of the pink plate.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Set the brown stuffed toy onto the pink plate.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Have the brown stuffed toy placed on the pink plate.", + "start_idx": 1236, + "end_idx": 1359 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "With the right hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a full-object grasp.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Using the right hand, retrieve the blue stuffed toy from the table while holding the entire object.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 1812, + "end_idx": 1953 + }, + { + "text": "Put the blue stuffed toy in front of the white mug with the right hand facing top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Using the right hand, place the blue stuffed toy in front of the white mug, facing top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Have the right arm set the blue stuffed toy in front of the white mug with its front toward the top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "With the right hand, position the blue stuffed toy before the white mug so the front points top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Place the blue stuffed toy in front of the white mug, facing top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Set the blue stuffed toy before the white mug with its front toward the top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Position the blue stuffed toy in front of the white mug so it faces top right.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Using the right hand, put the blue stuffed toy in front of the white mug.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "With the right hand, set the blue stuffed toy before the white mug.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Have the right arm place the blue stuffed toy in front of the white mug.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Put the blue stuffed toy in front of the white mug.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Set the blue stuffed toy before the white mug.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Position the blue stuffed toy in front of the white mug.", + "start_idx": 1952, + "end_idx": 2073 + }, + { + "text": "Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Using the right hand, take the white mug from the table with a diagonal lip grasp on its right side.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Have the right arm pick the white mug up from the table using a diagonal grasp on the mug's right lip.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "With the right hand, grasp the white mug from the table at the right lip with a diagonal hold.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Pick up the white mug from the table using a diagonal lip grasp on the right side.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Take the white mug from the table with a diagonal grasp on its right lip.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Grasp the white mug from the table at the right lip with a diagonal hold.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Using the right hand, pick up the white mug from the table.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "With the right hand, take the white mug from the table.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Have the right arm grasp the white mug from the table.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 2073, + "end_idx": 2334 + }, + { + "text": "Put the white mug between the green bowl and blue stuffed toy with the front facing top right using the right arm.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Using the right arm, place the white mug between the green bowl and the blue stuffed toy with the front facing the top right.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Have the right arm set the white mug between the green bowl and blue stuffed toy, front oriented toward the top right.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "With the right arm, position the white mug between the green bowl and the blue stuffed toy so its front points top right.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Place the white mug between the green bowl and the blue stuffed toy with the front facing the top right.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Set the white mug between the green bowl and blue stuffed toy, with its front toward the top right.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Position the white mug between the green bowl and the blue stuffed toy, front pointed to the top right.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Put the white mug between the green bowl and the blue stuffed toy.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Place the white mug between the green bowl and blue stuffed toy.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Set the white mug between the green bowl and the blue stuffed toy.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Using the right arm, put the white mug between the green bowl and blue stuffed toy.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "With the right arm, place the white mug between the green bowl and the blue stuffed toy.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Have the right arm position the white mug between the green bowl and blue stuffed toy.", + "start_idx": 2334, + "end_idx": 2442 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Have the right hand grasp the blue stuffed toy from the table from a diagonal angle, using a side hold at the bottom.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "From a diagonal angle, grasp the blue stuffed toy from the table with a side hold at the bottom.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Take the blue stuffed toy from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table with a side grip at the bottom.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table using a side grasp on the bottom.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Have the right hand retrieve the blue stuffed toy from the table with a side hold at the bottom.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand from a diagonal angle.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "From a diagonal angle, take the blue stuffed toy from the table with the right hand.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Using the right hand, grasp the blue stuffed toy from the table.", + "start_idx": 2442, + "end_idx": 2658 + }, + { + "text": "Put the stuffed toy inside the green bowl with the right hand facing top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Using the right hand, place the stuffed toy inside the green bowl with its front facing the top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Have the right arm put the stuffed toy into the green bowl, front oriented toward the top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "With the right hand, set the stuffed toy in the green bowl so the front points to the top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Place the stuffed toy inside the green bowl with its front facing the top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Put the stuffed toy into the green bowl with the front toward the top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Set the stuffed toy in the green bowl, front pointing top right.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Using the right hand, place the stuffed toy inside the green bowl.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "With the right hand, put the stuffed toy into the green bowl.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Have the right arm set the stuffed toy in the green bowl.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Place the stuffed toy inside the green bowl.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Put the stuffed toy into the green bowl.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Set the stuffed toy in the green bowl.", + "start_idx": 2658, + "end_idx": 2793 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Resume the home position.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Back to home.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Move to the home position.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Go home.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Assume the home pose.", + "start_idx": 2793, + "end_idx": 3000 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table using a side hold on the top at a diagonal angle.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "With the left hand, grasp the yellow stuffed toy from the table by the top with a side grip diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Pick up the yellow stuffed toy from the table using a side grip at the top diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Take the yellow stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Grasp the yellow stuffed toy from the table by the top with a side hold diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table with a side grip.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table using a side grasp.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Have the left arm grasp the yellow stuffed toy from the table with a side hold.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table diagonally at the top.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table from the top diagonally.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 1359, + "end_idx": 1620 + }, + { + "text": "Place the yellow stuffed toy to the left side of the pink plate with the left hand facing bottom right.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Using the left hand, set the yellow stuffed toy to the left of the pink plate with its front facing bottom right.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Have the left arm place the yellow stuffed toy on the left side of the pink plate, front pointing bottom right.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the pink plate's left, oriented so the front faces bottom right.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Place the yellow stuffed toy to the left of the pink plate.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Set the yellow stuffed toy on the left side of the pink plate.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Position the yellow stuffed toy to the pink plate's left.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the pink plate.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the left side of the pink plate.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the pink plate's left.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Place the yellow stuffed toy beside the pink plate with the left hand.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Set the yellow stuffed toy to the left of the pink plate, front facing bottom right.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Position the yellow stuffed toy on the pink plate's left, with its front pointing bottom right.", + "start_idx": 1620, + "end_idx": 1755 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Have the left arm return to its home pose.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "With the left arm, go to the home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Return to the home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Move back to home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Go to the home pose.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Head to the home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Resume the home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Reset to home.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Move to the home pose.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Return home position.", + "start_idx": 1755, + "end_idx": 1812 + }, + { + "text": "Go back to home.", + "start_idx": 1755, + "end_idx": 1812 + } + ] + }, + "2026-03-03-06-37-47-140000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place with large task variations", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the top right from a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the top right from a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Have the right hand grasp the doritos from the table with a side hold on the top-right area at a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "With the right hand, take hold of the doritos from the table using a side grasp at the top right from a diagonal approach.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Pick up the doritos from the table with a side grip at the top right from a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Grasp the doritos from the table on the top-right area with a side hold from a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Take the doritos from the table using a side grasp at the top right from a diagonal approach.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Have the right hand grasp the doritos from the table using a side hold.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Pick up the doritos from the table with the right hand at the top right from a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "From the table, grasp the doritos with the right hand on the top-right area at a diagonal angle.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Put the doritos to the right side of the pink stuffed toy with the right hand right side up.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the doritos to the right of the pink stuffed toy, right side up.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Have the right arm put the doritos on the pink stuffed toy's right side with the package right side up.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "With the right hand, set the doritos to the pink stuffed toy's right, keeping it right side up.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Place the doritos to the right of the pink stuffed toy.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Set the doritos on the right side of the pink stuffed toy.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "The doritos go to the right of the pink stuffed toy.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Position the doritos beside the pink stuffed toy on its right side.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the doritos to the right of the pink stuffed toy.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Have the right arm set the doritos on the pink stuffed toy's right side.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "With the right hand, position the doritos beside the pink stuffed toy.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Put the doritos beside the pink stuffed toy with the package right side up.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Set the doritos on the pink stuffed toy's right side, right side up.", + "start_idx": 141, + "end_idx": 216 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Have the right arm grasp the carrot from the table diagonally at its middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "With the right hand, take the carrot from the table using a diagonal approach at the middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Take the carrot from the table diagonally from the middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle from the middle.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "With the right hand, take the carrot from the table.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Have the right arm grasp the carrot from the table.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Have the carrot picked up from the table.", + "start_idx": 759, + "end_idx": 1056 + }, + { + "text": "Put the carrot inside the green bowl on the table with the right hand facing bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Using the right hand, place the carrot into the green bowl on the table with the tip facing bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Have the right arm set the carrot inside the green bowl on the table so its tip points bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "With the right hand, position the carrot in the green bowl on the table, tip oriented toward the bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Place the carrot into the green bowl on the table with the tip facing bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Set the carrot inside the green bowl on the table so the tip points bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Position the carrot in the green bowl on the table, with its tip toward the bottom left.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Using the right hand, put the carrot inside the green bowl on the table.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "With the right hand, place the carrot into the green bowl on the table.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Have the right arm set the carrot in the green bowl on the table.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Put the carrot inside the green bowl on the table.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Place the carrot into the green bowl on the table.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Set the carrot in the green bowl on the table.", + "start_idx": 1056, + "end_idx": 1164 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the bottom right from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Have the right hand take the doritos from the table, grasping the bottom-right area with a side hold from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "With the right hand, grasp the doritos from the table at the bottom right using a side grasp from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom right from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Take the doritos from the table, grasping the bottom-right area with a side hold from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "From a diagonal angle, grasp the doritos on the table at the bottom right with a side grip.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Have the right hand take the doritos from the table using a side grasp.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Pick up the doritos from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Using the right hand, take the doritos from the table at the bottom right from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "With the right hand, grasp the doritos from the table at the bottom-right area from a diagonal angle.", + "start_idx": 1740, + "end_idx": 1896 + }, + { + "text": "Put the doritos to the right side of the green bowl with the right hand right side up with the front as the orientation reference point.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Using the right hand, place the Doritos to the right of the green bowl, right side up with the front as the reference point.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Have the right arm set the Doritos on the green bowl's right side, keeping them right side up relative to the front.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "With the right hand, position the Doritos to the green bowl's right, oriented right side up using the front as the reference.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Place the Doritos to the right of the green bowl.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Set the Doritos on the right side of the green bowl.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "The Doritos go to the green bowl's right side.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Put the Doritos to the right of the green bowl with the right hand.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Using the right hand, place the Doritos on the green bowl's right side.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Have the right arm set the Doritos to the right of the green bowl.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Position the Doritos to the right of the green bowl, keeping them right side up.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Set the Doritos on the green bowl's right side, front-referenced and right side up.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Place the Doritos to the right of the green bowl with the front as the reference point.", + "start_idx": 1896, + "end_idx": 2010 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a side grip at the right side and a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a side grip on its right side at a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a side hold on the right side, angled diagonally.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "With the right hand, take the green bowl from the table using a side grasp at the bowl's right side and a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Pick up the green bowl from the table using a side grip on the right side at a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Take the green bowl from the table with a side grasp at its right side and a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "The green bowl from the table should be grasped with a side hold on the right side at a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a side grip.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Using the right hand, take the green bowl from the table with a side grasp.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Have the right hand collect the green bowl from the table with a side hold.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Pick up the green bowl from the table with the right hand at a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Using the right hand, grasp the green bowl from the table on its right side.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Take the green bowl from the table with a side grip.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Dump the carrot and blue marker between the pink stuffed toy and doritos with the right hand.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Using the right hand, dump the carrot and blue marker between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Have the right arm place the carrot and blue marker in the space between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "With the right hand, deposit the carrot and blue marker between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Put the carrot and blue marker between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Set the carrot and blue marker down between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Place the carrot and blue marker in between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Drop the carrot and blue marker between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Position the carrot and blue marker between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Move the carrot and blue marker into the gap between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "The carrot and blue marker should go between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Arrange the carrot and blue marker between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Transfer the carrot and blue marker to the area between the pink stuffed toy and doritos.", + "start_idx": 2199, + "end_idx": 2307 + }, + { + "text": "Put the green bowl behind the doritos with the right hand.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Using the right hand, place the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Have the right arm set the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "With the right hand, position the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Place the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Set the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Position the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Move the green bowl behind the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Using the right hand, place the green bowl by the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Have the right arm set the green bowl down.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Put the green bowl in place with the right hand.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Place the green bowl by the doritos.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Set the green bowl down.", + "start_idx": 2307, + "end_idx": 2460 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Have the right arm pick the carrot off the table with a diagonal approach at the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by its middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Take the carrot off the table with a diagonal approach, holding the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Retrieve the carrot from the table diagonally at its middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Have the right arm take the carrot off the table by the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "With the right hand, collect the carrot from the table.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Take the carrot off the table diagonally.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Retrieve the carrot from the table by the middle.", + "start_idx": 2460, + "end_idx": 2607 + }, + { + "text": "Put the carrot to the left side of the doritos with the right hand with the tip facing forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Using the right hand, place the carrot on the left side of the doritos, with the tip facing forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Have the right hand set the carrot to the doritos' left, tip pointing forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "With the right hand, position the carrot left of the doritos so its tip faces forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Place the carrot on the left side of the doritos, with the tip facing forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Set the carrot to the doritos' left, keeping the tip pointed forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Position the carrot left of the doritos with its tip facing forwards.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Using the right hand, put the carrot on the left side of the doritos.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Have the right hand place the carrot to the doritos' left.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "With the right hand, set the carrot left of the doritos.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Put the carrot on the left side of the doritos.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Place the carrot to the doritos' left.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Set the carrot beside the doritos on the left.", + "start_idx": 2607, + "end_idx": 2706 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "With the right hand, go to home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Return to the home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Move back to home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Go to the home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Head to home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Resume the home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Move to the home pose.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Return home.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Go back to the home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Shift to home position.", + "start_idx": 2706, + "end_idx": 2763 + }, + { + "text": "Pick up the green bowl from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle, grasping the middle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Have the left arm take the green bowl from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "With the left hand, retrieve the green bowl from the table on a diagonal, gripping the center.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle, grasping the middle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Take the green bowl from the table on a diagonal, holding the middle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Retrieve the green bowl from the table with a diagonal pickup, gripping its center.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "With the left hand, retrieve the green bowl from the table.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Take the green bowl from the table, grasping the middle.", + "start_idx": 216, + "end_idx": 369 + }, + { + "text": "Place the green bowl to the right side of the blue marker with the left hand.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Using the left hand, set the green bowl on the right side of the blue marker, right side up from the front.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Have the left arm place the green bowl to the blue marker's right, keeping it right side up from the front.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "With the left hand, position the green bowl on the marker's right side, right side up relative to the front.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Place the green bowl to the right of the blue marker, right side up from the front.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Set the green bowl on the blue marker's right side, keeping it right side up from the front.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Position the green bowl to the right of the blue marker, right side up relative to the front.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Using the left hand, place the green bowl to the right of the blue marker.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Have the left arm set the green bowl on the blue marker's right side.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "With the left hand, position the green bowl to the marker's right.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Place the green bowl to the right of the blue marker.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Set the green bowl on the right side of the blue marker.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Position the green bowl to the blue marker's right.", + "start_idx": 369, + "end_idx": 489 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Have the left arm pick the carrot up from the table with a bottom side grip at a diagonal approach.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "With the left hand, grasp the carrot from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal approach.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Grasp the carrot from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Have the left arm take the carrot from the table using a side grasp.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "With the left hand, grasp the carrot from the table with a side hold.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Pick up the carrot from the table with the left hand from a diagonal angle.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Take the carrot from the table with the left hand at the bottom from a diagonal approach.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "With the left hand, pick up the carrot from the table.", + "start_idx": 489, + "end_idx": 693 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Have the left hand take the blue marker from the table, holding it diagonally at the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "With the left arm, retrieve the blue marker from the table in a diagonal orientation, grasping its middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Take the blue marker from the table, keeping it diagonal and holding the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Retrieve the blue marker from the table in a diagonal position with a middle grasp.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Using the left hand, pick up the blue marker from the table by grasping the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "With the left arm, take the blue marker from the table at a diagonal angle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Have the left hand retrieve the blue marker from the table.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Take the blue marker from the table by grasping the middle.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1164, + "end_idx": 1332 + }, + { + "text": "Place the blue marker inside the bowl on the table with the left hand facing bottom left by the tip.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Using the left hand, set the blue marker inside the bowl on the table with the tip facing bottom left.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Have the left arm place the blue marker into the bowl on the table, tip oriented toward the bottom left.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "With the left hand, position the blue marker inside the bowl on the table so its tip points bottom left.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Place the blue marker inside the bowl on the table with the tip facing bottom left.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Set the blue marker into the bowl on the table with its tip directed toward the bottom left.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Position the blue marker inside the bowl on the table, with the tip pointing to the bottom left.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Using the left hand, place the blue marker inside the bowl on the table.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "With the left hand, set the blue marker into the bowl on the table.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Have the left arm put the blue marker in the bowl on the table.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Place the blue marker inside the bowl on the table.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Set the blue marker into the bowl on the table.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Put the blue marker in the bowl on the table.", + "start_idx": 1332, + "end_idx": 1428 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Have the left hand grasp the pink stuffed toy from the table from the top using a side hold at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table by the top using a side grasp and a diagonal approach.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Take the pink stuffed toy from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Retrieve the pink stuffed toy from the table by the top using a side hold at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand at the top and a diagonal approach.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "From the table, grasp the pink stuffed toy with the left hand at the top with a diagonal angle.", + "start_idx": 1428, + "end_idx": 1668 + }, + { + "text": "Put the pink stuffed toy to the left side of the green bowl with the left hand facing bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the green bowl with its front facing bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Have the left arm set the pink stuffed toy on the green bowl's left side, front facing bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "With the left hand, position the pink stuffed toy left of the green bowl so the front points bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Place the pink stuffed toy to the left of the green bowl with its front facing bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Set the pink stuffed toy on the left side of the green bowl, with the front oriented bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Position the pink stuffed toy left of the green bowl, front facing bottom left.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Using the left hand, put the pink stuffed toy to the left of the green bowl.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Have the left arm place the pink stuffed toy on the green bowl's left side.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "With the left hand, set the pink stuffed toy left of the green bowl.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Put the pink stuffed toy to the left of the green bowl.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Place the pink stuffed toy on the green bowl's left side.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Set the pink stuffed toy left of the green bowl.", + "start_idx": 1668, + "end_idx": 1740 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Have the left arm take the blue marker from the table, holding it at a diagonal angle around the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "With the left hand, retrieve the blue marker from the table in a diagonal orientation, gripping the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Take the blue marker from the table in a diagonal orientation, holding the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle around its middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Using the left hand, pick up the blue marker from the table by grasping the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "With the left hand, take the blue marker from the table around its middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Have the left arm retrieve the blue marker from the table, holding the middle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "With the left hand, take the blue marker from the table in a diagonal orientation.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2763, + "end_idx": 2955 + }, + { + "text": "Place the blue marker to the left side of the carrot with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Using the left hand, set the blue marker to the carrot's left with its tip facing forward.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the blue marker on the left side of the carrot, oriented forward from the tip.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the blue marker left of the carrot so the tip points forward.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Place the blue marker to the left of the carrot with the tip facing forward.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Set the blue marker on the carrot's left side, with the tip as the forward-facing reference point.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Position the blue marker left of the carrot, tip facing forward.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Put the blue marker on the left side of the carrot.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Set the blue marker to the carrot's left.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Position the blue marker left of the carrot.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the blue marker to the left of the carrot.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the blue marker on the carrot's left side.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the blue marker left of the carrot.", + "start_idx": 2955, + "end_idx": 3000 + } + ] + }, + "2026-03-03-06-40-10-619000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place with large task variations", + "total_frames": 3000, + "num_annotations": 208, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the left hand, retrieve the blue marker from the table on a diagonal, gripping the middle section.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Take the blue marker from the table on a diagonal while holding the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Put the blue marker to the left of the pink stuffed toy with the left hand facing forwards with the tip as the reference point.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Using the left hand, place the blue marker to the left of the pink stuffed toy with the tip facing forwards.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Have the left arm set the blue marker left of the pink stuffed toy, oriented forward by its tip.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "With the left hand, position the blue marker to the left of the pink stuffed toy so the tip points forwards.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Place the blue marker to the left of the pink stuffed toy with the tip facing forwards.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Set the blue marker left of the pink stuffed toy with the tip pointing forwards.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Position the blue marker to the left of the pink stuffed toy, keeping the tip facing forwards.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Using the left hand, place the blue marker to the left of the pink stuffed toy.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "With the left hand, set the blue marker left of the pink stuffed toy.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Have the left arm position the blue marker to the left of the pink stuffed toy.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Place the blue marker to the left of the pink stuffed toy.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Set the blue marker left of the pink stuffed toy.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Position the blue marker to the left of the pink stuffed toy.", + "start_idx": 150, + "end_idx": 348 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "At a diagonal angle, have the left hand seize the blue marker from the table by the middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "With the left hand, collect the blue marker from the table, holding the center at a diagonal.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Take the blue marker from the table at a diagonal angle by its middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Grab the blue marker from the table diagonally at the center.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Using the left hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "With the left hand, take the blue marker from the table by the middle.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Have the left hand grasp the middle of the blue marker from the table.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 621, + "end_idx": 849 + }, + { + "text": "Put the blue marker on top of the red bag of chips with the left hand facing forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Using the left hand, place the blue marker on top of the red bag of chips with its tip facing forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Have the left arm set the blue marker atop the red bag of chips, tip pointed forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "With the left hand, position the blue marker on the red bag of chips so the tip faces forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Place the blue marker on top of the red bag of chips with its tip facing forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Set the blue marker atop the red bag of chips with the tip pointed forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Position the blue marker on the red bag of chips so its tip faces forwards.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Using the left hand, put the blue marker on top of the red bag of chips.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Have the left arm place the blue marker atop the red bag of chips.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "With the left hand, set the blue marker on the red bag of chips.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Put the blue marker on top of the red bag of chips.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Set the blue marker atop the red bag of chips.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Place the blue marker on the red bag of chips.", + "start_idx": 849, + "end_idx": 1014 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally while grasping the entire object.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Retrieve the pink stuffed toy from the table.", + "start_idx": 2130, + "end_idx": 2301 + }, + { + "text": "Put the pink stuffed toy inside the green bowl with the left hand facing backwards.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the green bowl with its front facing backwards.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Have the left arm put the pink stuffed toy into the green bowl, front facing backward.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "With the left hand, set the pink stuffed toy in the green bowl so the front faces backwards.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Place the pink stuffed toy inside the green bowl with its front facing backwards.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Set the pink stuffed toy into the green bowl with the front facing backward.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Put the pink stuffed toy in the green bowl so its front points backwards.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the green bowl.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Have the left arm put the pink stuffed toy into the green bowl.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "With the left hand, set the pink stuffed toy in the green bowl.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Put the pink stuffed toy inside the green bowl.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Place the pink stuffed toy into the green bowl.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Set the pink stuffed toy in the green bowl.", + "start_idx": 2301, + "end_idx": 2649 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Return to the home position.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Move back to home.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Go to the home pose.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Resume the home position.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Head to the home configuration.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Return home.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Move to the home position.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Go back to home.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Assume the home pose.", + "start_idx": 2649, + "end_idx": 2847 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grip at the bottom right.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grip at the bottom right.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Have the right hand grasp the red bag of chips from the table with a side hold at the bottom right.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "With the right hand, take the red bag of chips from the table using a side grasp at the bottom right.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Pick up the red bag of chips from the table with a side grip at the bottom right.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Take the red bag of chips from the table using a side hold at the bottom right.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Grasp the red bag of chips from the table at the bottom right with a side grip.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "From the table, pick up the red bag of chips using a side grasp.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Have the right hand take the red bag of chips from the table.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "From the table, take the red bag of chips.", + "start_idx": 348, + "end_idx": 504 + }, + { + "text": "Put the red bag of chips between the pink stuffed toy and the carrot with the right hand facing forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Using the right hand, place the red bag of chips between the pink stuffed toy and the carrot, facing forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Have the right arm set the red bag of chips between the pink stuffed toy and the carrot with its front facing forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "With the right hand, position the red bag of chips between the pink stuffed toy and the carrot so the front faces forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Place the red bag of chips between the pink stuffed toy and the carrot, facing forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Set the red bag of chips between the pink stuffed toy and the carrot with the front facing forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Position the red bag of chips between the pink stuffed toy and the carrot so it faces forwards.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Using the right hand, put the red bag of chips between the pink stuffed toy and the carrot.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Have the right arm place the red bag of chips between the pink stuffed toy and the carrot.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "With the right hand, set the red bag of chips between the pink stuffed toy and the carrot.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Put the red bag of chips between the pink stuffed toy and the carrot.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Place the red bag of chips between the pink stuffed toy and the carrot.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Set the red bag of chips between the pink stuffed toy and the carrot.", + "start_idx": 504, + "end_idx": 621 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the bottom.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Have the right arm grasp the carrot from the table with a side hold at its bottom.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "With the right hand, secure the carrot from the table by the bottom using a side grasp.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Grasp the carrot from the table at the bottom with a side hold.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Remove the carrot from the table with a side grip.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Pick up the carrot from the table with a side grasp.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Get the carrot from the table using a side hold.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 1013, + "end_idx": 1185 + }, + { + "text": "Put the carrot to the right of the green bowl with the right hand facing forwards with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Using the right hand, place the carrot to the right of the green bowl, facing forwards with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Have the right arm set the carrot to the right of the green bowl with its front facing forwards.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "With the right hand, position the carrot to the right of the green bowl so the front faces forwards.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Place the carrot to the right of the green bowl, facing forwards with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Set the carrot to the right of the green bowl with its front facing forwards.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Position the carrot to the right of the green bowl so the front points forwards.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Using the right hand, put the carrot to the right of the green bowl.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Have the right arm place the carrot to the right of the green bowl.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "With the right hand, set the carrot to the right of the green bowl.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Place the carrot to the right of the green bowl.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Set the carrot to the right of the green bowl.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Position the carrot to the right of the green bowl.", + "start_idx": 1185, + "end_idx": 1317 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip from the top at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip from the top at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Have the right hand grasp the green bowl from the table by the lip, approaching from the top at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip hold from above on the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Pick up the green bowl from the table with a lip grip from the top at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Take the green bowl from the table by the lip from above at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Grasp the green bowl from the table using the lip from the top on the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Have the right hand grasp the green bowl from the table.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Pick up the green bowl from the table from the top at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "From above at the left side, take the green bowl from the table.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Using the right hand, pick up the green bowl from the table from the top at the left side.", + "start_idx": 1554, + "end_idx": 1680 + }, + { + "text": "Put the green bowl to the right of the red bag of chips with the right hand.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Using the right hand, place the green bowl to the right of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Have the right arm set the green bowl to the right of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "With your right hand, position the green bowl on the right side of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Place the green bowl to the right of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Set the green bowl on the right side of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Position the green bowl to the right of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "The green bowl goes to the right of the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Move the green bowl beside the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Using the right hand, place the green bowl beside the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "With the right hand, set the green bowl next to the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Have the right arm move the green bowl beside the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Put the green bowl beside the red bag of chips.", + "start_idx": 1680, + "end_idx": 1794 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Have the right arm pick the blue marker off the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "With the right hand, grasp the blue marker from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Take the blue marker off the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Grasp the blue marker from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Have the right arm take the blue marker off the table using a side grasp on the bottom.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "With the right hand, grasp the blue marker from the table using a side hold at the bottom.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Pick up the blue marker from the table with the right hand from a diagonal angle.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Take the blue marker off the table with the right hand.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Grasp the blue marker from the table.", + "start_idx": 1794, + "end_idx": 2007 + }, + { + "text": "Place the blue marker inside the green bowl with the right hand facing forwards.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Using the right hand, set the blue marker in the green bowl with its tip facing forwards.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Have the right arm place the blue marker inside the green bowl, tip pointed forward.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "With the right hand, deposit the blue marker into the green bowl so the tip faces forwards.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Place the blue marker inside the green bowl with its tip facing forwards.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Put the blue marker into the green bowl, keeping the tip pointed forward.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Set the blue marker in the green bowl with the tip facing forwards.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Using the right hand, place the blue marker inside the green bowl.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Have the right arm put the blue marker into the green bowl.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "With the right hand, set the blue marker in the green bowl.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Place the blue marker inside the green bowl.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Put the blue marker into the green bowl.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Set the blue marker in the green bowl.", + "start_idx": 2007, + "end_idx": 2130 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grip at the bottom left.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Using the right hand, take the red bag of chips from the table with a side grip at the bottom left.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Have the right arm grasp the red bag of chips from the table with a side hold on the bottom left.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "With the right hand, secure the red bag of chips from the table by the bottom-left side.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Pick up the red bag of chips from the table with a side grip at the bottom left.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Take the red bag of chips from the table, holding the bottom-left side.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Grasp the red bag of chips from the table at the bottom-left side.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "From the table, collect the red bag of chips at the bottom left.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Have the right arm take the red bag of chips from the table.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 2847, + "end_idx": 3000 + }, + { + "text": "From the table, retrieve the red bag of chips.", + "start_idx": 2847, + "end_idx": 3000 + } + ] + }, + "2026-03-03-06-43-14-995000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place with large task variations", + "total_frames": 3000, + "num_annotations": 247, + "annotations": [ + { + "text": "Pick up the carrots from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "With the right hand, take the carrots from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Using the right hand, grasp the carrots from the table with a side hold at the bottom at a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Have the right arm pick the carrots up from the table with a lateral grip on the bottom at a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Pick up the carrots from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Take the carrots from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "The carrots should be picked up from the table with a side hold at the bottom and a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Using the right hand, pick up the carrots from the table.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "With the right hand, collect the carrots from the table.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Have the right arm take the carrots from the table.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Pick up the carrots from the table with the right hand.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Using the right hand, grasp the carrots from the table with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Take the carrots from the table with a side grip at the bottom.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Put the carrots to the center of the table with the right hand facing forwards with the tip as the reference point.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Using the right hand, place the carrots at the center of the table, facing forwards with the tip as the reference point.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Have the right arm set the carrots in the middle of the table with the tip oriented forward as the reference point.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "With the right hand, position the carrots at the table center so the tip faces forward.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Place the carrots at the center of the table with the tip as the reference point facing forwards.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Set the carrots in the middle of the table, oriented forward from the tip.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Position the carrots at the table center so the tip points forward.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Using the right hand, put the carrots at the center of the table.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "With the right hand, set the carrots in the middle of the table.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Have the right arm place the carrots at the table center.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Put the carrots at the center of the table.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Set the carrots in the middle of the table.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Using the right hand, position the carrots at the center of the table.", + "start_idx": 201, + "end_idx": 399 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grip on the right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "With the right hand, take the green bowl from the table using a diagonal lip grip on the right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Using the right hand, grasp the green bowl from the table with a diagonal lip hold on its right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Have the right arm pick the green bowl up from the table with a diagonal lip grasp on the right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grip on the right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Take the green bowl from the table with a diagonal lip hold on the right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "With the right hand, pick up the green bowl from the table.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Use the right hand to take the green bowl from the table.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 651, + "end_idx": 1002 + }, + { + "text": "Dump the pink teddy bear and blue marker on the table to the right of the doritos with the right hand.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Using the right hand, dump the pink teddy bear and blue marker onto the table to the right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Have the right arm dump the pink teddy bear and blue marker on the table right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "With the right hand, empty the pink teddy bear and blue marker onto the table beside the doritos on the right.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Dump the pink teddy bear and blue marker onto the table to the right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Place the pink teddy bear and blue marker on the table right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Set the pink teddy bear and blue marker down on the table to the right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Put the pink teddy bear and blue marker on the table beside the doritos on the right.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "The pink teddy bear and blue marker should go on the table to the right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "On the table to the right of the doritos, dump the pink teddy bear and blue marker.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Place the pink teddy bear and blue marker onto the table right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Set down the pink teddy bear and blue marker on the table beside the doritos on the right.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Have the pink teddy bear and blue marker dumped onto the table to the right of the doritos.", + "start_idx": 1002, + "end_idx": 1062 + }, + { + "text": "Put the green bowl to the left of the carrot with the right hand.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Using the right hand, place the green bowl to the left of the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Have the right arm set the green bowl down to the carrot's left.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "With the right hand, position the green bowl on the left side of the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Place the green bowl to the left of the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Set the green bowl down to the carrot's left.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Position the green bowl on the left side of the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Arrange the green bowl beside the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Move the green bowl next to the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Using the right hand, place the green bowl beside the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "With the right hand, set the green bowl next to the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Have the right arm position the green bowl by the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Put the green bowl near the carrot.", + "start_idx": 1062, + "end_idx": 1194 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "With the right hand, retrieve the carrot from the table, contacting the middle at a diagonal angle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding its middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Retrieve the carrot from the table, approaching diagonally and grasping the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "With the right hand, take the carrot from the table by the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Have the right arm retrieve the carrot from the table, holding the middle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "With the right hand, take the carrot from the table diagonally.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1599, + "end_idx": 1818 + }, + { + "text": "Put the carrot to the right of the pink teddy bear with the tip facing forwards using the right hand.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Using the right hand, place the carrot to the right of the pink teddy bear with its tip facing forwards.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Have the right hand set the carrot to the pink teddy bear's right side, tip pointed forwards.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "With the right hand, position the carrot on the right of the pink teddy bear, keeping the tip facing forwards.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Place the carrot to the right of the pink teddy bear with its tip facing forwards.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Set the carrot on the right side of the pink teddy bear, tip facing forwards.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Position the carrot to the pink teddy bear's right with the tip pointed forwards.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Using the right hand, put the carrot to the right of the pink teddy bear.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "With the right hand, place the carrot on the pink teddy bear's right side.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Have the right hand position the carrot to the right of the pink teddy bear.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Put the carrot to the right of the pink teddy bear.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Set the carrot on the pink teddy bear's right side.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Position the carrot to the right of the pink teddy bear.", + "start_idx": 1818, + "end_idx": 1950 + }, + { + "text": "Pick up the pink teddy bear from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "With the right hand, pick up the pink teddy bear from the table using a side grasp at the top diagonally.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Use the right hand to take the pink teddy bear off the table with a side grip at the top diagonal.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Have the right arm grasp the pink teddy bear from the table with a side hold at the top on a diagonal.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Pick up the pink teddy bear from the table using a side grip at the top diagonally.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Take the pink teddy bear off the table with a side grasp at the top diagonal.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Grasp the pink teddy bear from the table with a side hold at the top diagonally.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Using the right hand, pick up the pink teddy bear from the table with a side grip.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Have the right arm take the pink teddy bear off the table using a side grasp.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "With the right hand, grasp the pink teddy bear from the table with a side hold.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Pick up the pink teddy bear from the table with the right hand at the top diagonally.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Use the right hand to take the pink teddy bear off the table at the top diagonal.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Have the right arm grasp the pink teddy bear from the table at the top on a diagonal.", + "start_idx": 2406, + "end_idx": 2520 + }, + { + "text": "Put the pink teddy bear inside the green bowl with the right hand facing top left.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Using the right hand, place the pink teddy bear inside the green bowl with its front facing top left.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Have the right arm put the pink teddy bear into the green bowl, front pointed toward the top left.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "With the right hand, set the pink teddy bear in the green bowl so the front faces top left.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Place the pink teddy bear inside the green bowl.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Set the pink teddy bear into the green bowl.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Put the pink teddy bear in the green bowl.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Using the right hand, place the pink teddy bear inside the green bowl.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Have the right arm put the pink teddy bear into the green bowl.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Set the pink teddy bear in the green bowl with the right hand.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Place the pink teddy bear into the green bowl using the right hand.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Put the pink teddy bear in the green bowl with its front facing top left.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Have the pink teddy bear placed inside the green bowl.", + "start_idx": 2520, + "end_idx": 2643 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Have the right arm pick up the doritos from the table with a side grip on the bottom-left area at a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold at the bottom left from a diagonal approach.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Take the doritos from the table with a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Grasp the doritos from the table with a side hold at the bottom left from a diagonal approach.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Have the right arm take the doritos from the table using a side grasp.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Using the right hand, pick up the doritos from the table from a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "From a diagonal approach, take the doritos from the table with the right hand at the bottom left.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Pick up the doritos from the table at the bottom left from a diagonal angle.", + "start_idx": 2643, + "end_idx": 2841 + }, + { + "text": "Put the doritos to the right of the carrot with the right hand facing forwards.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the doritos to the carrot's right with the front facing forward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the doritos on the right side of the carrot, oriented forward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the doritos to the right of the carrot so the front faces forwards.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Place the doritos to the right of the carrot.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Set the doritos on the right side of the carrot.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "The doritos go to the carrot's right.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Using the right hand, put the doritos to the right of the carrot.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Have the right arm place the doritos beside the carrot on its right.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Position the doritos to the right of the carrot with the right hand.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the doritos beside the carrot.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Put the doritos to the right of the carrot facing forwards.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Set the doritos on the right side of the carrot with the front facing forward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at a diagonal angle from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at a diagonal angle from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Have the left arm take the doritos from the table with a side grasp, angled diagonally from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "With the left hand, grasp the doritos from the table in a side hold at a leftward diagonal angle.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Pick up the doritos from the table with a side grip at a diagonal angle from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Take the doritos from the table in a side grasp at a diagonal angle from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Grasp the doritos from the table with a side hold, diagonally from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "With the left hand, pick up the doritos from the table using a side grip.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Have the left arm take the doritos from the table with a side grasp.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Using the left hand, grasp the doritos from the table in a side hold.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Take the doritos from the table diagonally from the left.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "With the left hand, pick up the doritos from the table.", + "start_idx": 399, + "end_idx": 555 + }, + { + "text": "Put the doritos behind of the carrot on the top side with the left hand facing top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Using the left hand, place the doritos behind the carrot on the top side, facing top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Have the left hand set the doritos behind the carrot at the top side with the front facing top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "With the left hand, position the doritos behind the carrot on the top side so the front points top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Place the doritos behind the carrot on the top side, facing top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Set the doritos behind the carrot at the top side with the front oriented top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Position the doritos behind the carrot on the top side so the front faces top left.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Using the left hand, put the doritos behind the carrot on the top side.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Have the left hand place the doritos behind the carrot at the top side.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "With the left hand, set the doritos behind the carrot on the top side.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Put the doritos behind the carrot on the top side.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Place the doritos behind the carrot at the top side.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Set the doritos behind the carrot on the top side.", + "start_idx": 555, + "end_idx": 651 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Have the left arm pick the blue marker off the table diagonally by the middle.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "With the left hand, retrieve the blue marker from the table in a diagonal orientation, holding the center.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Take the blue marker off the table diagonally by the middle.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Retrieve the blue marker from the table while holding its middle at a diagonal angle.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "With the left hand, take the blue marker off the table.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Have the left arm retrieve the blue marker from the table.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 1194, + "end_idx": 1476 + }, + { + "text": "Place the blue marker inside the green bowl with the left hand.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Using the left hand, put the blue marker in the green bowl with its tip facing bottom left.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Have the left arm place the blue marker inside the green bowl, tip pointed toward the bottom left.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "With the left hand, set the blue marker into the green bowl so the tip faces bottom left.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Put the blue marker inside the green bowl with its tip facing bottom left.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Set the blue marker in the green bowl, with the tip directed toward the bottom left.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Place the blue marker into the green bowl, tip pointing bottom left.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Using the left hand, place the blue marker inside the green bowl.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Have the left arm put the blue marker into the green bowl.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "With the left hand, set the blue marker in the green bowl.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Put the blue marker inside the green bowl.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Set the blue marker into the green bowl.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Have the blue marker placed in the green bowl.", + "start_idx": 1476, + "end_idx": 1599 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Have the left arm pick up the green bowl from the table using a left-side diagonal lip grasp.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "With the left hand, grasp the green bowl from the table via a diagonal lip hold on its left side.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Grasp the green bowl from the table with a left-side diagonal lip hold.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "The green bowl from the table should be picked up with the left hand.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Take the green bowl from the table using the left hand.", + "start_idx": 1950, + "end_idx": 2109 + }, + { + "text": "Dump the blue marker onto the bottom side of the table center with the left hand.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Using the left hand, dump the blue marker onto the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Have the left hand place the blue marker down on the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "With the left hand, set the blue marker onto the table center's bottom side.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Dump the blue marker onto the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Place the blue marker on the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Set the blue marker down on the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Put the blue marker onto the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Move the blue marker to the bottom side of the table center.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Using the left hand, dump the blue marker.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Have the left hand place the blue marker down.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "With the left hand, set the blue marker down.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Put the blue marker down.", + "start_idx": 2109, + "end_idx": 2205 + }, + { + "text": "Put the green bowl in front of the doritos on the bottom side with the left hand.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Using the left hand, place the green bowl in front of the doritos on its bottom side.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Have the left arm set the green bowl down in front of the doritos, right side up.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "With the left hand, position the green bowl before the doritos, resting on its bottom.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Place the green bowl in front of the doritos on its bottom side.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Set the green bowl down in front of the doritos, right side up.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Position the green bowl before the doritos, resting on its bottom.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Using the left hand, put the green bowl in front of the doritos.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "With the left hand, place the green bowl before the doritos.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Have the left arm set the green bowl down in front of the doritos.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Put the green bowl in front of the doritos.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Set the green bowl down before the doritos.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Place the green bowl before the doritos.", + "start_idx": 2205, + "end_idx": 2343 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Have the left arm return to home position.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "With the left gripper, go back to the home pose.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Return to the home position.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Move back to home position.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Go to the home pose.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Reset to the home position.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Head back to the home position.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Assume the home pose.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Reposition to home.", + "start_idx": 2343, + "end_idx": 2406 + }, + { + "text": "Move to the home configuration.", + "start_idx": 2343, + "end_idx": 2406 + } + ] + }, + "2026-03-03-06-48-23-857000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place with large task variations", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "The corn should be picked up from the table by the right hand at a diagonal angle, holding the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "The corn from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "With the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Have the right arm take the corn from the table by the middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "The right hand should pick up the corn from the table, holding its middle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Take the corn from the table with the right arm.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "The corn from the table should be picked up by the right hand.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Put the corn in front of the eggplant with the right hand on the bottom side with the tip facing left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Using the right hand, place the corn in front of the eggplant on the bottom side, with its tip facing left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Have the right arm set the corn in front of the eggplant on the bottom side so the tip points left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "With the right hand, position the corn in front of the eggplant on the bottom side, tip oriented to the left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Place the corn in front of the eggplant on the bottom side, with its tip facing left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Set the corn in front of the eggplant on the bottom side so the tip points left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Position the corn in front of the eggplant on the bottom side with the tip directed left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Using the right hand, put the corn in front of the eggplant on the bottom side.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "With the right hand, place the corn in front of the eggplant on the bottom side.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Have the right arm set the corn in front of the eggplant on the bottom side.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Put the corn in front of the eggplant with the tip facing left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Set the corn in front of the eggplant so the tip points left.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Using the right hand, place the corn in front of the eggplant.", + "start_idx": 180, + "end_idx": 282 + }, + { + "text": "Pick up the white cup from the table with the right hand by the handle from the side.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Using the right hand, take the white cup from the table by its handle from the side.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Have the right arm grasp the white cup from the table at the handle using a side approach.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "With the right hand, secure the white cup from the table by the handle from the side.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Pick up the white cup from the table by the handle from the side.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Take the white cup from the table at the handle from the side.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Grasp the white cup from the table by its handle from the side.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 546, + "end_idx": 876 + }, + { + "text": "Put the white cup to the right of the corn on the bottom right side with the right hand right side up with the front facing backwards.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Using the right hand, place the white cup to the right of the corn on the bottom right side, right side up with the front facing backwards.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Have the right arm set the white cup on the bottom right side to the right of the corn, keeping it right side up and the front facing backwards.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "With the right hand, position the white cup to the corn's right on the bottom right side, oriented right side up with the front facing backwards.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Place the white cup to the right of the corn on the bottom right side, right side up with the front facing backwards.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Set the white cup on the bottom right side to the right of the corn, right side up with the front facing backwards.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Position the white cup to the corn's right on the bottom right side, with the front facing backwards and right side up.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Using the right hand, place the white cup to the right of the corn on the bottom right side.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Have the right arm set the white cup on the bottom right side to the right of the corn.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "With the right hand, position the white cup to the corn's right on the bottom right side.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Put the white cup to the right of the corn on the bottom right side.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Set the white cup on the bottom right side to the right of the corn.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Position the white cup to the corn's right on the bottom right side.", + "start_idx": 876, + "end_idx": 999 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "With the right hand, retrieve the corn from the table at a diagonal angle by grasping its middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by its middle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 998, + "end_idx": 1146 + }, + { + "text": "Put the corn to the front right of the white cup with the right hand on the bottom side facing top left with the tip as the reference point.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Using the right hand, place the corn at the white cup's front-right, on its bottom side with the tip facing top left.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Have the right arm set the corn to the front right of the white cup, bottom side down and the tip oriented top left.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "With the right hand, position the corn front-right of the white cup, resting on the bottom side with the tip as the top-left reference.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Place the corn to the front right of the white cup on its bottom side.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Set the corn at the white cup's front-right with the bottom side down.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Position the corn front-right of the white cup, resting on the bottom side.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Put the corn to the front right of the white cup with the tip facing top left.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Arrange the corn at the white cup's front-right with the tip oriented top left.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Set the corn by the white cup's front-right, using the tip as the reference point.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Place the corn to the front right of the white cup.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Set the corn at the white cup's front-right on its bottom side.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Position the corn front-right of the white cup with the tip as the reference point.", + "start_idx": 1146, + "end_idx": 1257 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "With the right hand, retrieve the corn from the table on a diagonal angle by grasping its middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Retrieve the corn from the table on a diagonal pickup, holding the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Take the corn from the table at a diagonal angle by the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Using the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "With the right hand, take the corn from the table by the middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Have the right arm retrieve the corn from the table while holding its middle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "With the right hand, retrieve the corn from the table on a diagonal path.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1728, + "end_idx": 1893 + }, + { + "text": "Put the corn behind the blue soda can on the top left side with the right hand with its tip facing bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Using the right hand, place the corn behind the blue soda can on the top left side, with the tip pointing bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Have the right arm set the corn behind the blue soda can at the top left side, tip facing bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "With the right hand, position the corn behind the blue soda can on the top left side so its tip faces bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Place the corn behind the blue soda can on the top left side, with the tip pointing bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Set the corn behind the blue soda can at the top left side, tip facing bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Position the corn behind the blue soda can on the top left side so the tip faces bottom left.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Using the right hand, put the corn behind the blue soda can on the top left side.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Have the right arm place the corn behind the blue soda can at the top left side.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "With the right hand, set the corn behind the blue soda can on the top left side.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Place the corn behind the blue soda can on the top left side.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "At the top left side, put the corn behind the blue soda can.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Have the corn placed behind the blue soda can at the top left side.", + "start_idx": 1893, + "end_idx": 2013 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top right side using a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Using the right hand, pick up the white cup from the table from the top right side with a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Have the right arm take the white cup from the table, grasping it at the top right side with a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "With a lip grip, the right hand should collect the white cup from the table from the top right side.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Pick up the white cup from the table from the top right side with a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Take the white cup from the table at the top right side using a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Grasp the white cup from the table from the top right side with a lip grasp.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Remove the white cup from the table with the right hand using a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Have the right arm take the white cup from the table with a lip grasp.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "With the right hand, collect the white cup from the table using the lip grip.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2304, + "end_idx": 2526 + }, + { + "text": "Put the white cup to the right of the eggplant with handle facing backwards right side up on the bottom side with the right hand.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Using the right hand, place the white cup on the bottom side to the right of the eggplant, with its handle facing back and the cup right side up.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Have the right arm set the white cup on the bottom side, positioned to the right of the eggplant, handle facing backward and upright.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "With the right hand, position the white cup on the bottom side to the eggplant's right, keeping it upright with the handle pointed backward.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Place the white cup on the bottom side to the right of the eggplant, with its handle facing backward and right side up.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Set the white cup to the right of the eggplant on the bottom side, handle facing back and upright.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Position the white cup on the bottom side at the eggplant's right, with the handle pointed backward and the cup right side up.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Using the right hand, put the white cup on the bottom side to the right of the eggplant.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Have the right arm place the white cup to the right of the eggplant on the bottom side.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "With the right hand, set the white cup on the bottom side at the eggplant's right.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Put the white cup on the bottom side to the right of the eggplant.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Set the white cup to the right of the eggplant on the bottom side.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Position the white cup at the eggplant's right on the bottom side.", + "start_idx": 2526, + "end_idx": 2667 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "With the right hand, move back to the home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Using the right hand, go to home.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Move back to the home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Return to home.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Go to the home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Head back to home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Shift to the home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Move to home.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Return back.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Go home.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Head to the home position.", + "start_idx": 2667, + "end_idx": 2709 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "With the left arm, collect the eggplant from the table diagonally by the middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Have the left hand pick the eggplant off the table at a diagonal angle from the middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Take the eggplant off the table diagonally by its middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Get the eggplant from the table with a diagonal pickup at the middle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Retrieve the eggplant from the table at a diagonal angle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "From the table, pick up the eggplant with the left hand.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Use the left hand to take the eggplant from the table.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Have the left arm collect the eggplant off the table.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Retrieve the eggplant from the table with the left hand at a diagonal angle.", + "start_idx": 282, + "end_idx": 489 + }, + { + "text": "Put the eggplant to the left of the corn on top with the left hand facing backwards by the tip.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Using the left hand, place the eggplant on top to the left of the corn with its tip facing backward.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Have the left arm set the eggplant on top, left of the corn, oriented backward at the tip.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "With the left hand, position the eggplant on top to the corn's left, keeping the tip pointed backward.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Place the eggplant on top to the left of the corn with its tip facing backward.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Set the eggplant on top to the corn's left, with the tip oriented backward.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Position the eggplant on top left of the corn, tip facing backward.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Using the left hand, put the eggplant on top to the left of the corn.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "With the left hand, place the eggplant to the left of the corn on top.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Have the left arm set the eggplant on top left of the corn.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Put the eggplant on top to the left of the corn.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Set the eggplant to the left of the corn with the left hand.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Position the eggplant to the left of the corn.", + "start_idx": 489, + "end_idx": 546 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from the side at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Using the left hand, take the blue soda can from the table from the side at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side approach at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "With the left hand, collect the blue soda can from the table by grasping it from the side at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Pick up the blue soda can from the table from the side at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "From the table, grasp the blue soda can from the side at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Seize the blue soda can from the table at the middle.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 1257, + "end_idx": 1611 + }, + { + "text": "Put the blue soda can in between the eggplant and the white cup with the left hand.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Using the left hand, place the blue soda can between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Have the left arm set the blue soda can in between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "With the left hand, position the blue soda can between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Place the blue soda can between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Set the blue soda can in between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Position the blue soda can between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Put the blue soda can in between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Move the blue soda can to a spot between the eggplant and the white cup.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Using the left hand, place the blue soda can.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "With the left hand, set down the blue soda can.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Have the left arm position the blue soda can.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Place the blue soda can.", + "start_idx": 1611, + "end_idx": 1728 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup at its middle.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2012, + "end_idx": 2187 + }, + { + "text": "Put the eggplant in front right of the blue soda can on the bottom side with the left hand facing backwards with the tip as the reference point.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Using the left hand, place the eggplant on the bottom side in front right of the blue soda can, with its tip facing backwards.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Have the left arm set the eggplant in front right of the blue soda can on the bottom side, tip oriented backward.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "With the left hand, position the eggplant on the bottom side in front right of the blue soda can, keeping the tip pointed backwards.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Place the eggplant on the bottom side in front right of the blue soda can, with its tip facing backwards.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Set the eggplant in front right of the blue soda can on the bottom side, tip directed backward.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Position the eggplant on the bottom side in front right of the blue soda can.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Put the eggplant in front right of the blue soda can on the bottom side.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Set the eggplant on the bottom side in front right of the blue soda can.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Place the eggplant in front right of the blue soda can with the left hand.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Using the left hand, put the eggplant on the bottom side in front right of the blue soda can.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Have the left arm place the eggplant in front right of the blue soda can.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Put the eggplant in front right of the blue soda can.", + "start_idx": 2187, + "end_idx": 2304 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "With the left hand, retrieve the eggplant from the table at a diagonal angle by grasping its middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Retrieve the eggplant from the table at a diagonal angle by grasping the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Get the eggplant from the table, grasping the middle at a diagonal angle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "With the left hand, take the eggplant from the table by the middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Have the left arm retrieve the eggplant from the table, holding its middle.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2709, + "end_idx": 2802 + }, + { + "text": "Put the eggplant to the front right of the blue soda can on the top side with the left hand facing backwards by the tip.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Using the left hand, place the eggplant on the top side to the front right of the blue soda can, with the tip facing backwards.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Have the left arm set the eggplant on the top side at the front right of the blue soda can, oriented backwards from the tip.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "With the left hand, position the eggplant to the front right of the blue soda can on the top side, tip facing backwards.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Place the eggplant on the top side to the front right of the blue soda can, with the tip facing backwards.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Set the eggplant at the front right of the blue soda can on the top side, oriented backwards from the tip.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Position the eggplant to the front right of the blue soda can on the top side, with its tip facing backwards.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Using the left hand, place the eggplant on the top side to the front right of the blue soda can.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Have the left arm set the eggplant at the front right of the blue soda can on the top side.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "With the left hand, position the eggplant to the front right of the blue soda can on the top side.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Put the eggplant on the top side to the front right of the blue soda can.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Set the eggplant at the front right of the blue soda can on the top side.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Position the eggplant to the front right of the blue soda can on the top side.", + "start_idx": 2802, + "end_idx": 2883 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Move back to home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Move to home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Bring it back to home position.", + "start_idx": 2883, + "end_idx": 3000 + } + ] + }, + "2026-03-03-06-53-17-768000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place with large task variations", + "total_frames": 3000, + "num_annotations": 233, + "annotations": [ + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Have the left arm pick the eggplant up from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "With the left hand, retrieve the eggplant from the table, approaching at a diagonal and holding the center.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Take the eggplant from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal approach, holding its center.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "With the left hand, take the eggplant from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Have the left arm retrieve the eggplant from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Put the eggplant to the left of the blue soda can with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Using the left hand, place the eggplant to the left of the blue soda can with its tip facing bottom right.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Have the left arm set the eggplant left of the blue soda can, oriented bottom right from the tip.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "With the left hand, position the eggplant to the left of the blue soda can so the tip points bottom right.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Place the eggplant to the left of the blue soda can with its tip facing bottom right.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Set the eggplant left of the blue soda can, with the tip oriented toward the bottom right.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Position the eggplant to the left of the blue soda can so its tip faces bottom right.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Using the left hand, place the eggplant to the left of the blue soda can.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "With the left hand, set the eggplant left of the blue soda can.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Have the left arm position the eggplant to the left of the blue soda can.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Place the eggplant to the left of the blue soda can.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Set the eggplant left of the blue soda can.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Position the eggplant to the left of the blue soda can.", + "start_idx": 75, + "end_idx": 162 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left with a diagonal pick angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left and a diagonal pick angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a top-left lip hold at a diagonal angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a lip grasp on the top left at a diagonal approach.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top left with a diagonal pick angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp at the top left and a diagonal approach.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Grasp the white coffee cup from the table using a top-left lip hold at a diagonal angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table using a lip grip.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grasp.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the top left with a diagonal pick angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Take the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Grasp the white coffee cup from the table at the top left with a diagonal pick angle.", + "start_idx": 1047, + "end_idx": 1191 + }, + { + "text": "Put the white coffee cup to the left of the eggplant with the handle facing to the top right right side up using the left hand.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the eggplant with the handle facing the top right, right side up.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Have the left arm set the white coffee cup left of the eggplant, keeping it upright with the handle pointing to the top right.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "With the left hand, position the white coffee cup to the eggplant's left, right side up and with its handle oriented toward the top right.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Place the white coffee cup to the left of the eggplant with the handle facing the top right, right side up.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Set the white coffee cup left of the eggplant, keeping it upright and with the handle toward the top right.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Position the white coffee cup to the eggplant's left, with the handle pointing to the top right and the cup right side up.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the eggplant.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Have the left arm set the white coffee cup left of the eggplant.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "With the left hand, position the white coffee cup to the eggplant's left.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Put the white coffee cup to the left of the eggplant.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Set the white coffee cup left of the eggplant.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Position the white coffee cup to the eggplant's left.", + "start_idx": 1191, + "end_idx": 1326 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle from the middle.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Have the left arm grasp the eggplant from the table diagonally at its middle.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "With the left hand, collect the eggplant from the table using a diagonal approach at the middle.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle from the middle.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Take the eggplant from the table diagonally from the middle.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Grasp the eggplant from the table at the middle with a diagonal approach.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Have the left arm grasp the eggplant from the table.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Grasp the eggplant from the table.", + "start_idx": 1635, + "end_idx": 1887 + }, + { + "text": "Put the eggplant to the left of the white coffee cup with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Using the left hand, place the eggplant to the left of the white coffee cup, facing backwards with the tip as the reference point.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Have the left arm set the eggplant to the left of the white coffee cup with its tip as the reference point, facing backwards.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "With the left hand, position the eggplant left of the white coffee cup so it faces backwards relative to the tip.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Place the eggplant to the left of the white coffee cup, facing backwards with the tip as the reference point.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Set the eggplant left of the white coffee cup with the tip as the reference point, facing backwards.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Position the eggplant to the left of the white coffee cup so it faces backwards relative to the tip.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Using the left hand, put the eggplant to the left of the white coffee cup.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "With the left hand, place the eggplant left of the white coffee cup.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Have the left arm position the eggplant to the left of the white coffee cup.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Set the eggplant to the left of the white coffee cup.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Place the eggplant left of the white coffee cup.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Position the eggplant to the left of the white coffee cup.", + "start_idx": 1887, + "end_idx": 1971 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Have the left hand take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding its middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Have the left hand take the eggplant from the table.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 2358, + "end_idx": 2511 + }, + { + "text": "Put the eggplant between the white coffee cup and the blue can with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Using the left hand, place the eggplant between the white coffee cup and the blue can, with its tip facing forwards.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Have the left arm set the eggplant between the white coffee cup and the blue can so the tip points forward.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "With the left hand, position the eggplant between the white coffee cup and the blue can, tip facing forwards.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Place the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Set the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Position the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Put the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Using the left hand, place the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "With the left hand, set the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Have the left arm place the eggplant between the white coffee cup and the blue can.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Place the eggplant between the white coffee cup and the blue can with its tip facing forwards.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Position the eggplant between the white coffee cup and the blue can, tip forward.", + "start_idx": 2511, + "end_idx": 2655 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "With the left gripper, go to the home pose.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Return to home.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Move back to the home position.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Go to the home pose.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Head to home position.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Reset to home.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Move to the home position.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Return to the default position.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Go back to home.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Have the arm return home.", + "start_idx": 2655, + "end_idx": 2727 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top right.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grip at the top right.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table using a diagonal lip hold on the top-right edge.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "With the right hand, seize the white coffee cup from the table via a diagonal lip grasp at the top right.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip at the top right.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold at the top right.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip grasp on the top-right area.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Use the right hand to take the white coffee cup from the table.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "The white coffee cup from the table should be grasped.", + "start_idx": 327, + "end_idx": 426 + }, + { + "text": "Put the white coffee cup in front of the blue soda can with the right hand facing backwards from the front.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the blue soda can, facing backwards from the front.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Have the right arm set the white coffee cup in front of the blue soda can with its front facing backward.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "With the right hand, position the white coffee cup before the blue soda can so the front faces backward.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Place the white coffee cup in front of the blue soda can.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Set the white coffee cup before the blue soda can.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Position the white coffee cup in front of the blue soda can.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Put the white coffee cup in front of the blue soda can with the right hand.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Using the right hand, place the white coffee cup before the blue soda can.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Have the right arm set the white coffee cup in front of the blue soda can.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Place the white coffee cup in front of the blue soda can facing backwards from the front.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Set the white coffee cup before the blue soda can with its front facing backward.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Position the white coffee cup in front of the blue soda can so the front faces backward.", + "start_idx": 426, + "end_idx": 660 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal middle grasp.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "With the right hand, grasp the corn from the table diagonally at its middle.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Take the corn from the table with a diagonal grasp from the middle.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Grasp the corn from the table diagonally from its middle.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "With the right hand, grasp the corn from the table.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 1326, + "end_idx": 1503 + }, + { + "text": "Put the corn in front of the blue soda can with the right hand facing left with the tip as the reference point.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Using the right hand, place the corn in front of the blue soda can with its tip facing left.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Have the right arm set the corn in front of the blue soda can, oriented leftward from the tip.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "With the right hand, position the corn before the blue soda can so the tip points left.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Place the corn in front of the blue soda can with its tip facing left.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Set the corn in front of the blue soda can, with the tip oriented to the left.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Position the corn before the blue soda can so its tip points left.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Put the corn in front of the blue soda can.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Place the corn before the blue soda can.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Set the corn in front of the blue soda can.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Put the corn in front of the blue soda can with the right hand.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Using the right hand, place the corn before the blue soda can.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Have the right arm set the corn in front of the blue soda can.", + "start_idx": 1503, + "end_idx": 1635 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom right from a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Using the right hand, take the corn from the table with a side grasp at the bottom right from a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Have the right arm pick the corn off the table with a side grip on the bottom-right area at a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "With the right hand, grasp the corn from the table using a side hold at the bottom right on a diagonal approach.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom right from a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Take the corn off the table with a side grasp at the bottom-right area from a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Grasp the corn from the table with a side hold at the bottom right on a diagonal approach.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Have the right arm take the corn off the table using a side grasp.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "With the right hand, grasp the corn from the table using a side hold.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Using the right hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Take the corn off the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "With the right hand, grasp the corn from the table.", + "start_idx": 2157, + "end_idx": 2208 + }, + { + "text": "Put the corn to the right of the blue soda can with the right hand facing forwards with the tip facing forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Using the right hand, place the corn to the right of the blue soda can, with the tip facing forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Have the right hand set the corn to the right of the blue soda can, oriented forwards with its tip facing forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "With the right hand, position the corn to the right of the blue soda can so the tip points forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Place the corn to the right of the blue soda can with the tip facing forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Set the corn to the right of the blue soda can, oriented so the tip faces forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Position the corn to the right of the blue soda can with its tip pointing forwards.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Put the corn to the right of the blue soda can.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Place the corn on the right side of the blue soda can.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Set the corn beside the blue soda can on its right side.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Using the right hand, place the corn to the right of the blue soda can.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "With the right hand, set the corn on the right side of the blue soda can.", + "start_idx": 2208, + "end_idx": 2358 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Using the right hand, take the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Have the right arm pick the corn off the table with a bottom side grasp at a diagonal angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "With the right hand, grasp the corn from the table on its bottom side using a diagonal pick angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Take the corn off the table using a side grasp at the bottom and a diagonal angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Grasp the corn from the table at the bottom with a side hold and a diagonal pickup angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Have the right arm take the corn from the table with a bottom side grasp.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "With the right hand, remove the corn from the table.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Pick up the corn from the table with a diagonal pick angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Using the right hand, pick up the corn from the table at the bottom with a diagonal angle.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2880, + "end_idx": 2934 + }, + { + "text": "Put the corn in front of the blue soda can with the right hand with its tip facing left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Using the right hand, place the corn in front of the blue soda can with its tip pointing left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Have the right arm set the corn in front of the blue soda can, tip facing left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "With the right hand, position the corn before the blue soda can so its tip faces left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Place the corn in front of the blue soda can with its tip pointing left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Set the corn before the blue soda can, with the tip facing left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Position the corn in front of the blue soda can so the tip points left.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Using the right hand, put the corn in front of the blue soda can.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "With the right hand, place the corn before the blue soda can.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Have the right arm set the corn in front of the blue soda can.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Put the corn in front of the blue soda can.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Set the corn before the blue soda can.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Position the corn in front of the blue soda can.", + "start_idx": 2934, + "end_idx": 2988 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "With the right hand, go to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Move back to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Home the arm.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Return to the default position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Resume the home pose.", + "start_idx": 2988, + "end_idx": 3000 + } + ] + }, + "2026-03-14-20-11-52-724000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place large number of objects", + "total_frames": 3000, + "num_annotations": 261, + "annotations": [ + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table at a diagonal angle by grasping its middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "From the table, collect the brown stuffed toy at a diagonal angle by grasping its middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Use the left hand to pick up the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "From the table, grasp the brown stuffed toy with the left hand.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the brown stuffed toy to the left of the green bowl on the top side facing backwards with the left hand.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the green bowl on the top side with its front facing backwards.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Have the left arm set the brown stuffed toy on the top side to the left of the green bowl, front facing backward.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the green bowl on the top side so its front faces backward.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Place the brown stuffed toy to the left of the green bowl on the top side with its front facing backwards.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Set the brown stuffed toy on the top side to the left of the green bowl, front facing backward.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "The brown stuffed toy goes to the left of the green bowl on the top side with its front facing backward.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the green bowl on the top side.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Have the left arm set the brown stuffed toy on the top side to the left of the green bowl.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the green bowl.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Place the brown stuffed toy to the left of the green bowl on the top side.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Set the brown stuffed toy on the top side to the left of the green bowl.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "The brown stuffed toy goes to the left of the green bowl.", + "start_idx": 132, + "end_idx": 231 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 582, + "end_idx": 873 + }, + { + "text": "Place the orange screwdriver to the left of the pink tray with the left hand facing forwards with the tip facing forwards.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Using the left hand, set the orange screwdriver to the left of the pink tray with the tip facing forwards.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Have the left arm place the orange screwdriver on the left side of the pink tray, pointing forwards at the tip.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "With the left hand, position the orange screwdriver left of the pink tray so the tip faces forwards.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Place the orange screwdriver to the left of the pink tray with the tip facing forwards.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Set the orange screwdriver on the left side of the pink tray with the tip pointing forwards.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Position the orange screwdriver left of the pink tray, keeping the tip facing forwards.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the pink tray.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Have the left arm set the orange screwdriver on the left side of the pink tray.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "With the left hand, position the orange screwdriver left of the pink tray.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Place the orange screwdriver to the left of the pink tray.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Set the orange screwdriver on the left side of the pink tray.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Position the orange screwdriver left of the pink tray.", + "start_idx": 873, + "end_idx": 957 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Take the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1425, + "end_idx": 1638 + }, + { + "text": "Put the brown stuffed toy inside the green bowl with the left hand facing bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the green bowl with its front facing bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Have the left arm put the brown stuffed toy into the green bowl, front oriented toward the bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "With the left hand, deposit the brown stuffed toy in the green bowl so the front points bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with its front facing bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Put the brown stuffed toy into the green bowl so the front faces bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Set the brown stuffed toy in the green bowl, front pointing bottom left.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the green bowl.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "With the left hand, put the brown stuffed toy into the green bowl.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Have the left arm deposit the brown stuffed toy in the green bowl.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Put the brown stuffed toy inside the green bowl.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Set the brown stuffed toy into the green bowl.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Have the brown stuffed toy placed in the green bowl.", + "start_idx": 1638, + "end_idx": 1755 + }, + { + "text": "Pick up the blue stuffed toy from the pink tray with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the pink tray with a side grip at the bottom from a diagonal angle.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the pink tray with a side hold at the bottom on a diagonal approach.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the pink tray by gripping its bottom from the side at a diagonal angle.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Pick up the blue stuffed toy from the pink tray with a side grip at the bottom from a diagonal angle.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Take the blue stuffed toy from the pink tray by grasping the bottom from the side at a diagonal angle.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Retrieve the blue stuffed toy from the pink tray using a side hold on the bottom from a diagonal approach.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the pink tray with a side grip at the bottom.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the pink tray using a side grasp at the bottom.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Have the left arm take the blue stuffed toy from the pink tray from a diagonal angle.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Get the blue stuffed toy from the pink tray with the left hand.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Using the left hand, remove the blue stuffed toy from the pink tray.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Take the blue stuffed toy from the pink tray.", + "start_idx": 1755, + "end_idx": 1947 + }, + { + "text": "Put the blue stuffed toy behind the pink tray on the top side with the left hand facing forwards.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the pink tray on the top side, facing forwards.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Have the left arm set the blue stuffed toy behind the pink tray on the top side with its front facing forward.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "With the left hand, position the blue stuffed toy behind the pink tray on the top side so it faces forwards.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Place the blue stuffed toy behind the pink tray on the top side, facing forwards.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Set the blue stuffed toy behind the pink tray on the top side with its front directed forward.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Position the blue stuffed toy behind the pink tray on the top side so it faces forward.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Using the left hand, put the blue stuffed toy behind the pink tray on the top side.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Have the left arm place the blue stuffed toy behind the pink tray on the top side.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "With the left hand, set the blue stuffed toy behind the pink tray on the top side.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Put the blue stuffed toy behind the pink tray on the top side.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Place the blue stuffed toy behind the pink tray on the top side.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Set the blue stuffed toy behind the pink tray on the top side.", + "start_idx": 1947, + "end_idx": 2034 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip at the bottom diagonally.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table from the bottom with a diagonal side hold.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table using a diagonal side grasp at the bottom.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom diagonally.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal side grasp at the bottom.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a side hold at the bottom diagonally.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Pick up the blue stuffed toy from the table diagonally.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "From the table, take the blue stuffed toy with the left hand.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Grab the blue stuffed toy from the table.", + "start_idx": 2466, + "end_idx": 2598 + }, + { + "text": "Place the blue stuffed toy to the left of the orange screwdriver on the top left side with the left hand facing top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the orange screwdriver on the top left side, facing top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the orange screwdriver at the top left side with its front facing top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the orange screwdriver on the top left side so the front faces top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Place the blue stuffed toy to the left of the orange screwdriver on the top left side, facing top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Set the blue stuffed toy to the left of the orange screwdriver at the top left side with the front facing top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Position the blue stuffed toy to the left of the orange screwdriver on the top left side so it faces top left.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the orange screwdriver on the top left side.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "With the left hand, set the blue stuffed toy to the left of the orange screwdriver at the top left side.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Have the left arm position the blue stuffed toy to the left of the orange screwdriver on the top left side.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Put the blue stuffed toy to the left of the orange screwdriver.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Set the blue stuffed toy to the left of the orange screwdriver.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the orange screwdriver.", + "start_idx": 2598, + "end_idx": 2700 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grasp at the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Take the brown stuffed toy from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Grasp the brown stuffed toy from the table with a side grasp at the bottom at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table with a side grip at the bottom.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table using a side grasp on the bottom.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Have the left arm grasp the brown stuffed toy from the table with a side hold at the bottom.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 2802, + "end_idx": 2850 + }, + { + "text": "Put the brown stuffed toy behind the pink tray on the top left side with the left hand facing bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Using the left hand, place the brown stuffed toy behind the pink tray on the top left side, facing bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Have the left arm set the brown stuffed toy behind the pink tray at the top left, with it oriented toward the bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "With the left hand, position the brown stuffed toy behind the pink tray on the top left side so it faces bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Place the brown stuffed toy behind the pink tray on the top left side, facing bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Set the brown stuffed toy behind the pink tray at the top left, oriented toward the bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Position the brown stuffed toy behind the pink tray on the top left side with its front facing bottom right.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Using the left hand, put the brown stuffed toy behind the pink tray on the top left side.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "With the left hand, set the brown stuffed toy behind the pink tray at the top left.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Have the left arm place the brown stuffed toy behind the pink tray on the top left side.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Put the brown stuffed toy behind the pink tray on the top left side.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Behind the pink tray, place the brown stuffed toy on the top left side.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "On the top left side, position the brown stuffed toy behind the pink tray.", + "start_idx": 2850, + "end_idx": 2901 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Using the left hand, return to home.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Have the left arm move back to the home position.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to the home position.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Move back to the home position.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Return the arm to home.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Head back to home position.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Move to home position.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Bring the arm home.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Home position now.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Back to home.", + "start_idx": 2901, + "end_idx": 3000 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Have the right arm take the orange screwdriver from the table by the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table, holding the middle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Remove the orange screwdriver from the table with a diagonal pickup.", + "start_idx": 231, + "end_idx": 429 + }, + { + "text": "Place the orange screwdriver to the right of the pink tray on its top side with the tip facing forwards using the right hand.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Using the right hand, set the orange screwdriver on its top side to the right of the pink tray, with the tip facing forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Have the right hand place the orange screwdriver to the right of the pink tray on its top side so the tip points forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "With the right hand, position the orange screwdriver on its top side to the right of the pink tray, tip directed forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Place the orange screwdriver to the right of the pink tray on its top side with the tip facing forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Set the orange screwdriver on its top side to the right of the pink tray, with the tip pointing forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Position the orange screwdriver to the right of the pink tray on its top side so the tip faces forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the pink tray.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Have the right hand set the orange screwdriver to the right of the pink tray.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "With the right hand, position the orange screwdriver to the right of the pink tray.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Place the orange screwdriver on its top side to the right of the pink tray.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Set the orange screwdriver to the right of the pink tray with the tip facing forwards.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the pink tray on its top side.", + "start_idx": 429, + "end_idx": 585 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Have the right hand pick up the green bowl from the table by its right lip at a diagonal angle.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "With a diagonal grasp on the bowl's right lip, the right hand should collect the green bowl from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Pick up the green bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Take the green bowl from the table by its right lip at a diagonal angle.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "The green bowl should be picked up from the table with a diagonal lip hold on the right.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Have the right hand collect the green bowl from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "The green bowl should be collected from the table.", + "start_idx": 1104, + "end_idx": 1164 + }, + { + "text": "Put the green bowl to the right of the pink tray on the top side with the right hand.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Using the right hand, place the green bowl to the right of the pink tray on the top side, right side up.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Have the right arm set the green bowl to the right of the pink tray on the top side with its open side up.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "With the right hand, position the green bowl to the right of the pink tray on the top side in an upright orientation.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Place the green bowl to the right of the pink tray on the top side, right side up.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Set the green bowl to the right of the pink tray on the top side with the bowl upright.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Position the green bowl to the right of the pink tray on the top side with its opening facing up.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Using the right hand, put the green bowl to the right of the pink tray.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "With the right hand, place the green bowl to the right of the pink tray.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Have the right arm set the green bowl to the right of the pink tray.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Put the green bowl to the right of the pink tray.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Set the green bowl to the right of the pink tray on the top side.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "On the top side, place the green bowl to the right of the pink tray.", + "start_idx": 1212, + "end_idx": 1425 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Have the right arm pick up the green bowl from the table using a right-side diagonal lip hold.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the right lip at a diagonal angle.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Take the green bowl from the table with a diagonal lip hold on the right side.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Grasp the green bowl from the table by the right lip diagonally.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 2034, + "end_idx": 2229 + }, + { + "text": "Dump the brown stuffed toy to the bottom side with the right hand.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Using the right hand, dump the brown stuffed toy to the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Have the right arm dump the brown stuffed toy onto the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "With the right hand, tip the brown stuffed toy to the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Dump the brown stuffed toy to the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Send the brown stuffed toy to the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Move the brown stuffed toy onto the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Place the brown stuffed toy on the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "The brown stuffed toy goes to the bottom side.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Using the right hand, dump the brown stuffed toy.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Have the right arm move the brown stuffed toy.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "With the right hand, place the brown stuffed toy.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "The brown stuffed toy should be dumped with the right hand.", + "start_idx": 2229, + "end_idx": 2304 + }, + { + "text": "Place the green bowl to the right of the brown stuffed toy with the right hand.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Using the right hand, set the green bowl to the right of the brown stuffed toy, right side up relative to the toy's front.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Have the right arm place the green bowl on the toy's right side, keeping it upright from the toy's front.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "With the right hand, position the green bowl to the brown stuffed toy's right, right side up based on its front.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Place the green bowl to the right of the brown stuffed toy.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Set the green bowl on the right side of the brown stuffed toy.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Position the green bowl just right of the brown stuffed toy.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Using the right hand, place the green bowl to the right of the brown stuffed toy.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Have the right arm set the green bowl on the brown stuffed toy's right side.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "With the right hand, position the green bowl beside the brown stuffed toy on its right.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Place the green bowl to the brown stuffed toy's right, right side up relative to its front.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Set the green bowl on the toy's right side, keeping it upright from the toy's front.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Position the green bowl right of the brown stuffed toy, upright based on the toy's front.", + "start_idx": 2304, + "end_idx": 2418 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "With the right hand, go to home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Return to the home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Move back to home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Go to the home pose.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Bring the manipulator to its home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Reset to the home position.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Home the arm.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Return home.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Move to home.", + "start_idx": 2418, + "end_idx": 2466 + }, + { + "text": "Go back to the home position.", + "start_idx": 2418, + "end_idx": 2466 + } + ] + }, + "2026-03-14-20-20-01-584000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place large number of objects", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Have the left hand grasp the gray stuffed toy from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Pick up the gray stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "From a diagonal angle, grasp the gray stuffed toy from the table at the bottom using a side hold.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Take the gray stuffed toy from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Have the left hand take the gray stuffed toy from the table.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Pick up the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Take the gray stuffed toy from the table at the bottom.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Grasp the gray stuffed toy from the table.", + "start_idx": 0, + "end_idx": 174 + }, + { + "text": "Put the gray stuffed behind the green bowl with the left hand facing bottom left from the front.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the gray stuffed behind the green bowl with its front facing bottom left.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Have the left hand set the gray stuffed behind the green bowl, front oriented toward the bottom left.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "With the left hand, position the gray stuffed behind the green bowl so the front points bottom left.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Place the gray stuffed behind the green bowl with its front facing bottom left.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Set the gray stuffed behind the green bowl, front toward the bottom left.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Position the gray stuffed behind the green bowl so the front faces bottom left.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Using the left hand, put the gray stuffed behind the green bowl.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Have the left hand place the gray stuffed behind the green bowl.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "With the left hand, set the gray stuffed behind the green bowl.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Place the gray stuffed behind the green bowl.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Set the gray stuffed behind the green bowl.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Have the gray stuffed placed behind the green bowl.", + "start_idx": 174, + "end_idx": 342 + }, + { + "text": "Pick up the red marker from the white coffee cup with the left hand using a side grasp at the top from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Using the left hand, retrieve the red marker from the white coffee cup with a side grasp at the top from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Have the left hand take the red marker out of the white coffee cup using a side grip at the top from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "With the left hand, grasp the red marker from the white coffee cup at the top using a side hold from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Take the red marker from the white coffee cup using a side grasp at the top from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Retrieve the red marker from the white coffee cup with a side grip at the top from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Get the red marker out of the white coffee cup, taking it at the top with a side hold from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Using the left hand, pick up the red marker from the white coffee cup.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Have the left hand take the red marker out of the white coffee cup.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "With the left hand, remove the red marker from the white coffee cup.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Pick up the red marker from the white coffee cup with the left hand.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Using the left hand, get the red marker from the white coffee cup from a diagonal angle.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Take the red marker from the white coffee cup at the top.", + "start_idx": 1254, + "end_idx": 1449 + }, + { + "text": "Place the red marker inside the green bowl with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Using the left hand, set the red marker inside the green bowl with the tip facing bottom left.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Have the left arm place the red marker into the green bowl, oriented bottom left by its tip.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "With the left hand, position the red marker in the green bowl so the tip points bottom left.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Place the red marker inside the green bowl with the tip facing bottom left.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Set the red marker into the green bowl, with the tip oriented toward the bottom left.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Position the red marker in the green bowl so its tip faces bottom left.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Using the left hand, place the red marker inside the green bowl.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "With the left hand, put the red marker into the green bowl.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Have the left arm set the red marker in the green bowl.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Place the red marker inside the green bowl.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Put the red marker into the green bowl.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Set the red marker in the green bowl.", + "start_idx": 1449, + "end_idx": 1524 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip hold at the bottom right from above.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a lip grasp on the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "From the table, grasp the white coffee cup with a lip hold at the bottom right from above.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp on the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "From the table, take the white coffee cup with the left hand at the bottom right from above.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Pick up the white coffee cup from the table at the bottom right from the top.", + "start_idx": 1524, + "end_idx": 1725 + }, + { + "text": "Put the white coffee cup to the right of the green bowl with the left hand right side up with the front as the reference point.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the green bowl, right side up with the front as the reference point.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Have the left arm set the white coffee cup to the right of the green bowl, keeping it right side up relative to the front.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "With the left hand, position the white coffee cup to the right of the green bowl so its front serves as the reference point and it stays right side up.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Place the white coffee cup to the right of the green bowl, right side up with the front as the reference point.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Set the white coffee cup to the right of the green bowl, keeping it right side up relative to the front.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Position the white coffee cup to the right of the green bowl so the front is the reference point and it remains right side up.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the green bowl.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Have the left arm set the white coffee cup to the right of the green bowl.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "With the left hand, position the white coffee cup to the right of the green bowl.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Put the white coffee cup to the right of the green bowl.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Place the white coffee cup to the right of the green bowl.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Set the white coffee cup to the right of the green bowl.", + "start_idx": 1725, + "end_idx": 1893 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grip on the left.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grip on the left side.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a left-side diagonal lip hold.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "With the left hand, secure the green bowl from the table using a diagonal lip grasp on its left edge.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grip on the left side.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Take the green bowl from the table with a left-side diagonal lip grasp.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold on the left.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "From the table, collect the green bowl with a diagonal lip grip.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 1893, + "end_idx": 2112 + }, + { + "text": "Put the green bowl to the left of the doritos with the left hand.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Using the left hand, place the green bowl to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Have the left arm set the green bowl down to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "With the left hand, position the green bowl to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Place the green bowl to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Set the green bowl down to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Position the green bowl to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Move the green bowl to the left of the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Put the green bowl beside the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Set the green bowl down next to the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Place the green bowl by the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Have the left arm place the green bowl beside the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Using the left hand, set the green bowl down by the doritos.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Using the left hand, take the doritos from the table at a diagonal angle, grasping the middle.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Have the left hand pick the doritos up from the table on a diagonal, holding them at the center.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "With the left hand, retrieve the doritos from the table diagonally by grasping the middle.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle, grasping the middle.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Take the doritos from the table on a diagonal, holding the middle.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Retrieve the doritos from the table diagonally while grasping the center.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "With the left hand, pick up the doritos from the table.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Have the left hand take the doritos from the table.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Using the left hand, retrieve the doritos from the table.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Retrieve the doritos from the table.", + "start_idx": 2673, + "end_idx": 2856 + }, + { + "text": "Put the doritos to the left of the croissant with the left hand facing bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Using the left hand, place the doritos to the left of the croissant with the front facing bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Have the left arm set the doritos to the left of the croissant, front oriented toward the bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "With the left hand, position the doritos left of the croissant so the front points bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Place the doritos to the left of the croissant with the front facing bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Set the doritos left of the croissant, with the front oriented toward the bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Position the doritos to the left of the croissant so the front faces bottom left.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Using the left hand, put the doritos to the left of the croissant.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "With the left hand, place the doritos left of the croissant.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Have the left arm position the doritos to the left of the croissant.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Put the doritos to the left of the croissant.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Set the doritos left of the croissant.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Using the left hand, place the doritos to the left of the croissant.", + "start_idx": 2856, + "end_idx": 2952 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Have the left arm move back to its home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "With the left hand, go to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Head to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Resume the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Reposition to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal grasp on its right lip.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Have the right arm take the green bowl from the table using a right-side diagonal lip grip.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "With the right hand, grasp the green bowl from the table at the right lip in a diagonal orientation.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Pick up the green bowl from the table with a diagonal grasp on its right lip.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Take the green bowl from the table using a diagonal lip grip on the right side.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Grasp the green bowl from the table at the bowl's right lip diagonally.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Using the right hand, pick up the green bowl from the table on the right.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Take the green bowl from the table with a diagonal grasp.", + "start_idx": 342, + "end_idx": 576 + }, + { + "text": "Dump the croissant to the front right of the white coffee cup with the right hand.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Using the right hand, dump the croissant at the front-right side of the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Have the right arm place the croissant to the white coffee cup's front right.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "With the right hand, set the croissant down in front of and to the right of the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Dump the croissant to the front right of the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Place the croissant at the front-right of the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Set the croissant down in front of and to the right of the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Position the croissant by the white coffee cup's front-right side.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Move the croissant to the white coffee cup's front-right area.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Put the croissant beside the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Set down the croissant near the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Place the croissant next to the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Move the croissant beside the white coffee cup.", + "start_idx": 576, + "end_idx": 612 + }, + { + "text": "Put the green bowl to the left of the white coffee cup with the right hand.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Using the right hand, place the green bowl to the left of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Have the right arm set the green bowl on the left side of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "With the right hand, position the green bowl left of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Place the green bowl to the left of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Set the green bowl on the left side of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "The green bowl goes to the left of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Position the green bowl left of the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Using the right hand, place the green bowl by the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "With the right hand, set the green bowl next to the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Have the right arm position the green bowl beside the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Place the green bowl by the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Set the green bowl beside the white coffee cup.", + "start_idx": 612, + "end_idx": 870 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand using a side grip at the top right from a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "With the right hand, take the gray stuffed toy from the table using a side grasp at the top right from a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Using the right arm, grasp the gray stuffed toy from the table with a side hold on the top right at a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Have the right hand retrieve the gray stuffed toy from the table with a side grip at the top right from a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Pick up the gray stuffed toy from the table using a side grip at the top right from a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Grasp the gray stuffed toy from the table with a side hold at the top right from a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Take the gray stuffed toy from the table with a side grasp on the top right at a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "With the right hand, pick up the gray stuffed toy from the table using a side grip.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Using the right arm, take the gray stuffed toy from the table with a side grasp.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Have the right hand grasp the gray stuffed toy from the table with a side hold.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "With the right hand, pick up the gray stuffed toy from the table at the top right from a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Using the right arm, grasp the gray stuffed toy from the table on the top right at a diagonal angle.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 870, + "end_idx": 1152 + }, + { + "text": "Put the gray stuffed toy to the right of the croissant with the right hand facing backwards.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the right of the croissant with its front facing backward.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Have the right arm set the gray stuffed toy to the right of the croissant, front oriented backward.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "With the right hand, position the gray stuffed toy to the croissant's right, facing backward.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Place the gray stuffed toy to the right of the croissant with its front facing backward.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Set the gray stuffed toy to the right of the croissant, front facing backward.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Position the gray stuffed toy on the right side of the croissant with the front turned backward.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Put the gray stuffed toy to the right of the croissant.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Set the gray stuffed toy on the croissant's right side.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Position the gray stuffed toy to the right of the croissant.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the right of the croissant.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Have the right arm set the gray stuffed toy on the right side of the croissant.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "With the right hand, position the gray stuffed toy to the croissant's right.", + "start_idx": 1152, + "end_idx": 1254 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "With the right arm, grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Have the right hand pick the white coffee cup up from the table via the handle at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Take the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Grasp the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "With the right hand, take the white coffee cup from the table via the handle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "With the right arm, take the white coffee cup from the table at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table.", + "start_idx": 2214, + "end_idx": 2535 + }, + { + "text": "Put the white coffee cup on the top side of the table with the right hand right side up with the front as the reference point.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Using the right hand, place the white coffee cup on the top side of the table right side up with the front as the reference point.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Have the right arm set the white coffee cup on the top side of the table, keeping it right side up relative to the front.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "With the right hand, position the white coffee cup on the top side of the table in a right-side-up orientation using the front as reference.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Set the white coffee cup on the top side of the table right side up with the front as the reference point.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Place the white coffee cup on the top side of the table with the front as the reference point, keeping it right side up.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Position the white coffee cup on the top side of the table in a right-side-up orientation referenced to the front.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Using the right hand, put the white coffee cup on the top side of the table.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "With the right hand, set the white coffee cup on the top side of the table.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Have the right arm place the white coffee cup on the top side of the table.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Put the white coffee cup on the top side of the table.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Set the white coffee cup on the top side of the table.", + "start_idx": 2535, + "end_idx": 2673 + }, + { + "text": "Using the right hand, place the white coffee cup on the top side of the table.", + "start_idx": 2535, + "end_idx": 2673 + } + ] + }, + "2026-03-14-20-29-51-405000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place large number of objects", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Retrieve the asparagus from the table diagonally.", + "start_idx": 0, + "end_idx": 195 + }, + { + "text": "Put the asparagus to the right side of the eggplant with the right hand facing forwards with the tip as the reference point.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Using the right hand, place the asparagus to the eggplant's right, facing forward with the tip as the reference point.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Have the right arm set the asparagus on the right side of the eggplant, with the tip defining a forward-facing orientation.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "With the right hand, position the asparagus to the right of the eggplant so its tip points forward.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Place the asparagus to the right of the eggplant, facing forward with the tip as the reference point.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Set the asparagus on the eggplant's right side with the tip oriented forward.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Position the asparagus to the right of the eggplant so the tip faces forward.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Put the asparagus on the right side of the eggplant.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Place the asparagus to the eggplant's right.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Set the asparagus beside the eggplant on its right side.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Arrange the asparagus to the right of the eggplant.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Place the asparagus to the right of the eggplant with the right hand.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Using the right hand, set the asparagus on the eggplant's right side.", + "start_idx": 195, + "end_idx": 282 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Have the right hand pick the carrot up from the table diagonally by its middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "With the right hand, retrieve the carrot from the table in a diagonal orientation, holding the center.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Retrieve the carrot from the table while holding the center at a diagonal angle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Using the right hand, pick up the carrot from the table grasping the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "With the right hand, take the carrot from the table by the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Have the right hand retrieve the carrot from the table, holding its center.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Take the carrot from the table diagonally with the right hand.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Get the carrot from the table by the middle.", + "start_idx": 282, + "end_idx": 423 + }, + { + "text": "Put the carrot to the right side of the asparagus with the right hand facing backwards with the tip as the reference point.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Using the right hand, place the carrot to the asparagus's right with the tip facing backward.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Have the right arm set the carrot on the right side of the asparagus, with its tip oriented backward.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "With the right hand, position the carrot to the right of the asparagus, tip facing backwards.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Place the carrot to the right of the asparagus.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Set the carrot on the asparagus's right side.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Position the carrot to the right side of the asparagus.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Put the carrot beside the asparagus on its right.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Using the right hand, place the carrot to the right of the asparagus.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "With the right hand, set the carrot on the right side of the asparagus.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Have the right arm position the carrot beside the asparagus on its right.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Place the carrot to the right of the asparagus with the tip facing backward.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Set the carrot on the right side of the asparagus, tip facing backwards.", + "start_idx": 423, + "end_idx": 528 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "The corn should be picked up from the table by the right hand at a diagonal angle from the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Take the corn from the table diagonally, holding the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "The corn from the table should be picked up at a diagonal angle from the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "With the right hand, pick up the corn from the table.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "The corn from the table should be picked up by the right hand.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Pick up the corn from the table, grasping the middle.", + "start_idx": 648, + "end_idx": 831 + }, + { + "text": "Put the corn behind the asparagus with the right hand facing backwards by the tip.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Using the right hand, place the corn behind the asparagus with its tip facing backward.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Have the right arm set the corn behind the asparagus, oriented backward from the tip.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "With the right hand, position the corn behind the asparagus so the tip points backward.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Place the corn behind the asparagus with its tip facing backward.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Set the corn behind the asparagus, with the tip oriented backward.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Position the corn behind the asparagus so the tip points backward.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Using the right hand, put the corn behind the asparagus.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "With the right hand, place the corn behind the asparagus.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Have the right arm position the corn behind the asparagus.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Put the corn behind the asparagus.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Set the corn behind the asparagus.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Position the corn behind the asparagus.", + "start_idx": 831, + "end_idx": 918 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Have the right arm pick the corn up from the table diagonally at its middle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "With the right hand, collect the corn from the table, holding it at the middle on a diagonal.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Collect the corn from the table with a diagonal pickup at its middle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "With the right hand, collect the corn from the table.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Using the right hand, grasp the corn from the table.", + "start_idx": 1113, + "end_idx": 1224 + }, + { + "text": "Put the corn behind the bowl with the right hand facing backwards with the tip as the reference point.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Using the right hand, place the corn behind the bowl with the tip facing backward.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Have the right arm set the corn behind the bowl so its tip points backward.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "With the right hand, position the corn behind the bowl, keeping the tip oriented backward.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Place the corn behind the bowl with the tip facing backward.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Set the corn behind the bowl so the tip points backward.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Position the corn behind the bowl, with its tip directed backward.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Using the right hand, put the corn behind the bowl.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "With the right hand, place the corn behind the bowl.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Have the right arm set the corn behind the bowl.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Put the corn behind the bowl.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Set the corn behind the bowl.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Position the corn behind the bowl.", + "start_idx": 1224, + "end_idx": 1341 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Have the right arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "With the right hand, retrieve the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding its middle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Retrieve the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "With the right hand, retrieve the eggplant from the table.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 1638, + "end_idx": 1905 + }, + { + "text": "Put the eggplant in front of the green cup with the right hand facing top left with the tip as the reference point.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "With the right hand, place the eggplant in front of the green cup, facing top left with the tip as the reference point.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Have the right arm set the eggplant in front of the green cup with its tip oriented toward the top left.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Using the right hand, position the eggplant before the green cup so the tip faces top left.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Place the eggplant in front of the green cup, facing top left with the tip as the reference point.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Set the eggplant before the green cup with its tip oriented toward the top left.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Position the eggplant in front of the green cup so the tip points to the top left.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "With the right hand, put the eggplant in front of the green cup.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Using the right hand, place the eggplant before the green cup.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Have the right arm set the eggplant in front of the green cup.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Put the eggplant in front of the green cup.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Place the eggplant before the green cup.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Set the eggplant in front of the green cup.", + "start_idx": 1905, + "end_idx": 2007 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal approach, holding it at the center.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "The corn should be picked up from the table diagonally at its center.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Using the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Have the right arm take the corn from the table at a diagonal angle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "With the right hand, retrieve the corn from the table at a diagonal angle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Take the corn from the table, grasping the middle.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "The corn should be picked up from the table.", + "start_idx": 2007, + "end_idx": 2349 + }, + { + "text": "Put the corn to the bottom side of the table between the eggplant and the asparagus with the right hand facing backwards with the tip as the reference point.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Using the right hand, place the corn on the bottom side of the table between the eggplant and the asparagus, with its tip facing backward.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Have the right arm set the corn at the bottom side of the table between the eggplant and the asparagus, oriented backward from the tip.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "The corn goes on the bottom side of the table between the eggplant and the asparagus, using the right hand and keeping the tip facing backwards.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Place the corn on the bottom side of the table between the eggplant and the asparagus, with its tip facing backwards.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Set the corn at the bottom side of the table between the eggplant and the asparagus, tip facing backward.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "The corn should be placed on the bottom side of the table between the eggplant and the asparagus with the tip oriented backwards.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "With the right hand, put the corn on the bottom side of the table between the eggplant and the asparagus.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Have the right arm place the corn at the bottom side of the table between the eggplant and the asparagus.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Using the right hand, position the corn between the eggplant and the asparagus on the bottom side of the table.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Place the corn on the bottom side of the table between the eggplant and the asparagus.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Set the corn between the eggplant and the asparagus on the bottom side of the table.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "The corn should go between the eggplant and the asparagus on the bottom side of the table.", + "start_idx": 2349, + "end_idx": 2481 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Return to the home position.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Move back to home.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Go to the home pose.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Shift to the home position.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Reposition to home.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Head back to the home position.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Move to home.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Return home.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Go back to home.", + "start_idx": 2481, + "end_idx": 2553 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Have the left arm take the green bag of chips from the table, grasping its left side with a side hold at a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Take the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Retrieve the green bag of chips from the table with a side hold on the left in a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal angle.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Take the green bag of chips from the table with the left hand.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Retrieve the green bag of chips from the table using a side grasp.", + "start_idx": 918, + "end_idx": 1050 + }, + { + "text": "Put the green bag of chips to the left of the green cup with the left hand facing bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green cup with its front facing the bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the green cup, front oriented toward the bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "With the left hand, position the green bag of chips left of the green cup so the front points to the bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Place the green bag of chips to the left of the green cup with its front facing the bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Set the green bag of chips left of the green cup, with the front toward the bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Position the green bag of chips to the left of the green cup, front pointed bottom right.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the green cup.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "With the left hand, place the green bag of chips left of the green cup.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the green cup.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Put the green bag of chips to the left of the green cup.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Set the green bag of chips left of the green cup.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Position the green bag of chips to the left of the green cup.", + "start_idx": 1050, + "end_idx": 1113 + }, + { + "text": "Pick up the bowl from the table with the left hand at a diagonal angle grasping the left side using a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Using the left hand, pick up the bowl from the table at a diagonal angle, grasping its left side with a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Have the left arm take the bowl from the table with a lip grip, holding the left side at a diagonal angle.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "With the left hand, retrieve the bowl from the table diagonally by its left side using a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Pick up the bowl from the table at a diagonal angle, grasping the left side with a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Take the bowl from the table with a lip grip at a diagonal angle on its left side.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "The bowl should be picked up from the table diagonally, holding the left side with a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Using the left hand, pick up the bowl from the table with a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "With the left hand, take the bowl from the table using a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Have the left arm retrieve the bowl from the table with a lip grip.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Using the left hand, pick up the bowl from the table at a diagonal angle, grasping the left side.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "With the left hand, take the bowl from the table diagonally by its left side.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Pick up the bowl from the table at a diagonal angle, grasping the left side.", + "start_idx": 1341, + "end_idx": 1491 + }, + { + "text": "Put the bowl to the front left side of the green bag of chips with the left hand.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Using the left hand, place the bowl at the front-left side of the green bag of chips, right side up.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Have the left arm set the bowl down front-left of the green bag of chips with its tip upward.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "With the left hand, position the bowl to the green bag of chips' front-left, keeping it upright.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Place the bowl at the front-left side of the green bag of chips.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Set the bowl down front-left of the green bag of chips.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Position the bowl to the front left of the green bag of chips.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Using the left hand, put the bowl at the front-left side of the green bag of chips.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Have the left arm place the bowl beside the green bag of chips on its front-left side.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "With the left hand, set the bowl down near the green bag of chips at the front-left.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Put the bowl beside the green bag of chips with its tip upward.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Set the bowl down front-left of the green bag of chips, upright.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Position the bowl at the green bag of chips' front-left side, right side up.", + "start_idx": 1491, + "end_idx": 1638 + }, + { + "text": "Pick up the green cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Using the left hand, pick up the green cup from the table at a diagonal angle by the handle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Have the left arm take the green cup from the table by its handle at a diagonal angle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "With the left hand, grasp the green cup from the table at a diagonal angle using the handle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Pick up the green cup from the table at a diagonal angle by the handle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Take the green cup from the table by its handle at a diagonal angle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Grasp the green cup from the table at a diagonal angle by the handle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "From the table, collect the green cup by the handle at a diagonal angle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Using the left hand, pick up the green cup from the table.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Have the left arm take the green cup from the table by its handle.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "With the left hand, grasp the green cup from the table.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Pick up the green cup from the table.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "From the table, collect the green cup.", + "start_idx": 2553, + "end_idx": 2742 + }, + { + "text": "Put the green cup behind the corn with the handle facing bottom left right side up using the left hand.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Using the left hand, place the green cup behind the corn with the handle facing bottom left and right side up.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Have the left arm set the green cup behind the corn, keeping it upright with the handle pointed bottom left.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "With the left hand, position the green cup behind the corn so the handle faces bottom left and the cup stays right side up.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Place the green cup behind the corn with the handle facing bottom left and right side up.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Set the green cup behind the corn, keeping the handle pointed bottom left and the cup upright.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Position the green cup behind the corn so the handle points bottom left and it remains right side up.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Using the left hand, put the green cup behind the corn.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Have the left arm place the green cup behind the corn.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "With the left hand, set the green cup behind the corn.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Put the green cup behind the corn.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Place the green cup behind the corn with the left hand.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Set the green cup behind the corn upright.", + "start_idx": 2742, + "end_idx": 2856 + }, + { + "text": "Pick up the eggplant from the table with the left hand from the top at the middle.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Using the left hand, take the eggplant from the table by grasping it from the top at the middle.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Have the left arm pick up the eggplant from the table with a top grasp at its middle.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "With the left hand, grasp the eggplant from the table from above at the center.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Pick up the eggplant from the table from the top at the middle.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Take the eggplant from the table with a top grasp at its middle.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Grasp the eggplant from the table from above at the center.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "With the left hand, grasp the eggplant from the table.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2856, + "end_idx": 3000 + }, + { + "text": "The eggplant from the table should be grasped.", + "start_idx": 2856, + "end_idx": 3000 + } + ] + }, + "2026-03-14-20-32-15-833000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place large number of objects", + "total_frames": 3000, + "num_annotations": 247, + "annotations": [ + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the right arm pick the carrot off the table on a diagonal, holding it at the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the right hand, collect the carrot from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Take the carrot off the table diagonally while holding its middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle by the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the right hand, pick up the carrot from the table grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "The right hand should take the carrot from the table by the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick the carrot up from the table with the right hand.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Take the carrot from the table with the right hand.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Grab the carrot from the table.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Put the carrot inside the green mug with the right hand upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Using the right hand, place the carrot inside the green mug upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Have the right arm put the carrot into the green mug with its tip upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "With the right hand, insert the carrot into the green mug in an upside-down orientation.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Place the carrot inside the green mug upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Put the carrot into the green mug with its tip upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Set the carrot in the green mug upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Using the right hand, place the carrot inside the green mug.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "With the right hand, put the carrot into the green mug.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Have the right arm insert the carrot into the green mug.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Put the carrot inside the green mug.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Using the right hand, place the carrot upside down.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Insert the carrot into the green mug.", + "start_idx": 108, + "end_idx": 258 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Have the right arm pick the asparagus off the table diagonally by its middle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "With the right hand, retrieve the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Take the asparagus off the table diagonally by its middle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Retrieve the asparagus from the table while holding the middle at a diagonal angle.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Have the right arm take the asparagus off the table.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "With the right hand, collect the asparagus from the table.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Get the asparagus off the table.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 567, + "end_idx": 753 + }, + { + "text": "Put the asparagus to the right of the green mug on the top side with the tip facing forwards using the right hand.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Using the right hand, place the asparagus on the top side to the right of the green mug, with the tip facing forward.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Have the right arm set the asparagus on the top side, right of the green mug, keeping the tip pointed forward.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "With the right hand, position the asparagus on the top side to the green mug's right, tip facing forwards.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Place the asparagus on the top side to the right of the green mug, with the tip facing forwards.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Set the asparagus to the right of the green mug on the top side, with the tip pointed forward.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Position the asparagus on the top side at the right of the green mug, tip facing forward.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Put the asparagus to the right of the green mug on the top side.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Arrange the asparagus on the top side to the green mug's right.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Set the asparagus to the right of the green mug on the top side.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Place the asparagus to the right of the green mug with the tip facing forwards.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Using the right hand, put the asparagus to the right of the green mug on the top side.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Have the right arm place the asparagus to the right of the green mug, tip facing forwards.", + "start_idx": 753, + "end_idx": 834 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Have the right arm pick the corn up from the table diagonally by its middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "With the right hand, retrieve the corn from the table at a diagonal angle from the middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle from its middle.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Have the corn picked up from the table.", + "start_idx": 1128, + "end_idx": 1350 + }, + { + "text": "Put the corn to the left of the bag of chips with the right hand on the left side facing bottom right with the tip as the reference point.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Using the right hand, place the corn to the left of the bag of chips, with the tip facing bottom right.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Have the right arm set the corn on the left side of the bag of chips, oriented bottom right using the tip as reference.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "With the right hand, position the corn left of the bag of chips so the tip faces bottom right.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Place the corn to the left of the bag of chips.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Set the corn on the left side of the bag of chips.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Position the corn left of the bag of chips.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Place the corn to the left of the bag of chips with the right hand.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Using the right hand, set the corn on the left side of the bag of chips.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Have the right arm place the corn left of the bag of chips.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Place the corn to the left of the bag of chips, with the tip facing bottom right.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Set the corn on the left side of the bag of chips, oriented bottom right using the tip as reference.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Position the corn left of the bag of chips so the tip faces bottom right.", + "start_idx": 1350, + "end_idx": 1539 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Have the right arm pick the asparagus up from the table diagonally, holding it at the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "With the right hand, collect the asparagus from the table in a diagonal orientation by the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Take the asparagus from the table diagonally, holding the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "From the table, collect the asparagus at a diagonal angle by the middle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "With the right hand, collect the asparagus from the table.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Pick up the asparagus from the table diagonally.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "From the table, pick up the asparagus.", + "start_idx": 2049, + "end_idx": 2211 + }, + { + "text": "Put the asparagus to the front left of the green mug with the right hand facing forwards with the tip at the bottom side.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Using the right hand, place the asparagus at the green mug's front-left, facing forward with the tip toward the bottom side.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Have the right arm set the asparagus to the front left of the green mug, oriented forward with its tip at the bottom side.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "With the right hand, position the asparagus in front-left of the green mug, facing forwards and with the tip on the bottom side.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Place the asparagus to the front left of the green mug, facing forwards with the tip at the bottom side.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Set the asparagus at the green mug's front-left, facing forward with its tip toward the bottom side.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Position the asparagus to the front left of the green mug, with the tip at the bottom side and facing forwards.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Using the right hand, put the asparagus to the front left of the green mug.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Have the right arm place the asparagus at the green mug's front-left.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "With the right hand, set the asparagus in front-left of the green mug.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Put the asparagus to the front left of the green mug.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Position the asparagus at the green mug's front-left.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Set the asparagus in front-left of the green mug.", + "start_idx": 2211, + "end_idx": 2328 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "With the right hand, go back to the home pose.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Return to the home position.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Move back to home.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Go to the home pose.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Head back to the home position.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Resume the home position.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Return home.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Move to home.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Go back to home.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Home position next.", + "start_idx": 2328, + "end_idx": 2370 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the top left with a diagonal angle.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the top left on a diagonal angle.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Have the left arm pick up the bag of chips from the table by its top-left area with a side hold, angled diagonally.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "With the left hand, grasp the bag of chips from the table at the top left using a side grip on a diagonal.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the top left with a diagonal angle.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Take the bag of chips from the table by the top-left area with a side grasp at a diagonal angle.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Grasp the bag of chips from the table at the top left with a side hold on the diagonal.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by the side.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Pick up the bag of chips from the table with the left hand.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Take the bag of chips from the table at the top left with a diagonal angle.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Grasp the bag of chips from the table using a side grip.", + "start_idx": 258, + "end_idx": 459 + }, + { + "text": "Put the bag of chips to the left of the green mug on the top side with the left hand facing bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Using the left hand, place the bag of chips on the top side to the left of the green mug, facing bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Have the left arm set the bag of chips to the left of the green mug on the top side with its front facing bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "With the left hand, position the bag of chips on the top side left of the green mug, front angled toward the bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Place the bag of chips on the top side to the left of the green mug, facing bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Set the bag of chips to the left of the green mug on the top side with the front facing bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Position the bag of chips on the top side left of the green mug, oriented toward the bottom right.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Using the left hand, put the bag of chips to the left of the green mug on the top side.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Have the left arm place the bag of chips on the top side left of the green mug.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "With the left hand, set the bag of chips to the left of the green mug.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Put the bag of chips to the left of the green mug on the top side.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Place the bag of chips on the top side to the left of the green mug.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Set the bag of chips to the left of the green mug.", + "start_idx": 459, + "end_idx": 567 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Have the left arm pick the eggplant off the table with a diagonal approach, holding it at the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "With the left hand, collect the eggplant from the table diagonally by the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Take the eggplant off the table diagonally, holding the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "From the table, collect the eggplant with a diagonal pickup at the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Pick up the eggplant from the table with the left hand, grasping the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Using the left hand, take the eggplant from the table by the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Have the left arm collect the eggplant off the table at the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "With the left hand, take the eggplant from the table diagonally.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Get the eggplant from the table by the middle.", + "start_idx": 834, + "end_idx": 1008 + }, + { + "text": "Put the eggplant inside the beige bowl with the left hand facing left with the tip as the orientation reference point.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Using the left hand, place the eggplant into the beige bowl with the tip facing left.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Have the left arm set the eggplant inside the beige bowl, oriented left by its tip.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "With the left hand, deposit the eggplant in the beige bowl so the tip points left.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Place the eggplant into the beige bowl with the tip facing left.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Set the eggplant inside the beige bowl, with its tip pointed left.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Put the eggplant in the beige bowl so the tip faces left.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Transfer the eggplant into the beige bowl with the tip oriented left.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Using the left hand, place the eggplant into the beige bowl.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Have the left arm put the eggplant inside the beige bowl.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "With the left hand, set the eggplant in the beige bowl.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Put the eggplant into the beige bowl.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Deposit the eggplant inside the beige bowl.", + "start_idx": 1008, + "end_idx": 1128 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left grasp location with a diagonal pick angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the left grasp location and a diagonal pick angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Have the left arm pick the bag of chips up from the table using a side grip at the left grasp point with a diagonal approach.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "With the left hand, grasp the bag of chips from the table using a side hold at the left grasp location and a diagonal pickup angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Take the bag of chips from the table using a side grip at the left grasp location with a diagonal pick angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Grasp the bag of chips from the table with a side hold at the left grasp point and a diagonal approach.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "The bag of chips should be picked up from the table using a side grasp at the left grasp location and a diagonal pickup angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "With the left hand, grasp the bag of chips from the table using a side hold.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the left grasp location with a diagonal pick angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Using the left hand, take the bag of chips from the table at the left grasp point and diagonal approach.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "The bag of chips should be picked up from the table at the left grasp location with a diagonal pickup angle.", + "start_idx": 1539, + "end_idx": 1938 + }, + { + "text": "Put the bag of chips in front of the corn on the top side with the left hand facing backwards.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Using the left hand, place the bag of chips on the top side in front of the corn, facing backwards.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Have the left arm set the bag of chips in front of the corn on the top side with its front facing backward.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "With the left hand, position the bag of chips on the top side ahead of the corn, oriented backwards.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Place the bag of chips on the top side in front of the corn, facing backwards.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Set the bag of chips in front of the corn on the top side with its front facing backward.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Position the bag of chips ahead of the corn on the top side, oriented backwards.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Using the left hand, put the bag of chips on the top side in front of the corn.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "With the left hand, place the bag of chips in front of the corn on the top side.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Have the left arm set the bag of chips ahead of the corn on the top side.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Put the bag of chips in front of the corn on the top side.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Place the bag of chips on the top side ahead of the corn.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Set the bag of chips in front of the corn.", + "start_idx": 1937, + "end_idx": 2049 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a side hold on the bottom-left area from a diagonal angle.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "With the left hand, seize the beige bowl from the table using a lateral grip on its bottom left from a diagonal approach.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Take the beige bowl from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "From the table, grasp the beige bowl using a side hold on the bottom-left area from a diagonal angle.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "The beige bowl should be picked up from the table with a lateral grip at the bottom left from a diagonal approach.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a side grip at the bottom left.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Have the left arm take the beige bowl from the table using a side hold on the bottom-left area.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using a lateral grip.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Pick up the beige bowl from the table from a diagonal angle.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "The beige bowl should be taken from the table with the left hand.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "From the table, grasp the beige bowl.", + "start_idx": 2370, + "end_idx": 2613 + }, + { + "text": "Dump the eggplant behind the green mug with the left hand.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Using the left hand, dump the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Have the left arm place the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "With the left hand, set the eggplant down behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Dump the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Place the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Set the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Move the eggplant to a spot behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Position the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Put the eggplant behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Behind the green mug, place the eggplant.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Have the eggplant deposited behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "The eggplant goes behind the green mug.", + "start_idx": 2613, + "end_idx": 2748 + }, + { + "text": "Place the beige bowl in between the bag of chips and the asparagus with the left hand.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Using the left hand, set the beige bowl between the bag of chips and the asparagus, right side up.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Have the left arm place the beige bowl between the bag of chips and the asparagus with its front at the bottom side.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "With the left hand, position the beige bowl between the bag of chips and the asparagus, keeping it right side up and front-facing the bottom side.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Place the beige bowl between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Set the beige bowl in between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Position the beige bowl between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Put the beige bowl between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Using the left hand, place the beige bowl between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Have the left arm set the beige bowl in between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "With the left hand, put the beige bowl between the bag of chips and the asparagus.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Place the beige bowl between the bag of chips and the asparagus, right side up.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Set the beige bowl between the bag of chips and the asparagus with its front at the bottom side.", + "start_idx": 2748, + "end_idx": 2877 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Using the left hand, return to home.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Have the left arm move back to the home position.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to the home position.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Move back to the home position.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Go back to home.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Head to the home position.", + "start_idx": 2877, + "end_idx": 3000 + } + ] + }, + "2026-03-14-20-34-43-723000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place large number of objects", + "total_frames": 3000, + "num_annotations": 208, + "annotations": [ + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Have the left arm grasp the beige bowl from the table using a lip hold on the left side at a diagonal angle.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "With the left hand, secure the beige bowl from the table by its left side using a diagonal lip grasp.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Take the beige bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Grasp the beige bowl from the table by the left side with a diagonal lip grasp.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "With the left hand, pick up the beige bowl from the table using a lip grip.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Using the left hand, take the beige bowl from the table.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Have the left arm grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Pick up the beige bowl from the table at the left side diagonally.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Take the beige bowl from the table with the left hand.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 204 + }, + { + "text": "Put the beige bowl to the right of the asparagus on the top right side with the left hand.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Using the left hand, place the beige bowl to the right of the asparagus on the top right side, right side up from the front.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Have the left arm set the beige bowl on the top right side to the right of the asparagus, keeping it right side up from the front.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "With the left hand, position the beige bowl to the right of the asparagus at the top right side, oriented right side up from the front.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Place the beige bowl to the right of the asparagus on the top right side, right side up from the front.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Set the beige bowl on the top right side to the right of the asparagus, keeping it right side up from the front.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Position the beige bowl to the right of the asparagus at the top right side, with the front right side up.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Using the left hand, put the beige bowl to the right of the asparagus on the top right side.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Have the left arm place the beige bowl on the top right side to the right of the asparagus.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "With the left hand, set the beige bowl at the top right side, to the right of the asparagus.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Put the beige bowl to the right of the asparagus on the top right side.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "On the top right side, place the beige bowl to the right of the asparagus.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Set the beige bowl on the top right side to the right of the asparagus.", + "start_idx": 204, + "end_idx": 393 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Have the left arm grasp the bag of chips from the table with a left-side hold at a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "With the left hand, collect the bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "From the table, grasp the bag of chips with a left-side hold at a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip at the left.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp on the left.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "With the left hand, collect the bag of chips from the table using a side hold at the left.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Take the bag of chips from the table with the left hand.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "From the table, grasp the bag of chips at a diagonal angle.", + "start_idx": 393, + "end_idx": 570 + }, + { + "text": "Put the bag of chips inside the beige bowl on the right side with the left hand facing backwards.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Using the left hand, place the bag of chips in the beige bowl on the right side with it facing backwards.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Have the left arm set the bag of chips inside the beige bowl on the right, oriented backwards.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "With the left hand, position the bag of chips in the beige bowl at the right side so it faces backwards.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Place the bag of chips into the beige bowl on the right side.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Set the bag of chips inside the beige bowl on the right.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Position the bag of chips in the beige bowl at the right side.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Put the bag of chips inside the beige bowl on the right side.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Using the left hand, place the bag of chips in the beige bowl on the right side.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Have the left arm set the bag of chips inside the beige bowl on the right.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "With the left hand, position the bag of chips in the beige bowl.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Set the bag of chips inside the beige bowl with the left hand.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Place the bag of chips into the beige bowl on the right side facing backwards.", + "start_idx": 570, + "end_idx": 672 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Have the left arm grasp the corn from the table diagonally at its middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "With the left hand, take hold of the corn from the table using a diagonal approach at the middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Take the corn from the table diagonally from the middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Grasp the corn from the table from the middle at a diagonal angle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Remove the corn from the table at a diagonal angle from the middle.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Have the left arm grasp the corn from the table.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Get the corn from the table.", + "start_idx": 672, + "end_idx": 993 + }, + { + "text": "Put the corn to the left of the asparagus with the left hand on its bottom side facing backwards from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Using the left hand, place the corn to the left of the asparagus with its bottom side facing backward from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Have the left arm set the corn to the asparagus's left, oriented with the bottom side facing backward from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "With the left hand, position the corn left of the asparagus so its bottom side faces backward from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Place the corn to the left of the asparagus with its bottom side facing backward from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Set the corn on the left side of the asparagus, with the bottom side facing backward from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Position the corn left of the asparagus so the bottom side faces backward from the tip.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Using the left hand, put the corn to the left of the asparagus.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "With the left hand, place the corn on the asparagus's left side.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Have the left arm position the corn to the left of the asparagus.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Place the corn to the left of the asparagus.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Set the corn on the left side of the asparagus.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Position the corn to the asparagus's left.", + "start_idx": 993, + "end_idx": 1107 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom in a diagonal pick.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom in a diagonal pick.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Have the left arm pick the corn up from the table with a bottom side grip, diagonally.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold in a diagonal pickup.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom in a diagonal pick.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Grasp the corn from the table at the bottom with a side hold in a diagonal pickup.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "The corn from the table should be picked up with a side grip at the bottom, diagonally.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Pick up the corn from the table with the left hand in a diagonal pick.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Grasp the corn from the table in a diagonal pickup.", + "start_idx": 1500, + "end_idx": 1746 + }, + { + "text": "Put the corn to the left of the eggplant with the left hand on the top side facing bottom right with the tip as the reference point.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Using the left hand, place the corn to the left of the eggplant on the top side, with the tip facing bottom right.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Have the left arm set the corn to the left of the eggplant on the top side, oriented bottom right from the tip.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "With the left hand, position the corn to the left of the eggplant on the top side so the tip points bottom right.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Place the corn to the left of the eggplant on the top side, with the tip facing bottom right.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Set the corn to the left of the eggplant on the top side, oriented bottom right from the tip.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Position the corn to the left of the eggplant on the top side so the tip points bottom right.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Using the left hand, place the corn to the left of the eggplant on the top side.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Have the left arm set the corn to the left of the eggplant on the top side.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "With the left hand, position the corn to the left of the eggplant.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Place the corn to the left of the eggplant.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Set the corn on the top side to the left of the eggplant.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Using the left hand, place the corn to the left of the eggplant.", + "start_idx": 1746, + "end_idx": 1902 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Return to the home position.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Move back to home.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Go to the home pose.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Head to the home position.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Reset to home.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Move to home.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Return home.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Go back to the home position.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Resume the home pose.", + "start_idx": 2490, + "end_idx": 2643 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Have the right arm pick up the beige bowl from the table using a diagonal lip grasp on its right side.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "With the right hand, grasp the beige bowl from the table by the right side in a diagonal lip hold.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "From the table, grasp the beige bowl with a diagonal lip hold on the right side.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Have the right arm take the beige bowl from the table.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "With the right hand, grasp the beige bowl from the table.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Using the right hand, take the beige bowl from the table.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "From the table, pick up the beige bowl.", + "start_idx": 1107, + "end_idx": 1251 + }, + { + "text": "Dump the bag of chips to the right of the asparagus with the right hand.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "With the right hand, dump the bag of chips to the right of the asparagus.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Have the right arm dump the bag of chips positioned to the right of the asparagus.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Using the right hand, pour out the bag of chips that is to the right of the asparagus.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Dump the bag of chips to the right of the asparagus.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Pour out the bag of chips to the right of the asparagus.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Empty the bag of chips to the right of the asparagus.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "The bag of chips to the right of the asparagus should be dumped.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Dump the bag of chips with the right hand.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Using the right hand, pour out the bag of chips.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Have the right arm empty the bag of chips.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Pour out the bag of chips.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "The bag of chips should be emptied.", + "start_idx": 1251, + "end_idx": 1341 + }, + { + "text": "Put the beige bowl to the left of the corn on the bottom right side with the right hand.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "With the right hand, place the beige bowl to the left of the corn on the bottom right side.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Have the right arm set the beige bowl on the bottom right side, to the left of the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Using the right hand, position the beige bowl to the corn's left on the bottom right side.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Place the beige bowl to the left of the corn on the bottom right side.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Set the beige bowl on the bottom right side, left of the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Position the beige bowl to the left of the corn at the bottom right side.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Move the beige bowl onto the bottom right side, to the left of the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "With the right hand, put the beige bowl to the left of the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Using the right hand, place the beige bowl left of the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Have the right arm set the beige bowl beside the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Put the beige bowl to the left of the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Place the beige bowl beside the corn.", + "start_idx": 1341, + "end_idx": 1500 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "From a diagonal angle, have the right hand grasp the asparagus from the table with a side hold at the bottom.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "With the right hand, retrieve the asparagus from the table by gripping its bottom from the side at a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Grasp the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "From a diagonal angle, pick up the asparagus from the table with a side grasp at the bottom.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Take the asparagus from the table by holding its bottom from the side at a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Have the right hand take the asparagus from the table using a side hold.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "With the right hand, grasp the asparagus from the table from the side.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Pick up the asparagus from the table with the right hand from a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Take the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 2172, + "end_idx": 2304 + }, + { + "text": "Put the asparagus behind the beige bowl with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Using the right hand, place the asparagus behind the beige bowl, facing bottom left relative to its tip.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "With the right arm, set the asparagus behind the beige bowl so the tip points bottom left.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Have the right hand position the asparagus behind the beige bowl with the tip as the reference point, facing bottom left.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Place the asparagus behind the beige bowl, facing bottom left relative to its tip.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Set the asparagus behind the beige bowl so the tip points bottom left.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Position the asparagus behind the beige bowl with the tip oriented toward the bottom left.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Using the right hand, put the asparagus behind the beige bowl.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "With the right arm, place the asparagus behind the beige bowl.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Have the right hand set the asparagus behind the beige bowl.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "The asparagus goes behind the beige bowl with the right hand.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Place the asparagus behind the beige bowl.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Set the asparagus behind the beige bowl.", + "start_idx": 2304, + "end_idx": 2490 + }, + { + "text": "Pick up the bag of chips from the table with the right hand using a side grip at the left in a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Have the right hand take the bag of chips from the table using a left-side grasp at a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "With the right hand, grasp the bag of chips from the table in a side hold on the left at a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Pick up the bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Take the bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Grasp the bag of chips from the table with a side hold at the left in a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "With the right hand, take the bag of chips from the table using a side grasp.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Have the right hand grasp the bag of chips from the table in a side hold.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table at the left in a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "With the right hand, take the bag of chips from the table at a diagonal angle.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Pick up the bag of chips from the table.", + "start_idx": 2643, + "end_idx": 2823 + }, + { + "text": "Put the bag of chips to the right of the green cup on the top right side with the right hand.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the bag of chips on the top right side, to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the bag of chips on the top right side, positioned to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "With the right hand, deposit the bag of chips on the top right side to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Place the bag of chips on the top right side, to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Set the bag of chips on the top right side, positioned to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "The bag of chips goes on the top right side, to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Put the bag of chips to the right of the green cup on the top right side.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "On the top right side, place the bag of chips to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Position the bag of chips to the right of the green cup on the top right side.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the bag of chips to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Have the right arm put the bag of chips on the top right side.", + "start_idx": 2823, + "end_idx": 3000 + }, + { + "text": "Set the bag of chips to the right of the green cup.", + "start_idx": 2823, + "end_idx": 3000 + } + ] + }, + "2026-03-14-20-57-22-308000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick place large number of objects", + "total_frames": 3000, + "num_annotations": 299, + "annotations": [ + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip from the top.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip from the top.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Have the left arm grasp the pink stuffed toy from the table from the top with a side hold.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "With the left hand, secure the pink stuffed toy from the table using a side grasp at the top.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip from the top.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Take the pink stuffed toy from the table with a side hold at the top.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Grasp the pink stuffed toy from the table from the top using a side grasp.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table using a side grip.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a side grasp.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Using the left hand, grasp the pink stuffed toy from the table with a side hold.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Place the pink stuffed toy at the back of the canned goods with the left hand on the top side facing top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Using the left hand, place the pink stuffed toy at the back of the canned goods on the top side, facing top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Have the left arm set the pink stuffed toy at the back of the canned goods on the top side with its front facing top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "With the left hand, position the pink stuffed toy at the back of the canned goods on the top side so the front faces top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Place the pink stuffed toy at the back of the canned goods on the top side, facing top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Set the pink stuffed toy at the back of the canned goods on the top side with its front facing top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Position the pink stuffed toy at the back of the canned goods on the top side so it faces top left.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Using the left hand, place the pink stuffed toy at the back of the canned goods.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "With the left hand, set the pink stuffed toy at the back of the canned goods.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Have the left arm position the pink stuffed toy at the back of the canned goods.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Place the pink stuffed toy at the back of the canned goods.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Set the pink stuffed toy at the back of the canned goods.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Position the pink stuffed toy at the back of the canned goods.", + "start_idx": 144, + "end_idx": 234 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally with a full-object hold.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Collect the yellow stuffed toy from the table at a diagonal angle using the whole object grasp.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Have the left arm collect the yellow stuffed toy from the table with a diagonal approach.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Take the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 234, + "end_idx": 456 + }, + { + "text": "Put the yellow stuffed toy at the back of the pink stuffed toy on the top side with the left hand.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Using the left hand, place the yellow stuffed toy behind the pink stuffed toy with its top side up.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Have the left arm set the yellow stuffed toy at the rear of the pink stuffed toy, top side facing up.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "With the left hand, position the yellow stuffed toy at the back of the pink stuffed toy on its top side.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Place the yellow stuffed toy behind the pink stuffed toy with its top side up.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Set the yellow stuffed toy at the rear of the pink stuffed toy on its top side.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Position the yellow stuffed toy at the back of the pink stuffed toy with the top side facing up.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Using the left hand, place the yellow stuffed toy behind the pink stuffed toy.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "With the left hand, set the yellow stuffed toy at the rear of the pink stuffed toy.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Have the left arm position the yellow stuffed toy behind the pink stuffed toy.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Place the yellow stuffed toy behind the pink stuffed toy.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Set the yellow stuffed toy at the back of the pink stuffed toy.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Position the yellow stuffed toy at the rear of the pink stuffed toy.", + "start_idx": 456, + "end_idx": 525 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Have the left hand grasp the canned goods from the table from a diagonal angle, contacting the top with a side grip.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "With the left hand, seize the canned goods from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Take the canned goods from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "From the table, grasp the canned goods at the top with a side grip from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "With the left hand, take the canned goods from the table.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Have the left hand grasp the canned goods from the table.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Grasp the canned goods from the table at the top from a diagonal angle.", + "start_idx": 753, + "end_idx": 918 + }, + { + "text": "Place the canned goods between the pink stuffed toy and the green bowl with the left hand.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Using the left hand, set the canned goods between the pink stuffed toy and the green bowl, right side up.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Have the left arm place the canned goods between the pink stuffed toy and the green bowl with the front facing forward.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "With the left hand, position the canned goods between the pink stuffed toy and the green bowl upright on its top side.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Place the canned goods between the pink stuffed toy and the green bowl upright.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Set the canned goods between the pink stuffed toy and the green bowl with the front facing forward.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Position the canned goods between the pink stuffed toy and the green bowl on its top side.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Arrange the canned goods between the pink stuffed toy and the green bowl.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Put the canned goods between the pink stuffed toy and the green bowl.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Have the canned goods placed between the pink stuffed toy and the green bowl.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Using the left hand, place the canned goods between the pink stuffed toy and the green bowl.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "With the left arm, set the canned goods between the pink stuffed toy and the green bowl.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Have the left hand position the canned goods between the pink stuffed toy and the green bowl.", + "start_idx": 918, + "end_idx": 1017 + }, + { + "text": "Pick up the screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Using the left hand, take the screwdriver from the table from the top at the middle.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Have the left arm grasp the screwdriver from the table at the middle from above.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "With the left hand, secure the screwdriver from the table by the middle from the top.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Pick up the screwdriver from the table from the top at the middle.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Grasp the screwdriver from the table at the middle from above.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Take the screwdriver from the table by the middle from the top.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Grasp the screwdriver from the table.", + "start_idx": 1017, + "end_idx": 1170 + }, + { + "text": "Put the screwdriver in front of the pink stuffed toy with the left hand on its bottom side facing forwards with the tip as the reference point.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Using the left hand, place the screwdriver in front of the pink stuffed toy with its tip facing forwards on the bottom side.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Have the left arm set the screwdriver in front of the pink stuffed toy on its bottom side, oriented forwards from the tip.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "With the left hand, position the screwdriver in front of the pink stuffed toy, bottom side down and the tip facing forwards.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Place the screwdriver in front of the pink stuffed toy with its tip facing forwards on the bottom side.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Set the screwdriver in front of the pink stuffed toy on its bottom side with the tip oriented forwards.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Position the screwdriver in front of the pink stuffed toy, bottom side down and facing forwards from the tip.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Using the left hand, put the screwdriver in front of the pink stuffed toy.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "With the left arm, place the screwdriver in front of the pink stuffed toy.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Have the left hand position the screwdriver in front of the pink stuffed toy.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Put the screwdriver in front of the pink stuffed toy.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Set the screwdriver in front of the pink stuffed toy.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "In front of the pink stuffed toy, place the screwdriver.", + "start_idx": 1170, + "end_idx": 1284 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a diagonal lip grasp on the left.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Have the left arm take the green bowl from the table with a left-side diagonal lip hold.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "The green bowl should be picked up from the table by the left hand using a diagonal grasp on its left lip.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Take the green bowl from the table with a left-side diagonal lip hold.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "The green bowl from the table should be picked up with a diagonal lip grasp on the left.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "The green bowl should be picked up from the table by the left hand.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "The green bowl from the table should be grasped.", + "start_idx": 1620, + "end_idx": 1782 + }, + { + "text": "Put the green bowl to the right of the screwdriver with the left hand.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Using the left hand, place the green bowl to the right of the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Have the left arm set the green bowl down to the right of the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "With the left hand, position the green bowl on the screwdriver's right side.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Place the green bowl to the right of the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Set the green bowl down to the right of the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Position the green bowl on the right side of the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Using the left hand, put the green bowl by the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Have the left arm place the green bowl next to the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "With the left hand, set the green bowl beside the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Put the green bowl by the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Place the green bowl beside the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Set the green bowl next to the screwdriver.", + "start_idx": 1782, + "end_idx": 1890 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "From the table, collect the yellow stuffed toy diagonally using a full-object hold.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Have the left arm collect the yellow stuffed toy from the table.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "From the table, take the yellow stuffed toy diagonally.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 1890, + "end_idx": 2052 + }, + { + "text": "Put the yellow stuffed toy to the left of the screwdriver with the left hand facing backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the screwdriver with it facing backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the screwdriver's left side, oriented backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the left of the screwdriver so it faces backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Place the yellow stuffed toy to the left of the screwdriver with it facing backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Set the yellow stuffed toy on the left side of the screwdriver, facing backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Position the yellow stuffed toy to the left of the screwdriver while facing backwards.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Using the left hand, put the yellow stuffed toy to the left of the screwdriver.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Have the left arm place the yellow stuffed toy on the screwdriver's left side.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "With the left hand, set the yellow stuffed toy to the left of the screwdriver.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Put the yellow stuffed toy to the left of the screwdriver.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Place the yellow stuffed toy on the left side of the screwdriver.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Using the left hand, position the yellow stuffed toy to the left of the screwdriver.", + "start_idx": 2052, + "end_idx": 2145 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Have the left arm pick up the pink stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table at a diagonal angle using an all-over hold.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Take the pink stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Retrieve the pink stuffed toy from the table at a diagonal angle using an all-over hold.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "From the table, take the pink stuffed toy with the left hand.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally.", + "start_idx": 2496, + "end_idx": 2667 + }, + { + "text": "Put the pink stuffed toy to the right of the canned goods on the top side with the left hand.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the right of the canned goods with its front facing the top left on the top side.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Have the left arm set the pink stuffed toy on the top side to the right of the canned goods, front facing top left.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "With the left hand, position the pink stuffed toy on the top side to the right of the canned goods, oriented with the front toward the top left.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Place the pink stuffed toy to the right of the canned goods with its front facing the top left on the top side.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Set the pink stuffed toy on the top side to the right of the canned goods, front facing top left.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Position the pink stuffed toy on the top side to the right of the canned goods with the front toward the top left.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Using the left hand, put the pink stuffed toy to the right of the canned goods on the top side.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Have the left arm place the pink stuffed toy on the top side to the right of the canned goods.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "With the left hand, set the pink stuffed toy to the right of the canned goods on the top side.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Put the pink stuffed toy on the top side to the right of the canned goods.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Set the pink stuffed toy to the right of the canned goods on the top side.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Position the pink stuffed toy on the top side to the right of the canned goods.", + "start_idx": 2667, + "end_idx": 2781 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand from the top around the entire object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a top grasp around the entire object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Have the left hand pick up the yellow stuffed toy from the table from above, enclosing the whole object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table by grasping it from the top around the full object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Pick up the yellow stuffed toy from the table from the top around the entire object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Take the yellow stuffed toy from the table with a top grasp around the whole object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "From above, grasp the yellow stuffed toy on the table around the entire object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Retrieve the yellow stuffed toy from the table with a full-object grasp.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Pick up the yellow stuffed toy from the table, enclosing the whole object.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Get the yellow stuffed toy from the table.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Have the left hand take the yellow stuffed toy from the table.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "With the left hand, grasp the yellow stuffed toy from the table.", + "start_idx": 2781, + "end_idx": 2937 + }, + { + "text": "Put the yellow stuffed toy to the left of the canned goods on the top side with the left hand.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the canned goods on the top side, facing bottom right from the front.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the top side to the left of the canned goods, with the front facing bottom right.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the top side left of the canned goods, oriented bottom right relative to the front.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Place the yellow stuffed toy to the left of the canned goods on the top side, with the front facing bottom right.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Set the yellow stuffed toy on the top side to the left of the canned goods, facing bottom right from the front.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Position the yellow stuffed toy to the left of the canned goods on the top side, oriented bottom right relative to the front.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Using the left hand, put the yellow stuffed toy to the left of the canned goods on the top side.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "With the left arm, place the yellow stuffed toy on the top side to the left of the canned goods.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Have the left hand set the yellow stuffed toy to the left of the canned goods on the top side.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Put the yellow stuffed toy to the left of the canned goods.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Set the yellow stuffed toy on the top side left of the canned goods.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Place the yellow stuffed toy to the left of the canned goods on the top side.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal grasp on the right lip.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "With the right arm, grasp the green bowl from the table by the right lip at a diagonal angle.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Have the right hand pick the green bowl up from the table using a diagonal right-side lip hold.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Pick up the green bowl from the table using a diagonal grasp on the right lip.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Take the green bowl from the table with a diagonal hold on the bowl's right lip.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Grasp the green bowl from the table by the right lip on a diagonal.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "With the right hand, pick up the green bowl from the table.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Take the green bowl from the table using the right lip.", + "start_idx": 525, + "end_idx": 660 + }, + { + "text": "Put the green bowl at the back of the screwdriver on its top side with the right hand.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Using the right hand, set the green bowl behind the screwdriver with its open side up.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Have the right arm place the green bowl at the screwdriver's back, right side up.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "With the right hand, position the green bowl behind the screwdriver on its top side.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Place the green bowl behind the screwdriver with its top facing up.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Set the green bowl at the back of the screwdriver, right side up.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Position the green bowl behind the screwdriver on its top side.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "At the screwdriver's back, put the green bowl.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Place the green bowl behind the screwdriver.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Set the green bowl at the back of the screwdriver.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Using the right hand, place the green bowl behind the screwdriver.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Have the right arm put the green bowl at the back of the screwdriver.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "With the right hand, set the green bowl at the screwdriver's back.", + "start_idx": 660, + "end_idx": 753 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top at the right using a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Using the right hand, pick up the white cup from the table from the top at the right with a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "From the top-right side, have the right hand grasp the white cup from the table using a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "With a lip grip, the right hand should take the white cup from the table from the top at the right.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Pick up the white cup from the table from the top at the right with a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "From the top-right side, grasp the white cup from the table using a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Take the white cup from the table from the top at the right with a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "With the right hand, take the white cup from the table using a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Have the right hand grasp the white cup from the table with a lip grip.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Using the right hand, pick up the white cup from the table from the top at the right.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "From the top-right side, the white cup should be grasped from the table with the right hand.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1284, + "end_idx": 1506 + }, + { + "text": "Put the white cup to the right of the green bowl on the top side right side up with the front as the orientation reference point using the right arm.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Using the right arm, place the white cup to the right of the green bowl on the top side, right side up with the front as the reference point.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Have the right arm set the white cup to the right of the green bowl on the top side, keeping it right side up relative to the front.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "With the right arm, position the white cup to the right of the green bowl on the top side, with the front as the orientation reference and the cup right side up.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Place the white cup to the right of the green bowl on the top side, right side up with the front as the orientation reference point.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Set the white cup to the right of the green bowl on the top side, keeping it right side up relative to the front.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Position the white cup to the right of the green bowl on the top side, with the front as the reference point and the cup right side up.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Using the right arm, place the white cup to the right of the green bowl on the top side.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "With the right arm, set the white cup to the right of the green bowl on the top side.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Have the right arm position the white cup to the right of the green bowl on the top side.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Place the white cup to the right of the green bowl on the top side.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Set the white cup to the right of the green bowl on the top side.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Position the white cup to the right of the green bowl on the top side.", + "start_idx": 1506, + "end_idx": 1620 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top right side using a lip grip.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Using the right hand, take the white cup from the table from the top right side with a lip grip.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "From the top right side, have the right hand grasp the white cup on the table using a lip grip.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "The right hand should collect the white cup from the table with a lip grasp at the top right side.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Take the white cup from the table from the top right side using a lip grip.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "From the top right side, grasp the white cup on the table with a lip grip.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Have the white cup picked up from the table with a lip grasp at the top right side.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "With the right hand, retrieve the white cup from the table.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Using the right hand, grasp the white cup from the table from the top right side.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "From the top right side, take the white cup from the table.", + "start_idx": 2145, + "end_idx": 2304 + }, + { + "text": "Put the white cup to the right of the green bowl on the bottom side with the right hand right side up with the front as the reference point.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Using the right hand, place the white cup on the bottom side to the right of the green bowl, right side up with the front as reference.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Have the right arm set the white cup to the right of the green bowl on the bottom side, keeping it right side up relative to the front.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "With the right hand, position the white cup on the bottom side to the right of the green bowl, oriented right side up using the front as the reference point.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Place the white cup on the bottom side to the right of the green bowl, right side up with the front as the reference point.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Set the white cup to the right of the green bowl on the bottom side, keeping it right side up relative to the front.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Position the white cup on the bottom side to the right of the green bowl, with the front as reference and the cup right side up.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Using the right hand, place the white cup on the bottom side to the right of the green bowl.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Have the right arm set the white cup to the right of the green bowl on the bottom side.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "With the right hand, position the white cup to the right of the green bowl on the bottom side.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Put the white cup to the right of the green bowl with the right hand, right side up with the front as the reference point.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Set the white cup by the green bowl on the bottom side, right side up with the front as reference.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Place the white cup to the right of the green bowl on the bottom side.", + "start_idx": 2304, + "end_idx": 2451 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "With the right hand, go to the home position.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Return to the home position.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Move back to home.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Go to the home pose.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Resume the home position.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Shift to home.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Reposition to the home pose.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Move the arm to home.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Return home.", + "start_idx": 2451, + "end_idx": 2496 + }, + { + "text": "Head back to the home position.", + "start_idx": 2451, + "end_idx": 2496 + } + ] + }, + "2026-03-14-22-49-48-005000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place on variety of objects", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table with a side grip at the top, approaching diagonally.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the table at the top using a side hold and a diagonal angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Take the blue screwdriver off the table with a side grasp at the top and a diagonal approach.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Grasp the blue screwdriver from the table at the top with a side hold and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table with a side grip at the top.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the left arm take the blue screwdriver off the table using a side grasp at the top.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the table at the top using a side hold.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the left arm take the blue screwdriver off the table at the top on a diagonal.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the blue screwdriver from the table at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Put the blue screwdriver in front of the pink cup on the bottom left side with the left hand facing forwards by the tip.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink cup on the bottom left side with the tip facing forwards.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Have the left arm set the blue screwdriver in front of the pink cup on the bottom left side, oriented tip-forward.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "With the left hand, position the blue screwdriver in front of the pink cup on the bottom left side so the tip faces forwards.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Place the blue screwdriver in front of the pink cup on the bottom left side with the tip facing forwards.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Set the blue screwdriver in front of the pink cup on the bottom left side, keeping the tip pointed forwards.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Position the blue screwdriver in front of the pink cup on the bottom left side so its tip faces forwards.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "With the left hand, put the blue screwdriver in front of the pink cup on the bottom left side.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Have the left arm place the blue screwdriver in front of the pink cup on the bottom left side.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Using the left hand, set the blue screwdriver in front of the pink cup on the bottom left side.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Put the blue screwdriver in front of the pink cup on the bottom left side.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Set the blue screwdriver in front of the pink cup on the bottom left side.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Position the blue screwdriver in front of the pink cup on the bottom left side.", + "start_idx": 150, + "end_idx": 246 + }, + { + "text": "Pick up the pink cup from the table with the left hand from the side by the handle.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Using the left hand, take the pink cup from the table from the side by the handle.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Have the left arm grasp the pink cup from the table at the handle from the side.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "With the left hand, collect the pink cup from the table by its handle from the side.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Pick up the pink cup from the table from the side by the handle.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "From the side, grasp the pink cup from the table by the handle.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Take the pink cup from the table at the handle from the side.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Using the left hand, take the pink cup from the table from the side.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Grasp the pink cup from the table by the handle.", + "start_idx": 245, + "end_idx": 381 + }, + { + "text": "Put the pink cup to the left of the green bowl on the bottom side with its front facing right using the left hand.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Using the left hand, place the pink cup on the bottom side to the left of the green bowl with its front facing right.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Have the left hand set the pink cup to the left of the green bowl on the bottom side, front pointed right.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "With the left hand, position the pink cup on the bottom side left of the green bowl so its front faces right.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Place the pink cup on the bottom side to the left of the green bowl with its front facing right.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Set the pink cup to the left of the green bowl on the bottom side, front facing right.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Position the pink cup on the bottom side left of the green bowl with its front pointed right.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Put the pink cup to the left of the green bowl on the bottom side.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Set the pink cup on the bottom side to the left of the green bowl.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Place the pink cup to the left of the green bowl on the bottom side.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Put the pink cup to the left of the green bowl.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "On the bottom side, place the pink cup to the left of the green bowl.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Have the pink cup placed on the bottom side to the left of the green bowl.", + "start_idx": 381, + "end_idx": 564 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Have the left arm pick up the orange screwdriver from the table with a side grip on its top at a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "With the left hand, secure the orange screwdriver from the table using a side hold at the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Pick up the orange screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Take the orange screwdriver from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "From a diagonal angle, collect the orange screwdriver from the table with a side hold at the top.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table with a side grip.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Have the left arm take the orange screwdriver from the table using a side grasp at the top.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table using a side hold.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Take the orange screwdriver from the table with the left hand at the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Pick up the orange screwdriver from the table at the top from a diagonal angle.", + "start_idx": 564, + "end_idx": 747 + }, + { + "text": "Put the orange screwdriver behind the white cup on the top side with the tip facing forwards using the left hand.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Using the left hand, place the orange screwdriver behind the white cup on the top side with the tip facing forwards.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Have the left arm set the orange screwdriver behind the white cup on the top side, tip oriented forward.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "With the left hand, position the orange screwdriver behind the white cup on the top side so the tip points forwards.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Place the orange screwdriver behind the white cup on the top side with the tip facing forwards.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Set the orange screwdriver behind the white cup on the top side, keeping the tip pointed forward.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Position the orange screwdriver behind the white cup on the top side so its tip faces forwards.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Using the left hand, put the orange screwdriver behind the white cup on the top side.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Have the left arm place the orange screwdriver behind the white cup on the top side.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "With the left hand, set the orange screwdriver behind the white cup on the top side.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Place the orange screwdriver behind the white cup on the top side.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Set the orange screwdriver behind the white cup on the top side.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Position the orange screwdriver behind the white cup on the top side.", + "start_idx": 747, + "end_idx": 900 + }, + { + "text": "Pick up the green cup from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Using the left hand, take the green cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Have the left hand pick up the green cup from the table via a diagonal lip hold on its right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "With the left hand, grasp the green cup from the table using a diagonal lip contact on the right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Pick up the green cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Take the green cup from the table with a diagonal lip hold on the right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "The green cup should be picked up from the table with a diagonal lip contact on its right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Using the left hand, pick up the green cup from the table.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "With the left hand, take the green cup from the table.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Have the left hand grasp the green cup from the table.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Using the left hand, pick up the green cup from the table on the right side.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Pick up the green cup from the table with the left hand.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Take the green cup from the table.", + "start_idx": 1233, + "end_idx": 1368 + }, + { + "text": "Put the green cup to the left of the white cup on the top left side with the left hand facing left from the front.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Using the left hand, place the green cup on the top left side to the left of the white cup, facing left from the front.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Have the left arm set the green cup to the left of the white cup on the top left side with its front facing left.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "With the left hand, position the green cup on the top left side left of the white cup, oriented left from the front.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Place the green cup on the top left side to the left of the white cup, facing left from the front.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Set the green cup to the left of the white cup on the top left side with its front pointed left.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Position the green cup on the top left side left of the white cup, with the front facing left.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Using the left hand, put the green cup to the left of the white cup on the top left side.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Have the left arm place the green cup on the top left side to the left of the white cup.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "With the left hand, set the green cup left of the white cup on the top left side.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Put the green cup on the top left side to the left of the white cup.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Place the green cup to the left of the white cup on the top left side.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Set the green cup left of the white cup on the top left side.", + "start_idx": 1368, + "end_idx": 1557 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Using the left arm, take the blue screwdriver from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Have the left hand grasp the blue screwdriver from the table with a side hold at the top from a diagonal approach.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "From the table, grasp the blue screwdriver with a side hold at the top from a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table using a side grip at the top.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Using the left arm, take the blue screwdriver from the table with a side grasp on the top.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Have the left hand grasp the blue screwdriver from the table with a side hold at the top.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table from a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Using the left arm, take the blue screwdriver from the table at a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "From the table, grasp the blue screwdriver at the top from a diagonal angle.", + "start_idx": 1986, + "end_idx": 2112 + }, + { + "text": "Put the blue screwdriver into the green cup with the left hand.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Using the left hand, place the blue screwdriver inside the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Have the left arm put the blue screwdriver into the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "With the left hand, insert the blue screwdriver into the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Place the blue screwdriver into the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Put the blue screwdriver inside the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Insert the blue screwdriver into the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "The blue screwdriver goes into the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Set the blue screwdriver in the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Move the blue screwdriver into the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Put the blue screwdriver in the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Place the blue screwdriver inside the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Insert the blue screwdriver in the green cup.", + "start_idx": 2112, + "end_idx": 2319 + }, + { + "text": "Pick up the green cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Using the left hand, take the green cup from the table at a diagonal angle by the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Have the left arm grasp the green cup from the table by its handle at a diagonal angle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "With the left hand, collect the green cup from the table, approaching diagonally at the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Pick up the green cup from the table at a diagonal angle by the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Take the green cup from the table by the handle at a diagonal angle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Grasp the green cup from the table diagonally by the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Using the left hand, pick up the green cup from the table.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Have the left arm take the green cup from the table by the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "With the left hand, grasp the green cup from the table at a diagonal angle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Pick up the green cup from the table.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Take the green cup from the table with the left hand.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Grab the green cup from the table by the handle.", + "start_idx": 2637, + "end_idx": 2739 + }, + { + "text": "Place the green cup to the right of the white cup with the left hand on the bottom side facing right with the front as reference.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Using the left hand, set the green cup to the right of the white cup with its bottom side facing right, using the front as reference.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Have the left arm place the green cup to the right of the white cup, bottom side facing right relative to the front.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "With the left hand, position the green cup to the right of the white cup so the bottom side faces right with the front as reference.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Set the green cup to the right of the white cup with its bottom side facing right, using the front as reference.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Position the green cup to the right of the white cup, with the bottom side facing right relative to the front.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Place the green cup to the right of the white cup so the bottom side faces right with the front as reference.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Using the left hand, place the green cup to the right of the white cup.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Have the left arm set the green cup to the right of the white cup.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "With the left hand, position the green cup to the right of the white cup.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Place the green cup to the right of the white cup.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Set the green cup to the right of the white cup.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Have the green cup placed to the right of the white cup.", + "start_idx": 2739, + "end_idx": 2877 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Have the left arm grasp the orange screwdriver from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "With the left hand, secure the orange screwdriver from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Take the orange screwdriver from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Grasp the orange screwdriver from the table at the top with a side grip from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Take the orange screwdriver from the table with the left hand at the top.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Grasp the orange screwdriver from the table.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal grasp on the right lip.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Have the right arm pick up the green bowl from the table using a diagonal right-side lip hold.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "With the right hand, grasp the green bowl from the table at the right lip on a diagonal.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Pick up the green bowl from the table using a diagonal grasp on the right lip.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Take the green bowl from the table with a diagonal right-side lip hold.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Grasp the green bowl from the table at the right lip diagonally.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Take the green bowl from the table using a diagonal grasp.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Grasp the green bowl from the table at the right lip.", + "start_idx": 900, + "end_idx": 1032 + }, + { + "text": "Dump the yellow stuffed toy on the bottom side of the table with the right hand.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Using the right hand, dump the yellow stuffed toy on the bottom side of the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Have the right arm place the yellow stuffed toy onto the table's bottom side.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "With the right hand, set the yellow stuffed toy down on the bottom side of the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Dump the yellow stuffed toy on the bottom side of the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Place the yellow stuffed toy onto the table's bottom side.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Set the yellow stuffed toy down on the bottom side of the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "The yellow stuffed toy goes on the bottom side of the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Position the yellow stuffed toy on the table's bottom side.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Using the right hand, dump the yellow stuffed toy on the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Have the right arm place the yellow stuffed toy on the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "With the right hand, set the yellow stuffed toy down on the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Put the yellow stuffed toy on the table.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Put the green bowl to the right of the yellow stuffed toy with the right hand.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Using the right hand, place the green bowl to the right of the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Have the right arm set the green bowl on the toy's right side.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "With the right hand, position the green bowl to the right of the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Place the green bowl to the right of the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Set the green bowl on the right side of the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Position the green bowl beside the yellow stuffed toy on its right.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Move the green bowl to the yellow stuffed toy's right side.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Arrange the green bowl at the right of the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Using the right hand, place the green bowl beside the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "With the right hand, set the green bowl on the yellow stuffed toy's right side.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Have the right arm position the green bowl beside the yellow stuffed toy.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Using the right hand, move the green bowl to the toy's right.", + "start_idx": 1095, + "end_idx": 1233 + }, + { + "text": "Pick up the pink cup from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Using the right hand, take the pink cup from the table with a lip grip on its right side at a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Have the right arm grasp the pink cup from the table with a lip hold at the right side, diagonally oriented.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "With the right hand, secure the pink cup from the table by its right side using a lip grasp at a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Pick up the pink cup from the table using a lip grip at the right side with a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Grasp the pink cup from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "The pink cup should be taken from the table with a lip grasp at its right side, diagonally.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Pick up the pink cup from the table with the right hand using a lip grip.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Using the right hand, take the pink cup from the table with a lip hold.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Have the right arm grasp the pink cup from the table with a lip grasp.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Pick up the pink cup from the table with the right hand at the right side with a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "With the right hand, take the pink cup from the table on its right side at a diagonal angle.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "The pink cup should be picked up from the table using a lip grip.", + "start_idx": 1557, + "end_idx": 1689 + }, + { + "text": "Put the pink cup to the right of the orange screwdriver on the top side with the right hand facing right from the front.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Using the right hand, place the pink cup on the top side to the right of the orange screwdriver, facing right from the front.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Have the right hand set the pink cup on the top side, to the right of the orange screwdriver, with its front facing right.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "With the right hand, position the pink cup on the top side at the right of the orange screwdriver, oriented rightward from the front.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Place the pink cup on the top side to the right of the orange screwdriver, facing right from the front.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Set the pink cup at the right of the orange screwdriver on the top side, with the front facing right.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Position the pink cup on the top side to the right of the orange screwdriver, oriented right from the front.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Using the right hand, place the pink cup on the top side to the right of the orange screwdriver.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Have the right hand set the pink cup at the right of the orange screwdriver on the top side.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "With the right hand, position the pink cup to the right of the orange screwdriver on the top side.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Place the pink cup to the right of the orange screwdriver on the top side.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Set the pink cup on the top side at the right of the orange screwdriver.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Position the pink cup on the top side to the right of the orange screwdriver.", + "start_idx": 1689, + "end_idx": 1824 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Have the right arm return to home.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Return to the home position.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Move back to home.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Go to the home pose.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Head to the home position.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Resume the home position.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Return home.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Move to home.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Go back to the home position.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Reach the home pose.", + "start_idx": 1824, + "end_idx": 1986 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Have the right arm pick the yellow stuffed toy up from the table in a diagonal top side grip.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "With the right hand, grasp the yellow stuffed toy from the table using a side hold at the top diagonal.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Pick up the yellow stuffed toy from the table using a side grip at the top diagonally.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Take the yellow stuffed toy from the table with a side grasp at the top diagonal.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Grasp the yellow stuffed toy from the table in a side hold at the top diagonally.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table with a side grip.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table using a side grasp.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "With the right hand, grasp the yellow stuffed toy from the table by the top using a side hold.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table diagonally at the top.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand from the top diagonal.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 2319, + "end_idx": 2430 + }, + { + "text": "Put the yellow stuffed toy to the right of the pink cup on the top side with the front facing left using the right hand.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Using the right hand, place the yellow stuffed toy to the right of the pink cup on the top side with the front facing left.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Have the right hand set the yellow stuffed toy on the top side to the right of the pink cup, front facing left.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "With the right hand, position the yellow stuffed toy to the right of the pink cup on the top side, with its front pointed left.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Place the yellow stuffed toy to the right of the pink cup on the top side with the front facing left.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Set the yellow stuffed toy on the top side to the right of the pink cup, front facing left.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Position the yellow stuffed toy to the right of the pink cup on the top side, with its front pointed left.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Using the right hand, place the yellow stuffed toy to the right of the pink cup on the top side.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Have the right hand set the yellow stuffed toy to the right of the pink cup on the top side.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "With the right hand, position the yellow stuffed toy on the top side to the right of the pink cup.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Put the yellow stuffed toy to the right of the pink cup on the top side.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Set the yellow stuffed toy on the top side to the right of the pink cup.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Position the yellow stuffed toy to the right of the pink cup.", + "start_idx": 2430, + "end_idx": 2580 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "With the right arm, reset to the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Return to home.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Move back to the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Reset to the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Go to the home pose.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Resume the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Head back to the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Return home.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Move to the home position.", + "start_idx": 2580, + "end_idx": 2637 + }, + { + "text": "Reset to home.", + "start_idx": 2580, + "end_idx": 2637 + } + ] + }, + "2026-03-14-22-51-57-252000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place on variety of objects", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Put the orange screwdriver in front of the white cup with the left hand with its tip facing top left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Using the left hand, place the orange screwdriver in front of the white cup with its tip pointing to the top left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Have the left arm set the orange screwdriver before the white cup, tip oriented top left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "With the left hand, position the orange screwdriver in front of the white cup so the tip faces the upper left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Place the orange screwdriver in front of the white cup with its tip pointing to the top left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Set the orange screwdriver before the white cup, with the tip oriented top left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Position the orange screwdriver in front of the white cup so its tip faces the upper left.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "With the left hand, put the orange screwdriver in front of the white cup.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Using the left hand, place the orange screwdriver before the white cup.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Have the left arm position the orange screwdriver in front of the white cup.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Place the orange screwdriver in front of the white cup.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Set the orange screwdriver before the white cup.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Position the orange screwdriver in front of the white cup.", + "start_idx": 0, + "end_idx": 6 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "With the left arm, collect the orange screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Have the left hand grasp the orange screwdriver from the table at a diagonal angle around its middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "From the table, grasp the orange screwdriver at a diagonal angle around the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "With the left arm, take the orange screwdriver from the table.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Have the left hand grasp the orange screwdriver from the table.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Using the left hand, collect the orange screwdriver from the table at a diagonal angle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Take the orange screwdriver from the table by the middle.", + "start_idx": 6, + "end_idx": 93 + }, + { + "text": "Put the orange screwdriver to the left side of the white cup with the left hand facing forwards with the tip facing forwards.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the white cup with its tip facing forwards.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Have the left hand set the orange screwdriver on the white cup's left side, oriented forwards with the tip pointing forwards.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "With the left hand, position the orange screwdriver to the left side of the white cup, facing forwards and with the tip directed forwards.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Place the orange screwdriver to the left side of the white cup.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Set the orange screwdriver on the left side of the white cup.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Position the orange screwdriver to the left of the white cup.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Arrange the orange screwdriver on the white cup's left side.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left side of the white cup.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Have the left hand set the orange screwdriver on the white cup's left side.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "With the left hand, position the orange screwdriver to the left of the white cup.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Put the orange screwdriver to the left side of the white cup.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Set the orange screwdriver beside the white cup on its left side.", + "start_idx": 93, + "end_idx": 153 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table diagonally by its middle.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table in a diagonal orientation, holding the center.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Take the orange screwdriver from the table diagonally by the middle.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Retrieve the orange screwdriver from the table at a diagonal angle, holding its center.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "With the left hand, take the orange screwdriver from the table.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Take the orange screwdriver from the table diagonally.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Retrieve the orange screwdriver from the table by its middle.", + "start_idx": 645, + "end_idx": 777 + }, + { + "text": "Put the orange screwdriver in front of the white cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Using the left hand, place the orange screwdriver in front of the white cup with the tip facing forwards.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Have the left arm set the orange screwdriver before the white cup, oriented forward by its tip.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "With the left hand, position the orange screwdriver in front of the white cup so the tip points forwards.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Place the orange screwdriver in front of the white cup with the tip facing forwards.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Set the orange screwdriver before the white cup with the tip pointed forwards.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Position the orange screwdriver in front of the white cup, keeping the tip directed forwards.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Using the left hand, put the orange screwdriver in front of the white cup.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "With the left hand, place the orange screwdriver before the white cup.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Have the left arm position the orange screwdriver in front of the white cup.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Put the orange screwdriver in front of the white cup.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Set the orange screwdriver before the white cup.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Position the orange screwdriver in front of the white cup.", + "start_idx": 777, + "end_idx": 891 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grasp on the left.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Have the left arm pick up the white cup from the table using the cup's left lip in a diagonal grasp.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "With the left hand, grasp the white cup from the table at the left lip with a diagonal hold.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on the left.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Grasp the white cup from the table at the left lip diagonally.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Use the left hand to take the white cup from the table.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 891, + "end_idx": 1020 + }, + { + "text": "Put the white cup to the left side of the pink mug with the left hand right side up front.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink mug, right side up with the front facing forward.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Have the left arm set the white cup on the left side of the pink mug, keeping it upright and front-facing.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "With the left hand, position the white cup left of the pink mug in an upright orientation, front forward.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Place the white cup to the left of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Set the white cup on the left side of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Position the white cup left of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Put the white cup to the left of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Have the left arm set the white cup on the left side of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "With the left hand, position the white cup left of the pink mug.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Place the white cup to the left of the pink mug, keeping it upright.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Set the white cup on the left side of the pink mug with its front facing forward.", + "start_idx": 1020, + "end_idx": 1095 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup angle at the middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup at the middle.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Take the orange screwdriver from the table with the left hand.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally.", + "start_idx": 1383, + "end_idx": 1539 + }, + { + "text": "Put the orange screwdriver to the left side of the white cup with the left hand with the tip facing forwards.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Using the left hand, place the orange screwdriver on the left side of the white cup with its tip facing forward.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Have the left arm set the orange screwdriver to the white cup's left, keeping the tip pointed forward.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "With the left hand, position the orange screwdriver left of the white cup so the tip faces forwards.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Place the orange screwdriver on the left side of the white cup with its tip facing forward.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Set the orange screwdriver to the left of the white cup with the tip pointed forward.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Position the orange screwdriver on the white cup's left side, tip facing forwards.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Using the left hand, place the orange screwdriver on the left side of the white cup.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "With the left hand, set the orange screwdriver to the left of the white cup.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Have the left arm position the orange screwdriver by the white cup's left side.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Put the orange screwdriver to the left of the white cup.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the white cup.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Set the orange screwdriver beside the white cup on its left side.", + "start_idx": 1539, + "end_idx": 1632 + }, + { + "text": "Pick up the light green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Using the left hand, take the light green mug from the table at a diagonal angle by the handle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "With the left arm, grasp the light green mug from the table by its handle at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Have the left hand pick the light green mug up from the table via the handle at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Pick up the light green mug from the table at a diagonal angle by the handle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Grasp the light green mug from the table by its handle at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Take the light green mug from the table via the handle at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Using the left hand, pick up the light green mug from the table by the handle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "With the left hand, take the light green mug from the table.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Have the left hand grasp the light green mug from the table at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Pick up the light green mug from the table.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Using the left hand, pick up the light green mug from the table.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Take the light green mug from the table at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2208 + }, + { + "text": "Pick up the light green mug from the table with the left hand using a diagonal lip grasp at the right side.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Using the left hand, take the light green mug from the table with a diagonal lip grasp at the right side.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Have the left arm grasp the light green mug from the table with a diagonal lip hold on its right side.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "With the left hand, secure the light green mug from the table using a diagonal grasp on the right lip.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Pick up the light green mug from the table using a diagonal lip grasp at the right side.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Take the light green mug from the table with a diagonal lip hold on its right side.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Grasp the light green mug from the table with a diagonal lip contact at the right side.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Using the left hand, pick up the light green mug from the table.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "With the left hand, take the light green mug from the table.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Have the left arm collect the light green mug from the table.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Pick up the light green mug from the table with the left hand.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Using a diagonal lip grasp at the right side, take the light green mug from the table.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Take the light green mug from the table with the left hand using a lip grasp.", + "start_idx": 2325, + "end_idx": 2553 + }, + { + "text": "Place the light green mug in front of the orange screwdriver with the handle facing top left using the left hand.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Using the left hand, set the light green mug in front of the orange screwdriver with its handle pointing to the top left.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Have the left arm place the light green mug before the orange screwdriver, handle oriented toward the top left.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "With the left hand, position the light green mug in front of the orange screwdriver so the handle faces the upper left.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Place the light green mug in front of the orange screwdriver with the handle pointing to the top left.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Set the light green mug before the orange screwdriver, with its handle toward the upper left.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Position the light green mug in front of the orange screwdriver, handle facing top left.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Put the light green mug in front of the orange screwdriver.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Set the light green mug before the orange screwdriver.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Position the light green mug in front of the orange screwdriver.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Using the left hand, place the light green mug in front of the orange screwdriver.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Have the left arm set the light green mug before the orange screwdriver.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "With the left hand, position the light green mug in front of the orange screwdriver.", + "start_idx": 2553, + "end_idx": 2673 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Have the left arm grasp the blue screwdriver on the table diagonally at its middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table using a diagonal approach at the middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Take the blue screwdriver from the table diagonally from the middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal grasp at the middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Get the blue screwdriver off the table at its middle.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "From the table, pick up the blue screwdriver with the left hand.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Use the left hand to take the blue screwdriver from the table.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "From the table, grasp the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2805 + }, + { + "text": "Put the blue screwdriver to the left side of the orange screwdriver with the left hand with its tip facing top right.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the orange screwdriver with its tip pointing to the top right.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Have the left arm set the blue screwdriver on the orange screwdriver's left side, tip facing top right.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "With the left hand, position the blue screwdriver left of the orange screwdriver, keeping its tip directed toward the top right.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Place the blue screwdriver to the left of the orange screwdriver.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Set the blue screwdriver on the left side of the orange screwdriver.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "The blue screwdriver goes to the left of the orange screwdriver.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Position the blue screwdriver beside the orange screwdriver on its left side.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the orange screwdriver.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "With the left hand, set the blue screwdriver on the orange screwdriver's left side.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Have the left arm position the blue screwdriver left of the orange screwdriver.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Place the blue screwdriver to the left of the orange screwdriver with its tip pointing top right.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Set the blue screwdriver beside the orange screwdriver on the left, with the tip facing the top right.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Go to home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Head to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator back home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Have the right arm take the green bowl from the table using a diagonal lip grasp at the bowl's right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "With the right hand, grasp the green bowl from the table in a diagonal lip hold on the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Grasp the green bowl from the table in a diagonal lip hold on its right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Pick up the green bowl from the table with the right hand on the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grasp.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Grasp the green bowl from the table on the right side.", + "start_idx": 255, + "end_idx": 306 + }, + { + "text": "Put the green bowl on the right side of the light green mug with the right hand.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Using the right hand, place the green bowl on the right side of the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Have the right arm set the green bowl to the mug's right side, next to the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "With the right hand, position the green bowl on the right side of the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Place the green bowl on the right side of the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Set the green bowl to the right of the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Position the green bowl beside the light green mug on its right side.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Using the right hand, place the green bowl by the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Have the right arm set the green bowl next to the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Put the green bowl beside the light green mug with the right hand.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Set the green bowl next to the light green mug with the right hand.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Place the green bowl by the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Position the green bowl beside the light green mug.", + "start_idx": 306, + "end_idx": 393 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Have the right arm grasp the yellow stuffed toy from the table from a diagonal angle with a side hold at the bottom.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "With the right hand, secure the yellow stuffed toy from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Pick up the yellow stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Take the yellow stuffed toy from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Grasp the yellow stuffed toy from the table at the bottom with a side grasp from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "With the right hand, grasp the yellow stuffed toy from the table.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Take the yellow stuffed toy from the table from a diagonal angle.", + "start_idx": 393, + "end_idx": 537 + }, + { + "text": "Put the yellow stuffed toy on the left side of the green bowl with the right hand facing bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on the left side of the green bowl with its front facing bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Have the right hand set the yellow stuffed toy to the left of the green bowl, front oriented toward the bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "With the right hand, position the yellow stuffed toy on the green bowl's left side, front facing bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Place the yellow stuffed toy on the left side of the green bowl with its front facing bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Set the yellow stuffed toy to the left of the green bowl, with the front pointed bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Position the yellow stuffed toy on the green bowl's left side, front toward the bottom left.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on the left side of the green bowl.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "With the right hand, set the yellow stuffed toy to the left of the green bowl.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Have the right hand position the yellow stuffed toy on the green bowl's left side.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Place the yellow stuffed toy on the left side of the green bowl.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Set the yellow stuffed toy to the left of the green bowl.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "On the green bowl's left side, position the yellow stuffed toy.", + "start_idx": 537, + "end_idx": 645 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "With the right arm, collect the yellow stuffed toy from the table on a diagonal approach, holding it at the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Have the right hand pick the yellow stuffed toy off the table at a diagonal angle by the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Take the yellow stuffed toy off the table on a diagonal approach, holding the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "From the table, collect the yellow stuffed toy at a diagonal angle by the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Grab the yellow stuffed toy from the table with the right hand.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Have the right arm take the yellow stuffed toy off the table.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "With the right hand, get the yellow stuffed toy from the table.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Take the yellow stuffed toy off the table at the middle.", + "start_idx": 1095, + "end_idx": 1275 + }, + { + "text": "Put the yellow stuffed toy behind the green bowl with the right hand facing backwards.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Using the right hand, place the yellow stuffed toy behind the green bowl with its tip facing backwards.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Have the right arm set the yellow stuffed toy behind the green bowl, oriented with the tip facing backwards.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "With the right hand, position the yellow stuffed toy behind the green bowl so its tip faces backward.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Place the yellow stuffed toy behind the green bowl with its tip facing backwards.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Set the yellow stuffed toy behind the green bowl so the tip faces backward.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Position the yellow stuffed toy behind the green bowl, with the tip oriented backwards.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Using the right hand, put the yellow stuffed toy behind the green bowl.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Have the right arm place the yellow stuffed toy behind the green bowl.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "With the right hand, set the yellow stuffed toy behind the green bowl.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Put the yellow stuffed toy behind the green bowl.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Behind the green bowl, place the yellow stuffed toy.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "The yellow stuffed toy goes behind the green bowl.", + "start_idx": 1275, + "end_idx": 1383 + }, + { + "text": "Pick up the pink mug from the table with the right hand using a diagonal grip on the handle.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Using the right hand, grasp the pink mug from the table with a diagonal hold on the handle.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Have the right arm take the pink mug from the table by the handle with a diagonal grip.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "With the right hand, pick the pink mug up from the table, gripping the handle diagonally.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Pick up the pink mug from the table with a diagonal grip on the handle.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Take the pink mug from the table by the handle with a diagonal grasp.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Grasp the pink mug from the table, keeping a diagonal hold on the handle.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Using the right hand, pick up the pink mug from the table.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "The pink mug should be taken from the table with the right hand.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Have the right arm grasp the pink mug from the table.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Take the pink mug from the table with the right hand.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Using a diagonal grip on the handle, grasp the pink mug from the table.", + "start_idx": 1632, + "end_idx": 1881 + }, + { + "text": "Put the pink mug on the right side of the green bowl with the right hand right side up with the front facing backward.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Using the right hand, place the pink mug to the green bowl's right, right side up, with its front facing backward.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Have the right arm set the pink mug on the right side of the green bowl, keeping it upright and the front pointed backward.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "The pink mug goes on the green bowl's right side with the right hand, right side up and with the front facing backward.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Place the pink mug on the right side of the green bowl.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Set the pink mug to the right of the green bowl.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "The pink mug should go on the green bowl's right side.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "With the right hand, place the pink mug on the right side of the green bowl.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Using the right hand, set the pink mug to the right of the green bowl.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Place the pink mug next to the green bowl with its front facing backward.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Set the pink mug on the right side of the green bowl, right side up.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Put the pink mug by the green bowl, right side up.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "With the right hand, place the pink mug by the green bowl.", + "start_idx": 1881, + "end_idx": 2001 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Have the right arm return to home.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "With the right hand, go to the home position.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Return to the home position.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Move back to home.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Go to home position.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Head to the home position.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Resume the home pose.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Be at the home position.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Return home.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Move to the home pose.", + "start_idx": 2001, + "end_idx": 2055 + }, + { + "text": "Go back to home.", + "start_idx": 2001, + "end_idx": 2055 + } + ] + }, + "2026-03-14-23-17-15-904000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place on variety of objects", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the juice pouch from the table with the left hand from the side at the middle.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Using the left hand, take the juice pouch from the table by the side at its middle.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "With the left hand, grasp the juice pouch from the table from the side at the middle.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Have the left arm pick the juice pouch up from the table with a side grasp at the middle.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Pick up the juice pouch from the table from the side at the middle.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "From the side at the middle, take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "The juice pouch from the table should be grasped from the side at its middle.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "With the left arm, take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Have the left hand grasp the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Grasp the juice pouch from the table.", + "start_idx": 0, + "end_idx": 144 + }, + { + "text": "Place the juice pouch to the left of the red bell pepper with the left hand right side up.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the red bell pepper right side up.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Have the left arm place the juice pouch left of the red bell pepper in an upright orientation.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "With the left hand, position the juice pouch on the bell pepper's left side right side up.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Place the juice pouch to the left of the red bell pepper right side up.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Set the juice pouch left of the red bell pepper in an upright position.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Position the juice pouch on the left side of the red bell pepper right side up.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the red bell pepper.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Have the left arm set the juice pouch left of the red bell pepper.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "With the left hand, position the juice pouch on the bell pepper's left side.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Place the juice pouch to the left of the red bell pepper.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Set the juice pouch left of the red bell pepper.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Position the juice pouch on the left side of the red bell pepper.", + "start_idx": 144, + "end_idx": 231 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Using the left hand, collect the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "With the left hand, seize the red bell pepper from the table diagonally around the entire object.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Take the red bell pepper from the table with a diagonal approach and a full-object hold.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Grasp the red bell pepper from the table diagonally around the whole object.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "The red bell pepper from the table should be picked up at a diagonal angle.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Retrieve the red bell pepper from the table with the left hand.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "The red bell pepper from the table should be taken.", + "start_idx": 573, + "end_idx": 789 + }, + { + "text": "Put the red bell pepper to the left of the juice pouch with the left hand right side up with the front as the orientation reference point.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the juice pouch, right side up with the front as the reference point.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Have the left arm set the red bell pepper left of the juice pouch, keeping it right side up relative to the front.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "With the left hand, position the red bell pepper to the juice pouch's left, oriented right side up using the front as the reference point.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Place the red bell pepper to the left of the juice pouch, right side up with the front as the reference point.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Set the red bell pepper left of the juice pouch, keeping it right side up relative to the front.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Position the red bell pepper to the juice pouch's left, with the front as the reference point and right side up.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the juice pouch.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Have the left arm set the red bell pepper left of the juice pouch.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "With the left hand, position the red bell pepper to the juice pouch's left.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Put the red bell pepper to the left of the juice pouch.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Place the red bell pepper left of the juice pouch.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Set the red bell pepper to the juice pouch's left.", + "start_idx": 789, + "end_idx": 927 + }, + { + "text": "Pick up the juice pouch from the table with the left hand from the side at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Using the left hand, take the juice pouch from the table from the side at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a side approach at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "With the left hand, secure the juice pouch from the table by gripping it from the side at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Pick up the juice pouch from the table from the side at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Grasp the juice pouch from the table from the side at the middle.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Grasp the juice pouch from the table.", + "start_idx": 927, + "end_idx": 1068 + }, + { + "text": "Place the juice pouch with the left hand to the front left of the white mug right side up with the front facing forward.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Using the left hand, set the juice pouch at the front left of the white mug, upright with its front facing forward.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Have the left arm place the juice pouch front-left of the white mug, keeping it right side up and facing front.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "With the left hand, position the juice pouch to the white mug's front left, upright and with the front toward the front.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Place the juice pouch at the front left of the white mug, right side up with the front facing forward.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Set the juice pouch to the front left of the white mug, upright and facing forward.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Position the juice pouch front-left of the white mug, with its front toward the front and right side up.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Using the left hand, place the juice pouch at the front left of the white mug.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Have the left arm set the juice pouch to the white mug's front left.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "With the left hand, position the juice pouch front-left of the white mug.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Place the juice pouch at the front left of the white mug.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Set the juice pouch to the white mug's front left.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Position the juice pouch front-left of the white mug.", + "start_idx": 1068, + "end_idx": 1173 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "With the left hand, collect the red bell pepper from the table diagonally using an entire-object grasp.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Take the red bell pepper from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "From the table, collect the red bell pepper diagonally with an entire-object hold.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table, grasping the entire object.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "With the left hand, collect the red bell pepper from the table.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "From the table, take the red bell pepper with the left hand.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Grab the red bell pepper from the table.", + "start_idx": 1308, + "end_idx": 1413 + }, + { + "text": "Put the red bell pepper to the front left of the juice pouch with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Using the left hand, place the red bell pepper front-left of the juice pouch, right side up with the front as the reference point.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Have the left arm set the red bell pepper to the front left of the juice pouch, keeping it right side up relative to the front.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "With the left hand, position the red bell pepper at the juice pouch's front-left, right side up using the front as the reference point.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Place the red bell pepper to the front left of the juice pouch, keeping it right side up with the front as the reference point.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Set the red bell pepper front-left of the juice pouch, right side up relative to the front.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Position the red bell pepper at the front left of the juice pouch with the front as the orientation reference, right side up.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Using the left hand, place the red bell pepper to the front left of the juice pouch.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Have the left arm set the red bell pepper at the juice pouch's front-left.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "With the left hand, position the red bell pepper front-left of the juice pouch.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Put the red bell pepper to the front left of the juice pouch.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Set the red bell pepper at the juice pouch's front-left.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Position the red bell pepper to the front left of the juice pouch.", + "start_idx": 1413, + "end_idx": 1512 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "With the left hand, retrieve the red bell pepper from the table diagonally while enclosing the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Take the red bell pepper from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Retrieve the red bell pepper from the table diagonally while enclosing the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table, grasping the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "With the left hand, take the red bell pepper from the table.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Have the left arm retrieve the red bell pepper from the table at a diagonal angle.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "From the table, take the red bell pepper at a diagonal angle.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Get the red bell pepper from the table, grasping the entire object.", + "start_idx": 1836, + "end_idx": 2004 + }, + { + "text": "Put the red bell pepper in front of the juice pouch with the left hand right side up front.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the juice pouch, right side up with its front facing forward.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Have the left arm set the red bell pepper in front of the juice pouch, keeping it right side up and front-facing.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "With the left hand, position the red bell pepper before the juice pouch so it stays right side up with the front forward.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Place the red bell pepper in front of the juice pouch, right side up with its front facing forward.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Set the red bell pepper before the juice pouch, keeping it right side up and front-facing.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Position the red bell pepper in front of the juice pouch so it remains upright with the front forward.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Using the left hand, put the red bell pepper in front of the juice pouch.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "With the left hand, set the red bell pepper before the juice pouch.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Have the left arm place the red bell pepper in front of the juice pouch.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Put the red bell pepper in front of the juice pouch.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Set the red bell pepper before the juice pouch.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Have the red bell pepper placed in front of the juice pouch.", + "start_idx": 2004, + "end_idx": 2106 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle from the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Have the left arm grasp the juice pouch from the table diagonally from the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table by approaching diagonally at the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle from the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Take the juice pouch from the table diagonally from the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Retrieve the juice pouch from the table by grasping it diagonally at the top of the object.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "With the left hand, take the juice pouch from the table.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Have the left arm retrieve the juice pouch from the table.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Retrieve the juice pouch from the table.", + "start_idx": 2106, + "end_idx": 2253 + }, + { + "text": "Place the juice pouch to the left of the red bell pepper with the left hand right side up.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the red bell pepper right side up.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Have the left arm place the juice pouch left of the red bell pepper with its right side up.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "With the left hand, position the juice pouch to the left of the red bell pepper upright on its right side.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Place the juice pouch to the left of the red bell pepper right side up.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Set the juice pouch left of the red bell pepper with its right side up.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Position the juice pouch to the left of the red bell pepper, keeping it right side up.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the red bell pepper.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "With the left hand, set the juice pouch left of the red bell pepper.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Have the left arm position the juice pouch to the left of the red bell pepper.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Place the juice pouch to the left of the red bell pepper.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Set the juice pouch left of the red bell pepper.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Position the juice pouch to the left of the red bell pepper.", + "start_idx": 2253, + "end_idx": 2358 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Return to the home position.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Move back to home.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Go to the home pose.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Reset to home.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Return home.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Move to the home position.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Go back to the home configuration.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Reset the arm to home.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Have the arm return home.", + "start_idx": 2358, + "end_idx": 2412 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Have the right arm collect the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "With the right hand, collect the asparagus from the table by the middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Have the right arm take the asparagus from the table, holding its middle.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 231, + "end_idx": 453 + }, + { + "text": "Put the asparagus to the right of the small white coffee cup with the right hand facing backwards with the tip as the reference point.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Using the right hand, place the asparagus to the right of the small white coffee cup, facing backwards with the tip as the reference point.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Have the right arm set the asparagus to the right of the small white coffee cup with its tip as the reference point, facing backwards.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "With the right hand, position the asparagus to the right of the small white coffee cup so it faces backwards using the tip as the reference point.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Place the asparagus to the right of the small white coffee cup, facing backwards with the tip as the reference point.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Set the asparagus to the right of the small white coffee cup so it faces backwards, using the tip as the reference point.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Position the asparagus to the right of the small white coffee cup with the tip as the reference point, facing backwards.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Using the right hand, place the asparagus to the right of the small white coffee cup.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "With the right hand, set the asparagus to the right of the small white coffee cup.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Have the right arm position the asparagus to the right of the small white coffee cup.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Put the asparagus to the right of the small white coffee cup.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Arrange the asparagus to the right of the small white coffee cup.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "To the right of the small white coffee cup, place the asparagus.", + "start_idx": 453, + "end_idx": 573 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal, gripping the center.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, gripping the center.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 1512, + "end_idx": 1731 + }, + { + "text": "Put the asparagus in front of the small coffee cup with the right hand facing backwards with the tip as the reference point.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Using the right hand, place the asparagus in front of the small coffee cup with the tip facing backwards.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Have the right arm set the asparagus in front of the small coffee cup, oriented backward at the tip.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "With the right hand, position the asparagus before the small coffee cup so its tip points backward.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Place the asparagus in front of the small coffee cup with the tip facing backwards.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Set the asparagus before the small coffee cup with its tip oriented backward.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Position the asparagus in front of the small coffee cup, tip pointing backwards.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Using the right hand, put the asparagus in front of the small coffee cup.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "With the right hand, set the asparagus before the small coffee cup.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Have the right arm place the asparagus in front of the small coffee cup.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Put the asparagus in front of the small coffee cup.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Set the asparagus before the small coffee cup.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Position the asparagus in front of the small coffee cup.", + "start_idx": 1731, + "end_idx": 1836 + }, + { + "text": "Pick up the white mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Using the right hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Have the right arm grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "With the right hand, collect the white mug from the table via the handle at a diagonal angle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Grab the white mug from the table by the handle at a diagonal angle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Take the white mug from the table via the handle at a diagonal angle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Using the right hand, pick up the white mug from the table by the handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "With the right hand, grasp the white mug from the table at the handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Have the right arm take the white mug from the table by its handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Pick up the white mug from the table with the right hand.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 2412, + "end_idx": 2553 + }, + { + "text": "Put the white mug to the right of the asparagus with the right hand right side up with the front facing backwards.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Using the right hand, place the white mug to the right of the asparagus, upright with its front facing backward.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Have the right arm set the white mug to the asparagus's right, right side up and with the front oriented backward.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "With the right hand, position the white mug on the right side of the asparagus, keeping it upright and its front facing backward.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Place the white mug to the right of the asparagus, right side up with the front facing backward.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Set the white mug on the right side of the asparagus, upright and facing backward at the front.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Position the white mug to the asparagus's right, with its front directed backward and kept upright.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Using the right hand, place the white mug to the right of the asparagus.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Have the right arm set the white mug on the right side of the asparagus.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "With the right hand, position the white mug to the asparagus's right.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Place the white mug to the right of the asparagus.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Set the white mug on the right side of the asparagus.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Position the white mug to the asparagus's right.", + "start_idx": 2553, + "end_idx": 2703 + }, + { + "text": "Pick up the small white coffee cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Using the right hand, take hold of the small white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "With the right hand, grasp the small white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Have the right hand seize the small white coffee cup from the table by the handle on a diagonal.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Pick up the small white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Take the small white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Grasp the small white coffee cup from the table on a diagonal by the handle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "From the table, collect the small white coffee cup by the handle at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "With the right hand, pick up the small white coffee cup from the table by the handle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Have the right hand take the small white coffee cup from the table by its handle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Using the right hand, grasp the small white coffee cup from the table at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Pick up the small white coffee cup from the table at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "From the table, take the small white coffee cup with the right hand.", + "start_idx": 2703, + "end_idx": 2874 + }, + { + "text": "Put the small white coffee cup behind the red bell pepper with the right hand right side up.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the small white coffee cup behind the red bell pepper right side up.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the small white coffee cup behind the red bell pepper in an upright orientation.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the small white coffee cup behind the red bell pepper so it stays right side up.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Place the small white coffee cup behind the red bell pepper right side up.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Set the small white coffee cup behind the red bell pepper in an upright position.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Position the small white coffee cup behind the red bell pepper so it is right side up.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Using the right hand, put the small white coffee cup behind the red bell pepper.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the small white coffee cup behind the red bell pepper.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the small white coffee cup behind the red bell pepper.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Put the small white coffee cup behind the red bell pepper.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Set the small white coffee cup behind the red bell pepper.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Position the small white coffee cup behind the red bell pepper.", + "start_idx": 2874, + "end_idx": 3000 + } + ] + }, + "2026-03-14-23-19-41-404000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place on variety of objects", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at a diagonal angle by grasping the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Have the left arm take the juice pouch from the table, holding it at a diagonal angle from the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "With the left hand, collect the juice pouch from the table in a diagonal orientation, gripping the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle by grasping the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Take the juice pouch from the table at a diagonal angle, holding the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "From the table, collect the juice pouch in a diagonal orientation with a grasp at the middle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "With the left hand, collect the juice pouch from the table.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Take the juice pouch from the table at a diagonal angle.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "From the table, grasp the middle of the juice pouch.", + "start_idx": 267, + "end_idx": 417 + }, + { + "text": "Put the juice pouch to the left of the white cup on the top side right side up with the front as the reference using the left hand.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the white cup on the top side, right side up with the front as reference.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Have the left hand set the juice pouch on the top side to the left of the white cup, keeping it right side up with the front as reference.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "The juice pouch goes to the left of the white cup on the top side, positioned right side up with the front as the reference, using the left hand.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Place the juice pouch to the left of the white cup on the top side, right side up with the front as the reference.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Set the juice pouch on the top side to the left of the white cup, keeping it right side up with the front as reference.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Position the juice pouch to the left of the white cup on the top side, with the front as reference and right side up.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the white cup on the top side.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "With the left hand, set the juice pouch on the top side to the left of the white cup.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Have the left hand position the juice pouch to the left of the white cup on the top side.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Put the juice pouch to the left of the white cup on the top side.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Set the juice pouch to the left of the white cup, right side up with the front as the reference.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Place the juice pouch to the left of the white cup on the top side with the left hand.", + "start_idx": 417, + "end_idx": 519 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grip on the handle.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle with a diagonal grasp.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle in a diagonal hold.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Pick up the white cup from the table using a diagonal grasp at the handle.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Take the white cup from the table by the handle with a diagonal grip.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Grasp the white cup from the table at the handle with a diagonal hold.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the white cup from the table at the handle.", + "start_idx": 519, + "end_idx": 756 + }, + { + "text": "Put the white cup to the left of the juice pouch on the top side with the left hand right side up with the front as the reference point.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Using the left hand, place the white cup on the top side, left of the juice pouch, right side up with the front as reference.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Have the left arm set the white cup on the top side to the left of the juice pouch, keeping it right side up relative to the front.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "With the left hand, position the white cup on the top side left of the juice pouch, oriented right side up using the front as the reference point.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Place the white cup on the top side to the left of the juice pouch, right side up with the front as the reference point.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Set the white cup left of the juice pouch on the top side, keeping it right side up relative to the front.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Position the white cup on the top side, to the left of the juice pouch, with the front as reference and right side up.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Using the left hand, place the white cup on the top side to the left of the juice pouch.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Have the left arm set the white cup left of the juice pouch on the top side.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "With the left hand, position the white cup to the left of the juice pouch on the top side.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Put the white cup on the top side to the left of the juice pouch.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Set the white cup to the left of the juice pouch on the top side.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Position the white cup left of the juice pouch on the top side.", + "start_idx": 756, + "end_idx": 963 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "With the left hand, retrieve the red bell pepper from the table on a diagonal, gripping the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Take the red bell pepper from the table with a diagonal approach, holding the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Retrieve the red bell pepper from the table on a diagonal, gripping it at the middle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "With the left hand, take the red bell pepper from the table.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Have the left arm retrieve the red bell pepper from the table.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Take the red bell pepper from the table.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal angle.", + "start_idx": 1125, + "end_idx": 1197 + }, + { + "text": "Put the red bell pepper in front of the white cup on the left side with the left hand right side up with the front as the reference point.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Using the left hand, place the red bell pepper on the left side in front of the white cup, right side up with the front as reference point.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Have the left arm set the red bell pepper in front of the white cup on the left side, right side up relative to its front.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "With the left hand, position the red bell pepper on the left side ahead of the white cup, keeping it right side up using the front as the reference point.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Place the red bell pepper in front of the white cup on the left side, right side up with the front as the reference point.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Set the red bell pepper on the left side in front of the white cup, right side up relative to the front.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Position the red bell pepper ahead of the white cup on the left side, keeping it right side up with the front as reference.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the white cup on the left side.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Have the left arm set the red bell pepper ahead of the white cup on the left side.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "With the left hand, position the red bell pepper on the left side in front of the white cup.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Put the red bell pepper in front of the white cup on the left side.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Set the red bell pepper on the left side ahead of the white cup.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Position the red bell pepper in front of the white cup.", + "start_idx": 1197, + "end_idx": 1305 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Have the left arm take the red bell pepper off the table, gripping its bottom from the side at a diagonal angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table at its bottom using a side hold and a diagonal approach.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Take the red bell pepper off the table, using a side grasp at the bottom with a diagonal approach.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Grasp the red bell pepper from the table at the bottom with a side hold and a diagonal pick angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "With the left hand, take the red bell pepper off the table using a side grasp at the bottom.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a diagonal pick angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the bottom and a diagonal pick angle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Using the left hand, take the red bell pepper off the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Pick up the red bell pepper from the table at the bottom.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Put the red bell pepper between the juice pouch and the Asparagus with the left hand right side up with the front on the top side.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Using the left hand, place the red bell pepper between the juice pouch and the Asparagus right side up with the front on the top side.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Have the left arm set the red bell pepper between the juice pouch and the Asparagus, keeping it right side up and the front on top.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "With the left hand, position the red bell pepper between the juice pouch and the Asparagus so it is right side up with the front on the top side.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Place the red bell pepper between the juice pouch and the Asparagus right side up with the front on the top side.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Set the red bell pepper between the juice pouch and the Asparagus, keeping it right side up with the front on top.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Position the red bell pepper between the juice pouch and the Asparagus so the front is on the top side and it stays right side up.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Using the left hand, place the red bell pepper between the juice pouch and the Asparagus.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Have the left arm set the red bell pepper between the juice pouch and the Asparagus.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "With the left hand, position the red bell pepper between the juice pouch and the Asparagus.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Put the red bell pepper between the juice pouch and the Asparagus.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Set the red bell pepper between the juice pouch and the Asparagus.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Position the red bell pepper between the juice pouch and the Asparagus.", + "start_idx": 1974, + "end_idx": 2073 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle with a diagonal grip.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle on a diagonal.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Pick up the white cup from the table using a diagonal grasp at the handle.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Take the white cup from the table with a diagonal grip at the handle.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Grasp the white cup from the table by the handle in a diagonal hold.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 2613, + "end_idx": 2745 + }, + { + "text": "Put the white cup in front of the juice pouch on the top side right side up with the front as the orientation reference using the left hand.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Using the left hand, place the white cup in front of the juice pouch on the top side, right side up with the front as the orientation reference.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Have the left arm set the white cup in front of the juice pouch on the top side, keeping it right side up relative to the front.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "With the left hand, position the white cup in front of the juice pouch on the top side, oriented right side up using the front as reference.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Place the white cup in front of the juice pouch on the top side, right side up with the front as the orientation reference.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Set the white cup in front of the juice pouch on the top side, keeping it right side up relative to the front.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Position the white cup in front of the juice pouch on the top side with a right-side-up orientation referenced to the front.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Using the left hand, place the white cup in front of the juice pouch on the top side.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "With the left hand, set the white cup in front of the juice pouch on the top side.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Have the left arm position the white cup in front of the juice pouch on the top side.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Put the white cup in front of the juice pouch on the top side.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Place the white cup in front of the juice pouch on the top side with the left hand.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Set the white cup in front of the juice pouch on the top side using the left arm.", + "start_idx": 2745, + "end_idx": 2886 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Shift to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the arm return to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the right hand, take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the right arm grasp the white cup on the table by the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the right hand, secure the white cup from the table via the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the white cup from the table using the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the white cup on the table by its handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the right arm take the white cup from the table via the handle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the right hand, grasp the white cup on the table by its handle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the white cup from the table with the right hand.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the white cup on the table by its handle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Put the white cup between the red bell pepper and the asparagus on the bottom side with the right hand right side up with the front facing backwards.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Using the right hand, place the white cup between the red bell pepper and the asparagus on the bottom side, right side up, with the front facing backwards.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Have the right arm set the white cup on the bottom side between the red bell pepper and the asparagus, keeping it upright and the front facing backwards.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "With the right hand, position the white cup between the red bell pepper and the asparagus on the bottom side so it is right side up and facing backwards.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Place the white cup between the red bell pepper and the asparagus on the bottom side, right side up, with the front facing backwards.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Set the white cup on the bottom side between the red bell pepper and the asparagus, upright with the front facing backwards.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Position the white cup between the red bell pepper and the asparagus on the bottom side, with its front facing backwards and right side up.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Using the right hand, place the white cup between the red bell pepper and the asparagus on the bottom side.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Have the right arm set the white cup on the bottom side between the red bell pepper and the asparagus.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "With the right hand, position the white cup on the bottom side between the red bell pepper and the asparagus.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Put the white cup between the red bell pepper and the asparagus on the bottom side.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Set the white cup on the bottom side between the red bell pepper and the asparagus.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Position the white cup between the red bell pepper and the asparagus on the bottom side.", + "start_idx": 120, + "end_idx": 267 + }, + { + "text": "Pick up the Asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Using the right hand, take the Asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Have the right arm pick the Asparagus up from the table on a diagonal, holding it at the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "With the right hand, collect the Asparagus from the table diagonally by the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Pick up the Asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Take the Asparagus from the table on a diagonal, holding the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "From the table, collect the Asparagus diagonally by the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Using the right hand, pick up the Asparagus from the table.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Have the right arm take the Asparagus from the table.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "With the right hand, collect the Asparagus from the table.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Pick up the Asparagus from the table with the right hand.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Take the Asparagus from the table on a diagonal.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "From the table, collect the Asparagus by the middle.", + "start_idx": 1305, + "end_idx": 1512 + }, + { + "text": "Put the asparagus behind the white cup on its top side with the tip facing backwards using the right hand.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Using the right hand, place the asparagus behind the white cup on its top side with the tip pointing backward.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Have the right hand set the asparagus behind the white cup, resting on its top side and oriented with the tip facing backward.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "With the right hand, position the asparagus behind the white cup on its top side, tip directed backward.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Place the asparagus behind the white cup on its top side with the tip facing backward.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Set the asparagus behind the white cup on its top side with the tip pointing backward.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Position the asparagus behind the white cup on its top side, with the tip directed backward.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Using the right hand, put the asparagus behind the white cup on its top side.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Have the right hand place the asparagus behind the white cup.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "With the right hand, set the asparagus behind the white cup.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Place the asparagus behind the white cup on its top side.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Set the asparagus behind the white cup.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Position the asparagus behind the white cup.", + "start_idx": 1512, + "end_idx": 1689 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grasp at the right side diagonally.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grasp at the right side diagonally.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Have the right hand take the white cup from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "With a diagonal lip grasp on the right side, the right hand should grasp the white cup from the table.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Pick up the white cup from the table using a lip grasp at the right side diagonally.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Take the white cup from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Pick up the white cup from the table at the right side diagonally.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Using the right hand, pick up the white cup from the table at the right side diagonally.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Take the white cup from the table with a lip grasp.", + "start_idx": 2073, + "end_idx": 2280 + }, + { + "text": "Put the white cup to the right of the Asparagus on the top side with the right hand right side up with the front facing backwards.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Using the right hand, place the white cup on the top side, to the right of the asparagus, right side up with its front facing backward.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Have the right arm set the white cup on the top side to the right of the asparagus, keeping it right side up and the front facing backward.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "With the right hand, position the white cup on the top side to the right of the asparagus, oriented right side up with the front facing backward.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Place the white cup on the top side to the right of the asparagus, right side up with its front facing backward.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Set the white cup to the right of the asparagus on the top side, keeping it right side up and the front facing backward.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Position the white cup on the top side to the right of the asparagus, with the front facing backward and right side up.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Using the right hand, place the white cup on the top side to the right of the asparagus.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Have the right arm set the white cup to the right of the asparagus on the top side.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "With the right hand, position the white cup to the right of the asparagus on the top side.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Put the white cup on the top side to the right of the asparagus.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Set the white cup to the right of the asparagus on the top side.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Position the white cup on the top side to the right of the asparagus.", + "start_idx": 2280, + "end_idx": 2412 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "With the right hand, go to home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Return to the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Move to the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Go back to home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Reset to the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Bring the arm to the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Head back to the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Resume the home position.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "Reposition to home.", + "start_idx": 2412, + "end_idx": 2484 + }, + { + "text": "The task is to return home position.", + "start_idx": 2412, + "end_idx": 2484 + } + ] + }, + "2026-03-15-23-25-31-934000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 221, + "annotations": [ + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup, holding its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Using the left hand, pick up the eggplant from the table grasping its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Have the left arm take the eggplant from the table by its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "With the left hand, retrieve the eggplant from the table holding the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "With the left hand, collect the eggplant from the table.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Put the eggplant in front of the white cup on the bottom left side with the tip facing forwards using the left hand.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Using the left hand, place the eggplant on the bottom left side in front of the white cup with its tip facing forwards.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Have the left arm set the eggplant in front of the white cup on the bottom left side, tip pointed forwards.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "With the left hand, position the eggplant on the bottom left side in front of the white cup, keeping the tip facing forwards.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Place the eggplant on the bottom left side in front of the white cup with its tip facing forwards.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Set the eggplant in front of the white cup on the bottom left side, with the tip pointed forwards.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Position the eggplant on the bottom left side in front of the white cup, tip facing forwards.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Using the left hand, put the eggplant in front of the white cup on the bottom left side.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "With the left hand, place the eggplant on the bottom left side in front of the white cup.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Have the left arm set the eggplant in front of the white cup on the bottom left side.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Put the eggplant in front of the white cup on the bottom left side.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Set the eggplant on the bottom left side in front of the white cup.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Position the eggplant in front of the white cup on the bottom left side.", + "start_idx": 156, + "end_idx": 240 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally using a full-object grasp.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle with the left hand.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand using a full-object grasp.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally.", + "start_idx": 723, + "end_idx": 924 + }, + { + "text": "Put the gray stuffed toy to the left of the eggplant on the bottom left side with the left hand facing forwards.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the eggplant on the bottom left side, facing forwards.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Have the left hand set the gray stuffed toy to the left of the eggplant at the bottom left side with its front facing forward.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the eggplant on the bottom left side so it faces forwards.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Place the gray stuffed toy to the left of the eggplant on the bottom left side facing forwards.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Set the gray stuffed toy to the left of the eggplant at the bottom left side with its front forward.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Position the gray stuffed toy to the left of the eggplant on the bottom left side, facing forward.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the eggplant on the bottom left side.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Have the left hand set the gray stuffed toy to the left of the eggplant at the bottom left side.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the eggplant on the bottom left side.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Place the gray stuffed toy to the left of the eggplant on the bottom left side.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Set the gray stuffed toy to the left of the eggplant at the bottom left side.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Position the gray stuffed toy to the left of the eggplant on the bottom left side.", + "start_idx": 924, + "end_idx": 1014 + }, + { + "text": "Pick up the juice pack from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Using the left hand, take the juice pack from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Have the left hand grasp the juice pack from the table with a bottom side hold at a diagonal angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "With the left hand, secure the juice pack from the table using a side grasp on the bottom at a diagonal pick angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Pick up the juice pack from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Take the juice pack from the table with a bottom side grasp at a diagonal angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Grasp the juice pack from the table with a side hold on the bottom and a diagonal pick angle.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Using the left hand, pick up the juice pack from the table with a side grip at the bottom.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Have the left hand take the juice pack from the table.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "With the left hand, grasp the juice pack from the table.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Pick up the juice pack from the table with the left hand.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Take the juice pack from the table using a side grip at the bottom.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Grasp the juice pack from the table.", + "start_idx": 1013, + "end_idx": 1176 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "With the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Using the left hand, retrieve the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding its middle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Retrieve the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "With the left hand, pick up the eggplant from the table.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Using the left hand, retrieve the eggplant from the table.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Take the eggplant from the table, grasping the middle.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1935, + "end_idx": 2097 + }, + { + "text": "Place the eggplant inside the beige bowl on the top left side upside down with the tip as the reference point using the left arm.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Using the left arm, set the eggplant inside the beige bowl on the top left side upside down, with the tip as the reference point.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Have the left arm place the eggplant into the beige bowl at the top left side, upside down relative to its tip.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "With the left arm, position the eggplant inside the beige bowl on the top left side, tip-referenced and upside down.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Place the eggplant inside the beige bowl on the top left side upside down, with the tip as the reference point.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Set the eggplant into the beige bowl at the top left side upside down relative to the tip.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Position the eggplant inside the beige bowl on the top left side with the tip as the reference point, upside down.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Using the left arm, place the eggplant inside the beige bowl on the top left side.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Have the left arm put the eggplant into the beige bowl at the top left side.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "With the left arm, set the eggplant inside the beige bowl on the top left side.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Place the eggplant inside the beige bowl.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Set the eggplant into the beige bowl.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Have the eggplant placed inside the beige bowl.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top left diagonally.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top left diagonal.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Have the left arm grasp the white cup from the table using a lip hold at the top left diagonally.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "With the left hand, secure the white cup from the table in a lip grasp at the top left diagonal.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top left diagonally.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Take the white cup from the table with a lip hold at the top left diagonal.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Grasp the white cup from the table at the top left diagonal using a lip grip.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "With the left hand, pick up the white cup from the table using a lip grip.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Have the left arm take the white cup from the table with a lip hold.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Using the left hand, grasp the white cup from the table at the top left diagonal.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Take the white cup from the table at the top left diagonal.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 2229, + "end_idx": 2391 + }, + { + "text": "Place the white cup behind the beige bowl on the top side right side up with the front as the reference using the left hand.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Using the left hand, place the white cup behind the beige bowl on the top side right side up, with the front as the reference.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Have the left arm set the white cup behind the beige bowl on the top side, keeping it right side up relative to the front.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "With the left hand, position the white cup behind the beige bowl on the top side, oriented right side up using the front as the reference.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Place the white cup behind the beige bowl on the top side right side up, with the front as the reference.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Set the white cup behind the beige bowl on the top side, keeping it right side up relative to the front.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Position the white cup behind the beige bowl on the top side with the front as the reference, right side up.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Using the left hand, place the white cup behind the beige bowl on the top side.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Have the left arm set the white cup behind the beige bowl on the top side.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "With the left hand, position the white cup behind the beige bowl.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Place the white cup behind the beige bowl.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Set the white cup behind the beige bowl on the top side.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Position the white cup behind the beige bowl right side up, with the front as the reference.", + "start_idx": 2391, + "end_idx": 2577 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Have the right arm take the bell pepper from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "With the right hand, retrieve the bell pepper from the table at a diagonal angle by grasping its middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Take the bell pepper from the table with a diagonal approach, holding the middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Retrieve the bell pepper from the table at a diagonal angle by grasping the middle.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Have the right arm take the bell pepper from the table.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "With the right hand, retrieve the bell pepper from the table.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Pick up the bell pepper from the table.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Take the bell pepper from the table.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Get the bell pepper from the table.", + "start_idx": 240, + "end_idx": 573 + }, + { + "text": "Put the bell pepper to the right of the beige bowl on the right side right side up with the front as the reference using the right hand.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the beige bowl on the right side, right side up with the front as the reference.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Have the right hand set the bell pepper to the right of the beige bowl on the right side, keeping it right side up relative to the front.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "With the right hand, position the bell pepper to the right of the beige bowl on the right side in a right-side-up orientation using the front as reference.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Place the bell pepper to the right of the beige bowl on the right side, right side up with the front as the reference.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Set the bell pepper to the right of the beige bowl on the right side, keeping it right side up relative to the front.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Position the bell pepper to the right of the beige bowl on the right side in a right-side-up orientation using the front as reference.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the beige bowl on the right side.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "With the right hand, set the bell pepper to the right of the beige bowl on the right side.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Have the right hand position the bell pepper to the right of the beige bowl on the right side.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Put the bell pepper to the right of the beige bowl on the right side.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Arrange the bell pepper to the right of the beige bowl on the right side.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Place the bell pepper to the right of the beige bowl.", + "start_idx": 573, + "end_idx": 723 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Have the right arm take the beige bowl from the table using a diagonal grasp on its right lip.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "With the right hand, grasp the beige bowl from the table at the right lip with a diagonal hold.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Take the beige bowl from the table with a diagonal grasp at the right lip.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Grasp the beige bowl from the table on the right lip with a diagonal hold.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Using the right hand, take the beige bowl from the table.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Have the right arm grasp the beige bowl from the table.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Have the beige bowl taken from the table.", + "start_idx": 1224, + "end_idx": 1488 + }, + { + "text": "Put the beige bowl to the right of the white cup on the top side with the right hand.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the white cup on its top side.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Have the right arm set the beige bowl on the top side, positioned to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "With the right hand, deposit the beige bowl to the right of the white cup, top side up.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Place the beige bowl to the right of the white cup on the top side.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Set the beige bowl on the top side to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Position the beige bowl to the right of the white cup on its top side.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Put the beige bowl to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Set the beige bowl down to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Position the beige bowl on the top side to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Have the right arm set the beige bowl to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Place the beige bowl to the right of the white cup.", + "start_idx": 1488, + "end_idx": 1596 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Have the right hand take the bell pepper from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "From the table, retrieve the bell pepper with the right hand by grasping its middle at a diagonal angle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Take the bell pepper from the table by holding the middle at a diagonal angle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Retrieve the bell pepper from the table with a diagonal pickup at the middle.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "With the right hand, pick up the bell pepper from the table.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Have the right hand take the bell pepper from the table.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "From the table, retrieve the bell pepper with the right hand.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Pick up the bell pepper from the table.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Take the bell pepper from the table.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Get the bell pepper from the table.", + "start_idx": 1596, + "end_idx": 1833 + }, + { + "text": "Put the bell pepper to the right of the beige bowl with the right hand right side up with the front on the top side.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the beige bowl, right side up with its front on the top side.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Have the right arm set the bell pepper to the right of the beige bowl in a right-side-up position, front facing the top side.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "With the right hand, position the bell pepper to the right of the beige bowl so it is right side up and the front is on the top side.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Place the bell pepper to the right of the beige bowl, keeping it right side up with the front on the top side.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Set the bell pepper to the right of the beige bowl right side up, with its front on the top side.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Position the bell pepper to the right of the beige bowl so the front is on the top side and it remains right side up.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the beige bowl.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Have the right arm set the bell pepper to the right of the beige bowl.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "With the right hand, position the bell pepper to the right of the beige bowl.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Place the bell pepper to the right of the beige bowl.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Set the bell pepper to the right of the beige bowl.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Position the bell pepper to the right of the beige bowl.", + "start_idx": 1833, + "end_idx": 1935 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Have the right hand take the bell pepper from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "With the right hand, retrieve the bell pepper from the table at a diagonal angle by gripping its middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Take the bell pepper from the table with a diagonal pickup at the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "From the table, retrieve the bell pepper at a diagonal angle, holding the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Use the right hand to pick up the bell pepper from the table.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "With the right hand, take the bell pepper from the table.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Have the right hand retrieve the bell pepper from the table.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "From the table, take the bell pepper while grasping the middle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Use the right hand to pick up the bell pepper from the table at a diagonal angle.", + "start_idx": 2577, + "end_idx": 2874 + }, + { + "text": "Put the bell pepper in front of the beige bowl with the right hand right side up on the bottom side with the front as the orientation reference point.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the bell pepper in front of the beige bowl right side up on its bottom side, with the front as the reference point.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the bell pepper in front of the beige bowl, oriented right side up on the bottom side with the front as reference.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the bell pepper in front of the beige bowl right side up on its bottom side, using the front as the orientation reference point.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Place the bell pepper in front of the beige bowl right side up on the bottom side, with the front as the orientation reference point.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Set the bell pepper in front of the beige bowl right side up on its bottom side, using the front as the reference point.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Position the bell pepper in front of the beige bowl right side up on the bottom side, taking the front as the orientation reference.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Using the right hand, put the bell pepper in front of the beige bowl.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the bell pepper in front of the beige bowl.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the bell pepper in front of the beige bowl.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Put the bell pepper in front of the beige bowl.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "Using the right hand, position the bell pepper in front of the beige bowl right side up on the bottom side.", + "start_idx": 2874, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the bell pepper in front of the beige bowl using the front as the orientation reference point.", + "start_idx": 2874, + "end_idx": 3000 + } + ] + }, + "2026-03-15-23-30-29-803000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal from the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal from the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Have the right arm take the eggplant from the table with a diagonal approach at the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "With the right hand, grasp the eggplant from the table diagonally from the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Pick up the eggplant from the table at a diagonal from the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Take the eggplant from the table with a diagonal approach from the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Grasp the eggplant from the table diagonally at the top of the object.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "With the right hand, grasp the eggplant from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Grasp the eggplant from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Put the eggplant to the right of the white cup on the top side with the right hand facing forwards with the tip facing forwards.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Using the right hand, place the eggplant to the right of the white cup on the top side, facing forwards with the tip facing forwards.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Have the right arm set the eggplant on the top side to the right of the white cup, oriented forwards with its tip forward.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "With the right hand, position the eggplant to the right of the white cup on the top side so it faces forwards and the tip points forwards.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Place the eggplant to the right of the white cup on the top side, facing forwards with the tip facing forwards.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Set the eggplant on the top side to the right of the white cup, facing forwards with the tip forward.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Position the eggplant to the right of the white cup on the top side, with the body facing forwards and the tip facing forwards.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Using the right hand, put the eggplant to the right of the white cup on the top side.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Have the right arm place the eggplant on the top side to the right of the white cup.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "With the right hand, set the eggplant to the right of the white cup on the top side.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Put the eggplant to the right of the white cup on the top side.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Set the eggplant on the top side to the right of the white cup.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Position the eggplant to the right of the white cup on the top side.", + "start_idx": 162, + "end_idx": 252 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a lip grip at the bottom right on a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Have the right arm grasp the beige bowl from the table with a lip hold at the bottom right diagonally.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "With the right hand, secure the beige bowl from the table using a lip grasp at the bottom right at a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Take the beige bowl from the table with a lip hold at the bottom right on a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Grasp the beige bowl from the table using a lip grasp at the bottom right diagonally.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Have the right arm take the beige bowl from the table using a lip hold.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "With the right hand, grasp the beige bowl from the table with a lip grasp.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Have the right arm take the beige bowl from the table at the bottom right diagonally.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Pick up the beige bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 360, + "end_idx": 462 + }, + { + "text": "Put the beige bowl to the right of the eggplant on the top side with the right hand.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the eggplant on its top side.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Have the right arm set the beige bowl to the right of the eggplant top-side up.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "With your right hand, position the beige bowl to the right of the eggplant so it rests on its top side.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Place the beige bowl to the right of the eggplant on its top side.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Set the beige bowl to the right of the eggplant top-side up.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Position the beige bowl to the right of the eggplant with its top side facing up.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Using the right hand, put the beige bowl to the right of the eggplant.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "With the right hand, set the beige bowl to the right of the eggplant.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Have the right arm place the beige bowl to the right of the eggplant.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Put the beige bowl to the right of the eggplant.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Set the beige bowl beside the eggplant.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Position the beige bowl on the eggplant's right side.", + "start_idx": 462, + "end_idx": 723 + }, + { + "text": "Pick up the juice pack from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Using the right hand, take the juice pack from the table at a diagonal angle from the top of the object.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Have the right arm grasp the juice pack from the table diagonally from the object's top.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "With the right hand, retrieve the juice pack from the table by approaching diagonally from the top.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Take the juice pack from the table at a diagonal angle from the top of the object.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Grasp the juice pack from the table diagonally from the top.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Retrieve the juice pack from the table by approaching from the top at a diagonal angle.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Pick up the juice pack from the table with the right hand.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Using the right hand, collect the juice pack from the table.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Have the right arm take the juice pack from the table.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Pick up the juice pack from the table.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Grab the juice pack from the table.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "The juice pack from the table should be taken.", + "start_idx": 1167, + "end_idx": 1398 + }, + { + "text": "Put the juice pack to the right of the beige plate on the top side with the right hand facing backwards relative to the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Using the right hand, place the juice pack on the top side to the right of the beige plate, facing backwards relative to the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Have the right arm set the juice pack to the right of the beige plate on the top side, with it facing backward from the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "With the right hand, position the juice pack on the top side to the right of the beige plate so it faces backwards relative to the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Place the juice pack on the top side to the right of the beige plate, facing backwards relative to the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Set the juice pack to the right of the beige plate on the top side, facing backward from the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Position the juice pack on the top side to the right of the beige plate, oriented backwards relative to the front.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Using the right hand, place the juice pack on the top side to the right of the beige plate.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Have the right arm set the juice pack to the right of the beige plate on the top side.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "With the right hand, position the juice pack to the right of the beige plate on the top side.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Place the juice pack on the top side to the right of the beige plate.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Set the juice pack to the right of the beige plate on the top side.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Position the juice pack on the top side to the right of the beige plate.", + "start_idx": 1398, + "end_idx": 1467 + }, + { + "text": "Pick up the juice pack from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Using the right hand, take the juice pack from the table at a diagonal angle from the top of the object.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Have the right arm grasp the juice pack from the table diagonally from the top of the object.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "With the right hand, retrieve the juice pack from the table using a diagonal top-of-object approach.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Pick up the juice pack from the table at a diagonal angle from the top of the object.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Take the juice pack from the table diagonally from the top of the object.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Retrieve the juice pack from the table with a diagonal approach at the top of the object.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "From the table, grasp the juice pack at a diagonal angle.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Pick up the juice pack from the table.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Take the juice pack from the table.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Using the right hand, pick up the juice pack from the table.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Have the right arm take the juice pack from the table.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "From the table, grasp the juice pack with the right hand.", + "start_idx": 1767, + "end_idx": 1944 + }, + { + "text": "Place the juice pack below the beige bowl with the right hand facing backwards with the front as the orientation reference point.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Using the right hand, set the juice pack below the beige bowl with its front facing backward.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Have the right arm place the juice pack beneath the beige bowl, front side oriented backward.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "With the right hand, position the juice pack under the beige bowl so the front faces backward.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Place the juice pack below the beige bowl with its front facing backward.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Set the juice pack beneath the beige bowl, with the front oriented backward.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Position the juice pack under the beige bowl so its front points backward.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Using the right hand, place the juice pack below the beige bowl.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Have the right arm set the juice pack beneath the beige bowl.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "With the right hand, position the juice pack under the beige bowl.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Place the juice pack below the beige bowl.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Set the juice pack beneath the beige bowl.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Have the juice pack placed under the beige bowl.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the left side.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a diagonal lip grasp on its left side.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Have the right hand pick up the beige bowl from the table by the left side with a diagonal lip grip.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "With a diagonal lip grasp on the bowl's left side, the right hand should retrieve the beige bowl from the table.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grip on its left side.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "From the table, collect the beige bowl by its left side with a diagonal lip grasp.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Have the right hand take the beige bowl from the table.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "From the table, retrieve the beige bowl with the right hand.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Using the right hand, grasp the beige bowl from the table.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 2052, + "end_idx": 2202 + }, + { + "text": "Dump the red bell pepper to the right of the white cup on the top side with the right hand.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Using the right hand, dump the red bell pepper on the top side, to the right of the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Have the right hand place the red bell pepper on the top side at the white cup's right.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "With the right hand, deposit the red bell pepper to the right of the white cup on the top side.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Dump the red bell pepper on the top side, to the right of the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Place the red bell pepper to the right of the white cup on the top side.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "The red bell pepper goes on the top side, at the right of the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Using the right hand, dump the red bell pepper to the right of the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "With the right hand, place the red bell pepper at the white cup's right.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Have the right hand deposit the red bell pepper beside the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Dump the red bell pepper to the right of the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Set the red bell pepper beside the white cup.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Place the red bell pepper at the white cup's right.", + "start_idx": 2202, + "end_idx": 2238 + }, + { + "text": "Put the beige bowl to the right of the juice pack on the top side with the right hand.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the juice pack, right side up on the top side.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Have the right arm set the beige bowl on the top side to the juice pack's right, with its front upright.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "With the right hand, position the beige bowl to the right of the juice pack on the top side, right side up.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Place the beige bowl to the right of the juice pack on the top side, right side up.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Set the beige bowl on the top side to the right of the juice pack, with its front upright.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Position the beige bowl right of the juice pack on the top side, right side up.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Using the right hand, put the beige bowl to the right of the juice pack on the top side.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Have the right arm place the beige bowl on the top side to the right of the juice pack.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "With the right hand, set the beige bowl to the right of the juice pack.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Put the beige bowl to the right of the juice pack.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "On the top side, place the beige bowl to the juice pack's right.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Set the beige bowl to the right of the juice pack there.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Using the right hand, take the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Have the right arm pick the red bell pepper off the table diagonally with a full-object grasp.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "With the right hand, retrieve the red bell pepper from the table using a diagonal approach and an entire-object grasp.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Take the red bell pepper off the table diagonally with a full-object grasp.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Retrieve the red bell pepper from the table with a diagonal approach, holding the whole object.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table, grasping the entire object.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "With the right hand, take the red bell pepper off the table.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Have the right arm retrieve the red bell pepper from the table with a full-object grasp.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand at a diagonal angle.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Take the red bell pepper from the table diagonally.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Using the right hand, get the red bell pepper from the table.", + "start_idx": 2910, + "end_idx": 2961 + }, + { + "text": "Put the red bell pepper on the bottom side of the table with the right hand.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the red bell pepper on the bottom side of the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the red bell pepper onto the bottom side of the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the red bell pepper on the table's bottom side.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Place the red bell pepper on the bottom side of the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Set the red bell pepper on the bottom side of the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Position the red bell pepper on the table's bottom side.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Put the red bell pepper on the underside of the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Place the red bell pepper underneath the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Set the red bell pepper on the table with the right hand.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "With the right hand, put the red bell pepper under the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Have the right arm place the red bell pepper on the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "The red bell pepper goes on the table.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal top lip grasp.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal top lip grasp.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Have the left arm pick up the white cup from the table using a diagonal grasp on the top lip.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "With the left hand, retrieve the white cup from the table by grasping its top lip diagonally.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Pick up the white cup from the table using a diagonal top lip grasp.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Take the white cup from the table with a diagonal top lip grasp.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Retrieve the white cup from the table by grasping the top lip diagonally.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "With the left hand, retrieve the white cup from the table.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Retrieve the white cup from the table.", + "start_idx": 723, + "end_idx": 987 + }, + { + "text": "Put the white cup to the top left of the eggplant on its top side right side up with the front as reference using the left hand.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Using the left hand, place the white cup on the top side, top left of the eggplant, right side up with the front as reference.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Have the left arm set the white cup on the top side at the eggplant's top-left, keeping it right side up relative to the front.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "With the left hand, position the white cup on the top side to the top left of the eggplant, oriented right side up using the front as reference.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Place the white cup on the top side to the top left of the eggplant, right side up with the front as reference.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Set the white cup on the top side at the eggplant's top-left, keeping it right side up relative to the front.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Position the white cup on the top side to the top left of the eggplant, with the front as reference and right side up.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Using the left hand, place the white cup on the top side to the top left of the eggplant.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Have the left arm set the white cup at the eggplant's top-left on the top side.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "With the left hand, position the white cup to the top left of the eggplant on the top side.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Place the white cup to the top left of the eggplant.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Set the white cup on the top side at the eggplant's top-left.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Position the white cup on the top side to the top left of the eggplant.", + "start_idx": 987, + "end_idx": 1167 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding its middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Retrieve the eggplant from the table diagonally, holding the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Take the eggplant from the table at a diagonal angle by the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Have the left arm take the eggplant from the table by its middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "With the left hand, retrieve the eggplant from the table, holding the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Grab the eggplant from the table by the middle.", + "start_idx": 1467, + "end_idx": 1659 + }, + { + "text": "Put the eggplant to the left of the white cup on the top side with the left hand facing forwards with the front as reference.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Using the left hand, place the eggplant on the top side to the left of the white cup, facing forwards with the front as reference.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Have the left arm set the eggplant to the left of the white cup on the top side, with its front oriented forwards.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "With the left hand, position the eggplant on the top side left of the white cup, front facing forwards.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Place the eggplant on the top side to the left of the white cup, facing forwards with the front as reference.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Set the eggplant to the left of the white cup on the top side, with its front pointing forwards.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Position the eggplant on the top side left of the white cup, oriented forwards relative to its front.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Put the eggplant to the left of the white cup on the top side.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "On the top side, place the eggplant to the left of the white cup.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Set the eggplant left of the white cup on the top side.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Place the eggplant to the left of the white cup, facing forwards.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "With its front facing forwards, put the eggplant to the left of the white cup.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Position the eggplant left of the white cup, oriented forwards.", + "start_idx": 1659, + "end_idx": 1767 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "With the left hand, grasp the eggplant at the middle from the table at a diagonal angle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding its middle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "From the table, grasp the eggplant at the middle using a diagonal angle.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "With the left hand, grasp the eggplant from the table.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "From the table, grasp the eggplant.", + "start_idx": 2388, + "end_idx": 2553 + }, + { + "text": "Put the eggplant in front of the white cup with the left hand on the bottom side facing forwards with the tip as the reference point.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Using the left hand, place the eggplant in front of the white cup with its bottom side facing forwards, using the tip as the reference point.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Have the left arm set the eggplant in front of the white cup so the bottom side faces forward, referenced by the tip.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "With the left hand, position the eggplant before the white cup, bottom side oriented forward relative to the tip.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Place the eggplant in front of the white cup with the bottom side facing forwards, using the tip as the reference point.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Set the eggplant before the white cup so its bottom side faces forward, with the tip as the reference point.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Position the eggplant in front of the white cup, keeping the bottom side facing forwards relative to the tip.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "With the left hand, put the eggplant in front of the white cup.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Using the left hand, place the eggplant before the white cup.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Have the left arm set the eggplant in front of the white cup.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Place the eggplant in front of the white cup.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Set the eggplant before the white cup.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Position the eggplant in front of the white cup.", + "start_idx": 2553, + "end_idx": 2658 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Return to the home position.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Move back to home.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Go to the home pose.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Head to the home position.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Resume the home pose.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Move to home.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Return home.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Go back to the home position.", + "start_idx": 2658, + "end_idx": 2682 + }, + { + "text": "Adopt the home pose.", + "start_idx": 2658, + "end_idx": 2682 + } + ] + }, + "2026-03-15-23-33-57-140000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand at a diagonal from the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal from the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pick from the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the left hand, grasp the croissant from the table diagonally at the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the croissant from the table at a diagonal from the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the croissant from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Grasp the croissant from the table diagonally from the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Grasp the croissant from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Place the croissant to the bottom side of the silver bowl with the left hand.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Using the left hand, set the croissant at the bottom side of the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Have the left arm place the croissant on the bottom side of the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "With the left hand, position the croissant by the silver bowl's bottom side.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Place the croissant at the bottom side of the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Set the croissant by the bottom side of the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Position the croissant on the silver bowl's bottom side.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Put the croissant next to the bottom side of the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Using the left hand, place the croissant by the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Have the left arm set the croissant next to the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "With the left hand, position the croissant at the bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Place the croissant by the silver bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Set the croissant next to the bowl.", + "start_idx": 138, + "end_idx": 243 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Have the left hand take the blue stuffed toy from the table by the bottom with a side grasp, held diagonally.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "With the left hand, grasp the blue stuffed toy from the table at the bottom using a side hold at a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Pick up the blue stuffed toy from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Take the blue stuffed toy from the table by the bottom using a side grasp at a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Grasp the blue stuffed toy from the table at the bottom with a side hold and keep it diagonal.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Have the left hand grasp the blue stuffed toy from the table.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at the bottom and a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Grasp the blue stuffed toy from the table at the bottom with a diagonal angle.", + "start_idx": 591, + "end_idx": 729 + }, + { + "text": "Put the blue stuffed toy to the left of the silver bowl on the top left side with the left hand right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Using the left hand, place the blue stuffed toy on the top left side to the left of the silver bowl, right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the silver bowl on the top left side with its right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "With the left hand, position the blue stuffed toy on the top left side left of the silver bowl, keeping it right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Place the blue stuffed toy on the top left side to the left of the silver bowl, right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Set the blue stuffed toy to the left of the silver bowl on the top left side, right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Position the blue stuffed toy on the top left side left of the silver bowl with its right side up.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Using the left hand, put the blue stuffed toy on the top left side to the left of the silver bowl.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "With the left hand, place the blue stuffed toy to the left of the silver bowl on the top left side.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Have the left arm set the blue stuffed toy on the top left side left of the silver bowl.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Put the blue stuffed toy to the left of the silver bowl on the top left side.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Set the blue stuffed toy on the top left side left of the silver bowl.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Position the blue stuffed toy to the left of the silver bowl on the top left side.", + "start_idx": 729, + "end_idx": 864 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Have the left hand pick up the blue stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table by gripping the middle at a diagonal angle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach, holding its middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Grab the blue stuffed toy from the table at a diagonal angle by the middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table, grasping the middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table by its middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Have the left hand collect the blue stuffed toy from the table.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Take the blue stuffed toy from the table with the left hand.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Grab the blue stuffed toy from the table by the middle.", + "start_idx": 1092, + "end_idx": 1248 + }, + { + "text": "Put the blue stuffed toy to the left of the croissant on the bottom left side right side up with the left hand.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the croissant on the bottom left side, right side up.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the croissant on the bottom left side in an upright orientation.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the croissant on the bottom left side so it stays right side up.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Place the blue stuffed toy to the left of the croissant on the bottom left side, right side up.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Set the blue stuffed toy to the left of the croissant on the bottom left side in an upright position.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Position the blue stuffed toy to the left of the croissant on the bottom left side so it is right side up.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the croissant on the bottom left side.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the croissant on the bottom left side.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the croissant on the bottom left side.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Put the blue stuffed toy to the left of the croissant on the bottom left side.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Set the blue stuffed toy to the left of the croissant on the bottom left side.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Place the blue stuffed toy to the left of the croissant on the bottom left side.", + "start_idx": 1248, + "end_idx": 1365 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table on a diagonal angle, gripping the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Retrieve the blue stuffed toy from the table on a diagonal angle, holding the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "At a diagonal angle, take the blue stuffed toy from the table.", + "start_idx": 1749, + "end_idx": 1923 + }, + { + "text": "Put the blue stuffed toy into the silver bowl with the left hand right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the silver bowl right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Have the left arm set the blue stuffed toy inside the silver bowl with its front right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "With the left hand, deposit the blue stuffed toy in the silver bowl, keeping it right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Place the blue stuffed toy into the silver bowl right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Set the blue stuffed toy inside the silver bowl with its front right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Put the blue stuffed toy in the silver bowl, keeping it right side up.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the silver bowl.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Have the left arm put the blue stuffed toy inside the silver bowl.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "With the left hand, set the blue stuffed toy in the silver bowl.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Put the blue stuffed toy into the silver bowl.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Set the blue stuffed toy inside the silver bowl.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Have the blue stuffed toy placed in the silver bowl.", + "start_idx": 1922, + "end_idx": 1991 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a lip grasp on the bowl's left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Grasp the silver bowl from the table with a lip hold on the left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "The silver bowl from the table should be taken using a lip grasp at the left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "With the left hand, pick up the silver bowl from the table using a lip grip.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Using the left hand, grasp the silver bowl from the table.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Pick up the silver bowl from the table at the left side diagonally.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Take the silver bowl from the table with the left hand.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "The silver bowl from the table should be grasped using a lip grip.", + "start_idx": 1992, + "end_idx": 2148 + }, + { + "text": "Place the silver bowl to the left of the croissant with the left hand.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Using the left hand, set the silver bowl to the left of the croissant, right side up.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Have the left arm place the silver bowl on the croissant's left side with its front facing forward.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "With the left hand, position the silver bowl left of the croissant in an upright orientation.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Place the silver bowl to the left of the croissant, right side up.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Set the silver bowl on the left side of the croissant with the front facing forward.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Position the silver bowl left of the croissant in an upright orientation.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the croissant.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "With the left hand, set the silver bowl on the croissant's left side.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Have the left arm position the silver bowl left of the croissant.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Place the silver bowl to the left of the croissant.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Set the silver bowl on the croissant's left side.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Position the silver bowl left of the croissant.", + "start_idx": 2148, + "end_idx": 2268 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Return to the home position.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Move back to home.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Go to the home pose.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Resume the home position.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Back to home.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Reach the home position.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Move to home.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Return home.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Go back to the home position.", + "start_idx": 2268, + "end_idx": 2319 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "With the right hand, retrieve the corn from the table by gripping its middle at a diagonal angle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Grasp the corn from the table at the middle.", + "start_idx": 243, + "end_idx": 423 + }, + { + "text": "Put the corn to the right of the white coffee cup on the bottom left side with the right hand facing backwards by the tip.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Using the right hand, place the corn to the right of the white coffee cup on the bottom left side with the tip facing backwards.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Have the right arm set the corn on the bottom left side to the right of the white coffee cup, oriented backwards at the tip.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "With the right hand, position the corn to the right of the white coffee cup on the bottom left side so the tip faces backwards.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Place the corn to the right of the white coffee cup on the bottom left side with the tip facing backwards.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Set the corn on the bottom left side to the right of the white coffee cup, with the tip oriented backwards.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Position the corn to the right of the white coffee cup on the bottom left side, tip facing backwards.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Using the right hand, place the corn to the right of the white coffee cup on the bottom left side.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Have the right arm set the corn on the bottom left side to the right of the white coffee cup.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "With the right hand, position the corn to the right of the white coffee cup.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Place the corn to the right of the white coffee cup on the bottom left side.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Set the corn on the bottom left side to the right of the white coffee cup.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Position the corn to the right of the white coffee cup.", + "start_idx": 423, + "end_idx": 591 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup angle and a middle grasp.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally by gripping its middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Take the corn from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "The corn should be picked up from the table diagonally, with the grasp at its middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Take the corn from the table while grasping the middle.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 864, + "end_idx": 978 + }, + { + "text": "Put the corn to the bottom of the white coffee cup with the right hand on the top side facing backwards with the tip as the reference point.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Using the right hand, place the corn at the bottom of the white coffee cup, top side facing backward with the tip as the reference point.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Have the right arm set the corn into the bottom of the white coffee cup with its top side facing backwards, referenced by the tip.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "With the right hand, deposit the corn in the bottom of the white coffee cup, keeping the top side facing backward relative to the tip.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Place the corn at the bottom of the white coffee cup with its top side facing backward, using the tip as the reference point.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Set the corn into the bottom of the white coffee cup, top side facing backwards with the tip as the reference point.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Deposit the corn in the bottom of the white coffee cup with the top side facing backward, taking the tip as the reference point.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Using the right hand, put the corn into the bottom of the white coffee cup.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Have the right arm place the corn at the bottom of the white coffee cup.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "With the right hand, set the corn in the bottom of the white coffee cup.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Place the corn into the bottom of the white coffee cup.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Put the corn at the bottom of the white coffee cup.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Set the corn in the bottom of the white coffee cup.", + "start_idx": 978, + "end_idx": 1092 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal tilt.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table, approaching diagonally at the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Retrieve the white coffee cup from the table, grasping the handle diagonally.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "With the right hand, take the white coffee cup from the table at a diagonal angle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Have the right arm retrieve the white coffee cup from the table by the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Pick up the white coffee cup from the table diagonally.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Retrieve the white coffee cup from the table using the handle.", + "start_idx": 1365, + "end_idx": 1542 + }, + { + "text": "Put the white coffee cup to the right of the corn on the top right side with the right hand right side up with the front facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn on the top right side, right side up with the front facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the corn on the top right side, keeping it upright and the front facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the corn on the top right side, oriented right side up and facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Place the white coffee cup to the right of the corn on the top right side, right side up with the front facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Set the white coffee cup to the right of the corn on the top right side, upright with the front facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Position the white coffee cup to the right of the corn on the top right side, with its front facing backwards and right side up.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn on the top right side.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the corn on the top right side.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the corn on the top right side.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Put the white coffee cup to the right of the corn on the top right side.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Place the white coffee cup to the right of the corn on the top right side, right side up.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Set the white coffee cup to the right of the corn on the top right side, with the front facing backwards.", + "start_idx": 1542, + "end_idx": 1749 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "With the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Have the right arm take the corn from the table on a diagonal, holding it at the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Using the right hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Take the corn from the table on a diagonal, holding the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Retrieve the corn from the table diagonally by the middle.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "With the right hand, pick up the corn from the table.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Using the right hand, retrieve the corn from the table.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Get the corn from the table.", + "start_idx": 2319, + "end_idx": 2463 + }, + { + "text": "Put the corn to the right of the white coffee cup on the top right side with the right hand facing backwards with the tip as the reference point.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Using the right hand, place the corn on the top right side to the right of the white coffee cup, with the tip facing backwards.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Have the right hand set the corn to the right of the white coffee cup on the top right side, oriented backwards at the tip.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "With the right hand, position the corn on the top right side to the right of the white coffee cup, tip facing backward.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Place the corn on the top right side to the right of the white coffee cup, with the tip facing backwards.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Set the corn to the right of the white coffee cup on the top right side, with the tip facing backward.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Position the corn on the top right side to the right of the white coffee cup, oriented backwards from the tip.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Put the corn to the right of the white coffee cup on the top right side.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Arrange the corn on the top right side to the right of the white coffee cup.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Place the corn to the right of the white coffee cup.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Set the corn to the right of the white coffee cup on the top right side.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Put the corn on the top right side to the right of the white coffee cup.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Position the corn to the right of the white coffee cup.", + "start_idx": 2463, + "end_idx": 2607 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "With the right hand, collect the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Grasp the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Have the right arm take the white coffee cup from the table by the handle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Grab the white coffee cup from the table.", + "start_idx": 2607, + "end_idx": 2772 + }, + { + "text": "Put the white coffee cup to the right of the croissant with handle facing the right side of the table on the bottom side with the right hand right side up.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the croissant on the bottom side, right side up, with its handle facing the table's right side.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Have the right arm set the white coffee cup to the croissant's right on the bottom side, keeping it upright and the handle pointed toward the right side of the table.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "With the right hand, position the white coffee cup on the bottom side to the right of the croissant, right side up, handle facing the table's right side.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Place the white coffee cup to the right of the croissant on the bottom side, right side up, with its handle facing the right side of the table.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Set the white coffee cup on the bottom side to the right of the croissant, keeping it upright and the handle pointed toward the table's right side.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Position the white coffee cup to the croissant's right on the bottom side, right side up, with the handle facing the right side of the table.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the croissant on the bottom side.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Have the right arm set the white coffee cup on the bottom side to the croissant's right.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the croissant.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Put the white coffee cup to the right of the croissant on the bottom side.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Set the white coffee cup on the bottom side to the right of the croissant.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Position the white coffee cup to the croissant's right.", + "start_idx": 2772, + "end_idx": 2892 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "With the right hand, reset to home.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Bring the arm back home.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Reset home position.", + "start_idx": 2892, + "end_idx": 3000 + } + ] + }, + "2026-03-15-23-36-23-243000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the bread from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm take the bread from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, retrieve the bread from the table on a diagonal, gripping the center.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the bread from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Retrieve the bread from the table on a diagonal, gripping the center.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the bread from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm take the bread from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, retrieve the bread from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the bread from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the bread from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Retrieve the bread from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Place the bread behind the white mug with the left hand.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Using the left hand, set the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Have the left arm place the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "With the left hand, position the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Place the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Set the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Put the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Position the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Leave the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Have the bread placed behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "The bread goes behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Behind the white mug, place the bread.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Move the bread behind the white mug.", + "start_idx": 99, + "end_idx": 270 + }, + { + "text": "Pick up the bread from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Using the left hand, pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Have the left hand take the bread from the table with a diagonal approach at its middle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "With the left hand, collect the bread from the table by gripping the middle at a diagonal angle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Take the bread from the table with a diagonal approach at the middle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "The bread from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Using the left hand, pick up the bread from the table.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Have the left hand take the bread from the table.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "With the left hand, collect the bread from the table.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Pick up the bread from the table.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Take the bread from the table.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "The bread from the table should be picked up.", + "start_idx": 588, + "end_idx": 852 + }, + { + "text": "Place the bread to the bottom left side of the stainless bowl with the left hand facing backwards relative to the front.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Using the left hand, set the bread at the bottom-left side of the stainless bowl, facing backward relative to the front.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Have the left arm place the bread on the bottom left of the stainless bowl with its orientation facing backward from the front.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "With the left hand, position the bread at the stainless bowl's bottom-left side, oriented backward relative to the front.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Place the bread at the bottom-left side of the stainless bowl, facing backward relative to the front.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Set the bread on the bottom left of the stainless bowl, with the back facing the front reference.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Position the bread at the stainless bowl's bottom-left side so it faces backward relative to the front.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Using the left hand, place the bread at the bottom-left side of the stainless bowl.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "With the left hand, set the bread on the bottom left of the stainless bowl.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Have the left arm position the bread by the stainless bowl's bottom-left side.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Place the bread at the bottom-left side of the stainless bowl.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Set the bread on the bottom left of the stainless bowl.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Position the bread by the stainless bowl's bottom-left side.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Have the left arm pick up the stainless bowl from the table via a diagonal lip hold on its left side.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table using the bowl's left lip at a diagonal angle.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Take the stainless bowl from the table with a diagonal lip hold on the left side.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Grasp the stainless bowl from the table by its left lip at a diagonal angle.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Have the left arm take the stainless bowl from the table.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Using the left hand, take the stainless bowl from the table.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Have the left arm grasp the stainless bowl from the table.", + "start_idx": 990, + "end_idx": 1116 + }, + { + "text": "Dump the blue stuffed toy between the stainless bowl and the white mug with the left hand.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Using the left hand, dump the blue stuffed toy between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Have the left arm place the blue stuffed toy in the space between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "With the left hand, set the blue stuffed toy down between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Dump the blue stuffed toy between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Place the blue stuffed toy between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Set the blue stuffed toy down between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Position the blue stuffed toy between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "The blue stuffed toy goes between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Put the blue stuffed toy in the gap between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Have the blue stuffed toy placed between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Between the stainless bowl and the white mug, deposit the blue stuffed toy.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Arrange the blue stuffed toy between the stainless bowl and the white mug.", + "start_idx": 1116, + "end_idx": 1170 + }, + { + "text": "Put the stainless bowl behind the white mug upside down with the front as the orientation reference point using the left hand.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Using the left hand, place the stainless bowl behind the white mug upside down with the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Have the left arm set the stainless bowl behind the white mug in an upside-down position, using the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "With the left hand, position the stainless bowl behind the white mug so it is upside down, taking the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Place the stainless bowl behind the white mug upside down with the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Set the stainless bowl behind the white mug upside down, using the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Position the stainless bowl behind the white mug with the front as the orientation reference point, upside down.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Using the left hand, place the stainless bowl behind the white mug.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Have the left arm set the stainless bowl behind the white mug.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "With the left hand, position the stainless bowl behind the white mug.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Place the stainless bowl behind the white mug.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Set the stainless bowl behind the white mug upside down.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Position the stainless bowl behind the white mug with the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1404 + }, + { + "text": "Pick up the bread from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Using the left hand, pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Have the left hand take the bread from the table with a diagonal approach at its middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "With the left arm, retrieve the bread from the table diagonally by the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Retrieve the bread from the table with a diagonal approach at the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Take the bread from the table diagonally by its middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Using the left hand, pick up the bread from the table, grasping the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "With the left arm, take the bread from the table by the middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Have the left hand retrieve the bread from the table from its middle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Pick up the bread from the table with the left hand at a diagonal angle.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Take the bread from the table diagonally with the left hand.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Retrieve the bread from the table with the left hand.", + "start_idx": 1740, + "end_idx": 1941 + }, + { + "text": "Place the bread to the left side of the stainless bowl with the left hand.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Using the left hand, set the bread on the left side of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Have the left arm place the bread to the stainless bowl's left side.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "With the left hand, position the bread at the left side of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Place the bread to the left of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Set the bread on the left side of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Position the bread at the stainless bowl's left side.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "The bread goes to the left side of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Arrange the bread to the left of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Move the bread beside the stainless bowl on its left side.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Put the bread by the stainless bowl's left side.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Have the bread placed to the left of the stainless bowl.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "To the left of the stainless bowl, place the bread.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table with a diagonal side hold at the bottom.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table using a side grasp on the bottom at a diagonal.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Take the blue stuffed toy from the table with a side grasp at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Grasp the blue stuffed toy from the table with a side hold at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "With the left hand, grasp the blue stuffed toy from the table.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Grasp the blue stuffed toy from the table at the bottom diagonally.", + "start_idx": 2067, + "end_idx": 2187 + }, + { + "text": "Put the blue stuffed toy to the left side of the bread with the left hand facing forwards.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the bread, facing forwards.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Have the left arm set the blue stuffed toy on the bread's left side with its front facing forward.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left side of the bread so it faces forwards.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Place the blue stuffed toy to the left of the bread with its front facing forward.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Set the blue stuffed toy on the left side of the bread, facing forwards.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Position the blue stuffed toy to the bread's left, with the front facing forward.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Put the blue stuffed toy to the left of the bread.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Set the blue stuffed toy on the left side of the bread.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Position the blue stuffed toy beside the bread on its left.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the bread.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Have the left arm set the blue stuffed toy on the bread's left side.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Put the blue stuffed toy to the left of the bread with the left hand.", + "start_idx": 2187, + "end_idx": 2256 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "With the left arm, grasp the white mug from the table using a lip grasp on its left side at a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Have the left hand pick the white mug up from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Take the white mug from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Grasp the white mug from the table using a lip hold on the left side at a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "The white mug should be picked up from the table with a lip grasp at the left side and a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "With the left arm, take the white mug from the table using a lip grasp.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Have the left hand grasp the white mug from the table with a lip hold.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Using the left hand, pick up the white mug from the table at the left side with a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "With the left arm, take the white mug from the table from its left side at a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Pick up the white mug from the table on the left side at a diagonal angle.", + "start_idx": 2256, + "end_idx": 2412 + }, + { + "text": "Place the white mug to the left side of the blue stuffed toy on the top left side with the left hand facing forwards from the tip.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Using the left hand, set the white mug on the top left side, to the left of the blue stuffed toy, with its tip facing forward.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Have the left hand place the white mug at the top left side, left of the blue stuffed toy, oriented forward from the tip.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "With the left hand, position the white mug on the top left side to the left of the blue stuffed toy, tip facing forwards.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Place the white mug on the top left side, to the left of the blue stuffed toy, with its tip facing forward.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Set the white mug at the top left side, left of the blue stuffed toy, with the tip facing forwards.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Position the white mug on the top left side to the left of the blue stuffed toy, oriented forward from the tip.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Using the left hand, place the white mug on the top left side to the left of the blue stuffed toy.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Have the left hand set the white mug at the top left side, left of the blue stuffed toy.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "With the left hand, position the white mug on the top left side beside the blue stuffed toy.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Place the white mug on the top left side to the left of the blue stuffed toy.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Set the white mug at the top left side beside the blue stuffed toy.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Position the white mug on the top left side, to the left of the blue stuffed toy.", + "start_idx": 2412, + "end_idx": 2508 + }, + { + "text": "Pick up the stuffed toy from the table with the left hand at a diagonal from the middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Using the left hand, pick up the stuffed toy from the table at a diagonal from the middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Have the left arm grasp the stuffed toy from the table diagonally at its middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "With the left hand, take hold of the stuffed toy from the table at a diagonal from the middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Pick up the stuffed toy from the table at a diagonal from the middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Take the stuffed toy from the table diagonally from the middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Grasp the stuffed toy from the table at a diagonal from its middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "The stuffed toy from the table should be picked up at a diagonal from the middle.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "With the left hand, pick up the stuffed toy from the table.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Have the left arm take the stuffed toy from the table.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Using the left hand, grasp the stuffed toy from the table.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Pick up the stuffed toy from the table.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Take the stuffed toy from the table.", + "start_idx": 2820, + "end_idx": 2916 + }, + { + "text": "Put the blue stuffed toy in front of the bread with the left hand.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the blue stuffed toy down in front of the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the blue stuffed toy before the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Place the blue stuffed toy in front of the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Set the blue stuffed toy down in front of the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Position the blue stuffed toy before the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "The blue stuffed toy goes in front of the bread.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Put the blue stuffed toy down with the left hand.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Using the left hand, set the blue stuffed toy down.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the blue stuffed toy.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Put the blue stuffed toy there.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Set down the blue stuffed toy.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "With the right hand, retrieve the corn from the table by gripping the middle at a diagonal angle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Take the corn from the table with a diagonal approach at its middle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Take the corn from the table by grasping the middle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 270, + "end_idx": 489 + }, + { + "text": "Put the corn to the right side of the bread on the top side with the right hand facing backwards with the tip as the reference point.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Using the right hand, place the corn on the top side to the right of the bread, with its tip facing backward.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Have the right hand set the corn to the bread's right on the top side, oriented backward using the tip as reference.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "With the right hand, position the corn on the top side at the right side of the bread, tip facing backwards.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Place the corn on the top side to the right of the bread, with its tip facing backward.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Set the corn to the right of the bread on the top side, with the tip oriented backward.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Position the corn on the top side at the bread's right side, facing backward from the tip.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Using the right hand, put the corn on the top side to the right of the bread.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "With the right hand, set the corn at the bread's right side on the top side.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Have the right hand place the corn to the right of the bread on the top side.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Put the corn to the right of the bread with its tip facing backward.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Set the corn on the top side at the bread's right side.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Using the right hand, place the corn to the right of the bread.", + "start_idx": 489, + "end_idx": 588 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Take the corn from the table diagonally, holding the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Using the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Have the right arm take the corn from the table by the middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "With the right hand, retrieve the corn from the table, holding its middle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Using the right hand, take the corn from the table diagonally.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1404, + "end_idx": 1599 + }, + { + "text": "Put the corn inside the stainless bowl with the right hand upside down.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Using the right hand, place the corn inside the stainless bowl upside down.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Have the right arm set the corn into the stainless bowl in an upside-down orientation.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "With the right hand, position the corn inside the stainless bowl with its tip oriented upside down.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Place the corn inside the stainless bowl upside down.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Set the corn into the stainless bowl in an upside-down position.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "The corn goes inside the stainless bowl upside down.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Using the right hand, put the corn inside the stainless bowl.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "With the right hand, place the corn into the stainless bowl.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Have the right arm set the corn inside the stainless bowl.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Put the corn inside the stainless bowl.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Using the right hand, place the corn into the stainless bowl.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Have the right arm put the corn in the stainless bowl upside down.", + "start_idx": 1599, + "end_idx": 1740 + }, + { + "text": "Pick up the corn from the top of the stainless bowl with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Using the right hand, pick up the corn from the top of the stainless bowl at a diagonal angle, grasping the middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Have the right hand take the corn from the top of the stainless bowl with a diagonal approach at its middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "With the right hand, grasp the corn from the top of the stainless bowl diagonally at the middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Remove the corn from the top of the stainless bowl by grasping its middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Take the corn from the top of the stainless bowl, contacting the middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Grasp the corn from the top of the stainless bowl at a diagonal angle through the middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Retrieve the corn from the top of the stainless bowl with a diagonal grasp at the middle.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Pick up the corn from the top of the stainless bowl with the right hand.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Use the right hand to take the corn from the top of the stainless bowl.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Have the right hand grasp the corn from the top of the stainless bowl.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Pick up the corn from the top of the stainless bowl.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Take the corn from the top of the stainless bowl diagonally.", + "start_idx": 2508, + "end_idx": 2652 + }, + { + "text": "Put the corn in front of the stainless bowl with the right hand on the bottom side facing backwards with the tip as the reference point.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Using the right hand, place the corn in front of the stainless bowl with its bottom side facing backward, using the tip as the reference point.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Have the right arm set the corn before the stainless bowl, bottom side oriented backward relative to the tip.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "With the right hand, position the corn in front of the stainless bowl so the bottom side faces backward, referenced by the tip.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Put the corn in front of the stainless bowl with the bottom side facing backward, using the tip as the reference point.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Set the corn before the stainless bowl with its bottom side facing backward relative to the tip.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Position the corn in front of the stainless bowl, bottom side facing backward with the tip as reference.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Using the right hand, place the corn in front of the stainless bowl.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "With the right hand, set the corn before the stainless bowl.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Have the right arm position the corn in front of the stainless bowl.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Put the corn in front of the stainless bowl.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Place the corn before the stainless bowl.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Set the corn in front of the stainless bowl.", + "start_idx": 2652, + "end_idx": 2751 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "With the right hand, go to home.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Move back to the home position.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Return to home.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Go to the home position.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Have the arm return home.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Bring the manipulator back to home.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Move the arm to its home position.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Return the arm to home.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "Head back to the home position.", + "start_idx": 2751, + "end_idx": 2820 + }, + { + "text": "The arm should go back home.", + "start_idx": 2751, + "end_idx": 2820 + } + ] + }, + "2026-03-15-23-39-06-936000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal approach around the whole object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally using a whole-object grasp.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal approach around the whole object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the blue stuffed toy from the table diagonally using a whole-object grasp.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "From the table, take the blue stuffed toy with the left hand.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Put the blue stuffed toy to the right of the white mug with the left hand facing backwards.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the white mug with its front facing backwards.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Have the left arm set the blue stuffed toy on the right side of the white mug, front facing backward.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "With the left hand, position the blue stuffed toy to the right of the white mug so its front points backward.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Place the blue stuffed toy to the right of the white mug with its front facing backwards.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Set the blue stuffed toy on the right side of the white mug with the front facing backward.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Position the blue stuffed toy to the right of the white mug so its front points backward.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the white mug.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Have the left arm set the blue stuffed toy on the right side of the white mug.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "With the left hand, position the blue stuffed toy to the right of the white mug.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Put the blue stuffed toy to the right of the white mug.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Arrange the blue stuffed toy on the right side of the white mug.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Place the blue stuffed toy beside the white mug.", + "start_idx": 105, + "end_idx": 177 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table by holding its middle at an angle.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Retrieve the blue stuffed toy from the table while holding the middle at an angle.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 423, + "end_idx": 588 + }, + { + "text": "Put the blue stuffed toy in front of the white mug on the bottom right side with the left hand facing backwards.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Using the left hand, place the blue stuffed toy on the bottom right side in front of the white mug, facing backwards.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Have the left arm set the blue stuffed toy in front of the white mug at the bottom right side with its back facing outward.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "With the left hand, position the blue stuffed toy in front of the white mug on the bottom right side so it faces backwards.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Place the blue stuffed toy in front of the white mug on the bottom right side, facing backwards.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Set the blue stuffed toy on the bottom right side in front of the white mug, with its back toward the front.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Position the blue stuffed toy in front of the white mug at the bottom right side, facing backwards.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Using the left hand, put the blue stuffed toy in front of the white mug on the bottom right side.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "With the left hand, place the blue stuffed toy on the bottom right side in front of the white mug.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Have the left arm set the blue stuffed toy in front of the white mug at the bottom right side.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Put the blue stuffed toy in front of the white mug on the bottom right side.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Set the blue stuffed toy on the bottom right side in front of the white mug.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Position the blue stuffed toy in front of the white mug at the bottom right side.", + "start_idx": 588, + "end_idx": 657 + }, + { + "text": "Pick up the white mug from the table with the left hand from the top at the right side using a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Using the left hand, take the white mug from the table from the top at the right side with a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Have the left arm grasp the white mug on the table from above on its right side using a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "With the left hand, secure the white mug from the table by the top-right area using a lip grasp.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Pick up the white mug from the table from the top at the right side using a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Take the white mug from the table from above on the right side using a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Grasp the white mug on the table by the top-right area with a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "With the left hand, take the white mug from the table using a lip grasp.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Have the left arm grasp the white mug on the table with a lip grip.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Pick up the white mug from the table from the top at the right side.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "From above on the right side, take the white mug from the table.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 657, + "end_idx": 858 + }, + { + "text": "Put the white mug to the right of the corn with the handle facing right on the bottom side right side up with the left hand.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Using the left hand, place the white mug to the right of the corn, handle facing right, right side up on the bottom side.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Have the left arm set the white mug on the bottom side to the right of the corn, with its handle pointing right and upright.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "With the left hand, position the white mug to the corn's right on the bottom side, keeping the handle facing right and the mug right side up.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Place the white mug to the right of the corn with the handle facing right, right side up on the bottom side.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Set the white mug on the bottom side to the right of the corn, with the handle pointing right and upright.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Position the white mug to the corn's right on the bottom side, handle facing right and right side up.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Using the left hand, put the white mug to the right of the corn on the bottom side.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Have the left arm place the white mug on the bottom side to the right of the corn.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "With the left hand, set the white mug to the corn's right on the bottom side.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Place the white mug to the right of the corn on the bottom side.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Set the white mug on the bottom side to the right of the corn.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "On the bottom side, position the white mug to the corn's right.", + "start_idx": 858, + "end_idx": 1041 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "With the left hand, grasp the blue stuffed toy from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Pick up the blue stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Take the blue stuffed toy from the table by its top with a side grasp from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Grasp the blue stuffed toy from the table at the top from a diagonal angle using a side hold.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table with a side grip.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table using a side grasp.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "With the left hand, grasp the blue stuffed toy from the table using a side hold.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at the top.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Grasp the blue stuffed toy from the table by its top from a diagonal angle.", + "start_idx": 1041, + "end_idx": 1326 + }, + { + "text": "Put the blue stuffed toy to the left of the croissant on the right side with the left hand facing backwards.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the croissant on the right side, facing backwards.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the croissant on the right side with its front facing backward.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the croissant on the right side so it faces backwards.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Place the blue stuffed toy to the left of the croissant on the right side, facing backwards.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Set the blue stuffed toy to the left of the croissant on the right side with its front facing backward.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Position the blue stuffed toy to the left of the croissant on the right side so it faces backwards.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the croissant on the right side.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the croissant on the right side.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the croissant.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Place the blue stuffed toy to the left of the croissant on the right side.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "On the right side, set the blue stuffed toy to the left of the croissant.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Have the left arm place the blue stuffed toy to the left of the croissant.", + "start_idx": 1326, + "end_idx": 1407 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Using the left hand, collect the blue stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "From a diagonal angle, have the left hand seize the blue stuffed toy from the table with a side grip at the bottom.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "With the left hand, take hold of the blue stuffed toy from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "From a diagonal angle, grasp the blue stuffed toy from the table with a side hold at the bottom.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Take the blue stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table with a side grip at the bottom.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table using a side grasp at the bottom.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Have the left hand take the blue stuffed toy from the table with a side hold at the bottom.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "From a diagonal angle, have the left hand pick up the blue stuffed toy from the table.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Pick up the blue stuffed toy from the table from a diagonal angle.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Put the blue stuffed toy into the bowl on top with the left hand facing left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the bowl with its front facing left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Have the left arm put the blue stuffed toy into the bowl on top, front pointed left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "With the left hand, deposit the blue stuffed toy into the bowl so the front faces left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Place the blue stuffed toy into the bowl with its front facing left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Put the blue stuffed toy into the bowl on top, front facing left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Set the blue stuffed toy into the bowl so its front points left.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Using the left hand, put the blue stuffed toy into the bowl on top.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "With the left hand, place the blue stuffed toy into the bowl.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Have the left arm deposit the blue stuffed toy into the bowl.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Put the blue stuffed toy into the bowl.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the bowl.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Set the blue stuffed toy into the bowl on top.", + "start_idx": 1920, + "end_idx": 2043 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the top of the object.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Using the left hand, take the croissant from the table from above at the top of the object.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Have the left arm grasp the croissant from the table at its top, approaching from the top.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping the top from above.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Pick up the croissant from the table from the top at the top of the object.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Take the croissant from the table by grasping it from above at the top.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Grab the croissant from the table at the top of the object from above.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "With the left hand, take the croissant from the table.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Have the left arm retrieve the croissant from the table.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Grab the croissant from the table.", + "start_idx": 2598, + "end_idx": 2796 + }, + { + "text": "Put the croissant to the left of the corn on the right side with the left hand.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Using the left hand, place the croissant to the left of the corn on the right side.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Have the left arm set the croissant on the right side, positioned left of the corn.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "With the left hand, deposit the croissant on the right side so it sits to the left of the corn.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Place the croissant to the left of the corn on the right side.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Set the croissant on the right side, left of the corn.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Position the croissant to the left of the corn on the right side.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "On the right side, put the croissant beside the corn on its left.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Place the croissant on the right side.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Set the croissant down on the right side.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "On the right side, position the croissant.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Put the croissant to the left of the corn.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Have the croissant placed left of the corn.", + "start_idx": 2796, + "end_idx": 2886 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Using the left hand, return to home.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Have the left arm move back to the home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "With the left hand, go to the home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Return to home.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Move back to home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Go to the home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Resume the home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Return to the home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Move to home.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Head back to the home position.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Reposition to home.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "With the right hand, retrieve the corn from the table on a diagonal angle, gripping the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Take the corn from the table on a diagonal angle, holding the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle with a grasp at the middle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 177, + "end_idx": 321 + }, + { + "text": "Put the corn on the bottom side of the table with the right hand facing right with the tip as the reference point.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Using the right hand, place the corn on the bottom side of the table with the tip facing right.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Have the right arm set the corn on the table's bottom side, oriented rightward by its tip.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "With the right hand, position the corn on the bottom side of the table so the tip points right.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Place the corn on the bottom side of the table with the tip facing right.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Set the corn on the table's bottom side, with the tip oriented to the right.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Position the corn on the bottom side of the table so its tip points right.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Using the right hand, put the corn on the bottom side of the table.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Have the right arm place the corn on the table's bottom side.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "With the right hand, set the corn on the bottom side of the table.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Put the corn on the bottom side of the table.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Set the corn on the table's bottom side.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Position the corn on the bottom side of the table.", + "start_idx": 321, + "end_idx": 423 + }, + { + "text": "Pick up the white mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Using the right hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Have the right arm grasp the white mug from the table by the handle, keeping a diagonal angle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "With the right hand, retrieve the white mug from the table via the handle at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Grasp the white mug from the table via the handle at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Using the right hand, pick up the white mug from the table by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "With the right hand, collect the white mug from the table by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Have the right arm take the white mug from the table by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Pick up the white mug from the table with the right hand at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Using the right hand, retrieve the white mug from the table at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 1407, + "end_idx": 1596 + }, + { + "text": "Put the white mug to the right side of the bowl with the handle facing backwards using the right hand.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Using the right hand, place the white mug to the right of the bowl with its handle facing backward.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Have the right hand set the white mug on the bowl's right side, with the handle pointing backward.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "With the right hand, position the white mug to the bowl's right, keeping the handle oriented backward.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Place the white mug to the right of the bowl with its handle facing backward.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Set the white mug on the right side of the bowl, with the handle pointing backward.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Position the white mug to the bowl's right with the handle oriented backward.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Using the right hand, put the white mug to the right of the bowl.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "With the right hand, set the white mug on the bowl's right side.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Have the right hand place the white mug to the right of the bowl.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Put the white mug to the right of the bowl.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Set the white mug beside the bowl on its right side.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Position the white mug on the bowl's right side.", + "start_idx": 1596, + "end_idx": 1731 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Have the right hand take the white mug from the table by the bottom right with a lip grasp at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "With the right hand, grasp the white mug from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Pick up the white mug from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Take the white mug from the table by the bottom right with a lip grasp at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Grasp the white mug from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "With the right hand, take the white mug from the table using a lip grasp.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Have the right hand grasp the white mug from the table with a lip hold.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Using the right hand, pick up the white mug from the table at the bottom right with a diagonal pick angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "With the right hand, take the white mug from the table from the bottom right at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 2235, + "end_idx": 2403 + }, + { + "text": "Put the white mug to the right of the corn with the handle facing left on the bottom side with the right hand.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Using the right hand, place the white mug to the right of the corn, handle facing left on the bottom side.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Have the right arm set the white mug on the bottom side, to the right of the corn, with its handle pointing left.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "With the right hand, position the white mug on the bottom side to the corn's right, handle oriented left.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Place the white mug to the right of the corn with the handle facing left on the bottom side.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Set the white mug on the bottom side to the right of the corn, with its handle pointing left.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Position the white mug to the corn's right on the bottom side, handle oriented left.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Using the right hand, place the white mug to the right of the corn on the bottom side.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Have the right arm set the white mug on the bottom side to the right of the corn.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "With the right hand, position the white mug to the corn's right on the bottom side.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Put the white mug to the right of the corn on the bottom side.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Set the white mug on the bottom side to the right of the corn.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Place the white mug to the right of the corn.", + "start_idx": 2403, + "end_idx": 2598 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "With the right gripper, go to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Reset to home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Head back to the home position.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Move home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Go back home.", + "start_idx": 2952, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2952, + "end_idx": 3000 + } + ] + }, + "2026-03-15-23-43-06-366000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table diagonally using a full-object grasp.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "From the table, collect the yellow stuffed toy diagonally using a full-object grasp.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "From the table, collect the yellow stuffed toy with a diagonal approach.", + "start_idx": 0, + "end_idx": 210 + }, + { + "text": "Put the yellow stuffed toy to the left of the pink bowl with the right hand facing bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Using the right hand, place the yellow stuffed toy to the left of the pink bowl with its front facing bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Have the right hand set the yellow stuffed toy to the left of the pink bowl, front oriented toward the bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "With the right hand, position the yellow stuffed toy to the left of the pink bowl so the front faces bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Place the yellow stuffed toy to the left of the pink bowl with its front facing bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Set the yellow stuffed toy to the left of the pink bowl, front toward the bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Position the yellow stuffed toy to the left of the pink bowl facing bottom left.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Using the right hand, put the yellow stuffed toy to the left of the pink bowl.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "With the right hand, place the yellow stuffed toy to the left of the pink bowl.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Have the right hand set the yellow stuffed toy left of the pink bowl.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Put the yellow stuffed toy to the left of the pink bowl.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Position the yellow stuffed toy beside the pink bowl on its left side.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Set the yellow stuffed toy down to the left of the pink bowl.", + "start_idx": 210, + "end_idx": 315 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Have the right arm pick the pink stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table using a whole-object grasp at a diagonal angle.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Take the pink stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Retrieve the pink stuffed toy from the table using a whole-object grasp at a diagonal angle.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "At a diagonal angle, take the pink stuffed toy from the table.", + "start_idx": 315, + "end_idx": 531 + }, + { + "text": "Put the pink stuffed toy inside the bowl with the right hand facing forwards.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Using the right hand, place the pink stuffed toy inside the bowl facing forwards.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Have the right arm put the pink stuffed toy into the bowl with its front facing forward.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "With the right hand, set the pink stuffed toy inside the bowl so it faces forwards.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Place the pink stuffed toy inside the bowl facing forwards.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Set the pink stuffed toy into the bowl with the front facing forward.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Put the pink stuffed toy in the bowl so it faces forward.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Using the right hand, place the pink stuffed toy inside the bowl.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Have the right arm put the pink stuffed toy into the bowl.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "With the right hand, set the pink stuffed toy in the bowl.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Put the pink stuffed toy inside the bowl.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Using the right hand, place the pink stuffed toy into the bowl.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Set the pink stuffed toy in the bowl so its front faces forward.", + "start_idx": 531, + "end_idx": 606 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Have the right arm pick the blue screwdriver up from the table diagonally by its middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal hold at its center.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Take the blue screwdriver from the table diagonally.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Get the blue screwdriver from the table by the middle.", + "start_idx": 1263, + "end_idx": 1530 + }, + { + "text": "Put the blue screwdriver to the right of the green bowl with the right hand facing forwards with the tip as the reference point.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the green bowl, facing forwards with the tip as the reference point.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Have the right arm put the blue screwdriver to the right of the green bowl, with the tip facing forwards as the reference point.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the green bowl, oriented forwards using the tip as the reference point.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Place the blue screwdriver to the right of the green bowl, facing forwards with the tip as the reference point.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Set the blue screwdriver to the right of the green bowl, with the tip oriented forwards.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Position the blue screwdriver to the right of the green bowl so the tip faces forwards.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Put the blue screwdriver to the right of the green bowl.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "The blue screwdriver goes to the right of the green bowl.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Place the blue screwdriver to the right of the green bowl beside the green bowl.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the green bowl.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "With the right hand, put the blue screwdriver beside the green bowl.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Have the right arm set the blue screwdriver to the right of the green bowl.", + "start_idx": 1530, + "end_idx": 1677 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grasp at the bottom from above.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Have the right arm pick up the blue marker from the table with a side grip on its bottom from the top.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "With the right hand, grasp the blue marker from the table using a side hold at the bottom from above.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the bottom from the top.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Take the blue marker from the table with a side grasp on the bottom from above.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Grasp the blue marker from the table using a side hold at its bottom from the top.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "With the right hand, take the blue marker from the table using a side grasp on the bottom.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Have the right arm grasp the blue marker from the table with a side hold at its bottom.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Using the right hand, pick up the blue marker from the table from the top.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "With the right hand, take the blue marker from the table at the bottom from above.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Have the right arm grasp the blue marker from the table.", + "start_idx": 1917, + "end_idx": 2157 + }, + { + "text": "Put the blue marker in front of the green bowl with the right hand with its tip facing top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Using the right hand, place the blue marker in front of the green bowl with its tip pointed to the top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Have the right hand set the blue marker in front of the green bowl so the tip faces top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "With the right hand, position the blue marker in front of the green bowl, tip directed toward the top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Place the blue marker in front of the green bowl with its tip facing top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Set the blue marker in front of the green bowl with the tip pointed top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Position the blue marker in front of the green bowl so its tip faces the top left.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Using the right hand, put the blue marker in front of the green bowl.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "With the right hand, place the blue marker in front of the green bowl.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Have the right hand position the blue marker in front of the green bowl.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Put the blue marker in front of the green bowl.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Set the blue marker in front of the green bowl.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Position the blue marker in front of the green bowl.", + "start_idx": 2157, + "end_idx": 2310 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "With the right hand, go to home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Move back to home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Bring the arm to home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Back to the home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Go back to home position.", + "start_idx": 2916, + "end_idx": 3000 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal angle by grasping the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Take the asparagus from the table on a diagonal angle, holding the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Retrieve the asparagus from the table diagonally by grasping its middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Take the asparagus from the table, grasping the middle.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 606, + "end_idx": 813 + }, + { + "text": "Put the asparagus inside the green bowl with the left hand facing top left with the tip as the reference point.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Using the left hand, place the asparagus in the green bowl with the tip pointing to the top left.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Have the left arm put the asparagus into the green bowl, oriented top left by its tip.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "With the left hand, set the asparagus inside the green bowl so the tip faces the upper left.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Place the asparagus into the green bowl with the tip pointing to the top left.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Set the asparagus inside the green bowl so its tip faces the upper left.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Put the asparagus in the green bowl oriented with the tip toward the top left.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Place the asparagus into the green bowl with the left hand.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Using the left hand, put the asparagus inside the green bowl.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Have the left arm set the asparagus in the green bowl.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Put the asparagus in the green bowl.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Set the asparagus inside the green bowl.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Have the asparagus placed into the green bowl.", + "start_idx": 813, + "end_idx": 930 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grasp at the left in a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Have the left arm pick up the red bag of chips from the table using a side grip on the left at a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "With the left hand, retrieve the red bag of chips from the table in a diagonal angle, grasping its left side with a side hold.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Take the red bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Retrieve the red bag of chips from the table with a side hold at the left in a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Have the left arm take the red bag of chips from the table using a side grasp.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "With the left hand, retrieve the red bag of chips from the table.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Pick up the red bag of chips from the table at the left in a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the red bag of chips from the table at the left in a diagonal angle.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Get the red bag of chips from the table with a side grip.", + "start_idx": 930, + "end_idx": 1143 + }, + { + "text": "Put the red bag of chips between the pink bowl and the blue screwdriver with the left hand facing forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Using the left hand, place the red bag of chips between the pink bowl and the blue screwdriver facing forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Have the left arm set the red bag of chips between the pink bowl and the blue screwdriver with its front facing forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "With the left hand, position the red bag of chips between the pink bowl and the blue screwdriver so it faces forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Place the red bag of chips between the pink bowl and the blue screwdriver facing forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Set the red bag of chips between the pink bowl and the blue screwdriver with its front facing forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Position the red bag of chips between the pink bowl and the blue screwdriver so it faces forwards.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Using the left hand, put the red bag of chips between the pink bowl and the blue screwdriver.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Have the left arm place the red bag of chips between the pink bowl and the blue screwdriver.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "With the left hand, set the red bag of chips between the pink bowl and the blue screwdriver.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Put the red bag of chips between the pink bowl and the blue screwdriver.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Arrange the red bag of chips between the pink bowl and the blue screwdriver.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Leave the red bag of chips between the pink bowl and the blue screwdriver.", + "start_idx": 1143, + "end_idx": 1263 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table diagonally using a whole-object hold.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Retrieve the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally using a whole-object hold.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "With the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Using the left hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Take the yellow stuffed toy from the table with the left hand.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Retrieve the yellow stuffed toy from the table diagonally.", + "start_idx": 1677, + "end_idx": 1845 + }, + { + "text": "Put the yellow stuffed toy in front of the pink bowl with the left hand facing top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Using the left hand, place the yellow stuffed toy in front of the pink bowl facing top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Have the left arm set the yellow stuffed toy in front of the pink bowl with its front facing top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "With the left hand, position the yellow stuffed toy before the pink bowl, oriented toward the top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Place the yellow stuffed toy in front of the pink bowl facing top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Set the yellow stuffed toy before the pink bowl with its front toward the top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Position the yellow stuffed toy in front of the pink bowl, oriented top right.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Put the yellow stuffed toy in front of the pink bowl with the left hand.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Using the left hand, place the yellow stuffed toy before the pink bowl.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Have the left arm set the yellow stuffed toy in front of the pink bowl.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Place the yellow stuffed toy in front of the pink bowl.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Set the yellow stuffed toy before the pink bowl.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Position the yellow stuffed toy in front of the pink bowl.", + "start_idx": 1845, + "end_idx": 1917 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a diagonal approach grasping the entire object.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a diagonal approach, grasping the entire object.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Have the left arm pick the yellow stuffed toy up from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table by approaching diagonally and enclosing the entire object.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Pick up the yellow stuffed toy from the table with a diagonal approach, grasping the entire object.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Retrieve the yellow stuffed toy from the table by approaching diagonally and taking the whole object.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and an all-over grasp.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Get the yellow stuffed toy from the table.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Take the yellow stuffed toy from the table.", + "start_idx": 2538, + "end_idx": 2625 + }, + { + "text": "Put the yellow stuffed toy inside the pink bowl with the left hand facing top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Using the left hand, place the yellow stuffed toy in the pink bowl with its front facing the top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Have the left arm set the yellow stuffed toy inside the pink bowl, front oriented toward the top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "With the left hand, position the yellow stuffed toy inside the pink bowl so its front points to the top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Place the yellow stuffed toy into the pink bowl with its front facing the top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Set the yellow stuffed toy inside the pink bowl with the front toward the top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Position the yellow stuffed toy in the pink bowl so the front faces the top right.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Using the left hand, put the yellow stuffed toy inside the pink bowl.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Have the left arm place the yellow stuffed toy into the pink bowl.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "With the left hand, set the yellow stuffed toy in the pink bowl.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Put the yellow stuffed toy inside the pink bowl.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Place the yellow stuffed toy into the pink bowl.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Set the yellow stuffed toy in the pink bowl.", + "start_idx": 2625, + "end_idx": 2682 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Have the left arm take the pink bowl from the table using a diagonal lip grasp on its left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the left side using a diagonal lip hold.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold at the left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Take the pink bowl from the table by the left side with a diagonal lip grasp.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table on the left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Take the pink bowl from the table with a diagonal grasp on the left side.", + "start_idx": 2682, + "end_idx": 2784 + }, + { + "text": "Put the pink bowl behind the bag of chips with the left hand right side up.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Using the left hand, place the pink bowl behind the bag of chips right side up.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Have the left arm set the pink bowl behind the bag of chips, keeping it right side up.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "With the left hand, position the pink bowl behind the bag of chips so it stays right side up.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Place the pink bowl behind the bag of chips right side up.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Set the pink bowl behind the bag of chips in an upright position.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Position the pink bowl behind the bag of chips with its open side up.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Using the left hand, put the pink bowl behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "With the left hand, place the pink bowl behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Have the left arm set the pink bowl behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Put the pink bowl behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Set the pink bowl behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Position the pink bowl behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2865 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Using the left hand, return to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "With the left arm, go to the home position.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Return to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Move back to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Go to the home position.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Head to home position.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Move to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Return the arm to home.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Go back to the home position.", + "start_idx": 2865, + "end_idx": 2916 + }, + { + "text": "Bring the robot to home pose.", + "start_idx": 2865, + "end_idx": 2916 + } + ] + }, + "2026-03-15-23-45-35-137000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "With the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Using the left arm, retrieve the blue screwdriver from the table diagonally by its middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Have the left hand pick the blue screwdriver off the table at a diagonal angle, holding its middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Retrieve the blue screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle.", + "start_idx": 567, + "end_idx": 768 + }, + { + "text": "Put the blue screwdriver in the pink bowl with the left hand facing top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Using the left hand, place the blue screwdriver into the pink bowl with its tip facing the top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Have the left arm set the blue screwdriver in the pink bowl so the tip points to the top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "With the left hand, position the blue screwdriver in the pink bowl, tip oriented toward the top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Place the blue screwdriver into the pink bowl with its tip facing the top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Set the blue screwdriver in the pink bowl so its tip points to the top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Put the blue screwdriver in the pink bowl, with the tip directed toward the top right.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Using the left hand, put the blue screwdriver in the pink bowl.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "With the left hand, place the blue screwdriver into the pink bowl.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Have the left arm set the blue screwdriver in the pink bowl.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Put the blue screwdriver in the pink bowl.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Place the blue screwdriver into the pink bowl.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Set the blue screwdriver in the pink bowl.", + "start_idx": 768, + "end_idx": 921 + }, + { + "text": "Pick up the bag of chips in front of the pink bowl with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Using the left hand, pick up the bag of chips in front of the pink bowl with a side grip from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Have the left arm take hold of the bag of chips in front of the pink bowl using a side grasp from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "With the left hand, grasp the bag of chips in front of the pink bowl in a side hold from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Pick up the bag of chips in front of the pink bowl using a side grip from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Grasp the bag of chips in front of the pink bowl with a side hold from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Take hold of the bag of chips in front of the pink bowl using a side grasp from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Using the left hand, pick up the bag of chips in front of the pink bowl.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Have the left arm take the bag of chips in front of the pink bowl.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "With the left hand, grasp the bag of chips in front of the pink bowl.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Pick up the bag of chips in front of the pink bowl from the left at a diagonal angle.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Take the bag of chips in front of the pink bowl with the left hand.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Grasp the bag of chips in front of the pink bowl.", + "start_idx": 1278, + "end_idx": 1443 + }, + { + "text": "Put the red bag of chips to the left of the pink bowl with the left hand facing left.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the pink bowl with its front facing left.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Have the left arm set the red bag of chips left of the pink bowl, front pointed left.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "With the left hand, position the red bag of chips on the left side of the pink bowl, facing left.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Place the red bag of chips to the left of the pink bowl.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Set the red bag of chips on the left side of the pink bowl.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Position the red bag of chips left of the pink bowl.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Put the red bag of chips to the left of the pink bowl with its front facing left.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Arrange the red bag of chips on the left side of the pink bowl, facing left.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Place the red bag of chips left of the pink bowl with the left hand.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Set the red bag of chips to the left of the pink bowl using the left hand.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Using the left hand, place the red bag of chips beside the pink bowl.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Have the left arm position the red bag of chips on the bowl's left side.", + "start_idx": 1443, + "end_idx": 1512 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grasp at the left.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Have the left arm pick up the pink bowl from the table via a left-side diagonal lip grasp.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a diagonal lip hold on the left.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the left.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Grasp the pink bowl from the table with a left-side diagonal lip hold.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Have the left arm grasp the pink bowl from the table.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Have the robot grasp the pink bowl from the table.", + "start_idx": 1746, + "end_idx": 1947 + }, + { + "text": "Dump the toys and the blue screwdriver from the pink bowl to the right of the bag of chips with the left hand.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Using the left hand, empty the pink bowl to the right of the bag of chips, dumping out the toys and the blue screwdriver.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Have the left arm dump the toys and the blue screwdriver out of the pink bowl positioned right of the bag of chips.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "With the left hand, tip out the toys and the blue screwdriver from the pink bowl located to the right of the bag of chips.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Empty the pink bowl to the right of the bag of chips, dumping out the toys and the blue screwdriver.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Tip the toys and the blue screwdriver out of the pink bowl to the right of the bag of chips.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "From the pink bowl right of the bag of chips, dump out the toys and the blue screwdriver.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "The toys and the blue screwdriver should be dumped from the pink bowl to the right of the bag of chips.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Using the left hand, dump the toys and the blue screwdriver from the pink bowl.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "With the left hand, empty the pink bowl and dump out the toys and the blue screwdriver.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Have the left arm tip the toys and the blue screwdriver out of the pink bowl.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Dump the toys and the blue screwdriver from the pink bowl.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Empty the pink bowl and dump out the toys and the blue screwdriver.", + "start_idx": 1947, + "end_idx": 2025 + }, + { + "text": "Put the pink bowl in front of the bag of chips with the left hand.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Using the left hand, place the pink bowl in front of the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Have the left arm set the pink bowl down in front of the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "With the left hand, position the pink bowl before the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Place the pink bowl in front of the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Set the pink bowl down in front of the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Position the pink bowl before the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Using the left hand, place the pink bowl by the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Have the left arm set the pink bowl down near the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "With the left hand, put the pink bowl next to the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Put the pink bowl by the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Set the pink bowl near the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Place the pink bowl next to the bag of chips.", + "start_idx": 2025, + "end_idx": 2163 + }, + { + "text": "Pick up the yellow toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Using the left hand, pick up the yellow toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Have the left arm take the yellow toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "With the left hand, retrieve the yellow toy from the table on a diagonal angle by gripping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Pick up the yellow toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Retrieve the yellow toy from the table on a diagonal angle, holding the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Take the yellow toy from the table with a diagonal pickup, gripping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "With the left hand, pick up the yellow toy from the table, grasping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Have the left arm take the yellow toy from the table, holding it at the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Using the left hand, retrieve the yellow toy from the table by grasping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Pick up the yellow toy from the table with the left hand.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Take the yellow toy from the table at a diagonal angle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Retrieve the yellow toy from the table, grasping the middle.", + "start_idx": 2400, + "end_idx": 2499 + }, + { + "text": "Put the yellow toy in front of the blue screwdriver with the left hand facing bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Using the left hand, place the yellow toy in front of the blue screwdriver, facing bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Have the left arm set the yellow toy before the blue screwdriver with its orientation toward the bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "With the left hand, position the yellow toy in front of the blue screwdriver so it faces bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Place the yellow toy in front of the blue screwdriver facing bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Set the yellow toy before the blue screwdriver with its orientation toward the bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Position the yellow toy in front of the blue screwdriver so it faces bottom left.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Using the left hand, put the yellow toy in front of the blue screwdriver.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Have the left arm place the yellow toy before the blue screwdriver.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "With the left hand, position the yellow toy in front of the blue screwdriver.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Put the yellow toy in front of the blue screwdriver.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Set the yellow toy before the blue screwdriver.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Position the yellow toy in front of the blue screwdriver.", + "start_idx": 2499, + "end_idx": 2568 + }, + { + "text": "Pick up the pink toy behind the blue screwdriver with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Using the left hand, take the pink toy behind the blue screwdriver at a diagonal angle, grasping the entire object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Have the left arm pick up the pink toy behind the blue screwdriver with a diagonal approach and a full-object grasp.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "With the left hand, retrieve the pink toy behind the blue screwdriver diagonally while holding the whole object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Pick up the pink toy behind the blue screwdriver at a diagonal angle, grasping the entire object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Retrieve the pink toy behind the blue screwdriver with a diagonal approach and a full-object hold.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Take the pink toy behind the blue screwdriver diagonally, grasping the whole object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Using the left hand, pick up the pink toy behind the blue screwdriver, grasping the entire object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "With the left hand, take the pink toy behind the blue screwdriver, holding the whole object.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Have the left arm retrieve the pink toy behind the blue screwdriver with a full-object grasp.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Using the left hand, pick up the pink toy behind the blue screwdriver at a diagonal angle.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "With the left hand, retrieve the pink toy behind the blue screwdriver diagonally.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Pick up the pink toy behind the blue screwdriver.", + "start_idx": 2568, + "end_idx": 2685 + }, + { + "text": "Put the pink toy to the left of the bag of chips with the left hand facing left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Using the left hand, place the pink toy to the left of the bag of chips with its front facing left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Have the left arm set the pink toy to the left of the bag of chips, front pointed left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "With the left hand, position the pink toy to the left of the bag of chips so the front faces left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Place the pink toy to the left of the bag of chips with its front facing left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Set the pink toy to the left of the bag of chips, front facing left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Position the pink toy to the left of the bag of chips with the front pointed left.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Using the left hand, place the pink toy to the left of the bag of chips.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "With the left hand, set the pink toy to the left of the bag of chips.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Have the left arm position the pink toy to the left of the bag of chips.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Put the pink toy to the left of the bag of chips.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Place the pink toy to the left of the bag of chips.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Set the pink toy to the left of the bag of chips.", + "start_idx": 2685, + "end_idx": 2802 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Shift to the home position.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Have the arm return home.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Move to home position.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Return home now.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2802, + "end_idx": 3000 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the right hand take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup at the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Retrieve the blue marker from the table diagonally, holding the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the right hand take the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the blue marker from the table diagonally.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Retrieve the blue marker from the table by the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Put the blue marker inside the green bowl with the right hand facing forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Using the right hand, place the blue marker in the green bowl with the tip facing forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Have the right arm set the blue marker inside the green bowl, tip oriented forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "With the right hand, deposit the blue marker into the green bowl so its tip faces forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Put the blue marker into the green bowl with the tip facing forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Set the blue marker inside the green bowl, keeping its tip pointed forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Place the blue marker in the green bowl so the tip is directed forwards.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Put the blue marker inside the green bowl.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Drop the blue marker into the green bowl.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Set the blue marker in the green bowl.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Using the right hand, put the blue marker into the green bowl.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Have the right arm place the blue marker inside the green bowl.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "With the right hand, set the blue marker in the green bowl.", + "start_idx": 138, + "end_idx": 219 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Have the right arm take the blue screwdriver from the table, holding it at a diagonal angle from the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table at a diagonal angle, gripping the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Retrieve the blue screwdriver from the table, keeping it diagonal and grasping the middle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Using the right hand, grasp the blue screwdriver from the table.", + "start_idx": 219, + "end_idx": 339 + }, + { + "text": "Put the blue screwdriver to the right of the bag of chips with the right hand facing top left with the tip as the reference point.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the bag of chips, oriented toward the top left with the tip as the reference point.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Have the right arm set the blue screwdriver to the right of the bag of chips, with its tip pointing top left.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "With the right hand, position the blue screwdriver to the right of the bag of chips so the tip faces the top left.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Place the blue screwdriver to the right of the bag of chips, with its tip directed toward the top left.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Set the blue screwdriver to the right of the bag of chips so the tip points top left.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Position the blue screwdriver to the right of the bag of chips, oriented top left from the tip.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Using the right hand, put the blue screwdriver to the right of the bag of chips.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Have the right arm place the blue screwdriver to the right of the bag of chips.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the bag of chips.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Put the blue screwdriver to the right of the bag of chips.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Place the blue screwdriver to the right of the bag of chips.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Position the blue screwdriver to the right of the bag of chips.", + "start_idx": 339, + "end_idx": 567 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Have the right arm pick the green bowl up from the table using a diagonal grasp on its right lip.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "With the right hand, retrieve the green bowl from the table by grasping the right side of the lip diagonally.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Retrieve the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Take the green bowl from the table by grasping the right side of the lip diagonally.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "With the right hand, retrieve the green bowl from the table.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Take the green bowl from the table using the right hand.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Get the green bowl from the table.", + "start_idx": 1056, + "end_idx": 1137 + }, + { + "text": "Dump the green asparagus and the blue screwdriver from the green bowl onto the right of the bag of chips with the right hand.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Using the right hand, empty the green bowl by dumping the green asparagus and the blue screwdriver to the right of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Have the right arm pour the green asparagus and the blue screwdriver out of the green bowl onto the bag of chips' right side.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "With the right hand, tip the green bowl and spill the green asparagus and the blue screwdriver onto the right side of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Empty the green bowl by dumping the green asparagus and the blue screwdriver to the right of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Pour the green asparagus and the blue screwdriver from the green bowl onto the right side of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Tip the green bowl so the green asparagus and the blue screwdriver land to the right of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Spill the green asparagus and the blue screwdriver out of the green bowl onto the right of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "The green asparagus and the blue screwdriver should be dumped from the green bowl onto the right side of the bag of chips.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Empty the green bowl with the green asparagus and the blue screwdriver.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Pour out the green asparagus and the blue screwdriver from the green bowl.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Tip out the green asparagus and the blue screwdriver from the green bowl with the right hand.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Using the right hand, empty the green bowl with the green asparagus and the blue screwdriver.", + "start_idx": 1137, + "end_idx": 1185 + }, + { + "text": "Put the green bowl to the right of the blue marker with the right hand.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Using the right hand, place the green bowl to the right of the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Have the right arm set the green bowl on the right side of the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "With the right hand, position the green bowl to the blue marker's right.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Place the green bowl to the right of the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Set the green bowl on the right side of the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Position the green bowl to the blue marker's right.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Using the right hand, place the green bowl by the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Have the right arm set the green bowl next to the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "With the right hand, position the green bowl beside the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Put the green bowl by the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Set the green bowl beside the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Position the green bowl next to the blue marker.", + "start_idx": 1185, + "end_idx": 1278 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Have the right arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Have the right arm take the blue marker from the table.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Take the blue marker from the table diagonally.", + "start_idx": 1512, + "end_idx": 1662 + }, + { + "text": "Put the blue marker to the right of the pink bowl with the right hand with its tip facing right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Using the right hand, place the blue marker to the right of the pink bowl with its tip pointing right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Have the right hand set the blue marker to the right of the pink bowl, tip facing right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "With the right hand, position the blue marker to the right of the pink bowl so its tip faces right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Place the blue marker to the right of the pink bowl with its tip pointing right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Set the blue marker to the right of the pink bowl, with the tip facing right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Position the blue marker to the right of the pink bowl so the tip faces right.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Using the right hand, place the blue marker to the right of the pink bowl.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "With the right hand, set the blue marker to the right of the pink bowl.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Have the right hand position the blue marker to the right of the pink bowl.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Place the blue marker to the right of the pink bowl.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Set the blue marker beside the pink bowl on its right side.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Position the blue marker on the right side of the pink bowl.", + "start_idx": 1662, + "end_idx": 1746 + }, + { + "text": "Pick up the green asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Using the right hand, pick up the green asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Have the right arm take the green asparagus from the table with a diagonal middle grasp.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "With the right hand, collect the green asparagus from the table diagonally by the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Pick up the green asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Take the green asparagus from the table with a diagonal grasp at the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Collect the green asparagus from the table, keeping a diagonal approach to the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Using the right hand, pick up the green asparagus from the table grasping the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "With the right hand, take the green asparagus from the table at a diagonal angle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Have the right arm collect the green asparagus from the table by the middle.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Pick up the green asparagus from the table.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Take the green asparagus from the table.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Have the green asparagus taken from the table.", + "start_idx": 2163, + "end_idx": 2292 + }, + { + "text": "Put the green asparagus to the right of the pink toy with the right hand facing right with the tip as the reference point.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Using the right hand, place the green asparagus to the right of the pink toy, facing right with the tip as the reference point.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Have the right arm set the green asparagus to the right of the pink toy, with the tip pointing right as the reference point.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "With the right hand, position the green asparagus to the right of the pink toy so the tip faces right.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Place the green asparagus to the right of the pink toy, facing right with the tip as the reference point.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Set the green asparagus to the right of the pink toy with the tip oriented right.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Position the green asparagus to the right of the pink toy so its tip points right.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "The green asparagus goes to the right of the pink toy, with the tip facing right.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Put the green asparagus to the right of the pink toy.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Set the green asparagus to the right of the pink toy.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Position the green asparagus to the right of the pink toy.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Place the green asparagus to the right of the pink toy with the right hand.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Using the right hand, set the green asparagus to the right of the pink toy.", + "start_idx": 2292, + "end_idx": 2364 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "With the right hand, move back to the home position.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Have the right arm return to home.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Using the right hand, go to the home position.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Return to the home position.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Move back to home.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Go to the home position.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Head back to home.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Resume the home position.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Return home now.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Move to home.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Back to the home position.", + "start_idx": 2364, + "end_idx": 2400 + } + ] + }, + "2026-03-15-23-49-02-171000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 299, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "With the right hand, collect the asparagus from the table on a diagonal, gripping the center.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Get the asparagus from the table with a diagonal pickup, gripping the center.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "With the right hand, collect the asparagus from the table.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 453, + "end_idx": 657 + }, + { + "text": "Put the asparagus inside the green bowl with the right hand facing forwards with the tip as the orientation reference point.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Using the right hand, place the asparagus into the green bowl with the tip facing forwards.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Have the right arm set the asparagus inside the green bowl so its tip points forward.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "With the right hand, deposit the asparagus in the green bowl, tip oriented forwards.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Place the asparagus into the green bowl with the tip facing forwards.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Set the asparagus inside the green bowl so the tip points forward.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Deposit the asparagus in the green bowl with its tip oriented forwards.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Put the asparagus into the green bowl.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Place the asparagus inside the green bowl.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Set the asparagus in the green bowl.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Using the right hand, put the asparagus into the green bowl.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Have the right arm place the asparagus in the green bowl.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Put the asparagus in the green bowl with the right hand.", + "start_idx": 657, + "end_idx": 771 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "With the right hand, collect the pink stuffed toy off the table using a side hold on the bottom at a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Have the right hand pick the pink stuffed toy up from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Take the pink stuffed toy off the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "The pink stuffed toy should be picked up from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "With the right hand, take the pink stuffed toy off the table.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Have the right hand collect the pink stuffed toy from the table.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand from a diagonal angle.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Take the pink stuffed toy off the table with the right hand.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "The pink stuffed toy should be picked up from the table using a side grasp at the bottom.", + "start_idx": 1110, + "end_idx": 1260 + }, + { + "text": "Put the pink stuffed toy to the left of the green bowl with the right hand facing forwards.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the left of the green bowl, facing forwards.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Have the right hand set the pink stuffed toy to the left of the green bowl with its front facing forward.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "With the right hand, position the pink stuffed toy to the left of the green bowl so it faces forwards.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Place the pink stuffed toy to the left of the green bowl facing forwards.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Set the pink stuffed toy to the left of the green bowl with its front forward.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Position the pink stuffed toy to the left of the green bowl so it faces forward.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the left of the green bowl.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "With the right hand, set the pink stuffed toy to the left of the green bowl.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Have the right hand position the pink stuffed toy to the left of the green bowl.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Put the pink stuffed toy to the left of the green bowl.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Place the pink stuffed toy beside the green bowl.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Set the pink stuffed toy on the left side of the green bowl.", + "start_idx": 1260, + "end_idx": 1359 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the right side from a diagonal angle.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip on its right side at a diagonal angle.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Have the right arm grasp the green bowl from the table by the lip on the right side from a diagonal approach.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "With the right hand, secure the green bowl from the table using a lip hold at the bowl's right side on a diagonal.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Pick up the green bowl from the table with a lip grip on the right side from a diagonal angle.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "From the table, grasp the green bowl by the lip at its right side on a diagonal.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "The green bowl from the table should be taken with a lip grasp on the right side from a diagonal approach.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip hold.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Have the right arm grasp the green bowl from the table by the lip.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the right side from a diagonal angle.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Using the right hand, take the green bowl from the table on its right side from a diagonal approach.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Grasp the green bowl from the table by the lip.", + "start_idx": 1614, + "end_idx": 1887 + }, + { + "text": "Put the green bowl between the blue screwdriver and pink stop toy with the right hand.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Using the right hand, place the green bowl between the blue screwdriver and the pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Have the right arm set the green bowl between the blue screwdriver and pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "With the right hand, position the green bowl between the blue screwdriver and the pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Place the green bowl between the blue screwdriver and the pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Set the green bowl between the blue screwdriver and pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Position the green bowl between the blue screwdriver and the pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Put the green bowl between the blue screwdriver and pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Using the right hand, place the green bowl by the blue screwdriver and pink stop toy.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Have the right arm set the green bowl between the blue screwdriver and pink stop toy area.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "With the right hand, position the green bowl between the two objects.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Place the green bowl between the blue screwdriver and pink stop toy with the right.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Set the green bowl between the pink stop toy and blue screwdriver using the right hand.", + "start_idx": 1887, + "end_idx": 2007 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Have the right hand grasp the pink stuffed toy from the table with a top side hold at a diagonal angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "With the right hand, secure the pink stuffed toy from the table using a side grasp at the top on a diagonal.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Take the pink stuffed toy from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Grasp the pink stuffed toy from the table with a top side hold at a diagonal pick angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table with a side grip at the top.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "With the right hand, take the pink stuffed toy from the table using a side grasp at the top.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Have the right hand secure the pink stuffed toy from the table with a top side hold.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table at the top with a diagonal pick angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at the top and a diagonal angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Take the pink stuffed toy from the table at the top with a diagonal pick angle.", + "start_idx": 2538, + "end_idx": 2688 + }, + { + "text": "Put the pink stuffed toy behind the green bowl with the right hand facing forwards.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Using the right hand, place the pink stuffed toy behind the green bowl with its front facing forwards.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Have the right arm set the pink stuffed toy behind the green bowl, front facing forward.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "With the right hand, position the pink stuffed toy behind the green bowl so it faces forwards.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Place the pink stuffed toy behind the green bowl with its front facing forwards.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Set the pink stuffed toy behind the green bowl, front facing forward.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Position the pink stuffed toy behind the green bowl so it faces forwards.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Using the right hand, put the pink stuffed toy behind the green bowl.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "With the right hand, place the pink stuffed toy behind the green bowl.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Have the right arm set the pink stuffed toy behind the green bowl.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Put the pink stuffed toy behind the green bowl.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Place the pink stuffed toy behind the green bowl.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Set the pink stuffed toy behind the green bowl.", + "start_idx": 2688, + "end_idx": 2790 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Return to the home position.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Move back to home position.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Go to the home pose.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Head to the home position.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Have the arm return home.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Return home.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Move to home position.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Go back home.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Have the hand move to the home pose.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm pick the blue marker up from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, collect the blue marker from the table in a diagonal orientation, holding the center.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Grab the blue marker from the table at a diagonal angle, holding its center.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the blue marker inside the pink bowl with the left hand facing forwards with the front forward.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Using the left hand, place the blue marker inside the pink bowl with the front facing forwards.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Have the left arm put the blue marker into the pink bowl, front pointed forwards.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "With the left hand, set the blue marker in the pink bowl so its front faces forwards.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Place the blue marker inside the pink bowl with the front facing forwards.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Put the blue marker into the pink bowl, front pointed forwards.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Set the blue marker in the pink bowl so the front faces forwards.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Using the left hand, place the blue marker inside the pink bowl.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Have the left arm put the blue marker into the pink bowl.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "With the left hand, set the blue marker in the pink bowl.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Put the blue marker into the pink bowl.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Place the blue marker inside the pink bowl.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Set the blue marker in the pink bowl.", + "start_idx": 132, + "end_idx": 219 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "With the left hand, collect the asparagus from the table on a diagonal angle by grasping the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Take the asparagus from the table on a diagonal angle, holding the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "From the table, collect the asparagus at a diagonal angle by the middle.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Using the left hand, take the asparagus from the table.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Have the left arm collect the asparagus from the table.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "From the table, take the asparagus.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Have the asparagus taken from the table.", + "start_idx": 219, + "end_idx": 375 + }, + { + "text": "Put the asparagus to the right of the pink stuffed toy with the left hand facing forwards with the tip facing forwards.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Using the left hand, place the asparagus to the right of the pink stuffed toy, with the tip facing forwards.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Have the left arm set the asparagus to the right of the pink stuffed toy so it faces forwards at the tip.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "With the left hand, position the asparagus to the right of the pink stuffed toy, keeping the tip pointed forwards.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Place the asparagus to the right of the pink stuffed toy with the tip facing forwards.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Set the asparagus to the right of the pink stuffed toy, tip pointed forwards.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Position the asparagus to the right of the pink stuffed toy so the tip faces forwards.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Using the left hand, put the asparagus to the right of the pink stuffed toy.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "With the left hand, place the asparagus to the right of the pink stuffed toy.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Have the left arm position the asparagus to the right of the pink stuffed toy.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Put the asparagus to the right of the pink stuffed toy.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Set the asparagus to the right of the pink stuffed toy.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Position the asparagus to the right of the pink stuffed toy.", + "start_idx": 375, + "end_idx": 453 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table on a diagonal, gripping the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Retrieve the blue screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table, grasping the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Have the left arm take the blue screwdriver from the table by the middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table, holding its middle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Take the blue screwdriver from the table with the left hand on a diagonal.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 771, + "end_idx": 960 + }, + { + "text": "Put the blue screwdriver between the pink bowl and the pink stuffed toy with the left hand facing forwards with the tip as the reference point.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Using the left hand, place the blue screwdriver between the pink bowl and the pink stuffed toy with the tip facing forwards.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Have the left arm set the blue screwdriver between the pink bowl and the pink stuffed toy, oriented forwards by its tip.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "With the left hand, position the blue screwdriver between the pink bowl and the pink stuffed toy so the tip faces forward.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Place the blue screwdriver between the pink bowl and the pink stuffed toy with the tip facing forwards.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Set the blue screwdriver between the pink bowl and the pink stuffed toy, with its tip oriented forwards.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Position the blue screwdriver between the pink bowl and the pink stuffed toy so the tip points forward.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Using the left hand, put the blue screwdriver between the pink bowl and the pink stuffed toy.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "With the left hand, set the blue screwdriver between the pink bowl and the pink stuffed toy.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Have the left arm place the blue screwdriver between the pink bowl and the pink stuffed toy.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Put the blue screwdriver between the pink bowl and the pink stuffed toy.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Arrange the blue screwdriver between the pink bowl and the pink stuffed toy.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Leave the blue screwdriver between the pink bowl and the pink stuffed toy.", + "start_idx": 960, + "end_idx": 1110 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Have the left arm grasp the bag of chips from the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "With the left hand, pick the bag of chips from the table by the bottom left using a side grasp from a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the bottom-left corner at a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Grasp the bag of chips from the table at the bottom left with a side hold from a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Have the left arm take the bag of chips from the table.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "With the left hand, grasp the bag of chips from the table.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Pick up the bag of chips from the table with the left hand.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Take the bag of chips from the table from a diagonal angle.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Grab the bag of chips from the table at the bottom left.", + "start_idx": 1359, + "end_idx": 1500 + }, + { + "text": "Put the bag of chips to the left of the pink bowl with the left hand facing left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the pink bowl with its front facing left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Have the left arm set the bag of chips to the left of the pink bowl, front pointed left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "With the left hand, position the bag of chips left of the pink bowl so the front faces left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Place the bag of chips to the left of the pink bowl with its front facing left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Set the bag of chips left of the pink bowl, front pointed left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Position the bag of chips to the left of the pink bowl so its front faces left.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Using the left hand, put the bag of chips to the left of the pink bowl.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Have the left arm place the bag of chips left of the pink bowl.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "With the left hand, set the bag of chips to the left of the pink bowl.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Place the bag of chips to the left of the pink bowl.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Set the bag of chips left of the pink bowl.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Put the bag of chips beside the pink bowl.", + "start_idx": 1500, + "end_idx": 1614 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle by its middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Have the left arm take the screwdriver from the table at a diagonal angle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Take the screwdriver from the table with the left hand.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Pick up the screwdriver from the table diagonally.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 2007, + "end_idx": 2160 + }, + { + "text": "Put the screwdriver inside the green bowl with the left hand.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Using the left hand, place the screwdriver inside the green bowl with its tip facing forwards.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Have the left arm set the screwdriver into the green bowl, tip pointed forward.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "With the left hand, deposit the screwdriver in the green bowl so the tip faces forwards.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Place the screwdriver inside the green bowl with its tip facing forwards.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Set the screwdriver into the green bowl, keeping the tip pointed forward.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Position the screwdriver in the green bowl so its tip faces forwards.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Put the screwdriver inside the green bowl.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Drop the screwdriver into the green bowl.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Have the screwdriver placed in the green bowl.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Place the screwdriver in the green bowl.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Using the left hand, put the screwdriver inside the green bowl.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "With the left hand, set the screwdriver into the green bowl.", + "start_idx": 2160, + "end_idx": 2250 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom right with a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom right and a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Have the left hand grasp the bag of chips from the table from the bottom-right area with a side hold, diagonally oriented.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "With the left hand, collect the bag of chips from the table by securing the bottom right using a side grasp at a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Pick up the bag of chips from the table with a side grip at the bottom right and a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Take the bag of chips from the table by grasping the bottom right with a side hold at a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Grasp the bag of chips from the table at the bottom right with a side grip, keeping a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Have the left hand take the bag of chips from the table using a side hold.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by the bottom right at a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the bottom right and a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "From the table, take the bag of chips with the left hand using a side grip.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Grasp the bag of chips from the table at the bottom right with a diagonal angle.", + "start_idx": 2250, + "end_idx": 2397 + }, + { + "text": "Put the bags of chips between the pink bowl and green bowl with the left hand facing top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Using the left hand, place the bags of chips between the pink bowl and green bowl with the front facing top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Have the left arm set the bags of chips between the pink bowl and green bowl, front pointed toward the top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "With the left hand, position the bags of chips between the pink bowl and green bowl so the front faces top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Place the bags of chips between the pink bowl and green bowl with the front facing top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Set the bags of chips between the pink bowl and green bowl, front toward the top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Position the bags of chips between the pink bowl and green bowl so the front points top left.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Using the left hand, place the bags of chips between the pink bowl and green bowl.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "With the left hand, set the bags of chips between the pink bowl and green bowl.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Have the left arm position the bags of chips between the pink bowl and green bowl.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Put the bags of chips between the pink bowl and green bowl.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Arrange the bags of chips between the pink bowl and green bowl.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Leave the bags of chips between the pink bowl and green bowl.", + "start_idx": 2397, + "end_idx": 2538 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the bottom left and a diagonal pick angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "With the left arm, grasp the bag of chips from the table from the bottom-left area using a side hold at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Have the left hand pick the bag of chips from the table with a side grip on the bottom left at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Take the bag of chips from the table with a side grasp at the bottom-left area and a diagonal angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Grasp the bag of chips from the table with a side hold at the bottom left and a diagonal pick angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "With the left arm, take the bag of chips from the table using a side grasp.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Have the left hand grasp the bag of chips from the table with a side hold.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table at the bottom left with a diagonal pick angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "With the left arm, take the bag of chips from the table from the bottom-left area at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Pick up the bag of chips from the table at the bottom left with a diagonal pick angle.", + "start_idx": 2823, + "end_idx": 2913 + }, + { + "text": "Put the bag of chips behind the pink bowl with the left hand facing top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the bag of chips behind the pink bowl with its front facing the top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the bag of chips behind the pink bowl, front oriented toward the top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the bag of chips behind the pink bowl so the front points top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Place the bag of chips behind the pink bowl with its front facing the top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Set the bag of chips behind the pink bowl, front toward the top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Position the bag of chips behind the pink bowl with the front oriented top left.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Put the bag of chips behind the pink bowl with the left hand.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the bag of chips behind the pink bowl.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the bag of chips behind the pink bowl.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Place the bag of chips behind the pink bowl.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Set the bag of chips behind the pink bowl.", + "start_idx": 2913, + "end_idx": 3000 + }, + { + "text": "Position the bag of chips behind the pink bowl.", + "start_idx": 2913, + "end_idx": 3000 + } + ] + }, + "2026-03-15-23-54-15-293000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 3 data collection", + "total_frames": 3000, + "num_annotations": 246, + "annotations": [ + { + "text": "Pick up the green mug from the table with the left hand by the handle from the side.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Using the left hand, grasp the green mug by the handle from the side.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Have the left arm take hold of the green mug at the handle with a side approach.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "With the left hand, seize the green mug by its handle from the side.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Pick up the green mug by the handle from the side.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Take the green mug at the handle from the side.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "The green mug should be grasped by the handle from the side.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Using the left hand, pick up the green mug.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Have the left arm take the green mug.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "With the left hand, grasp the green mug.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Take the green mug with the left hand.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "The green mug should be picked up with the left hand.", + "start_idx": 245, + "end_idx": 435 + }, + { + "text": "Place the green mug with the left hand on the top side to the left side of the carrot right side up with the front facing bottom left.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Using the left hand, set the green mug on the top side to the carrot's left, right side up, with the front facing bottom left.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Have the left arm place the green mug on the top side, left of the carrot, upright with the front toward bottom left.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "With the left hand, position the green mug on the top side to the left of the carrot, keeping it right side up and the front facing bottom left.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Place the green mug on the top side to the left of the carrot, right side up with the front facing bottom left.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Set the green mug on the top side left of the carrot, upright and with the front toward bottom left.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Position the green mug on the top side to the carrot's left, keeping the front pointed bottom left and the mug right side up.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Using the left hand, place the green mug on the top side to the left of the carrot.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Have the left arm set the green mug on the top side left of the carrot.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "With the left hand, position the green mug to the carrot's left on the top side.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Place the green mug on the top side to the left of the carrot.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Set the green mug left of the carrot on the top side.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Position the green mug to the carrot's left on the top side.", + "start_idx": 435, + "end_idx": 591 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Have the left arm pick the cabbage up from the table with a diagonal approach at the middle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Retrieve the cabbage from the table, contacting it at the middle on a diagonal.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Have the left arm pick up the cabbage from the table at a diagonal angle.", + "start_idx": 591, + "end_idx": 792 + }, + { + "text": "Put the cabbage with the left hand on the top side to the right side of the blue soda can with the tip facing top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Using the left hand, place the cabbage on its top side to the right of the blue soda can, with the tip facing top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Have the left arm set the cabbage to the right of the blue soda can on the top side, tip oriented toward the top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "With the left hand, position the cabbage on its top side at the right side of the blue soda can, tip facing top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Place the cabbage on its top side to the right of the blue soda can, with the tip facing top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Set the cabbage to the right of the blue soda can on the top side, with its tip directed top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Position the cabbage on its top side at the right side of the blue soda can, tip toward the top right.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Using the left hand, place the cabbage on the top side to the right of the blue soda can.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Have the left arm set the cabbage to the right of the blue soda can on its top side.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "With the left hand, position the cabbage at the right side of the blue soda can.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Place the cabbage to the right of the blue soda can.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Set the cabbage on its top side to the right of the blue soda can.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Using the left hand, place the cabbage to the right of the blue soda can.", + "start_idx": 792, + "end_idx": 942 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Using the left hand, take the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "With the left arm, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Have the left hand pick the carrot off the table on a diagonal, holding the center.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Retrieve the carrot from the table with a diagonal approach, holding its center.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Using the left hand, take the carrot from the table.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Have the left arm retrieve the carrot from the table.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Take the carrot from the table diagonally.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "With the left hand, get the carrot from the table.", + "start_idx": 942, + "end_idx": 1140 + }, + { + "text": "Put the carrot to the left side of the pink mug with the left hand facing backwards with the tip at the bottom side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the carrot to the left of the pink mug with its tip at the bottom and facing backwards.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Have the left arm set the carrot on the pink mug's left side, oriented backwards with the tip at the bottom side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "With the left hand, position the carrot to the left side of the pink mug, facing backwards and with the tip at the bottom side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Place the carrot to the left of the pink mug with its tip at the bottom and facing backwards.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Set the carrot on the left side of the pink mug, oriented backwards with the tip at the bottom side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Position the carrot to the left of the pink mug, facing backwards with the tip at the bottom side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the carrot to the left of the pink mug.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Have the left arm set the carrot on the pink mug's left side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "With the left hand, position the carrot by the left side of the pink mug.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Place the carrot to the left of the pink mug.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Set the carrot on the pink mug's left side.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Position the carrot by the left side of the pink mug.", + "start_idx": 1140, + "end_idx": 1245 + }, + { + "text": "Pick up the carrot from the table with the left hand from the top at the middle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Using the left hand, pick up the carrot from the table from the top at the middle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "From the top at the middle, have the left hand take the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "The carrot from the table should be grasped with the left hand from the top at the middle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Pick up the carrot from the table from the top at the middle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "From the top at the middle, take the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Grasp the carrot from the table from the top at the middle.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "With the left hand, take the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Have the left hand grasp the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 1689, + "end_idx": 1974 + }, + { + "text": "Put the carrot into the pink mug on top upside down with the tip as the reference point using the left hand.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Using the left hand, place the carrot into the pink mug on top, upside down with the tip as the reference point.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Have the left arm set the carrot into the pink mug on top in an upside-down orientation, referencing the tip.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "With the left hand, insert the carrot into the pink mug on top so it is upside down relative to the tip.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Place the carrot into the pink mug on top, upside down with the tip as the reference point.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Set the carrot into the pink mug on top in an upside-down orientation using the tip as the reference point.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Insert the carrot into the pink mug on top so it ends up upside down relative to the tip.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Using the left hand, put the carrot into the pink mug on top.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Have the left arm place the carrot into the pink mug on top.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "With the left hand, set the carrot into the pink mug on top.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Put the carrot into the pink mug on top.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Place the carrot into the pink mug.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Set the carrot into the pink mug.", + "start_idx": 1974, + "end_idx": 2109 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "With the left hand, retrieve the green mug from the table, approaching diagonally by the handle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Retrieve the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Retrieve the green mug from the table.", + "start_idx": 2109, + "end_idx": 2322 + }, + { + "text": "Put the green mug to the left side of the pink mug with the left hand right side up on the bottom side with the front facing bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Using the left hand, place the green mug on the bottom side to the left of the pink mug, right side up with the front facing bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Have the left arm set the green mug on the bottom side left of the pink mug, keeping it upright and the front pointed bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "With the left hand, position the green mug on the bottom side at the pink mug's left, right side up and with the front toward bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Place the green mug on the bottom side to the left of the pink mug, right side up with the front facing bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Set the green mug on the bottom side left of the pink mug, upright with the front toward bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Position the green mug to the left of the pink mug on the bottom side, keeping it right side up and the front pointed bottom left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Using the left hand, put the green mug on the bottom side to the left of the pink mug.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "With the left hand, place the green mug left of the pink mug on the bottom side.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Have the left arm set the green mug on the bottom side at the pink mug's left.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Put the green mug on the bottom side to the left of the pink mug.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Set the green mug left of the pink mug on the bottom side.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Position the green mug on the bottom side at the left of the pink mug.", + "start_idx": 2322, + "end_idx": 2484 + }, + { + "text": "Pick up the green mug from the table with the left hand using a lip grip at the top left from a diagonal angle.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Using the left hand, pick up the green mug from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Have the left arm take the green mug from the table using a lip grasp on the top-left at a diagonal angle.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "From a diagonal angle, the left hand should grasp the green mug from the table with a lip grip at the top left.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Pick up the green mug from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "From the table, take the green mug using a lip grasp on the top-left at a diagonal angle.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "The green mug should be picked up from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "With the left hand, pick up the green mug from the table using a lip grip.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Have the left arm take the green mug from the table with a lip grasp.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "The left hand should grasp the green mug from the table using a lip grip.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 2871, + "end_idx": 2976 + }, + { + "text": "Put the green mug on the table with the left hand right side up with the tip as the orientation reference.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the green mug on the table right side up, with the tip as the orientation reference.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the green mug on the table in a right-side-up orientation, referencing the tip.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the green mug on the table right side up using the tip as the reference point.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Place the green mug on the table right side up, with the tip as the orientation reference.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Set the green mug on the table in a right-side-up position, using the tip as the reference.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Position the green mug on the table right side up, referencing the tip.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Using the left hand, put the green mug on the table.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the green mug on the table.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the green mug on the table.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Place the green mug on the table.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Set the green mug on the table.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Position the green mug on the table.", + "start_idx": 2976, + "end_idx": 3000 + }, + { + "text": "Pick up the pink mug from the table with the right hand from the side by the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the right hand, take the pink mug from the table from the side by the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the right arm grasp the pink mug from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the right hand, pick the pink mug up from the table by its handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the pink mug from the table from the side by the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Grasp the pink mug from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the pink mug from the table by the handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the right hand, pick up the pink mug from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the right arm take the pink mug from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the right hand, grasp the pink mug from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the right hand, pick up the pink mug from the table from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the pink mug from the table by the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Put the pink mug in front of the blue soda can on its bottom side right side up with the front facing backwards using the right hand.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Using the right hand, place the pink mug in front of the blue soda can on its bottom side, right side up, with the front facing backward.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Have the right hand set the pink mug in front of the blue soda can, resting on its bottom side and oriented right side up with the front backward.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "With the right hand, position the pink mug before the blue soda can on its bottom side, upright, with the front facing backwards.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Place the pink mug in front of the blue soda can on its bottom side, right side up, with the front facing backward.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Set the pink mug in front of the blue soda can on its bottom side, upright, with the front facing backwards.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Position the pink mug before the blue soda can on its bottom side, right side up, with the front facing backward.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Using the right hand, put the pink mug in front of the blue soda can.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Have the right hand place the pink mug before the blue soda can.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "With the right hand, set the pink mug in front of the blue soda can.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Put the pink mug in front of the blue soda can.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Place the pink mug before the blue soda can on its bottom side, right side up.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Set the pink mug in front of the blue soda can on its bottom side.", + "start_idx": 129, + "end_idx": 246 + }, + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Using the right hand, take the blue soda can from the table at a diagonal angle, grasping its top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Have the right arm pick the blue soda can off the table with a diagonal approach at the top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table diagonally by holding the top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Take the blue soda can off the table diagonally while holding the top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Retrieve the blue soda can from the table with a diagonal approach at its top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Have the right arm take the blue soda can off the table.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Take the blue soda can off the table at a diagonal angle.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Grab the blue soda can from the table, holding the top.", + "start_idx": 1245, + "end_idx": 1578 + }, + { + "text": "Put the blue soda can in front of the cabbage with the right hand right side up on the bottom side with the front as the orientation reference point.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Using the right hand, place the blue soda can in front of the cabbage right side up on its bottom side, with the front as the orientation reference point.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Have the right arm set the blue soda can in front of the cabbage, keeping it right side up on the bottom side relative to the front.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "With the right hand, position the blue soda can in front of the cabbage so it is right side up on its bottom side, using the front as the reference point.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Place the blue soda can in front of the cabbage right side up on its bottom side, with the front as the orientation reference point.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Set the blue soda can in front of the cabbage, keeping it right side up on the bottom side relative to the front.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Position the blue soda can in front of the cabbage so it is right side up on its bottom side, using the front as the reference point.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Using the right hand, put the blue soda can in front of the cabbage.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Have the right arm place the blue soda can in front of the cabbage.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "With the right hand, set the blue soda can in front of the cabbage.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Place the blue soda can in front of the cabbage.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Set the blue soda can in front of the cabbage.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Position the blue soda can in front of the cabbage.", + "start_idx": 1578, + "end_idx": 1689 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Have the right arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "With the right hand, grasp the cabbage at the middle from the table on a diagonal.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Grasp the cabbage from the table at its middle on a diagonal.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Using the right hand, pick up the cabbage from the table grasping the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "With the right hand, take the cabbage from the table at the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Have the right arm grasp the cabbage from the table by the middle.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Take the cabbage from the table on a diagonal.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 2484, + "end_idx": 2733 + }, + { + "text": "Put the cabbage to the bottom right side of the blue soda can with the right hand facing forwards by the tip.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Using the right hand, place the cabbage at the bottom right of the blue soda can with its tip facing forwards.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Have the right hand set the cabbage on the blue soda can's bottom-right side, oriented forward at the tip.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "With the right hand, position the cabbage to the lower right of the blue soda can, tip facing forward.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Place the cabbage at the bottom right of the blue soda can with its tip facing forwards.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Set the cabbage on the lower right side of the blue soda can, with the tip pointed forward.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Position the cabbage to the blue soda can's bottom-right side, keeping the tip facing forwards.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Using the right hand, place the cabbage at the bottom right of the blue soda can.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Have the right hand set the cabbage on the lower right side of the blue soda can.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "With the right hand, position the cabbage to the blue soda can's bottom-right side.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Place the cabbage at the bottom right of the blue soda can.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Set the cabbage on the lower right side of the blue soda can.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Position the cabbage beside the blue soda can on its bottom-right side.", + "start_idx": 2733, + "end_idx": 2841 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Return to the home position.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Move back to home.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Go to the home pose.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Shift to the home position.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Reset to home.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Move into the home configuration.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Head back to the home position.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2841, + "end_idx": 2871 + }, + { + "text": "Resume the home pose.", + "start_idx": 2841, + "end_idx": 2871 + } + ] + }, + "2026-03-16-01-09-25-900000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place", + "total_frames": 3000, + "num_annotations": 311, + "annotations": [ + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the left arm pick the brown stuffed toy off the table using a side grasp on the top at a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table with a side hold at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Take the brown stuffed toy off the table with a side grasp on the top at a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Grasp the brown stuffed toy from the table with a side hold at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table with a side grip.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the left hand, take the brown stuffed toy off the table using a side grasp.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the left arm grasp the brown stuffed toy from the table with a side hold.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the left hand, take the brown stuffed toy off the table at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Grasp the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Place the brown stuffed toy inside the silver bowl with the left hand facing backwards.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the silver bowl with its front facing backwards.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Have the left arm set the brown stuffed toy into the silver bowl, front facing backward.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "With the left hand, position the brown stuffed toy in the silver bowl so the front faces backwards.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Place the brown stuffed toy inside the silver bowl with its front facing backwards.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Set the brown stuffed toy into the silver bowl, front facing backward.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Position the brown stuffed toy inside the silver bowl so it faces backwards.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the silver bowl.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Have the left arm put the brown stuffed toy into the silver bowl.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "With the left hand, set the brown stuffed toy in the silver bowl.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Put the brown stuffed toy inside the silver bowl.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Using the left hand, place the brown stuffed toy into the silver bowl.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Set the brown stuffed toy in the silver bowl facing backwards.", + "start_idx": 108, + "end_idx": 222 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal approach, holding it at the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally by its middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Take the blue stuffed toy from the table diagonally by the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "With the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Using the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Take the blue stuffed toy from the table diagonally.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Retrieve the blue stuffed toy from the table by the middle.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Place the blue stuffed toy inside the silver bowl with the left hand facing top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the silver bowl with its front facing top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Have the left arm put the blue stuffed toy into the silver bowl, front pointed top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "With the left hand, set the blue stuffed toy in the silver bowl so the front faces top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Place the blue stuffed toy inside the silver bowl.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Put the blue stuffed toy into the silver bowl.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Set the blue stuffed toy in the silver bowl.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the silver bowl.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Have the left arm put the blue stuffed toy into the silver bowl.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "With the left hand, set the blue stuffed toy in the silver bowl.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Place the blue stuffed toy into the silver bowl with its front facing top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Put the blue stuffed toy in the silver bowl with the front pointed top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Set the blue stuffed toy inside the silver bowl so its front faces top left.", + "start_idx": 348, + "end_idx": 444 + }, + { + "text": "Pick up the red marker from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a diagonal lip grasp on the left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Have the left arm take the red marker from the table using a diagonal lip grasp on its left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "With the left hand, grasp the red marker from the table in a diagonal lip hold on the left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Pick up the red marker from the table using a diagonal lip grasp on the left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Take the red marker from the table with a diagonal lip grasp on the left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Grasp the red marker from the table in a diagonal lip hold on the left side.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 444, + "end_idx": 588 + }, + { + "text": "Place the red marker inside the pink bowl with the left hand facing backwards.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Using the left hand, place the red marker in the pink bowl with its tip facing backwards.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Have the left arm put the red marker inside the pink bowl so the tip points backward.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "With the left hand, set the red marker into the pink bowl, tip facing backwards.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Place the red marker inside the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Put the red marker in the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Set the red marker into the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Drop the red marker into the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Using the left hand, place the red marker inside the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Have the left arm put the red marker in the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "With the left hand, set the red marker into the pink bowl.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Place the red marker in the pink bowl with its tip facing backwards.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Put the red marker inside the pink bowl so the tip points backward.", + "start_idx": 588, + "end_idx": 717 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "With the left hand, collect the silver bowl from the table using a left-side lip grasp at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Take the silver bowl from the table with a left-side lip grasp at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "From the table, grasp the silver bowl with a lip hold from the left at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Have the left arm take the silver bowl from the table using a lip grasp.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "With the left hand, collect the silver bowl from the table using a lip hold.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Pick up the silver bowl from the table with the left hand from the left at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Take the silver bowl from the table with the left hand at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "With the left hand, grasp the silver bowl from the table from the left.", + "start_idx": 1407, + "end_idx": 1545 + }, + { + "text": "Dump the stuffed toys to the left of the white coffee cup with the left hand.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Using the left hand, dump the stuffed toys to the left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Have the left arm dump the stuffed toys so they end up left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "With the left hand, empty the stuffed toys onto the area left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Dump the stuffed toys to the left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Empty the stuffed toys to the left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Place the stuffed toys left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "The stuffed toys should be dumped to the left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Deposit the stuffed toys to the left of the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Pour out the stuffed toys beside the white coffee cup.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Using the left hand, dump the stuffed toys.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Have the left arm empty the stuffed toys.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "With the left hand, place the stuffed toys down.", + "start_idx": 1545, + "end_idx": 1593 + }, + { + "text": "Put the silver bowl to the left of the stuffed toys with the left hand.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Have the left arm set the silver bowl down left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "With the left hand, position the silver bowl on the left side of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Place the silver bowl to the left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Set the silver bowl down left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Position the silver bowl on the left side of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Arrange the silver bowl to the left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "The silver bowl goes to the left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Put the silver bowl beside the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Set the silver bowl next to the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Have the silver bowl placed to the left of the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Position the silver bowl beside the stuffed toys.", + "start_idx": 1593, + "end_idx": 1725 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table with a side grip at the bottom diagonally.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table using a diagonal side grasp at the bottom.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "With the left hand, grasp the blue stuffed toy from the table by its bottom in a diagonal side hold.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Pick up the blue stuffed toy from the table with a side grip at the bottom diagonally.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Grasp the blue stuffed toy from the table at the bottom with a diagonal side hold.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Take the blue stuffed toy from the table using a side grasp at the bottom diagonally.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table with a side grip.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table using a side grasp.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table with a side hold.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table diagonally at the bottom.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table from the bottom diagonally.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 1725, + "end_idx": 1833 + }, + { + "text": "Put the blue stuffed toy to the left of the silver bowl with the left hand facing forwards.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the silver bowl with its front facing forward.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the blue stuffed toy left of the silver bowl, front facing forwards.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "With the left hand, position the blue stuffed toy on the silver bowl's left side, facing forward.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Place the blue stuffed toy to the left of the silver bowl.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Set the blue stuffed toy on the left side of the silver bowl.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Position the blue stuffed toy left of the silver bowl.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the silver bowl.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the blue stuffed toy on the silver bowl's left side.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "With the left hand, position the blue stuffed toy left of the silver bowl.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Place the blue stuffed toy to the left of the silver bowl with its front facing forward.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Set the blue stuffed toy left of the silver bowl, front facing forwards.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Position the blue stuffed toy on the left side of the silver bowl, facing forward.", + "start_idx": 1833, + "end_idx": 1941 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table on a diagonal, securing the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Take the brown stuffed toy from the table on a diagonal, holding the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Grab the brown stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table by the middle.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Take the brown stuffed toy from the table with the left hand.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Using the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 1941, + "end_idx": 2067 + }, + { + "text": "Put the brown stuffed toy to the bottom of the silver bowl with the left hand facing forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Using the left hand, place the brown stuffed toy in the bottom of the silver bowl facing forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Have the left arm set the brown stuffed toy at the bottom of the silver bowl with its front facing forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "With the left hand, position the brown stuffed toy in the bottom of the silver bowl so the front faces forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Place the brown stuffed toy in the bottom of the silver bowl facing forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Set the brown stuffed toy at the bottom of the silver bowl with its front facing forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Position the brown stuffed toy in the bottom of the silver bowl so it faces forwards.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Using the left hand, put the brown stuffed toy in the bottom of the silver bowl.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "With the left hand, place the brown stuffed toy at the bottom of the silver bowl.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Have the left arm deposit the brown stuffed toy into the bottom of the silver bowl.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Put the brown stuffed toy in the bottom of the silver bowl.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Set the brown stuffed toy into the silver bowl.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Place the brown stuffed toy in the silver bowl.", + "start_idx": 2067, + "end_idx": 2169 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip at the bottom diagonally.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table with a diagonal side hold at the bottom.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom diagonally.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Take the blue stuffed toy from the table with a side grasp at the bottom diagonally.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal side hold on the bottom.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at the bottom diagonally.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Take the blue stuffed toy from the table with the left hand.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Retrieve the blue stuffed toy from the table at the bottom diagonally.", + "start_idx": 2868, + "end_idx": 2958 + }, + { + "text": "Put the blue stuffed toy to the left of the brown stuffed toy with the left hand.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the blue stuffed toy left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the blue stuffed toy on the left side of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Place the blue stuffed toy to the left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Set the blue stuffed toy left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Position the blue stuffed toy on the left side of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "The blue stuffed toy goes to the left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Arrange the blue stuffed toy left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Move the blue stuffed toy to the brown stuffed toy's left.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Put the blue stuffed toy on the left side of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Have the blue stuffed toy placed left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "The blue stuffed toy should be set to the left of the brown stuffed toy.", + "start_idx": 2958, + "end_idx": 3000 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "With the right hand, take hold of the white coffee cup from the table at a diagonal angle using the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Have the right hand take the white coffee cup from the table by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 717, + "end_idx": 939 + }, + { + "text": "Put the white coffee cup to the right of the silver bowl with handle facing backwards using the right hand right side up.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the silver bowl, right side up, with its handle facing backward.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the silver bowl, keeping it upright and the handle pointed backward.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the silver bowl so it is right side up and the handle faces the back.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Place the white coffee cup to the right of the silver bowl, right side up, with the handle facing backward.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Set the white coffee cup to the right of the silver bowl, upright, with its handle pointed backward.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Position the white coffee cup to the right of the silver bowl, keeping it right side up and the handle facing backward.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the silver bowl.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the silver bowl.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the silver bowl.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Put the white coffee cup to the right of the silver bowl.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Place the white coffee cup to the right of the silver bowl with the right hand.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Set the white coffee cup to the right of the silver bowl, keeping it upright.", + "start_idx": 939, + "end_idx": 1077 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grasp at the right side with a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "With the right hand, pick up the pink bowl from the table using a lip grasp at the right side with a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Using the right arm, take the pink bowl from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Have the right hand grasp the pink bowl from the table by the lip on the right side at a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Pick up the pink bowl from the table using a lip grasp at the right side with a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Take the pink bowl from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "The pink bowl should be picked up from the table by the lip on the right side at a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "With the right hand, pick up the pink bowl from the table using a lip grasp.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Using the right arm, take the pink bowl from the table by the lip.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a lip hold.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "With the right hand, pick up the pink bowl from the table at the right side with a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Using the right arm, take the pink bowl from the table on the right side at a diagonal angle.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 1077, + "end_idx": 1311 + }, + { + "text": "Put the pink bowl to the right of the white coffee cup with the right hand.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Have the right arm set the pink bowl to the right of the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "With the right hand, position the pink bowl on the right side of the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Place the pink bowl to the right of the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Set the pink bowl on the right side of the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Position the pink bowl to the right of the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Put the pink bowl beside the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Set the pink bowl next to the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Place the pink bowl by the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Move the pink bowl beside the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Using the right hand, place the pink bowl beside the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Have the right arm set the pink bowl next to the white coffee cup.", + "start_idx": 1311, + "end_idx": 1407 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Have the right arm take hold of the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand by the handle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Take the white coffee cup from the table by the handle.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 2169, + "end_idx": 2337 + }, + { + "text": "Put the white coffee cup to the right of the silver bowl with handle facing backwards with the right hand right side up.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the silver bowl, with its handle facing backwards and the cup right side up.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Have the right arm set the white coffee cup to the silver bowl's right, keeping the handle pointed backward and the cup upright.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "With the right hand, position the white coffee cup on the right side of the silver bowl, handle facing back and right side up.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Place the white coffee cup to the right of the silver bowl, with its handle facing backwards and the cup right side up.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Set the white coffee cup on the right side of the silver bowl, keeping the handle facing backward and the cup upright.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Position the white coffee cup to the silver bowl's right, with the handle pointed backward and right side up.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the silver bowl.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Set the white coffee cup on the right side of the silver bowl with the right hand.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Have the right arm place the white coffee cup to the silver bowl's right.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Put the white coffee cup to the right of the silver bowl.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Place the white coffee cup on the right side of the silver bowl.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Set the white coffee cup to the silver bowl's right.", + "start_idx": 2337, + "end_idx": 2511 + }, + { + "text": "Pick up the pink bow from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Using the right hand, pick up the pink bow from the table with a diagonal lip grasp on the right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Have the right arm take the pink bow from the table using a diagonal lip grasp on its right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "With the right hand, grasp the pink bow from the table in a diagonal lip grip on the right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Pick up the pink bow from the table using a diagonal lip grasp on the right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Take the pink bow from the table with a diagonal lip grip on the right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Grasp the pink bow from the table on the right side using a diagonal lip grasp.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "With the right hand, pick up the pink bow from the table.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Use the right hand to take the pink bow from the table.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Have the right arm grasp the pink bow from the table.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Using the right hand, pick up the pink bow from the table on the right side.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Pick up the pink bow from the table with the right hand.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Take the pink bow from the table.", + "start_idx": 2511, + "end_idx": 2736 + }, + { + "text": "Put the pink bowl to the right of the white coffee cup with the right hand.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Have the right arm set the pink bowl to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "With the right hand, position the pink bowl on the right side of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Place the pink bowl to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Set the pink bowl on the right side of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "The pink bowl goes to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Move the pink bowl next to the white coffee cup on its right side.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Arrange the pink bowl to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Position the pink bowl to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Put the pink bowl on the right side of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "The pink bowl should be placed to the right of the white coffee cup.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Set the pink bowl beside the white coffee cup on the right.", + "start_idx": 2736, + "end_idx": 2847 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "With the right hand, return to the home position.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Using the right hand, go to the home position.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Return to the home position.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Move back to home.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Go to the home position.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Head to home.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Resume the home position.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Move to home.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Return home.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Go back to the home position.", + "start_idx": 2847, + "end_idx": 2868 + }, + { + "text": "Back to home.", + "start_idx": 2847, + "end_idx": 2868 + } + ] + }, + "2026-03-16-01-17-36-624000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the yellow stuffed toy from the table with the right hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, collect the yellow stuffed toy from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the right arm pick the yellow stuffed toy up from the table using a side grip on the bottom-left area at a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, take the yellow stuffed toy from the table in a side hold at the bottom left from a diagonal approach.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the yellow stuffed toy from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the yellow stuffed toy from the table with a side grasp on the bottom-left area from a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "The yellow stuffed toy from the table should be picked up using a side hold at the bottom left from a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, take the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the right arm collect the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at the bottom left from a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using a side grip, pick up the yellow stuffed toy from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the yellow stuffed toy into the pink plate with the right hand facing left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Using the right hand, place the yellow stuffed toy into the pink plate with its front facing left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Have the right arm put the yellow stuffed toy in the pink plate, front pointing left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "With the right hand, set the yellow stuffed toy into the pink plate so the front faces left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Place the yellow stuffed toy into the pink plate with the front facing left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Set the yellow stuffed toy in the pink plate so its front points left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Put the yellow stuffed toy into the pink plate, front facing left.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Using the right hand, place the yellow stuffed toy into the pink plate.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Have the right arm set the yellow stuffed toy in the pink plate.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "With the right hand, put the yellow stuffed toy into the pink plate.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Put the yellow stuffed toy into the pink plate.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Set the yellow stuffed toy in the pink plate.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Have the yellow stuffed toy placed into the pink plate.", + "start_idx": 132, + "end_idx": 240 + }, + { + "text": "Pick up the yellow stuffed toy from the pink plate with the right hand using a side grip at the top diagonally.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the pink plate with a side grip at the top diagonally.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Have the right hand grasp the yellow stuffed toy from the pink plate with a side hold on the top at a diagonal angle.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the pink plate using a side grasp on its top diagonally.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Pick up the yellow stuffed toy from the pink plate using a side grip at the top diagonally.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Take the yellow stuffed toy from the pink plate with a side grasp on the top diagonally.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Retrieve the yellow stuffed toy from the pink plate in a diagonal top-side grasp.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the pink plate.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Have the right hand take the yellow stuffed toy from the pink plate.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "With the right hand, grasp the yellow stuffed toy from the pink plate.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Pick up the yellow stuffed toy from the pink plate with the right hand at the top diagonally.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Using a side grip, take the yellow stuffed toy from the pink plate with the right hand.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Get the yellow stuffed toy from the pink plate.", + "start_idx": 1125, + "end_idx": 1287 + }, + { + "text": "Put the yellow stuffed toy to the bottom of the white plate with the right hand facing top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Using the right hand, place the yellow stuffed toy at the bottom of the white plate with its front facing the top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Have the right arm set the yellow stuffed toy in the bottom of the white plate, front oriented toward the top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "With the right hand, position the yellow stuffed toy at the bottom of the white plate so its front points top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Place the yellow stuffed toy at the bottom of the white plate with its front facing the top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Set the yellow stuffed toy in the bottom of the white plate, front toward the top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Position the yellow stuffed toy at the bottom of the white plate so the front points to the top right.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Using the right hand, put the yellow stuffed toy at the bottom of the white plate.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "With the right hand, place the yellow stuffed toy in the bottom of the white plate.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Have the right arm set the yellow stuffed toy at the bottom of the white plate.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Put the yellow stuffed toy at the bottom of the white plate.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Place the yellow stuffed toy in the bottom of the white plate.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Have the yellow stuffed toy set in the bottom of the white plate.", + "start_idx": 1287, + "end_idx": 1368 + }, + { + "text": "Pick up the croissant from the white plate with the right hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Using the right hand, take the croissant from the white plate with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Have the right arm pick the croissant off the white plate with a side grip on the bottom-left area at a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "With the right hand, retrieve the croissant from the white plate using a side hold on the bottom left from a diagonal approach.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Pick the croissant up from the white plate using a side grip at the bottom left from a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "From the white plate, collect the croissant with a side grasp on the bottom-left portion at a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Take the croissant off the white plate with a side hold at the bottom left from a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Using the right hand, pick up the croissant from the white plate.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Have the right arm take the croissant from the white plate.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "With the right hand, remove the croissant from the white plate.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Pick up the croissant from the white plate with the right hand at the bottom left from a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Using the right hand, grasp the croissant from the white plate with a side grip.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "From the white plate, take the croissant at the bottom left from a diagonal angle.", + "start_idx": 1368, + "end_idx": 1575 + }, + { + "text": "Place the croissant to the right of the pink plate with the right hand.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Using the right hand, set the croissant to the right of the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Have the right arm place the croissant on the right side of the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "With the right hand, position the croissant to the pink plate's right.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Place the croissant to the right of the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Set the croissant on the right side of the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Position the croissant to the pink plate's right.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "The croissant goes to the right of the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Put the croissant beside the pink plate on its right side.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Move the croissant to the right of the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Using the right hand, place the croissant beside the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "With the right hand, set the croissant on the pink plate's right side.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Have the right arm position the croissant beside the pink plate.", + "start_idx": 1575, + "end_idx": 1725 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Return to the home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Move back to home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Go to the home pose.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Bring the arm to its home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Reset to the home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Return home.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Move to home.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Go back to the home position.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Reset the arm to home.", + "start_idx": 1725, + "end_idx": 1770 + }, + { + "text": "Pick up the croissant from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Using the left hand, take the croissant from the table with a side grasp at the top diagonally.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Have the left arm pick the croissant up from the table in a diagonal top side hold.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "With the left hand, grasp the croissant from the table using a side grip on the top at a diagonal.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Pick up the croissant from the table using a side grip at the top diagonally.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Take the croissant from the table with a side grasp on the top diagonally.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Grasp the croissant from the table in a diagonal side hold at the top.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Using the left hand, pick up the croissant from the table with a side grip.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "With the left hand, take the croissant from the table using a side grasp.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Have the left arm pick up the croissant from the table.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Pick up the croissant from the table with the left hand at the top diagonally.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Take the croissant from the table diagonally with the left hand.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Grasp the croissant from the table at the top diagonally.", + "start_idx": 240, + "end_idx": 354 + }, + { + "text": "Put the croissant into the white plate with the left hand.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Using the left hand, place the croissant into the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Have the left arm set the croissant in the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "With the left hand, transfer the croissant onto the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Place the croissant into the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Set the croissant in the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Transfer the croissant to the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Move the croissant into the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Put the croissant in the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "The croissant goes into the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Using the left hand, place the croissant in the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Have the left arm put the croissant into the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "With the left hand, set the croissant onto the white plate.", + "start_idx": 354, + "end_idx": 453 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the left from a diagonal angle.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "From a diagonal angle at the left, have the left hand seize the bag of chips from the table with a side grip.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "With the left hand, collect the bag of chips from the table using a side hold on the left from a diagonal approach.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left from a diagonal angle.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "From a diagonal angle at the left, take the bag of chips from the table with a side grasp.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Have the bag of chips taken from the table with a side hold on the left from a diagonal approach.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "With the left hand, take the bag of chips from the table using a side grasp.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Have the left hand collect the bag of chips from the table with a side hold.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Pick up the bag of chips from the table from a diagonal angle.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Using the left hand, take the bag of chips from the table from a diagonal approach.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Have the bag of chips taken from the table.", + "start_idx": 453, + "end_idx": 579 + }, + { + "text": "Put the bag of chips to the bottom of the pink mug with the left hand facing top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Using the left hand, place the bag of chips in the bottom of the pink mug with its front facing the top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Have the left arm put the bag of chips into the bottom of the pink mug, front oriented toward the top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "With the left hand, deposit the bag of chips at the bottom of the pink mug so the front points top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Place the bag of chips in the bottom of the pink mug with its front facing the top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Set the bag of chips into the bottom of the pink mug, front toward the top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Put the bag of chips at the bottom of the pink mug, oriented top right.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Using the left hand, place the bag of chips in the bottom of the pink mug.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "With the left hand, set the bag of chips into the bottom of the pink mug.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Have the left arm put the bag of chips at the bottom of the pink mug.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Put the bag of chips in the bottom of the pink mug.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Place the bag of chips into the pink mug with the left hand.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Set the bag of chips in the pink mug.", + "start_idx": 579, + "end_idx": 714 + }, + { + "text": "Pick up the pink mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Using the left hand, take hold of the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Have the left arm grasp the pink mug from the table by its handle at a diagonal angle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "With the left hand, pick the pink mug up from the table via the handle at a diagonal angle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Pick up the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Grasp the pink mug from the table by the handle at a diagonal angle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Take the pink mug from the table using the handle at a diagonal angle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "With the left hand, pick up the pink mug from the table by the handle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Using the left hand, take the pink mug from the table.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Have the left arm grasp the pink mug from the table.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Get the pink mug from the table with the left hand.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Take the pink mug from the table by the handle.", + "start_idx": 714, + "end_idx": 930 + }, + { + "text": "Put the pink mug to the left of the bag of chips with the left hand right side up front.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Using the left hand, place the pink mug to the left of the bag of chips, right side up with its front facing forward.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Have the left arm set the pink mug to the left of the bag of chips in an upright position, front forward.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "With the left hand, position the pink mug to the left of the bag of chips so it stays right side up and front-facing.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Place the pink mug to the left of the bag of chips, right side up with its front facing forward.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Set the pink mug to the left of the bag of chips in an upright position, front forward.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Position the pink mug to the left of the bag of chips so it remains right side up and front-facing.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Using the left hand, place the pink mug to the left of the bag of chips.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Have the left arm set the pink mug to the left of the bag of chips.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "With the left hand, position the pink mug to the left of the bag of chips.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Put the pink mug to the left of the bag of chips.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Set the pink mug to the left of the bag of chips.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Position the pink mug to the left of the bag of chips.", + "start_idx": 930, + "end_idx": 1125 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "With the left hand, grasp the middle of the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Grasp the middle of the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "With the left hand, grasp the yellow stuffed toy from the table.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Take the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Grasp the yellow stuffed toy from the table at the middle.", + "start_idx": 1770, + "end_idx": 1872 + }, + { + "text": "Put the yellow stuffed toy into the pink mug with the left hand.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Using the left hand, place the yellow stuffed toy into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Have the left arm put the yellow stuffed toy in the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "With the left hand, deposit the yellow stuffed toy into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Place the yellow stuffed toy into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Put the yellow stuffed toy in the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "The yellow stuffed toy goes into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Insert the yellow stuffed toy into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Set the yellow stuffed toy in the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Move the yellow stuffed toy into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Transfer the yellow stuffed toy to the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Get the yellow stuffed toy into the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Position the yellow stuffed toy inside the pink mug.", + "start_idx": 1872, + "end_idx": 1998 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Have the left arm pick the bag of chips up from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "With the left hand, grasp the bag of chips from the table using a side hold on the left in a diagonal orientation.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Grasp the bag of chips from the table with a side hold at the left in a diagonal orientation.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "With the left hand, take the bag of chips from the table using a side grasp.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Have the left arm grasp the bag of chips from the table with a side hold.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table at the left in a diagonal angle.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Take the bag of chips from the table with the left hand.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Pick up the bag of chips from the table.", + "start_idx": 1997, + "end_idx": 2118 + }, + { + "text": "Put the bag of chips on the bottom left of the pink mug with the left hand facing bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Using the left hand, place the bag of chips at the bottom left of the pink mug, facing bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Have the left arm set the bag of chips on the mug's bottom-left side with its front facing bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "With the left hand, position the bag of chips at the bottom left of the pink mug so the front faces bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Place the bag of chips on the bottom left of the pink mug, facing bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Set the bag of chips at the pink mug's bottom-left side with its front facing bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Position the bag of chips on the bottom left of the pink mug, oriented bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Using the left hand, put the bag of chips on the bottom left of the pink mug.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Have the left arm place the bag of chips by the pink mug's bottom-left side.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "With the left hand, set the bag of chips at the bottom left of the pink mug.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Place the bag of chips on the bottom left of the pink mug.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Set the bag of chips beside the pink mug on its bottom-left side.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Position the bag of chips at the pink mug's bottom left.", + "start_idx": 2118, + "end_idx": 2232 + }, + { + "text": "Pick up the white plate from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Using the left hand, take the white plate from the table with a side grasp at the bottom left on a diagonal angle.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Have the left arm pick up the white plate from the table with a side hold at the bottom left, diagonally oriented.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "With the left hand, grasp the white plate from the table using a side grip on the bottom-left edge at a diagonal angle.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Pick up the white plate from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Take the white plate from the table with a side hold at the bottom left on a diagonal.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Grasp the white plate from the table using a side grasp at the bottom-left area at a diagonal angle.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a side grip.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Have the left arm take the white plate from the table using a side hold.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "With the left hand, grasp the white plate from the table using a side grasp.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Using the left hand, pick up the white plate from the table at the bottom left with a diagonal angle.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Have the left arm take the white plate from the table at the bottom-left area on a diagonal.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 2232, + "end_idx": 2448 + }, + { + "text": "Place the white plate behind the pink mug with the left hand.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Using the left hand, set the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Have the left arm place the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "With the left hand, position the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Place the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Set the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Position the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Put the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Move the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Leave the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Arrange the white plate behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Have the white plate placed behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "The white plate goes behind the pink mug.", + "start_idx": 2448, + "end_idx": 2571 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the top left from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the top left from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Have the left arm pick the bag of chips up from the table using a side hold on the top-left area at a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by the top left using a side grip from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the top left from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the top-left area at a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Grasp the bag of chips from the table at the top left with a side hold from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Have the left arm take the bag of chips from the table.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "With the left hand, grasp the bag of chips from the table.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Pick up the bag of chips from the table from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Take the bag of chips from the table at the top left from a diagonal angle.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Using a side grip, pick up the bag of chips from the table with the left hand.", + "start_idx": 2571, + "end_idx": 2715 + }, + { + "text": "Put the bag of chips to the left of the pink cup with the left hand facing top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the pink cup with its front facing the top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Have the left arm set the bag of chips left of the pink cup, front pointed toward the top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "With the left hand, position the bag of chips to the left of the pink cup so the front faces top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Place the bag of chips to the left of the pink cup with its front facing the top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Set the bag of chips left of the pink cup, with the front oriented toward the top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Position the bag of chips to the left of the pink cup, front facing top right.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the pink cup.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Have the left arm set the bag of chips left of the pink cup.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "With the left hand, position the bag of chips to the left of the pink cup.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Put the bag of chips to the left of the pink cup.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Place the bag of chips left of the pink cup.", + "start_idx": 2715, + "end_idx": 2787 + }, + { + "text": "Set the bag of chips to the left of the pink cup.", + "start_idx": 2715, + "end_idx": 2787 + } + ] + }, + "2026-03-16-01-55-05-813000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the green cabbage from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Using the left hand, take the green cabbage from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Have the left arm grasp the green cabbage from the table diagonally at its middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "With the left hand, retrieve the green cabbage from the table, approaching diagonally at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Pick up the green cabbage from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Take the green cabbage from the table diagonally from the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Retrieve the green cabbage from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Using the left hand, pick up the green cabbage from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Have the left arm take the green cabbage from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "With the left hand, grasp the green cabbage from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Pick up the green cabbage from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Get the green cabbage from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Take the green cabbage from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Put the green cabbage to the left of the canned goods with the left hand facing forwards.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Using the left hand, place the green cabbage to the left of the canned goods with its front facing forward.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Have the left arm set the green cabbage left of the canned goods, oriented so the front faces forwards.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "With the left hand, position the green cabbage to the left of the canned goods, front facing forward.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Place the green cabbage to the left of the canned goods with its front facing forward.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Set the green cabbage left of the canned goods, with the front facing forwards.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Position the green cabbage to the left of the canned goods so it faces forward.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Using the left hand, put the green cabbage to the left of the canned goods.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Have the left arm place the green cabbage left of the canned goods.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "With the left hand, set the green cabbage to the left of the canned goods.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Put the green cabbage to the left of the canned goods.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Place the green cabbage left of the canned goods.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Position the green cabbage to the left of the canned goods.", + "start_idx": 102, + "end_idx": 258 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Using the left hand, take the canned goods from the table at a diagonal angle from the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Have the left arm grasp the canned goods from the table diagonally at the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "With the left hand, seize the canned goods from the table using a diagonal approach at the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle from the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Take the canned goods from the table diagonally from the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Grasp the canned goods from the table at a diagonal angle from the middle.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Grasp the canned goods from the table.", + "start_idx": 591, + "end_idx": 741 + }, + { + "text": "Put the canned goods to the left of the green cabbage with the left hand right side up with the front as the reference point.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Using the left hand, place the canned goods to the left of the green cabbage right side up, with the front as the reference point.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Have the left arm set the canned goods to the left of the green cabbage, keeping them right side up relative to the front.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "With the left hand, position the canned goods to the left of the green cabbage so they are right side up using the front as the reference point.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Place the canned goods to the left of the green cabbage right side up, with the front as the reference point.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Set the canned goods to the left of the green cabbage, keeping them right side up relative to the front.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Position the canned goods to the left of the green cabbage so the front serves as the reference point and they remain right side up.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Using the left hand, put the canned goods to the left of the green cabbage.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Have the left arm place the canned goods to the left of the green cabbage.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "With the left hand, set the canned goods to the left of the green cabbage.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Put the canned goods to the left of the green cabbage.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Place the canned goods to the left of the green cabbage.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Set the canned goods to the left of the green cabbage.", + "start_idx": 741, + "end_idx": 840 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "With the left hand, grasp the middle of the red bell pepper on the table and retrieve it at a diagonal angle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Take the red bell pepper from the table with a diagonal pickup at the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Grasp the middle of the red bell pepper from the table at a diagonal angle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table, grasping the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "With the left hand, take the red bell pepper from the table at a diagonal angle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Have the left arm pick up the red bell pepper from the table.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Using the left hand, retrieve the red bell pepper from the table.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Take the red bell pepper from the table at the middle.", + "start_idx": 1137, + "end_idx": 1290 + }, + { + "text": "Put the red bell pepper in front of the canned goods with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the canned goods right side up, with the front as the orientation reference point.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Have the left arm set the red bell pepper in front of the canned goods, keeping it right side up relative to the front.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "With the left hand, position the red bell pepper in front of the canned goods right side up, using the front as the orientation reference point.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Place the red bell pepper in front of the canned goods right side up, with the front as the orientation reference point.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Set the red bell pepper in front of the canned goods, keeping it right side up relative to the front.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Position the red bell pepper in front of the canned goods right side up, using the front as the orientation reference point.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Using the left hand, put the red bell pepper in front of the canned goods.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Have the left arm place the red bell pepper in front of the canned goods.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "With the left hand, set the red bell pepper in front of the canned goods.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Place the red bell pepper in front of the canned goods.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Put the red bell pepper in front of the canned goods.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Set the red bell pepper in front of the canned goods.", + "start_idx": 1290, + "end_idx": 1386 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup by the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally, holding the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table by the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "From the table, retrieve the pink stuffed toy by the middle.", + "start_idx": 2012, + "end_idx": 2109 + }, + { + "text": "Put the pink stuffed toy to the left side of the white coffee cup with the left hand facing forwards.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white coffee cup with its front facing forwards.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Have the left arm set the pink stuffed toy on the left side of the white coffee cup, facing forwards.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "With the left hand, position the pink stuffed toy to the white coffee cup's left, front facing forward.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Place the pink stuffed toy to the left of the white coffee cup with its front facing forwards.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Set the pink stuffed toy on the left side of the white coffee cup, facing forwards.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Position the pink stuffed toy to the white coffee cup's left with the front facing forward.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white coffee cup.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "With the left hand, set the pink stuffed toy on the left side of the white coffee cup.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Have the left arm position the pink stuffed toy to the white coffee cup's left.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Put the pink stuffed toy to the left of the white coffee cup.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Using the left hand, place the pink stuffed toy with its front facing forwards.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Set the pink stuffed toy beside the white coffee cup.", + "start_idx": 2112, + "end_idx": 2226 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Using the left hand, take the canned goods from the table at a diagonal angle, grasping the middle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a diagonal approach at the middle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "With the left hand, collect the canned goods from the table by gripping the middle at a diagonal angle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle, grasping the middle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Take the canned goods from the table with a diagonal approach, holding the middle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "From the table, retrieve the canned goods at a diagonal angle by grasping the middle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "With the left hand, retrieve the canned goods from the table.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Using the left hand, get the canned goods from the table.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Take the canned goods from the table at a diagonal angle.", + "start_idx": 2226, + "end_idx": 2409 + }, + { + "text": "Put the canned goods behind the pink stuffed toy with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Using the left hand, place the canned goods behind the pink stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Have the left arm set the canned goods behind the pink stuffed toy, keeping them right side up relative to the front.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "With the left hand, position the canned goods behind the pink stuffed toy in a right-side-up orientation using the front as the reference point.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Place the canned goods behind the pink stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Set the canned goods behind the pink stuffed toy, keeping them right side up relative to the front.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Position the canned goods behind the pink stuffed toy in a right-side-up orientation with the front as the reference.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Using the left hand, put the canned goods behind the pink stuffed toy.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "With the left hand, set the canned goods behind the pink stuffed toy.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Have the left arm place the canned goods behind the pink stuffed toy.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Put the canned goods behind the pink stuffed toy.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Arrange the canned goods behind the pink stuffed toy.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Using the left hand, position the canned goods behind the pink stuffed toy.", + "start_idx": 2409, + "end_idx": 2529 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal approach at its middle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "With the left hand, retrieve the red bell pepper from the table by grasping its middle at a diagonal angle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the middle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Retrieve the red bell pepper from the table with a diagonal approach, holding the middle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Take the red bell pepper from the table by grasping the middle at a diagonal angle.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "With the left hand, retrieve the red bell pepper from the table.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Get the red bell pepper from the table.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Take the red bell pepper from the table.", + "start_idx": 2529, + "end_idx": 2673 + }, + { + "text": "Put the red bell pepper behind the white coffee cup with the left hand facing left with the front as the reference point.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Using the left hand, place the red bell pepper behind the white coffee cup with its front facing left.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Have the left arm set the red bell pepper behind the white coffee cup, front pointed to the left.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "With the left hand, position the red bell pepper behind the white coffee cup so the front faces left.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Place the red bell pepper behind the white coffee cup with its front facing left.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Set the red bell pepper behind the white coffee cup with the front pointed left.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Position the red bell pepper behind the white coffee cup so its front faces left.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Using the left hand, put the red bell pepper behind the white coffee cup.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "With the left hand, place the red bell pepper behind the white coffee cup.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Have the left arm position the red bell pepper behind the white coffee cup.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Put the red bell pepper behind the white coffee cup.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Set the red bell pepper behind the white coffee cup.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Position the red bell pepper behind the white coffee cup.", + "start_idx": 2673, + "end_idx": 2823 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip at the top diagonally.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Have the left arm grasp the pink stuffed toy from the table from the top with a diagonal side hold.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "With the left hand, seize the pink stuffed toy from the table using a side grasp at the top on a diagonal.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip at the top diagonally.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Take the pink stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Grab the pink stuffed toy from the table from the top with a diagonal side hold.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table using a side grip.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grasp.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Have the left arm grab the pink stuffed toy from the table.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Take the pink stuffed toy from the table diagonally from the top.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Grab the pink stuffed toy from the table.", + "start_idx": 2823, + "end_idx": 2955 + }, + { + "text": "Put the pink stuffed toy to the left of the green cabbage with the left hand.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the pink stuffed toy down to the left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the pink stuffed toy on the left side of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Place the pink stuffed toy to the left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Set the pink stuffed toy down to the left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Position the pink stuffed toy on the left side of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "The pink stuffed toy goes to the left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Put the pink stuffed toy beside the green cabbage on its left side.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Arrange the pink stuffed toy to the green cabbage's left.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Set the pink stuffed toy left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Place the pink stuffed toy on the left side of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Have the pink stuffed toy placed to the left of the green cabbage.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "With the right arm, grasp the middle of the corn from the table and pick it up diagonally.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Take the corn from the table diagonally while holding the middle.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Grasp the middle of the corn from the table and pick it up at a diagonal angle.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "With the right arm, grasp the corn from the table and pick it up.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Take the corn from the table.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Grasp the corn from the table and pick it up.", + "start_idx": 258, + "end_idx": 468 + }, + { + "text": "Put the corn to the right of the blue plate with the right hand facing backwards with the tip as the reference point.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Using the right hand, place the corn to the right of the blue plate with its tip facing backward.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Have the right arm set the corn to the right of the blue plate, oriented backward relative to its tip.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "With the right hand, position the corn to the right of the blue plate so the tip points backward.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Place the corn to the right of the blue plate with its tip facing backward.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Set the corn to the right of the blue plate, with the tip oriented backward.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Position the corn to the right of the blue plate so its tip faces backward.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Using the right hand, put the corn to the right of the blue plate.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "With the right hand, place the corn to the right of the blue plate.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Have the right arm position the corn to the right of the blue plate.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Place the corn to the right of the blue plate.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Set the corn to the right of the blue plate.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Using the right hand, set the corn to the right of the blue plate.", + "start_idx": 468, + "end_idx": 591 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "With the right hand, collect the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Grasp the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "From the table, take the white coffee cup with the right hand by the handle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Have the right arm collect the white coffee cup from the table by the handle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Take the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 840, + "end_idx": 1023 + }, + { + "text": "Place the white coffee cup on top of the blue plate with the right hand right side up with the front facing backwards.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Using the right hand, set the white coffee cup on top of the blue plate right side up with the front facing backward.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Have the right arm place the white coffee cup onto the blue plate, upright and with its front toward the back.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "With the right hand, position the white coffee cup on the blue plate right side up, front facing backwards.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Place the white coffee cup on top of the blue plate right side up with the front facing backwards.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Set the white coffee cup onto the blue plate upright with its front toward the back.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Position the white coffee cup on the blue plate with the front facing backwards.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Using the right hand, place the white coffee cup on top of the blue plate.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Have the right arm set the white coffee cup onto the blue plate.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "With the right hand, position the white coffee cup on the blue plate.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Place the white coffee cup on top of the blue plate.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Set the white coffee cup onto the blue plate.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Position the white coffee cup on the blue plate.", + "start_idx": 1023, + "end_idx": 1137 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Have the right hand grasp the blue marker from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "With the right hand, seize the blue marker from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "From the table, grasp the blue marker with a side hold at the top from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Take the blue marker from the table by the top with a side grip from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Using a side grip at the top, pick up the blue marker from the table.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Grab the blue marker from the table with a side grasp at the top.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "From the table, take the blue marker by the top with a side hold.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Pick up the blue marker from the table with the right hand from a diagonal angle.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "With the right hand, grasp the blue marker from the table using a side grip at the top.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Have the right hand take the blue marker from the table.", + "start_idx": 1386, + "end_idx": 1683 + }, + { + "text": "Put the blue marker between the white coffee cup and the blue plate with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Using the right hand, place the blue marker between the white coffee cup and the blue plate, with its tip facing backward.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Have the right arm set the blue marker between the white coffee cup and the blue plate, keeping the tip pointed backward.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "With the right hand, position the blue marker between the white coffee cup and the blue plate so the tip faces backward.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Place the blue marker between the white coffee cup and the blue plate.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Set the blue marker between the white coffee cup and the blue plate.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Position the blue marker between the white coffee cup and the blue plate.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Using the right hand, put the blue marker between the white coffee cup and the blue plate.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Have the right arm place the blue marker between the white coffee cup and the blue plate.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Put the blue marker between the white coffee cup and the blue plate with its tip facing backward.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Set the blue marker between the white coffee cup and the blue plate, tip facing backward.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Using the right hand, place the blue marker between the white coffee cup and the blue plate.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Position the blue marker between the white coffee cup and the blue plate with the tip pointed backward.", + "start_idx": 1683, + "end_idx": 1941 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "With the right arm, go to the home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Return to the home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Move back to home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Go to the home pose.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Bring the arm back to home.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Reset to the home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Return home.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Move to the home position.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Go back to home.", + "start_idx": 1941, + "end_idx": 2010 + }, + { + "text": "Head to the home pose.", + "start_idx": 1941, + "end_idx": 2010 + } + ] + }, + "2026-03-16-02-00-05-454000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the pink stuffed toy from the table with the right hand at the middle using a diagonal angle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table at the middle with a diagonal angle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Have the right arm grasp the pink stuffed toy from the table at its middle on a diagonal angle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "With the right hand, seize the pink stuffed toy from the table at the middle in a diagonal orientation.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Pick up the pink stuffed toy from the table at the middle using a diagonal angle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Take the pink stuffed toy from the table at its middle with a diagonal angle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Grasp the pink stuffed toy from the table at the middle on a diagonal angle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table at the middle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table at its middle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "With the right hand, grasp the pink stuffed toy from the table.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Take the pink stuffed toy from the table with the right hand.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Grasp the pink stuffed toy from the table at the middle.", + "start_idx": 0, + "end_idx": 171 + }, + { + "text": "Put the pink stuffed toy to the right of the coffee cup with the right hand facing top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the right of the coffee cup with its front facing the top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Have the right arm set the pink stuffed toy to the right of the coffee cup, front pointed toward the top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "With the right hand, position the pink stuffed toy to the right of the coffee cup so its front faces the top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Place the pink stuffed toy to the right of the coffee cup with its front facing the top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Set the pink stuffed toy to the right of the coffee cup, front toward the top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Position the pink stuffed toy to the right of the coffee cup so the front points top right.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Using the right hand, put the pink stuffed toy to the right of the coffee cup.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "With the right hand, place the pink stuffed toy to the right of the coffee cup.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Have the right arm position the pink stuffed toy to the right of the coffee cup.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Put the pink stuffed toy to the right of the coffee cup.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Set the pink stuffed toy to the right of the coffee cup.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Position the pink stuffed toy to the right of the coffee cup.", + "start_idx": 171, + "end_idx": 384 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Have the right arm pick the canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Take the canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Grasp the canned goods from the table at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "From the table, collect the canned goods with a side grip at the top from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "With the right hand, grasp the canned goods off the table.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 675, + "end_idx": 840 + }, + { + "text": "Put the canned goods behind the blue tray with the right hand.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Using the right hand, place the canned goods behind the blue tray upright with the front facing forward.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Have the right arm set the canned goods behind the blue tray, keeping them right side up and front-facing.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "With the right hand, position the canned goods behind the blue tray in an upright, front-forward orientation.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Place the canned goods behind the blue tray upright with the front facing forward.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Set the canned goods behind the blue tray, keeping them right side up and front-facing.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Position the canned goods behind the blue tray in an upright, front-forward orientation.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Using the right hand, put the canned goods behind the blue tray.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "With the right hand, place the canned goods behind the blue tray.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Have the right arm set the canned goods behind the blue tray.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Put the canned goods behind the blue tray.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Using the right hand, arrange the canned goods behind the blue tray.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Behind the blue tray, place the canned goods.", + "start_idx": 840, + "end_idx": 942 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach at the middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally, holding its middle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Have the right arm pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 942, + "end_idx": 1098 + }, + { + "text": "Put the pink stuffed toy in between the white mug and the blue tray with the right hand facing forwards.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Using the right hand, place the pink stuffed toy between the white mug and the blue tray facing forwards.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Have the right arm set the pink stuffed toy in between the white mug and the blue tray with its front facing forward.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "With the right hand, position the pink stuffed toy between the white mug and the blue tray so it faces forwards.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Place the pink stuffed toy between the white mug and the blue tray facing forwards.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Set the pink stuffed toy in between the white mug and the blue tray with its front forward.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Position the pink stuffed toy between the white mug and the blue tray so it faces forward.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Using the right hand, place the pink stuffed toy between the white mug and the blue tray.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "With the right hand, set the pink stuffed toy in between the white mug and the blue tray.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Have the right arm position the pink stuffed toy between the white mug and the blue tray.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Put the pink stuffed toy between the white mug and the blue tray.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Place the pink stuffed toy in between the white mug and the blue tray.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Set the pink stuffed toy between the white mug and the blue tray.", + "start_idx": 1098, + "end_idx": 1245 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally, grasping its middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Retrieve the corn from the table diagonally by the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Take the corn from the table with the right hand.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Retrieve the corn from the table by grasping the middle.", + "start_idx": 2010, + "end_idx": 2172 + }, + { + "text": "Put the corn in between the white mug and the blue tray with the right hand facing backwards from the front.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Using the right hand, place the corn between the white mug and the blue tray, facing backward from the front.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Have the right arm set the corn in between the white mug and the blue tray with its front facing backward.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "With the right hand, position the corn between the white mug and the blue tray so the front faces backward.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Place the corn between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Set the corn in between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Position the corn between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Arrange the corn in between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Using the right hand, put the corn between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Have the right arm place the corn in between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "With the right hand, set the corn between the white mug and the blue tray.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Put the corn between the white mug and the blue tray facing backward from the front.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Position the corn in between the white mug and the blue tray with its front facing backward.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Using the right hand, pick up the canned goods from the table at a diagonal angle, grasping the middle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Have the right hand take the canned goods from the table with a diagonal approach at the middle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "With the right hand, collect the canned goods from the table by grasping the middle at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle, grasping the middle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Take the canned goods from the table with a diagonal approach, holding the middle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Grasp the canned goods from the table at the middle with a diagonal pickup.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Pick up the canned goods from the table with the right hand.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Use the right hand to take the canned goods from the table.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Have the right hand collect the canned goods from the table.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Take the canned goods from the table at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Using the right hand, pick up the canned goods from the table at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2442 + }, + { + "text": "Put the canned goods to the right of the blue tray with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Using the right hand, place the canned goods to the right of the blue tray, right side up with the front as the reference point.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Have the right arm set the canned goods to the right of the blue tray, keeping them right side up relative to the front.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "With your right hand, position the canned goods to the right of the blue tray so the front serves as the orientation reference and they remain right side up.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Place the canned goods to the right of the blue tray, keeping them right side up with the front as the reference point.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Set the canned goods to the right of the blue tray, right side up relative to the front.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Position the canned goods to the right of the blue tray with the front as the orientation reference, right side up.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Using the right hand, put the canned goods to the right of the blue tray.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Have the right arm place the canned goods to the right of the blue tray.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "With the right hand, set the canned goods to the right of the blue tray.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Place the canned goods to the right of the blue tray.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Set the canned goods to the right of the blue tray.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Position the canned goods to the right of the blue tray.", + "start_idx": 2442, + "end_idx": 2559 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Bring the right hand to its home pose.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Move back to the home position.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Reposition to home.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Come back to home.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Resume the home position.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Settle at the home position.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Be at the home position.", + "start_idx": 2970, + "end_idx": 3000 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Have the left hand take the canned goods from the table using a side grasp at the top with a diagonal approach.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top using a side hold and a diagonal pick angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Grasp the canned goods from the table by the top using a side hold at a diagonal angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Have the left hand take the canned goods from the table with a side grasp at the top.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Pick up the canned goods from the table with the left hand at the top and with a diagonal pick angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Take the canned goods from the table with the left hand at a diagonal angle.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Grasp the canned goods from the table by the top.", + "start_idx": 381, + "end_idx": 516 + }, + { + "text": "Put the canned goods in between the white mug and the blue tray with the left hand.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Using the left hand, place the canned goods between the white mug and the blue tray upright.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Have the left arm set the canned goods down between the white mug and the blue tray, right side up.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "With the left hand, position the canned goods between the white mug and the blue tray so the front stays upright.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Place the canned goods between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Set the canned goods down between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Position the canned goods in the space between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Arrange the canned goods between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Using the left hand, put the canned goods between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Have the left arm place the canned goods in between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "With the left hand, set the canned goods between the white mug and the blue tray.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Put the canned goods between the white mug and the blue tray upright.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Position the canned goods between the white mug and the blue tray, right side up.", + "start_idx": 516, + "end_idx": 675 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach, gripping the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Take the cabbage from the table on a diagonal path, holding the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup at the middle.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Remove the cabbage from the table.", + "start_idx": 1245, + "end_idx": 1383 + }, + { + "text": "Put the cabbage behind the white mug with the left hand facing forwards from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Using the left hand, place the cabbage behind the white mug with it facing forwards from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Have the left arm set the cabbage behind the white mug, oriented forwards from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "With the left hand, position the cabbage behind the white mug so it faces forward from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Place the cabbage behind the white mug facing forwards from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Set the cabbage behind the white mug with it facing forward from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Position the cabbage behind the white mug so it faces forwards from the front.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Using the left hand, put the cabbage behind the white mug.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Have the left arm place the cabbage behind the white mug.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "With the left hand, set the cabbage behind the white mug.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Put the cabbage behind the white mug.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Position the cabbage behind the white mug.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Set the cabbage behind the white mug.", + "start_idx": 1383, + "end_idx": 1515 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Take the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Using the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Take the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 1515, + "end_idx": 1653 + }, + { + "text": "Put the pink stuffed toy to the left of the white mug with the left hand facing forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white mug with it facing forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the white mug, oriented forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "With the left hand, position the pink stuffed toy left of the white mug so it faces forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Place the pink stuffed toy to the left of the white mug with it facing forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Set the pink stuffed toy left of the white mug, facing forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Position the pink stuffed toy to the left of the white mug so it faces forwards.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white mug.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Have the left arm set the pink stuffed toy left of the white mug.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "With the left hand, position the pink stuffed toy to the left of the white mug.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Place the pink stuffed toy to the left of the white mug.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Set the pink stuffed toy left of the white mug.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Position the pink stuffed toy to the left of the white mug.", + "start_idx": 1653, + "end_idx": 1776 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Have the left arm grasp the cabbage from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "With the left hand, secure the cabbage from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Grasp the cabbage from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Take the cabbage from the table in a side grasp at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip at the bottom.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Have the left arm take the cabbage from the table using a side grasp on the bottom.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "With the left hand, grasp the cabbage from the table at the bottom using a side hold.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Pick up the cabbage from the table with the left hand from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Using the left hand, take the cabbage from the table at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Grasp the cabbage from the table at the bottom from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2772 + }, + { + "text": "Put the cabbage to the left of the pink stuffed toy with the left hand facing forwards.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Using the left hand, place the cabbage to the left of the pink stuffed toy, facing forwards.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Have the left arm set the cabbage left of the pink stuffed toy with its front facing forward.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "With the left hand, position the cabbage on the pink stuffed toy's left side, front facing forward.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Place the cabbage to the left of the pink stuffed toy, facing forwards.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Set the cabbage on the left side of the pink stuffed toy, facing forwards.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Position the cabbage left of the pink stuffed toy with its front facing forward.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Put the cabbage to the left of the pink stuffed toy.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Arrange the cabbage on the pink stuffed toy's left side.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Set the cabbage beside the pink stuffed toy on its left.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Place the cabbage to the left of the pink stuffed toy.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Using the left hand, place the cabbage to the left of the pink stuffed toy.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Have the left arm set the cabbage on the pink stuffed toy's left side.", + "start_idx": 2772, + "end_idx": 2919 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Return to the home position.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Move back to home.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Go to the home position.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Head back to home.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Shift to the home position.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Resume the home position.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Move into the home pose.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Return home.", + "start_idx": 2919, + "end_idx": 2970 + }, + { + "text": "Go back to the home pose.", + "start_idx": 2919, + "end_idx": 2970 + } + ] + }, + "2026-03-16-03-13-48-270000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 3 of data collection", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the green mug from the table by the handle from the side with the left hand.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, take hold of the green mug by its handle from the side.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm grasp the green mug at the handle from the side.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, seize the green mug by the handle using a side approach.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the green mug by the handle from the side.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the green mug by its handle from the side.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Grasp the green mug at the handle from the side.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the green mug by the handle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, take the green mug by its handle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm grasp the green mug at the handle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the green mug by the handle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the green mug.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the green mug.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Place the green mug on top of the plate with the left hand facing forwards from the front.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Using the left hand, set the green mug on top of the plate with it facing forwards from the front.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Have the left arm place the green mug atop the plate, oriented forwards from the front.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "With the left hand, position the green mug on the plate so it faces forwards from the front.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Place the green mug on top of the plate facing forwards from the front.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Set the green mug atop the plate with the front facing forwards.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Position the green mug on the plate so it faces forwards from the front.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Using the left hand, place the green mug on top of the plate.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "With the left hand, set the green mug atop the plate.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Have the left arm position the green mug on the plate.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Put the green mug on top of the plate.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Set the green mug atop the plate.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Place the green mug on the plate.", + "start_idx": 117, + "end_idx": 243 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Have the left hand take the red marker from the table with a diagonal pickup, holding it at the center.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by gripping the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Take the red marker from the table with a diagonal pickup, holding the center.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Retrieve the red marker from the table diagonally by gripping the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Using the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Have the left hand take the red marker from the table by the middle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Get the red marker from the table at a diagonal angle.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 243, + "end_idx": 369 + }, + { + "text": "Put the red marker to the left side of the plate with the left hand facing backwards with the tip as the reference point.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Using the left hand, place the red marker to the left of the plate with the tip facing backward.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Have the left arm set the red marker on the plate's left side, oriented backward relative to its tip.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "With the left hand, position the red marker to the left side of the plate so the tip points backward.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Place the red marker to the left of the plate with the tip facing backward.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Set the red marker on the left side of the plate, oriented backward from the tip.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Position the red marker to the plate's left side so its tip points backward.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Arrange the red marker to the left of the plate with the tip directed backward.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Using the left hand, place the red marker to the left of the plate.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "With the left hand, set the red marker on the plate's left side.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Have the left arm position the red marker to the left of the plate.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Put the red marker to the left of the plate.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Set the red marker on the left side of the plate.", + "start_idx": 369, + "end_idx": 480 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "With the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Using the left arm, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Have the left hand pick the blue marker off the table at a diagonal angle from the middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Take the blue marker off the table diagonally by its middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal approach at the middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "The blue marker should be picked up from the table, grasping its middle.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "With the left arm, take the blue marker off the table.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Have the left hand retrieve the blue marker from the table.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 705, + "end_idx": 807 + }, + { + "text": "Put the blue marker to the right side of the plate with the left hand facing forwards with the tip as the reference point.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Using the left hand, place the blue marker to the right of the plate with the tip facing forwards.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Have the left arm set the blue marker on the plate's right side, oriented forward by its tip.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "With the left hand, position the blue marker to the right side of the plate, tip facing forwards.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Place the blue marker to the right of the plate with the tip facing forwards.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Set the blue marker on the right side of the plate, with the tip pointing forwards.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Position the blue marker to the plate's right, keeping the tip facing forwards.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Move the blue marker to the right side of the plate.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Put the blue marker on the plate's right side.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Set the blue marker to the right of the plate.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Using the left hand, place the blue marker to the right of the plate.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "With the left hand, set the blue marker on the plate's right side.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Have the left arm move the blue marker to the right of the plate.", + "start_idx": 807, + "end_idx": 1008 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "With the left hand, collect the blue marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Take the blue marker from the table with a diagonal approach, holding its middle.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Grasp the blue marker from the table at the middle with a diagonal pickup.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "With the left hand, collect the blue marker from the table.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 1653, + "end_idx": 1800 + }, + { + "text": "Place the blue marker in front of the plate with the left hand with its tip facing left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Using the left hand, set the blue marker in front of the plate with its tip pointing left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Have the left arm place the blue marker before the plate, tip facing left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "With the left hand, position the blue marker in front of the plate so the tip faces left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Place the blue marker in front of the plate with its tip pointing left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Set the blue marker before the plate with the tip facing left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Position the blue marker in front of the plate, leaving its tip directed left.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Using the left hand, place the blue marker in front of the plate.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "With the left hand, set the blue marker before the plate.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Have the left arm position the blue marker in front of the plate.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Put the blue marker in front of the plate.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Using the left hand, place the blue marker before the plate.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Set the blue marker in front of the plate with the left hand.", + "start_idx": 1800, + "end_idx": 1896 + }, + { + "text": "Pick up the green mug from the top of the plate with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Using the left hand, take the green mug from the top of the plate with a diagonal lip grasp on the right side.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Have the left arm grasp the green mug from the top of the plate using a right-side diagonal lip hold.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "With the left hand, retrieve the green mug from the top of the plate in a diagonal lip grasp on its right side.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Pick up the green mug from the top of the plate using a diagonal lip grasp on the right side.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Take the green mug from the top of the plate with a diagonal lip hold on the right side.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Retrieve the green mug from the top of the plate in a right-side diagonal lip grasp.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Using the left hand, pick up the green mug from the top of the plate.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Have the left arm take the green mug from the top of the plate.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "With the left hand, retrieve the green mug from the top of the plate.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Pick up the green mug from the top of the plate with the left hand.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Take the green mug from the top of the plate using a lip grasp.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Have the left arm grasp the green mug from the top of the plate.", + "start_idx": 1896, + "end_idx": 2118 + }, + { + "text": "Place the green mug to the left side of the bowl with the left hand right side up with the front facing backwards.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Using the left hand, set the green mug to the left of the bowl, right side up, with the front facing backward.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Have the left arm place the green mug on the bowl's left side, keeping it upright and the front pointed backward.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "With the left hand, position the green mug left of the bowl, right side up and with its front facing backwards.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Place the green mug to the left of the bowl, right side up, with the front facing backward.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Set the green mug on the left side of the bowl, right side up, front facing backward.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Position the green mug left of the bowl, keeping it upright with the front pointed backward.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Using the left hand, place the green mug to the left of the bowl.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Have the left arm set the green mug on the bowl's left side.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "With the left hand, position the green mug left of the bowl.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Place the green mug to the left of the bowl.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Set the green mug on the bowl's left side.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Position the green mug beside the bowl on its left side.", + "start_idx": 2118, + "end_idx": 2214 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "With the left hand, retrieve the green mug from the table, approaching diagonally at the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Retrieve the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "With the left hand, take the green mug from the table by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Have the left arm collect the green mug from the table by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Take the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Retrieve the green mug from the table by the handle.", + "start_idx": 2682, + "end_idx": 2811 + }, + { + "text": "Place the green mug to the left of the egg plant with the handle facing backwards right side up with the left hand.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Using the left hand, set the green mug to the left of the egg plant, handle facing backward and right side up.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Have the left arm place the green mug left of the egg plant with its handle pointing backward, upright.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "With the left hand, position the green mug to the egg plant's left, keeping the handle toward the back and the mug right side up.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Place the green mug to the left of the egg plant with the handle facing backward and right side up.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Set the green mug left of the egg plant, with its handle pointing backward and the mug upright.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Position the green mug to the left of the egg plant, handle toward the back and right side up.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Using the left hand, place the green mug to the left of the egg plant.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Have the left arm set the green mug left of the egg plant.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "With the left hand, position the green mug to the egg plant's left.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Place the green mug to the left of the egg plant.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Set the green mug left of the egg plant.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Position the green mug to the egg plant's left.", + "start_idx": 2811, + "end_idx": 2886 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the arm return home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Move to home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Go back to home.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Bring the arm to the home position.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Using the right hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "With the right arm, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Have the right hand pick the eggplant off the table at a diagonal angle from the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Pick the eggplant up from the table with a grasp at the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "From the table, collect the eggplant with the right hand, grasping the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Using the right hand, pick up the eggplant from the table by the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Have the right arm take the eggplant from the table, grasping its middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Get the eggplant from the table at a diagonal angle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "From the table, take the eggplant by the middle.", + "start_idx": 1008, + "end_idx": 1161 + }, + { + "text": "Put the eggplant to the right side of the bowl with the right hand facing forwards with the tip forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Using the right hand, place the eggplant to the bowl's right side with its tip facing forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Have the right arm set the eggplant on the right side of the bowl, tip pointed forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "With the right hand, position the eggplant to the right of the bowl so the tip faces forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Place the eggplant to the right side of the bowl with the tip facing forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Set the eggplant on the bowl's right side, keeping the tip pointed forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Position the eggplant to the right of the bowl, oriented with its tip forwards.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Using the right hand, place the eggplant to the right side of the bowl.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "With the right hand, set the eggplant on the bowl's right side.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Have the right arm position the eggplant to the right of the bowl.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Place the eggplant to the right side of the bowl.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Set the eggplant on the right side of the bowl.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Have the eggplant placed to the right of the bowl.", + "start_idx": 1161, + "end_idx": 1326 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Have the right arm grasp the doritos from the table from the bottom with a side hold at a diagonal angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "With the right hand, retrieve the doritos from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Take the doritos from the table from the bottom with a side grasp at a diagonal angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Retrieve the doritos from the table using a side hold on the bottom with a diagonal approach.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the bottom.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp on the bottom.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Have the right arm collect the doritos from the table from the bottom with a side hold.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Pick up the doritos from the table with the right hand at the bottom with a diagonal pick angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Using the right hand, take the doritos from the table with a diagonal angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Retrieve the doritos from the table from the bottom at a diagonal angle.", + "start_idx": 1326, + "end_idx": 1533 + }, + { + "text": "Put the doritos inside of the bowl with the right hand upside down.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Using the right hand, place the doritos in the bowl upside down.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Have the right arm put the doritos into the bowl in an upside-down position.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "With the right hand, set the doritos inside the bowl upside down.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Place the doritos into the bowl upside down.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Set the doritos inside the bowl upside down.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Put the doritos in the bowl upside down.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Using the right hand, place the doritos in the bowl.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Have the right arm put the doritos into the bowl.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "With the right hand, set the doritos inside the bowl.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Put the doritos in the bowl.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Place the doritos into the bowl with the right hand.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Set the doritos inside the bowl.", + "start_idx": 1533, + "end_idx": 1653 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Using the right hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Have the right hand pick the eggplant up from the table on a diagonal, holding it at the center.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "With the right hand, retrieve the eggplant from the table diagonally by grasping the middle.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Take the eggplant from the table on a diagonal by holding its center.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Retrieve the eggplant from the table diagonally, grasping the middle.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Have the right hand take the eggplant from the table.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "With the right hand, retrieve the eggplant from the table.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 2214, + "end_idx": 2421 + }, + { + "text": "Put the eggplant in front of the bowl with the right hand facing backwards with the tip as the reference point.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Using the right hand, place the eggplant in front of the bowl, facing backwards with the tip as the reference point.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Have the right arm set the eggplant in front of the bowl with its tip as the reference point, facing backwards.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "With the right hand, position the eggplant before the bowl so it faces backwards, using the tip as the reference point.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Place the eggplant in front of the bowl, facing backwards with the tip as the reference point.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Set the eggplant before the bowl, facing backwards using the tip as the reference point.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Position the eggplant in front of the bowl with the tip as the reference point, facing backwards.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Using the right hand, put the eggplant in front of the bowl.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "With the right hand, place the eggplant before the bowl.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Have the right arm position the eggplant in front of the bowl.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Put the eggplant in front of the bowl.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Set the eggplant before the bowl.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Position the eggplant in front of the bowl.", + "start_idx": 2421, + "end_idx": 2628 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Bring the right hand back to its home pose.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Return to the home position.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Move back to home.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Go to the home position.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Bring the hand to home.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Reset to home.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Move to the home pose.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Head back to home.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Return home.", + "start_idx": 2628, + "end_idx": 2682 + }, + { + "text": "Go back to the home position.", + "start_idx": 2628, + "end_idx": 2682 + } + ] + }, + "2026-03-16-03-16-02-581000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 3 of data collection", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Have the left arm collect the blue marker from the table diagonally by its middle.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "With the left hand, retrieve the blue marker from the table, holding the middle at a diagonal angle.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal middle grasp.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "With the left hand, collect the blue marker from the table.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 105, + "end_idx": 225 + }, + { + "text": "Put the blue marker on top of the blue tray with the left hand with its tip facing top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the blue marker on top of the blue tray with its tip facing the top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Have the left hand set the blue marker atop the blue tray, tip oriented toward the top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "With the left hand, position the blue marker on the blue tray so its tip points to the top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Place the blue marker on top of the blue tray with its tip facing the top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Set the blue marker atop the blue tray with the tip pointing top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Position the blue marker on the blue tray so the tip faces the top left.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Using the left hand, put the blue marker on top of the blue tray.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "With the left hand, place the blue marker atop the blue tray.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Have the left hand set the blue marker on the blue tray.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Put the blue marker on top of the blue tray.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Place the blue marker atop the blue tray.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Set the blue marker on the blue tray.", + "start_idx": 225, + "end_idx": 342 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "With the left hand, grasp the red marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Using the left hand, take the red marker off the table with a side grasp at its bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Have the left arm retrieve the red marker from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Take the red marker off the table with a side grasp at its bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Retrieve the red marker from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "From the table, pick up the red marker with the left hand using a side grip at the bottom.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Use the left hand to take the red marker from the table with a side grasp at the bottom.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Have the left arm collect the red marker from the table with a side hold at its bottom.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "With the left hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Take the red marker from the table using a side grip.", + "start_idx": 342, + "end_idx": 480 + }, + { + "text": "Place the red marker on top of the blue tray with the left hand facing bottom right by the tip.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "With the left hand, set the red marker on top of the blue tray with the tip facing bottom right.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Have the left arm place the red marker onto the blue tray, oriented so the tip points bottom right.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Using the left hand, position the red marker on the blue tray with its tip directed toward the bottom right.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Place the red marker on top of the blue tray with the tip facing bottom right.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Set the red marker onto the blue tray with its tip pointing bottom right.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Position the red marker on the blue tray so the tip faces bottom right.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "With the left hand, place the red marker on top of the blue tray.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Using the left hand, set the red marker onto the blue tray.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Have the left arm put the red marker on the blue tray.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Place the red marker on top of the blue tray.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Set the red marker onto the blue tray.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Put the red marker on the blue tray.", + "start_idx": 480, + "end_idx": 564 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "With the left hand, collect the green mug from the table using the handle at a diagonal angle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Grasp the green mug from the table using the handle at a diagonal angle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "With the left hand, take the green mug from the table using the handle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Have the left arm grasp the green mug from the table.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 564, + "end_idx": 732 + }, + { + "text": "Put the green mug to the right of the blue tray with the left hand right side up with the front facing backwards.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Using the left hand, place the green mug to the right of the blue tray, right side up, with its front facing backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Have the left arm set the green mug to the right of the blue tray upright, with the front oriented backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "With the left hand, position the green mug to the right of the blue tray so it stays right side up and faces backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Place the green mug to the right of the blue tray, right side up, with its front facing backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Set the green mug to the right of the blue tray upright, with the front oriented backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Position the green mug to the right of the blue tray so it is right side up and facing backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Using the left hand, place the green mug to the right of the blue tray.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Have the left arm set the green mug to the right of the blue tray.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "With the left hand, position the green mug to the right of the blue tray.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Put the green mug to the right of the blue tray.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Set the green mug upright to the right of the blue tray.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Place the green mug to the right of the blue tray with its front facing backward.", + "start_idx": 732, + "end_idx": 825 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Using the left hand, take the green mug from the table with a diagonal grasp at the handle.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Have the left arm pick the green mug up from the table by the handle with a diagonal grip.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "With the left hand, grasp the green mug from the table at the handle in a diagonal hold.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Pick up the green mug from the table using a diagonal grasp at the handle.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Take the green mug from the table by the handle with a diagonal grip.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Grasp the green mug from the table at the handle in a diagonal hold.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "With the left hand, pick up the green mug from the table.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Using the left hand, grasp the green mug from the table.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 1464, + "end_idx": 1560 + }, + { + "text": "Put the green mug in front of the beige bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Using the left hand, place the green mug in front of the beige bowl with the handle facing backward, right side up.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Have the left arm set the green mug before the beige bowl, keeping it upright and the handle pointed backward.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "With the left hand, position the green mug in front of the beige bowl so it stays right side up and its handle faces backward.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Place the green mug in front of the beige bowl with the handle facing backward and right side up.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Set the green mug before the beige bowl, keeping the handle pointed backward and the mug upright.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Position the green mug in front of the beige bowl so the handle faces backward and it remains right side up.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Using the left hand, put the green mug in front of the beige bowl.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Have the left arm place the green mug before the beige bowl.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "With the left hand, set the green mug in front of the beige bowl.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Place the green mug in front of the beige bowl.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Set the green mug before the beige bowl.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Position the green mug in front of the beige bowl.", + "start_idx": 1560, + "end_idx": 1716 + }, + { + "text": "Pick up the blue marker from the blue tray with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Using the left hand, take the blue marker from the blue tray at a diagonal angle, grasping the middle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Have the left arm retrieve the blue marker from the blue tray with a diagonal pickup, holding it at the middle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "With the left hand, grasp the middle of the blue marker in the blue tray at a diagonal angle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Pick up the blue marker from the blue tray at a diagonal angle, grasping the middle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Take the blue marker from the blue tray with a diagonal pickup, holding the middle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Grasp the middle of the blue marker from the blue tray at a diagonal angle.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Using the left hand, pick up the blue marker from the blue tray.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "With the left hand, take the blue marker out of the blue tray.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Have the left arm grasp the blue marker from the blue tray.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Pick up the blue marker from the blue tray.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Using the left hand, retrieve the blue marker from the blue tray.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Take the blue marker from the blue tray.", + "start_idx": 2112, + "end_idx": 2214 + }, + { + "text": "Put the blue marker to the left of the beige bowl with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Using the left hand, place the blue marker to the left of the beige bowl with the tip facing forwards.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Have the left arm set the blue marker to the left of the beige bowl, oriented forward by its tip.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "With the left hand, position the blue marker left of the beige bowl so the tip points forwards.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Place the blue marker to the left of the beige bowl with the tip facing forwards.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Set the blue marker left of the beige bowl, keeping the tip pointed forwards.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Position the blue marker to the left of the beige bowl with its tip oriented forwards.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Using the left hand, put the blue marker to the left of the beige bowl.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "With the left hand, set the blue marker left of the beige bowl.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Have the left arm place the blue marker to the left of the beige bowl.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Put the blue marker to the left of the beige bowl.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Set the blue marker left of the beige bowl.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Position the blue marker to the left of the beige bowl.", + "start_idx": 2214, + "end_idx": 2322 + }, + { + "text": "Pick up the red marker from the blue tray with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Using the left hand, take the red marker from the blue tray at a diagonal angle, grasping the middle.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Have the left arm pick the red marker out of the blue tray with a diagonal approach at its middle.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "With the left hand, retrieve the red marker from the blue tray by holding the middle at a diagonal angle.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Remove the red marker from the blue tray at a diagonal angle, grasping the middle.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Take the red marker out of the blue tray, holding its middle on a diagonal.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "The red marker from the blue tray should be picked up at a diagonal angle by the middle.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "With the left hand, pick up the red marker from the blue tray.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Have the left arm take the red marker out of the blue tray.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Using the left hand, retrieve the red marker from the blue tray.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Pick up the red marker from the blue tray.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "The red marker from the blue tray should be taken with the left hand.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "At a diagonal angle, remove the red marker from the blue tray.", + "start_idx": 2322, + "end_idx": 2454 + }, + { + "text": "Put the red marker inside the beige bowl facing bottom left with the left hand right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Using the left hand, place the red marker into the beige bowl with its tip facing bottom left and right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Have the left hand set the red marker inside the beige bowl, tip oriented toward the bottom left and the marker right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "With the left hand, deposit the red marker in the beige bowl so the tip points bottom left and it remains right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Place the red marker into the beige bowl with its tip facing bottom left and right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Set the red marker inside the beige bowl, keeping the tip aimed bottom left and the marker right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Put the red marker in the beige bowl with the tip toward the bottom left and right side up.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Using the left hand, place the red marker into the beige bowl.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Have the left hand put the red marker inside the beige bowl.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "With the left hand, set the red marker in the beige bowl.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Place the red marker into the beige bowl.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Set the red marker inside the beige bowl.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Put the red marker in the beige bowl.", + "start_idx": 2454, + "end_idx": 2550 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the center.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Retrieve the blue marker from the table diagonally by its center.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Using the left hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Have the left arm take the blue marker from the table at a diagonal angle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Take the blue marker from the table with the left hand.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Pick up the blue marker from the table by its middle.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 2895, + "end_idx": 3000 + }, + { + "text": "Pick up the eggplant from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Using the right hand, take the eggplant from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Have the right hand pick the eggplant up from the table with a top side hold at a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "With the right hand, collect the eggplant from the table using a side grip on the top from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Take the eggplant from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "The eggplant should be picked up from the table using a side grip at the top from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "From the table, retrieve the eggplant with a side hold on the top from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Using the right hand, pick up the eggplant from the table with a side grip at the top.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Have the right hand take the eggplant from the table using a side grasp at the top.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "With the right hand, remove the eggplant from the table using a side grip.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "The right hand should pick up the eggplant from the table from a diagonal angle.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "From the table, take the eggplant at the top.", + "start_idx": 825, + "end_idx": 975 + }, + { + "text": "Put the eggplant to the right of the beige bowl with the right hand facing forwards with the tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Using the right hand, place the eggplant to the right of the beige bowl with its tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Have the right arm set the eggplant to the right of the beige bowl, oriented forwards with the tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "With the right hand, position the eggplant to the right of the beige bowl so it faces forwards, tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Place the eggplant to the right of the beige bowl with its tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Set the eggplant to the right of the beige bowl facing forwards with the tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Position the eggplant to the right of the beige bowl, oriented forwards with the tip facing forwards.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Using the right hand, place the eggplant to the right of the beige bowl.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Have the right arm set the eggplant to the right of the beige bowl.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "With the right hand, position the eggplant to the right of the beige bowl.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Put the eggplant to the right of the beige bowl.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Set the eggplant to the right of the beige bowl.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Position the eggplant to the right of the beige bowl.", + "start_idx": 975, + "end_idx": 1053 + }, + { + "text": "Pick up the doritos from the beige bowl with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Using the right hand, take the doritos from the beige bowl with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Have the right arm retrieve the doritos from the beige bowl with a side grip on the bottom at a diagonal angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "With the right hand, grasp the doritos from the beige bowl using a side hold at the bottom with a diagonal approach.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Pick up the doritos from the beige bowl using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Take the doritos from the beige bowl with a side grasp on the bottom at a diagonal angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Retrieve the doritos from the beige bowl using a side hold at the bottom with a diagonal approach.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Using the right hand, pick up the doritos from the beige bowl with a side grip at the bottom.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Have the right arm take the doritos from the beige bowl using a side grasp on the bottom.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "With the right hand, retrieve the doritos from the beige bowl using a side hold at the bottom.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Using the right hand, pick up the doritos from the beige bowl with a diagonal pick angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Have the right arm take the doritos from the beige bowl at a diagonal angle.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Pick up the doritos from the beige bowl.", + "start_idx": 1053, + "end_idx": 1188 + }, + { + "text": "Put the doritos to the right of the eggplant with the right hand facing top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Using the right hand, place the doritos to the right of the eggplant with the front facing top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Have the right arm set the doritos to the eggplant's right side, front oriented toward the top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "With the right hand, position the doritos to the right of the eggplant, keeping the front pointed top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Place the doritos to the right of the eggplant with the front facing top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Set the doritos on the right side of the eggplant with the front pointed toward the top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Position the doritos to the right of the eggplant, front toward the top right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Using the right hand, put the doritos to the right of the eggplant.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "With the right hand, set the doritos to the eggplant's right.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Have the right arm place the doritos on the right side of the eggplant.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Put the doritos to the right of the eggplant.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Set the doritos on the eggplant's right side.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Position the doritos to the right of the eggplant.", + "start_idx": 1188, + "end_idx": 1335 + }, + { + "text": "Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Using the right hand, grasp the green mug from the table with a diagonal lip grip on its right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Have the right hand take the green mug from the table using a diagonal grasp on the lip at the mug's right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "With the right hand, secure the green mug from the table via a diagonal lip hold on the right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Pick up the green mug from the table using a diagonal lip grasp on the right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Take the green mug from the table with a diagonal lip grip on its right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "From the table, grasp the green mug with a diagonal lip hold on the right side.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Using the right hand, pick up the green mug from the table.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Have the right hand take the green mug from the table.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "From the table, grasp the green mug with the right hand.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Using the right hand, take the green mug from the table.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 1716, + "end_idx": 1872 + }, + { + "text": "Put the green mug in front of the eggplant with the handle facing backwards right side up using the right arm.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Using the right arm, place the green mug in front of the eggplant, upright, with the handle facing backward.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Have the right arm set the green mug down in front of the eggplant, right side up, handle pointing backward.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "With the right arm, position the green mug before the eggplant so it stays upright and the handle faces backward.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Place the green mug in front of the eggplant, upright, with the handle facing backward.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Set the green mug down before the eggplant, right side up, handle pointing backward.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Position the green mug in front of the eggplant with the handle facing backward, right side up.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Put the green mug in front of the eggplant.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Place the green mug before the eggplant.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Set the green mug down in front of the eggplant.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Using the right arm, place the green mug in front of the eggplant.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "With the right arm, set the green mug down before the eggplant.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Have the right arm position the green mug in front of the eggplant.", + "start_idx": 1872, + "end_idx": 1983 + }, + { + "text": "Pick up the green mug from the table with the right hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Using the right hand, take the green mug from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Have the right arm grasp the green mug from the table with a lip hold on the bottom-left at a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "With the right hand, secure the green mug from the table using the lip at the bottom left on a diagonal.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Pick up the green mug from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Take the green mug from the table with a lip hold on the bottom-left at a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Grasp the green mug from the table using the lip at the bottom left with a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a lip grip.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Have the right arm take the green mug from the table using a lip hold.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "With the right hand, secure the green mug from the table using the lip.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Pick up the green mug from the table at the bottom left with a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Take the green mug from the table with the right hand at the bottom left with a diagonal angle.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 2550, + "end_idx": 2703 + }, + { + "text": "Put the green mug in front of the beige bowl with the right hand right side up with the front facing top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Using the right hand, place the green mug in front of the beige bowl, right side up, with the front facing top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Have the right arm set the green mug in front of the beige bowl, keeping it right side up and the front pointed top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "With the right hand, position the green mug before the beige bowl, right side up, with the front oriented toward the top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Place the green mug in front of the beige bowl, right side up, with the front facing top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Set the green mug before the beige bowl, right side up, with the front pointed top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Position the green mug in front of the beige bowl, keeping it right side up and the front toward the top right.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Put the green mug in front of the beige bowl.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Set the green mug before the beige bowl.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Position the green mug in front of the beige bowl.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Place the green mug before the beige bowl with the right hand.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Using the right hand, set the green mug in front of the beige bowl.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Have the right arm place the green mug before the beige bowl.", + "start_idx": 2703, + "end_idx": 2826 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "With the right arm, go to home.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Return to the home position.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Move back to home.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Go to the home position.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Reset to home.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Home the arm.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Move to home.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Return home.", + "start_idx": 2826, + "end_idx": 2895 + }, + { + "text": "Go back to home position.", + "start_idx": 2826, + "end_idx": 2895 + } + ] + }, + "2026-03-16-03-26-31-137000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 3 of data collection", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Have the left hand take the eggplant from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by holding the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Retrieve the eggplant from the table diagonally at its middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Have the left hand take the eggplant from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Have the left hand pick up the eggplant from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Place the eggplant on top of the violet plate with the left hand with its tip facing top left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Using the left hand, set the eggplant on the violet plate with its tip pointing to the top left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Have the left arm place the eggplant atop the violet plate, tip directed toward the top left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "With the left hand, position the eggplant on top of the violet plate so its tip faces the upper left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Place the eggplant on the violet plate with its tip facing the top left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Set the eggplant atop the violet plate, with the tip pointing upper left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Position the eggplant on top of the violet plate so its tip points to the top left.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Using the left hand, place the eggplant on top of the violet plate.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "With the left hand, set the eggplant atop the violet plate.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Have the left arm position the eggplant on the violet plate.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Place the eggplant on the violet plate.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Set the eggplant atop the violet plate.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Using the left hand, put the eggplant on the violet plate.", + "start_idx": 96, + "end_idx": 168 + }, + { + "text": "Pick up the eggplant from the violet plate with the left hand from the top at the middle.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Using the left hand, take the eggplant from the violet plate from the top at the middle.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "With the left arm, grasp the eggplant off the violet plate at its middle from above.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Have the left hand retrieve the eggplant from the violet plate by approaching from the top at the middle.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Pick up the eggplant from the violet plate from the top at the middle.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Take the eggplant off the violet plate at the middle from above.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Grasp the eggplant from the violet plate from the top at its middle.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Retrieve the eggplant from the violet plate using a top approach at the middle.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the eggplant from the violet plate.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "With the left arm, take the eggplant off the violet plate.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Have the left hand grasp the eggplant from the violet plate.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Pick up the eggplant from the violet plate.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Remove the eggplant from the violet plate.", + "start_idx": 591, + "end_idx": 756 + }, + { + "text": "Place the eggplant to the left side of the white bowl with the left hand facing top left by the tip.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Using the left hand, place the eggplant to the left of the white bowl with the tip facing top left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Have the left hand set the eggplant on the white bowl's left side, oriented with its tip toward the top left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "With the left hand, position the eggplant beside the white bowl on its left, tip pointed top left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Place the eggplant to the left of the white bowl with its tip facing top left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Set the eggplant on the left side of the white bowl, with the tip oriented top left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Position the eggplant beside the white bowl on its left, keeping the tip pointed toward the top left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Put the eggplant on the left side of the white bowl.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Arrange the eggplant to the left of the white bowl.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Set the eggplant beside the white bowl on its left.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Place the eggplant to the left of the white bowl.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Put the eggplant on the white bowl's left side.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Position the eggplant to the left of the white bowl.", + "start_idx": 756, + "end_idx": 864 + }, + { + "text": "Pick up the violet plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Using the left hand, take the violet plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "With the left hand, grasp the violet plate from the table using a lip grasp on the bottom left diagonally.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Have the left hand pick the violet plate off the table with a lip hold at the bottom left in a diagonal orientation.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Pick up the violet plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Take the violet plate off the table with a lip grasp on the bottom left diagonally.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Grasp the violet plate from the table with a lip hold at the bottom left in a diagonal orientation.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Using the left hand, pick up the violet plate from the table with a lip grip.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "With the left hand, take the violet plate off the table using a lip grasp.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Have the left hand grasp the violet plate from the table with a lip hold.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Using the left hand, pick up the violet plate from the table at the bottom left with a diagonal angle.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Take the violet plate off the table with the left hand at the bottom left diagonally.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Pick up the violet plate from the table at the bottom left with a diagonal angle.", + "start_idx": 1140, + "end_idx": 1281 + }, + { + "text": "Put the violet plate to the left of the eggplant with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Using the left hand, place the violet plate to the left of the eggplant, right side up with the front as the reference point.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Have the left arm set the violet plate left of the eggplant, keeping it right side up relative to the front.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "With the left hand, position the violet plate to the eggplant's left, oriented right side up using the front as the reference point.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Place the violet plate to the left of the eggplant, right side up with the front as the reference point.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Set the violet plate left of the eggplant, keeping it right side up relative to the front.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Position the violet plate to the eggplant's left, with the front as the reference point and right side up.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Using the left hand, put the violet plate to the left of the eggplant.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Have the left arm place the violet plate left of the eggplant.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "With the left hand, set the violet plate to the eggplant's left.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Put the violet plate to the left of the eggplant.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Place the violet plate left of the eggplant.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Position the violet plate to the eggplant's left.", + "start_idx": 1281, + "end_idx": 1431 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup, holding the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Take the eggplant from the table diagonally by the middle.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 1431, + "end_idx": 1593 + }, + { + "text": "Put the eggplant on top of the violet plate with the left hand with its tip facing top left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Using the left hand, place the eggplant on top of the violet plate with its tip pointing to the top left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Have the left arm set the eggplant atop the violet plate, tip oriented toward the top left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "With the left hand, position the eggplant on the violet plate so its tip faces the upper left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Place the eggplant on top of the violet plate with its tip facing top left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Set the eggplant atop the violet plate, keeping its tip pointed to the upper left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Position the eggplant on the violet plate with the tip oriented toward the top left.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Using the left hand, put the eggplant on top of the violet plate.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "With the left hand, set the eggplant atop the violet plate.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Have the left arm place the eggplant on the violet plate.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Put the eggplant on top of the violet plate.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Set the eggplant atop the violet plate.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "On top of the violet plate, place the eggplant.", + "start_idx": 1593, + "end_idx": 1659 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grasp at the bottom left from a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Have the left arm pick the doritos off the table using a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "With the left hand, grasp the doritos from the table from a diagonal angle using a side hold at the bottom left.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Pick up the doritos from the table using a side grasp at the bottom left from a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Take the doritos off the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "From the table, grasp the doritos with a side grip at the bottom left from a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Have the left arm take the doritos off the table.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Pick up the doritos from the table with the left hand.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Using the left hand, take the doritos from the table from a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Grab the doritos from the table at the bottom left from a diagonal angle.", + "start_idx": 2154, + "end_idx": 2379 + }, + { + "text": "Put the doritos between the violet plate and the white bowl with the left hand facing backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Using the left hand, place the doritos between the violet plate and the white bowl, facing backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Have the left arm set the doritos between the violet plate and the white bowl with the front facing backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "With the left hand, position the doritos between the violet plate and the white bowl so they face backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Place the doritos between the violet plate and the white bowl, facing backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Set the doritos between the violet plate and the white bowl with the front facing backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Position the doritos between the violet plate and the white bowl so they face backwards.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Using the left hand, put the doritos between the violet plate and the white bowl.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "With the left arm, place the doritos between the violet plate and the white bowl.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Have the left hand set the doritos between the violet plate and the white bowl.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Put the doritos between the violet plate and the white bowl.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Place the doritos between the violet plate and the white bowl.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Set the doritos between the violet plate and the white bowl.", + "start_idx": 2379, + "end_idx": 2478 + }, + { + "text": "Pick up the eggplant from the violet plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Using the left hand, take the eggplant from the violet plate at a diagonal angle, grasping its middle.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Have the left arm pick the eggplant up from the violet plate with a diagonal approach at the middle.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "With the left hand, collect the eggplant from the violet plate by gripping the middle diagonally.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Remove the eggplant from the violet plate at a diagonal angle, grasping the middle.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Take the eggplant from the violet plate with a diagonal approach, holding the middle.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Pick up the eggplant from the violet plate diagonally by the middle.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Using the left hand, pick up the eggplant from the violet plate.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Have the left arm take the eggplant from the violet plate.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "With the left hand, remove the eggplant from the violet plate.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Pick up the eggplant from the violet plate.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Take the eggplant from the violet plate.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Remove the eggplant from the violet plate.", + "start_idx": 2844, + "end_idx": 2934 + }, + { + "text": "Put the eggplant in front of the doritos with the left hand with its tip facing top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Using the left hand, place the eggplant in front of the doritos with its tip pointing to the top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Have the left arm set the eggplant down in front of the doritos, tip oriented toward the top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "With the left hand, position the eggplant in front of the doritos so its tip faces the top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Place the eggplant in front of the doritos with its tip facing the top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Set the eggplant in front of the doritos, with the tip directed top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Position the eggplant in front of the doritos so the tip points top left.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Using the left hand, put the eggplant in front of the doritos.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Have the left arm place the eggplant in front of the doritos.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "With the left hand, set the eggplant down in front of the doritos.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Put the eggplant in front of the doritos.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Set the eggplant down in front of the doritos.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Position the eggplant in front of the doritos.", + "start_idx": 2934, + "end_idx": 2991 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Head back to home.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Resume the home position.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Come back to home.", + "start_idx": 2991, + "end_idx": 3000 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side with the right hand.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Using the right hand, take hold of the green coffee cup by its handle from the side.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "With the right hand, grasp the green coffee cup at the handle using a side approach.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Have the right hand pick the green coffee cup up from the table by the handle from the side.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "From the side, grasp the green coffee cup by its handle.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Take the green coffee cup from the table by the handle with a side grasp.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "The green coffee cup should be picked up by the handle from the side.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Pick up the green coffee cup from the table with the right hand.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "With the right hand, take the green coffee cup from the table.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Have the right hand grasp the green coffee cup.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Pick up the green coffee cup by the handle.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Take hold of the green coffee cup from the table.", + "start_idx": 168, + "end_idx": 399 + }, + { + "text": "Put the green coffee cup to the right of the red marker with the right hand right side up with the front facing backwards.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Using the right hand, place the green coffee cup to the right of the red marker, right side up, with the front facing backwards.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Have the right arm set the green coffee cup to the right of the red marker, keeping it upright and the front pointed backward.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "With the right hand, position the green coffee cup to the right of the red marker so it stays right side up and faces backward.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Place the green coffee cup to the right of the red marker, right side up, with the front facing backwards.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Set the green coffee cup to the right of the red marker, upright, with the front pointed backward.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Position the green coffee cup to the right of the red marker, keeping it right side up and facing backward.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Using the right hand, place the green coffee cup to the right of the red marker.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Have the right arm set the green coffee cup to the right of the red marker.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "With the right hand, position the green coffee cup to the right of the red marker.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Put the green coffee cup to the right of the red marker.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Place the green coffee cup to the right of the red marker with the right hand.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Set the green coffee cup to the right of the red marker, right side up.", + "start_idx": 399, + "end_idx": 591 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the bottom right from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Have the right arm take the doritos off the table by the bottom-right area with a side grasp from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "With the right hand, grasp the doritos from the table at the bottom right using a side hold from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom right from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Take the doritos off the table at the bottom right with a side grasp from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Grasp the doritos from the table by the bottom-right corner using a side hold from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Have the right arm take the doritos off the table with a side grasp.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Using the right hand, pick up the doritos from the table at the bottom right from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Have the right arm take the doritos off the table by the bottom-right area from a diagonal angle.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 864, + "end_idx": 1005 + }, + { + "text": "Put the doritos in front of the green coffee cup with the right hand facing forwards.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Using the right hand, place the doritos in front of the green coffee cup, facing forwards.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Have the right arm set the doritos in front of the green coffee cup with the front facing forward.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "With the right hand, position the doritos before the green coffee cup so it faces forwards.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Place the doritos in front of the green coffee cup, facing forwards.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Set the doritos before the green coffee cup with the front facing forward.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Position the doritos in front of the green coffee cup so it faces forwards.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Using the right hand, put the doritos in front of the green coffee cup.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "With the right hand, place the doritos before the green coffee cup.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Have the right arm set the doritos in front of the green coffee cup.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Put the doritos in front of the green coffee cup.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Set the doritos before the green coffee cup.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Position the doritos in front of the green coffee cup.", + "start_idx": 1005, + "end_idx": 1140 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Have the right arm grasp the red marker from the table at its bottom with a side hold, approaching diagonally.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "With the right hand, take the red marker off the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Pick up the red marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Grasp the red marker off the table at the bottom with a side hold from a diagonal approach.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "The red marker should be picked up from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "With the right hand, take the red marker off the table using a side grasp at its bottom.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Have the right arm grasp the red marker from the table at the bottom with a side hold.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Using the right hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Pick up the red marker from the table with the right hand from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Take the red marker off the table at its bottom from a diagonal angle.", + "start_idx": 1659, + "end_idx": 1848 + }, + { + "text": "Place the red marker to the right of the white bowl with the right hand facing top left by the tip.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Using the right hand, set the red marker to the right of the white bowl with the tip facing the top left.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Have the right hand place the red marker to the right of the white bowl, oriented with its tip toward the top left.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "With the right hand, position the red marker to the right of the white bowl so the tip points top left.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Place the red marker to the right of the white bowl with the tip facing the top left.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Set the red marker to the right of the white bowl, with its tip oriented toward the top left.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Position the red marker to the right of the white bowl so its tip points to the top left.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Using the right hand, place the red marker to the right of the white bowl.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Have the right hand set the red marker to the right of the white bowl.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "With the right hand, position the red marker to the right of the white bowl.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Place the red marker to the right of the white bowl.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Set the red marker to the right of the white bowl.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Position the red marker to the right of the white bowl.", + "start_idx": 1848, + "end_idx": 1917 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Have the right hand grasp the doritos from the table from the bottom with a side hold at a diagonal angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "With the right hand, retrieve the doritos from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Take the doritos from the table from the bottom with a side grasp at a diagonal angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "From the table, grasp the doritos with a side hold at the bottom using a diagonal angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "With the right hand, collect the doritos from the table using a side grasp at the bottom.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Have the right hand take the doritos from the table with a side hold on the bottom.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Pick up the doritos from the table with the right hand at a diagonal angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Using the right hand, grasp the doritos from the table at the bottom with a diagonal pick angle.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 1917, + "end_idx": 2040 + }, + { + "text": "Put the doritos in front of the red marker with the right hand facing left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Using the right hand, place the doritos in front of the red marker, facing left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Have the right arm set the doritos in front of the red marker with the package facing left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "With the right hand, position the doritos before the red marker so it faces left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Place the doritos in front of the red marker facing left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Set the doritos before the red marker with its front turned left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Position the doritos in front of the red marker so it points left.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Using the right hand, put the doritos in front of the red marker.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Have the right arm place the doritos before the red marker.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "With the right hand, set the doritos in front of the red marker.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Put the doritos in front of the red marker.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Set the doritos before the red marker.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Position the doritos in front of the red marker.", + "start_idx": 2040, + "end_idx": 2154 + }, + { + "text": "Pick up the green coffee cup from the table with the right hand by the handle from the side.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Using the right hand, grasp the green coffee cup on the table by its handle from the side.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Have the right arm take hold of the green coffee cup from the table at the handle with a side approach.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "With the right hand, seize the green coffee cup from the table by grasping the handle from the side.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Take hold of the green coffee cup on the table at the handle from the side.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "From the table, grasp the green coffee cup by its handle from the side.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Use the right hand to pick up the green coffee cup from the table by the handle.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "The green coffee cup from the table should be taken with the right hand.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "With the right hand, take the green coffee cup from the table.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Pick up the green coffee cup from the table.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Take the green coffee cup from the table.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Using the right hand, grasp the green coffee cup from the table.", + "start_idx": 2478, + "end_idx": 2670 + }, + { + "text": "Put the green coffee cup in front of the red marker with the handle facing backwards right side up with the front as reference using the right arm.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Using the right arm, place the green coffee cup in front of the red marker with the handle pointing backward, right side up, referenced to the front.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Have the right arm set the green coffee cup in front of the red marker, keeping it upright with the handle facing backward relative to the front.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "With the right arm, position the green coffee cup before the red marker, right side up and with its handle oriented backward from the front.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Place the green coffee cup in front of the red marker with the handle facing backward, right side up, using the front as reference.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Set the green coffee cup before the red marker, keeping the handle pointed backward and the cup upright relative to the front.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Position the green coffee cup in front of the red marker, with its handle directed backward and the cup right side up from the front reference.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Using the right arm, put the green coffee cup in front of the red marker.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "With the right arm, place the green coffee cup before the red marker.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Have the right arm position the green coffee cup in front of the red marker.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Put the green coffee cup in front of the red marker.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Set the green coffee cup before the red marker.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Position the green coffee cup in front of the red marker.", + "start_idx": 2670, + "end_idx": 2787 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Return to the home position.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Move back to home.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Go to the home pose.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Head to the home position.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Reset to home.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Move to home.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Return home.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Go back to the home position.", + "start_idx": 2787, + "end_idx": 2844 + }, + { + "text": "Reset the arm to home.", + "start_idx": 2787, + "end_idx": 2844 + } + ] + }, + "2026-03-16-03-46-31-025000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 3 of data collection", + "total_frames": 3000, + "num_annotations": 299, + "annotations": [ + { + "text": "Pick up the bread from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Using the left hand, take the bread from the table at the middle with a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Have the left arm grasp the bread from the table at its middle using a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "With the left hand, pick the bread up from the table by the middle at a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Pick up the bread from the table at the middle using a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Grasp the bread from the table at its middle with a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Take the bread from the table by the middle at a diagonal angle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Using the left hand, pick up the bread from the table at the middle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Have the left arm take the bread from the table by the middle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "With the left hand, grasp the bread from the table at its middle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Pick up the bread from the table.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Take the bread from the table.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Grasp the bread from the table by the middle.", + "start_idx": 201, + "end_idx": 324 + }, + { + "text": "Put the bread to the left side of the white cup with the left hand.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Using the left hand, place the bread on the left side of the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Have the left arm set the bread to the white cup's left side.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "With the left hand, position the bread left of the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Place the bread on the left side of the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Set the bread to the white cup's left side.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Position the bread left of the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Put the bread beside the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Move the bread next to the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Have the bread placed near the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Set the bread by the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Using the left hand, put the bread beside the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Have the left arm place the bread near the white cup.", + "start_idx": 324, + "end_idx": 387 + }, + { + "text": "Pick up the bread from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "With the left hand, pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Have the left hand take the bread from the table at a diagonal angle by the middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Using the left hand, retrieve the bread from the table diagonally, holding its middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Take the bread from the table diagonally by the middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Retrieve the bread from the table at a diagonal angle, holding the middle.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "With the left hand, pick up the bread from the table.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Use the left hand to take the bread from the table.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Have the left hand retrieve the bread from the table.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Pick up the bread from the table with the left hand.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Take the bread from the table with the left hand.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Get the bread from the table.", + "start_idx": 714, + "end_idx": 825 + }, + { + "text": "Put the bread to the left side of the soda can with the left hand.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Using the left hand, place the bread on the left side of the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Have the left arm set the bread down to the soda can's left.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "With the left hand, position the bread left of the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Place the bread on the left side of the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Set the bread down to the left of the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "The bread goes on the soda can's left side.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Position the bread beside the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Put the bread next to the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Have the bread placed by the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Set the bread down with the left hand.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Using the left hand, place the bread by the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Have the left arm put the bread next to the soda can.", + "start_idx": 825, + "end_idx": 900 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "With the left arm, retrieve the asparagus from the table diagonally by grasping the middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Take the asparagus from the table with a diagonal approach at the middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Retrieve the asparagus from the table diagonally by grasping its middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "With the left arm, take the asparagus from the table.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Have the left hand retrieve the asparagus from the table.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Using the left hand, take the asparagus from the table grasping the middle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 900, + "end_idx": 1119 + }, + { + "text": "Place the asparagus to the left side of the bread with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Using the left hand, place the asparagus to the left of the bread with its tip facing backwards.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Have the left arm set the asparagus on the bread's left side, oriented backwards from the tip.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "With the left hand, position the asparagus left of the bread, tip pointing backwards.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Place the asparagus to the left of the bread with its tip facing backwards.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Set the asparagus on the left side of the bread, with the tip oriented backwards.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Position the asparagus left of the bread so the tip faces backwards.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Arrange the asparagus to the bread's left, tip directed backwards.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Using the left hand, place the asparagus to the left of the bread.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Have the left arm set the asparagus on the bread's left side.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "With the left hand, position the asparagus left of the bread.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Place the asparagus to the left of the bread.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Set the asparagus on the bread's left side.", + "start_idx": 1119, + "end_idx": 1248 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Using the left hand, take hold of the white cup on the table by its handle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "With the left hand, secure the white cup from the table by its handle on a diagonal.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Grasp the white cup on the table by its handle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Retrieve the white cup from the table using the handle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Using the left hand, grasp the white cup from the table by its handle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Have the left arm take the white cup from the table by the handle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Take hold of the white cup on the table by its handle.", + "start_idx": 1458, + "end_idx": 1512 + }, + { + "text": "Put the white cup to the left side of the asparagus with the left hand right side up with the front facing backwards.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Using the left hand, place the white cup to the left of the asparagus, right side up, with the front facing backward.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Have the left arm set the white cup on the asparagus's left side, keeping it upright and the front pointed backward.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "With the left hand, position the white cup left of the asparagus, right side up and with its front facing backwards.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Place the white cup to the left of the asparagus.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Set the white cup on the left side of the asparagus.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Position the white cup left of the asparagus.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Using the left hand, place the white cup to the left of the asparagus.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Have the left arm set the white cup on the asparagus's left side.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "With the left hand, position the white cup left of the asparagus.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Put the white cup to the left of the asparagus, right side up, with the front facing backward.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Place the white cup on the left side of the asparagus, keeping it upright.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Set the white cup left of the asparagus with its front facing backward.", + "start_idx": 1512, + "end_idx": 1629 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup angle and a middle grasp.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally, holding it at the middle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Retrieve the asparagus from the table diagonally with a middle grasp.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 2361, + "end_idx": 2502 + }, + { + "text": "Put the asparagus to the front left side of the white cup with the left hand facing backwards with the tip as the reference point.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Using the left hand, place the asparagus at the white cup's front-left side, with the tip as the reference point and facing backwards.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Have the left arm set the asparagus to the front left of the white cup, oriented backwards relative to its tip.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "With the left hand, position the asparagus on the front-left side of the white cup, tip-referenced and facing backwards.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Place the asparagus at the front left side of the white cup, with the tip as the reference point and facing backwards.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Set the asparagus to the white cup's front-left side, oriented backwards from the tip.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Position the asparagus at the front left of the white cup, facing backwards with the tip as the reference point.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Arrange the asparagus on the front-left side of the white cup with its tip as the reference point, facing backwards.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Using the left hand, place the asparagus at the front left side of the white cup.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Have the left arm set the asparagus to the front left of the white cup.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "With the left hand, position the asparagus by the white cup's front-left side.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Place the asparagus at the front left side of the white cup.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Set the asparagus next to the white cup on its front-left side.", + "start_idx": 2502, + "end_idx": 2613 + }, + { + "text": "Pick up the bread from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Using the left hand, pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Have the left hand take the bread from the table with a diagonal approach at the middle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "With the left arm, retrieve the bread from the table by grasping its middle at a diagonal angle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Pick up the bread from the table at a diagonal angle, grasping the middle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Take the bread from the table with a diagonal approach at the middle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Retrieve the bread from the table by grasping the middle at a diagonal angle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Using the left hand, pick up the bread from the table.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Have the left hand take the bread from the table.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "With the left arm, retrieve the bread from the table.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Pick up the bread from the table at a diagonal angle.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Take the bread from the table with the left hand.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Retrieve the bread from the table.", + "start_idx": 2613, + "end_idx": 2754 + }, + { + "text": "Put the bread to the front right side of the white cup with the left hand.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Using the left hand, place the bread at the front-right side of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Have the left arm set the bread down to the white cup's front-right side.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "With the left hand, position the bread on the front right side of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Place the bread at the front-right side of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Set the bread down to the front right of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Position the bread on the white cup's front-right side.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Leave the bread at the front right side of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Arrange the bread to the front-right of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "The bread goes on the front right side of the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Using the left hand, place the bread by the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "With the left hand, set the bread near the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Have the left arm put the bread next to the white cup.", + "start_idx": 2754, + "end_idx": 2820 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally by its middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Retrieve the carrot from the table diagonally by the middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Using the left hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Have the left arm take the carrot from the table by its middle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "With the left hand, retrieve the carrot from the table at a diagonal angle.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Take the carrot from the table diagonally.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 2820, + "end_idx": 2988 + }, + { + "text": "Put the carrot on the table with the left hand.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the carrot on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the carrot onto the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the carrot on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Put the carrot on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Set the carrot on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Place the carrot onto the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Deposit the carrot on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Rest the carrot on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "On the table, place the carrot.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Have the carrot placed on the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Move the carrot onto the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Transfer the carrot to the table.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Have the right arm pick the carrot off the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "With the right hand, retrieve the carrot from the table in a diagonal orientation, holding its middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Take the carrot off the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Retrieve the carrot from the table with a diagonal approach on its middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "The carrot should be taken from the table with the right hand.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Have the right arm retrieve the carrot from the table.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Pick up the carrot from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "From the table, take the carrot with the right hand.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Take the carrot from the table by the middle.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Place the carrot to the front of the pink cup with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Using the right hand, position the carrot in front of the pink cup with its tip facing backward.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Have the right arm place the carrot at the front of the pink cup, oriented backward relative to its tip.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "With the right hand, set the carrot before the pink cup so the tip points backward.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Place the carrot in front of the pink cup with its tip facing backward.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Set the carrot at the front of the pink cup, with the tip oriented backward.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Position the carrot before the pink cup so its tip faces backward.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Put the carrot in front of the pink cup.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Set the carrot at the front of the pink cup.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Position the carrot before the pink cup.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Place the carrot in front of the pink cup with the right hand.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "With the right hand, set the carrot at the front of the pink cup.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Have the right arm position the carrot before the pink cup.", + "start_idx": 111, + "end_idx": 201 + }, + { + "text": "Pick up the pink cup from the table with the right hand from the side by the handle.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the pink cup from the table from the side by the handle.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Have the right arm take hold of the pink cup on the table from the side at the handle.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "With the right hand, grasp the pink cup from the table by the handle from the side.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Pick up the pink cup from the table from the side by the handle.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Grasp the pink cup on the table by the handle from the side.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Take the pink cup from the table by the handle from the side.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Retrieve the pink cup from the table from the side by the handle.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Have the right arm take the pink cup from the table.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "With the right hand, grasp the pink cup from the table.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 387, + "end_idx": 594 + }, + { + "text": "Place the pink cup to the right side of the asparagus with the handle facing backwards using the right hand right side up from the front.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Using the right hand, set the pink cup to the asparagus's right with the handle facing backward, right side up from the front.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Have the right hand place the pink cup on the right side of the asparagus, handle pointed backward and right side up from the front.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "With the right hand, position the pink cup to the right of the asparagus, keeping it right side up from the front and the handle facing backward.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Place the pink cup to the right of the asparagus with the handle facing backward, right side up from the front.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Set the pink cup on the asparagus's right side, handle facing backward and right side up from the front.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Position the pink cup to the right of the asparagus, with the handle pointed backward, right side up from the front.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Using the right hand, place the pink cup to the right of the asparagus.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Have the right hand set the pink cup on the right side of the asparagus.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "With the right hand, position the pink cup by the asparagus on its right side.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Place the pink cup to the right of the asparagus.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Set the pink cup on the asparagus's right side.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Put the pink cup by the asparagus on its right side.", + "start_idx": 594, + "end_idx": 720 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by its middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding the middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Retrieve the carrot from the table diagonally by its middle.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 1752, + "end_idx": 2010 + }, + { + "text": "Put the carrot to the right side of the pink cup with the tip facing backwards using the right hand.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Using the right hand, place the carrot to the right of the pink cup with its tip facing backward.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Have the right hand set the carrot on the pink cup's right side, tip pointed backward.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "With the right hand, position the carrot to the right side of the pink cup, keeping the tip facing backwards.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Place the carrot to the right of the pink cup with its tip facing backward.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Set the carrot on the right side of the pink cup, with the tip pointed backward.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Position the carrot to the pink cup's right, tip facing backward.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Using the right hand, put the carrot to the right of the pink cup.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Have the right hand place the carrot on the pink cup's right side.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "With the right hand, set the carrot to the right of the pink cup.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Place the carrot to the right of the pink cup.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Set the carrot on the pink cup's right side.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Position the carrot to the right of the pink cup.", + "start_idx": 2010, + "end_idx": 2100 + }, + { + "text": "Pick up the pink cup from the table with the right hand from the side by the handle.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Using the right hand, take the pink cup from the table from the side by the handle.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Have the right arm grasp the pink cup from the table at the handle from the side.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "With the right hand, seize the pink cup from the table, approaching from the side at the handle.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Pick up the pink cup from the table from the side by the handle.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Take the pink cup from the table by the handle from the side.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Grasp the pink cup from the table at the handle, coming from the side.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "With the right hand, take the pink cup from the table.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Have the right arm grasp the pink cup from the table.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Pick up the pink cup from the table with the right hand.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Take the pink cup from the table by the handle.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "From the side, grasp the pink cup from the table.", + "start_idx": 2100, + "end_idx": 2241 + }, + { + "text": "Put the pink cup to the front right side of the carrot with the right hand right side up and the front facing backwards.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Using the right hand, place the pink cup at the carrot's front-right side, right side up, with its front facing backward.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Have the right arm set the pink cup to the front right of the carrot, keeping it upright and its front pointed backward.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "With the right hand, position the pink cup on the front-right side of the carrot, right side up and front facing backward.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Place the pink cup at the carrot's front-right side.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Set the pink cup to the front right of the carrot.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Position the pink cup on the front-right side of the carrot.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Place the pink cup to the front right of the carrot with the right hand.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Using the right hand, set the pink cup at the carrot's front-right side.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Have the right arm place the pink cup to the front right of the carrot.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Put the pink cup at the carrot's front-right side, keeping it upright.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Set the pink cup to the front right of the carrot with its front facing backward.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Using the right hand, place the pink cup at the carrot's front-right side.", + "start_idx": 2241, + "end_idx": 2322 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "With the right arm, go back to home.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Return to the home position.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Move back to home position.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Go to home.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Reset to the home pose.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Move to the home configuration.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Return home.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Go back to the home position.", + "start_idx": 2322, + "end_idx": 2361 + }, + { + "text": "Resume the home pose.", + "start_idx": 2322, + "end_idx": 2361 + } + ] + }, + "2026-03-16-03-48-47-173000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 3 of data collection", + "total_frames": 3000, + "num_annotations": 311, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm pick the asparagus off the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding it at a diagonal angle around the center.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the asparagus off the table at a diagonal angle by the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Retrieve the asparagus from the table diagonally, holding its center.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm take the asparagus off the table.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the asparagus off the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Put the asparagus between the soda can and the white cup with the left hand facing backwards with the tip as the reference point.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Using the left hand, place the asparagus between the soda can and the white cup with the tip facing backwards.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Have the left arm set the asparagus between the soda can and the white cup, oriented backward relative to its tip.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "With the left hand, position the asparagus between the soda can and the white cup so the tip points backward.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Place the asparagus between the soda can and the white cup with the tip facing backwards.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Set the asparagus between the soda can and the white cup, oriented backward from the tip.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Position the asparagus between the soda can and the white cup so its tip points backward.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Using the left hand, put the asparagus between the soda can and the white cup.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Have the left arm place the asparagus between the soda can and the white cup.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "With the left hand, set the asparagus between the soda can and the white cup.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Place the asparagus between the soda can and the white cup.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Put the asparagus between the soda can and the white cup.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Set the asparagus between the soda can and the white cup.", + "start_idx": 117, + "end_idx": 210 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grip on the handle.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grip on the handle.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle with a diagonal hold.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "With the left hand, pick the white cup up from the table using the handle in a diagonal grasp.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Pick up the white cup from the table using a diagonal grip on the handle.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Take the white cup from the table with a diagonal hold on the handle.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Grasp the white cup from the table by the handle with a diagonal grip.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "From the table, take the white cup.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 210, + "end_idx": 330 + }, + { + "text": "Place the white cup to the front right side of the asparagus with the handle facing backwards using the left hand.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Using the left hand, set the white cup at the asparagus's front-right side with its handle pointing backward.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Have the left hand place the white cup to the front right of the asparagus, handle oriented backward.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "With the left hand, position the white cup on the front-right side of the asparagus with the handle facing back.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Place the white cup to the front right of the asparagus with the handle facing backward.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Set the white cup at the asparagus's front-right side with its handle pointing back.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Position the white cup on the front right side of the asparagus, with the handle directed backward.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Place the white cup to the front right of the asparagus.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Set the white cup at the asparagus's front-right side.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Position the white cup on the right side of the asparagus.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Put the white cup by the asparagus using the left hand.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Using the left hand, place the white cup to the front right of the asparagus.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Have the left hand set the white cup beside the asparagus.", + "start_idx": 330, + "end_idx": 432 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grip at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "From the table, have the left hand grasp the asparagus at the top with a side hold from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "With the left hand, secure the asparagus from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Take the asparagus from the table using a side hold at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "From the table, grasp the asparagus at the top with a side grip from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the top.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Have the left hand take the asparagus from the table using a side grasp at the top.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side hold.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Pick up the asparagus from the table at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "From the table, take the asparagus with the left hand from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Grasp the asparagus from the table at the top from a diagonal angle.", + "start_idx": 663, + "end_idx": 765 + }, + { + "text": "Put the asparagus to the front right side of the soda can with the left hand facing backwards by the tip.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Using the left hand, place the asparagus at the soda can's front-right side with the tip facing backward.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Have the left arm set the asparagus to the front right of the soda can, oriented backward at the tip.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "With the left hand, position the asparagus on the front-right side of the soda can so its tip points backward.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Place the asparagus at the soda can's front-right side with the tip facing backward.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Set the asparagus to the front right of the soda can, with its tip oriented backward.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Position the asparagus on the front-right side of the soda can so the tip points backward.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Using the left hand, place the asparagus at the front-right side of the soda can.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Have the left arm set the asparagus to the front right of the soda can.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "With the left hand, position the asparagus on the soda can's front-right side.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Place the asparagus at the front-right side of the soda can.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Set the asparagus to the soda can's front right.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Position the asparagus by the soda can's front-right side.", + "start_idx": 765, + "end_idx": 888 + }, + { + "text": "Pick up the bread from the table with the left hand from the top of the object at a diagonal angle.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Using the left hand, take the bread from the table from the top at a diagonal angle.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Have the left arm pick the bread up from the table, approaching the top at a diagonal angle.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "With the left hand, grasp the bread from the table at the top of the object on a diagonal.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Pick up the bread from the table from the top at a diagonal angle.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Take the bread from the table from the top at a diagonal angle.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Grasp the bread from the table at the top of the object on a diagonal.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Using the left hand, pick up the bread from the table.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "With the left hand, take the bread from the table.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Have the left arm grasp the bread from the table.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Pick up the bread from the table.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "From the table, take the bread.", + "start_idx": 1131, + "end_idx": 1272 + }, + { + "text": "Place the bread to the rear right side of the asparagus with the left hand.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Using the left hand, set the bread at the asparagus's rear right side.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Have the left arm place the bread behind and to the right of the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "With the left hand, position the bread on the rear-right side of the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Place the bread at the asparagus's rear right side.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Set the bread behind and to the right of the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Position the bread on the rear-right side of the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Put the bread to the right rear of the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Have the bread placed behind and right of the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Using the left hand, place the bread by the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "With the left hand, set the bread next to the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Put the bread beside the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Have the left arm place the bread near the asparagus.", + "start_idx": 1272, + "end_idx": 1398 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Have the left arm pick up the white cup from the table using a diagonal grasp on the cup's right lip.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "With the left hand, grasp the white cup from the table at the right-side lip in a diagonal hold.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Take the white cup from the table with a diagonal grasp on the right lip.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Grasp the white cup from the table at the cup's right-side lip diagonally.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Grasp the white cup from the table on the right side.", + "start_idx": 2715, + "end_idx": 2826 + }, + { + "text": "Put the white cup to the left side of the soda can with the left hand with the front facing backwards.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Using the left hand, place the white cup to the left of the soda can with the front facing backwards.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Have the left arm set the white cup on the soda can's left side, front facing backward.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "With the left hand, position the white cup left of the soda can so its front faces backwards.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Place the white cup to the left of the soda can.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Set the white cup on the left side of the soda can.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Position the white cup left of the soda can.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Arrange the white cup to the soda can's left.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Using the left hand, place the white cup to the left of the soda can.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "With the left hand, set the white cup on the soda can's left side.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Have the left arm position the white cup left of the soda can.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Place the white cup to the left of the soda can with the front facing backwards.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Set the white cup on the soda can's left side with its front facing backward.", + "start_idx": 2826, + "end_idx": 2910 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to home.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Head to home.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Bring the arm back home.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Reset to home.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Move to home position.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2910, + "end_idx": 3000 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal, gripping its middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Take the carrot from the table on a diagonal path, holding the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup, gripping it at the center.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "With the right hand, take the carrot from the table, holding its middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Have the right arm retrieve the carrot from the table by the middle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "With the right hand, take the carrot from the table on a diagonal path.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 432, + "end_idx": 585 + }, + { + "text": "Place the carrot to the rear left side of the pink cup with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Using the right hand, set the carrot at the rear-left side of the pink cup, facing backwards with the tip as the reference point.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Have the right hand place the carrot to the pink cup's rear left, with its tip as the reference point and facing backward.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "With the right hand, position the carrot on the rear-left side of the pink cup, oriented backward relative to its tip.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Place the carrot to the rear-left side of the pink cup.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Set the carrot at the rear left of the pink cup.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Position the carrot beside the pink cup on its rear-left side.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Put the carrot to the rear-left side of the pink cup.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Arrange the carrot at the rear-left side of the pink cup, facing backwards.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Position the carrot to the pink cup's rear left with the tip as the orientation reference point.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Set the carrot by the pink cup on the rear-left side, oriented backward.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Place the carrot to the rear-left side of the pink cup with the right hand.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Using the right hand, put the carrot at the rear left of the pink cup.", + "start_idx": 585, + "end_idx": 663 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal, gripping the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Retrieve the carrot from the table on a diagonal while holding the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Take the carrot from the table with a diagonal pickup at its middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Take the carrot from the table at a diagonal angle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Get the carrot from the table by grasping the middle.", + "start_idx": 888, + "end_idx": 1032 + }, + { + "text": "Put the carrot to the rear right side of the pink cup with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Using the right hand, place the carrot at the rear-right side of the pink cup, with its tip facing backward.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Have the right hand set the carrot to the back-right of the pink cup, oriented backward using the tip as reference.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "With the right hand, position the carrot on the rear right side of the pink cup, tip pointing backward.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Place the carrot at the rear-right side of the pink cup, with its tip facing backward.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Set the carrot to the back-right of the pink cup, oriented backward from the tip.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Position the carrot on the rear right side of the pink cup with the tip facing backward.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Put the carrot at the rear-right side of the pink cup.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Place the carrot to the back-right of the pink cup.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Set the carrot on the rear right side of the pink cup.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Using the right hand, put the carrot at the rear-right side of the pink cup.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Have the right hand place the carrot to the back-right of the pink cup.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "With the right hand, set the carrot on the rear right side of the pink cup.", + "start_idx": 1032, + "end_idx": 1131 + }, + { + "text": "Pick up the bread from the table with the right hand at the middle using a diagonal angle.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Using the right hand, pick up the bread from the table at the middle using a diagonal angle.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Have the right hand take the bread from the table by the middle at a diagonal angle.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "With the right hand, grasp the bread from the table at its middle using a diagonal approach.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Pick up the bread from the table at the middle using a diagonal angle.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Take the bread from the table by the middle at a diagonal angle.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Grasp the bread from the table at its middle using a diagonal approach.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Remove the bread from the table at the middle on a diagonal.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Pick up the bread from the table with the right hand.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Using the right hand, take the bread from the table.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Have the right hand grasp the bread from the table.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Pick up the bread from the table.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Take the bread from the table.", + "start_idx": 1398, + "end_idx": 1623 + }, + { + "text": "Put the bread to the right side of the pink cup with the right hand.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Using the right hand, place the bread on the right side of the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Have the right arm set the bread to the pink cup's right side.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "With the right hand, position the bread just right of the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Place the bread to the right of the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Set the bread on the pink cup's right side.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Position the bread just to the right of the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Have the bread placed to the right of the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Put the bread by the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Set the bread next to the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Place the bread beside the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Move the bread to the pink cup's side.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Arrange the bread near the pink cup.", + "start_idx": 1623, + "end_idx": 1731 + }, + { + "text": "Pick up the pink cup from the table with the right hand at the bottom right using a diagonal lip grasp.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Using the right hand, take the pink cup from the table at the bottom right with a diagonal lip grasp.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Have the right arm pick the pink cup up from the table by its bottom-right area using a diagonal lip grip.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "With the right hand, grasp the pink cup from the table at the lower right with a diagonal lip hold.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Pick up the pink cup from the table at the bottom right using a diagonal lip grasp.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Take the pink cup from the table by the bottom-right area with a diagonal lip grip.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Grasp the pink cup from the table at the lower right with a diagonal lip hold.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Using the right hand, pick up the pink cup from the table with a diagonal lip grasp.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Have the right arm take the pink cup from the table using a diagonal lip grip.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "With the right hand, grasp the pink cup from the table using a diagonal lip hold.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Using the right hand, pick up the pink cup from the table at the bottom right.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Pick up the pink cup from the table at the bottom right.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 1731, + "end_idx": 1920 + }, + { + "text": "Place the pink cup right side up to the rear right side of the asparagus with the handle facing left using the right arm.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Using the right arm, set the pink cup upright at the asparagus's rear right side with its handle pointing left.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Have the right arm place the pink cup right side up to the rear right of the asparagus, handle facing left.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "With the right arm, position the pink cup upright on the asparagus's rear-right side, with the handle directed left.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Place the pink cup right side up to the rear right side of the asparagus with the handle facing left.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Set the pink cup upright at the rear right of the asparagus, with the handle pointing left.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Position the pink cup on the asparagus's rear right side, right side up and facing left by the handle.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Using the right arm, place the pink cup to the rear right side of the asparagus.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "With the right arm, set the pink cup at the asparagus's rear right side.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Have the right arm position the pink cup to the rear right of the asparagus.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Place the pink cup to the rear right side of the asparagus.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Set the pink cup at the asparagus's rear right side.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Position the pink cup to the rear right of the asparagus.", + "start_idx": 1920, + "end_idx": 2088 + }, + { + "text": "Pick up the bread from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Using the right hand, take the bread from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Have the right arm grasp the bread from the table with a side hold at the bottom on a diagonal.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "With the right hand, secure the bread from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Pick up the bread from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Take the bread from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Grasp the bread from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Using the right hand, pick up the bread from the table.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Have the right arm take the bread from the table.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "With the right hand, grasp the bread from the table.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Pick up the bread from the table from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "From a diagonal angle, take the bread from the table.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Pick up the bread from the table.", + "start_idx": 2088, + "end_idx": 2241 + }, + { + "text": "Put the bread into the pink cup with the right hand.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Using the right hand, place the bread into the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Have the right arm put the bread in the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "With your right hand, deposit the bread inside the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Place the bread into the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Put the bread in the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Transfer the bread into the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "The bread goes into the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Set the bread inside the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Using your right hand, place the bread in the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "With the right hand, move the bread into the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Have the bread placed in the pink cup by the right hand.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "The right hand should put the bread into the pink cup.", + "start_idx": 2241, + "end_idx": 2394 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Have the right arm pick the carrot off the table diagonally by its middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "With the right hand, collect the carrot from the table using a diagonal approach at the middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Take the carrot off the table diagonally by its middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Collect the carrot from the table with a diagonal pickup at the middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "With the right arm, take the carrot off the table.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Have the right hand collect the carrot from the table.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Take the carrot from the table at a diagonal angle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Get the carrot off the table by its middle.", + "start_idx": 2394, + "end_idx": 2601 + }, + { + "text": "Put the carrot to the right side of the pink cup with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Using the right hand, place the carrot to the right of the pink cup with the tip facing backwards.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Have the right arm set the carrot on the right side of the pink cup, oriented backwards from the tip.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "With the right hand, position the carrot to the pink cup's right, with its tip pointing backwards.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Place the carrot to the right of the pink cup with its tip facing backwards.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Set the carrot on the right side of the pink cup, tip oriented backwards.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Position the carrot to the pink cup's right with the tip pointing backwards.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Using the right hand, place the carrot to the right of the pink cup.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Have the right arm set the carrot on the right side of the pink cup.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "With the right hand, position the carrot to the pink cup's right.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Place the carrot to the right of the pink cup.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Set the carrot on the right side of the pink cup.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Position the carrot to the pink cup's right.", + "start_idx": 2601, + "end_idx": 2691 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "With the right hand, move back to the home position.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Using the right arm, go to the home position.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Return to home.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Move back to the home position.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Go to the home pose.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Reset to home.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Return to the home pose.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Move to home position.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Go back to home.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Reset to the home pose.", + "start_idx": 2691, + "end_idx": 2715 + }, + { + "text": "Home the arm.", + "start_idx": 2691, + "end_idx": 2715 + } + ] + }, + "2026-03-16-03-55-01-379000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 3 of data collection", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, take the croissant from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm pick the croissant up from the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, grasp the croissant from the table from the side at its bottom using a diagonal pickup angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the croissant from the table using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the croissant from the table with a side grasp at the bottom and a diagonal angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Grasp the croissant from the table from the side at its bottom with a diagonal pickup angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the croissant from the table with a side grip at the bottom.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm take the croissant from the table using a side grasp at the bottom.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, grasp the croissant from the table from the side at its bottom.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the croissant from the table with the left hand and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, take the croissant from the table with a side grip at the bottom.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Grasp the croissant from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Put the croissant in front left of the white cup with the left hand.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Using the left hand, place the croissant in front-left of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Have the left arm set the croissant at the front-left side of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "With the left hand, position the croissant to the front left of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Place the croissant in front-left of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Set the croissant at the front-left of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Position the croissant to the front left of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Move the croissant to the front-left side of the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Put the croissant by the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Set the croissant next to the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Place the croissant near the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Put the croissant beside the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Using the left hand, place the croissant by the white cup.", + "start_idx": 117, + "end_idx": 258 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal approach at the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Take the asparagus from the table with a diagonal approach at the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Have the left arm take the asparagus from the table at a diagonal angle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "With the left hand, retrieve the asparagus from the table from the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Retrieve the asparagus from the table by the middle.", + "start_idx": 519, + "end_idx": 684 + }, + { + "text": "Put the asparagus in front right of the white cup with the left hand with the tip facing bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Using the left hand, place the asparagus in front right of the white cup with the tip pointed bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Have the left arm set the asparagus in front right of the white cup, tip facing the bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "With the left hand, position the asparagus in front right of the white cup so its tip faces bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Place the asparagus in front right of the white cup with the tip facing bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Set the asparagus in front right of the white cup, tip directed toward the bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Position the asparagus in front right of the white cup so the tip points bottom left.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Using the left hand, put the asparagus in front right of the white cup.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "With the left hand, place the asparagus in front right of the white cup.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Have the left arm set the asparagus in front right of the white cup.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Put the asparagus in front right of the white cup.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Place the asparagus in front right of the white cup.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Set the asparagus in front right of the white cup.", + "start_idx": 684, + "end_idx": 750 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "With the left hand, retrieve the carrot from the table, holding it at the middle on a diagonal.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Retrieve the carrot from the table, holding the middle at a diagonal angle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Take the carrot from the table, grasping the middle.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 750, + "end_idx": 921 + }, + { + "text": "Place the carrot to the right side of the asparagus with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Using the left hand, place the carrot to the right of the asparagus with its tip facing backward.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Have the left arm set the carrot on the asparagus's right side, oriented backward using the tip as reference.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "With the left hand, position the carrot to the right side of the asparagus, tip pointed backward.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Place the carrot to the right of the asparagus with its tip facing backward.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Set the carrot on the right side of the asparagus, with the tip oriented backward.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Position the carrot to the asparagus's right, keeping the tip facing backward.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Arrange the carrot to the right of the asparagus so the tip points backward.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Using the left hand, place the carrot to the right of the asparagus.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "With the left hand, set the carrot on the asparagus's right side.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Have the left arm position the carrot to the right of the asparagus.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Place the carrot to the right of the asparagus.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Set the carrot on the right side of the asparagus.", + "start_idx": 921, + "end_idx": 1017 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the top at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the top at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Have the left arm grasp the carrot from the table by its top using a side hold at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "With the left hand, retrieve the carrot from the table in a diagonal orientation, gripping its top from the side.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Pick up the carrot from the table using a side grip at the top at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Take the carrot from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Retrieve the carrot from the table, gripping the top from the side at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip at the top.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Have the left arm take the carrot from the table by the top with a side grasp.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Using the left hand, grasp the carrot from the table at the top from the side.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Take the carrot from the table with the left hand using a side grip.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Grasp the carrot from the table at the top.", + "start_idx": 1272, + "end_idx": 1380 + }, + { + "text": "Put the carrot behind left of the pink cup with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Using the left hand, place the carrot behind-left of the pink cup, with the tip facing backward.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Have the left arm set the carrot behind and to the left of the pink cup, oriented backward by its tip.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "With the left hand, position the carrot behind-left of the pink cup so the tip points backward.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Place the carrot behind-left of the pink cup.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Set the carrot behind and to the left of the pink cup.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "The carrot goes behind-left of the pink cup.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Put the carrot behind-left of the pink cup with the left hand.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Using the left hand, place the carrot behind-left of the pink cup.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Have the left arm set the carrot behind and to the left of the pink cup.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Put the carrot with the tip facing backward.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Place the carrot behind-left of the pink cup, with the tip facing backward.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Set the carrot behind and to the left of the pink cup, oriented backward by its tip.", + "start_idx": 1380, + "end_idx": 1509 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "With the left arm, retrieve the asparagus from the table at a diagonal angle by grasping the center.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by grasping its center.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "With the left arm, retrieve the asparagus from the table.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Pick up the asparagus from the table grasping the middle.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Using the left hand, get the asparagus from the table.", + "start_idx": 2027, + "end_idx": 2112 + }, + { + "text": "Put the asparagus behind left of the white cup with the left hand with the tip facing bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Using the left hand, place the asparagus behind and left of the white cup with the tip facing bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Have the left arm set the asparagus behind-left of the white cup, tip oriented toward the bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "With the left hand, position the asparagus behind the white cup on its left side, with the tip pointed bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Place the asparagus behind and left of the white cup.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Set the asparagus behind-left of the white cup.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Position the asparagus to the back left of the white cup.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Put the asparagus behind and left of the white cup with the left hand.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Using the left hand, place the asparagus behind-left of the white cup.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Have the left arm set the asparagus by the white cup on its back-left side.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Place the asparagus behind and left of the white cup with the tip facing bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Position the asparagus to the back left of the white cup, tip pointed bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Set the asparagus by the white cup on its back-left side, with the tip oriented bottom left.", + "start_idx": 2112, + "end_idx": 2202 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Using the left hand, grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "With the left arm, take hold of the white cup from the table by its handle at a diagonal angle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Have the left hand pick the white cup up from the table using the handle at a diagonal angle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "From the table, grasp the white cup by the handle at a diagonal angle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Have the left arm take the white cup from the table by its handle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "From the table, pick up the white cup by the handle.", + "start_idx": 2379, + "end_idx": 2424 + }, + { + "text": "Put the white cup to the left of the carrot with the handle facing backward right side up with the front as reference using the left hand.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Using the left hand, place the white cup to the left of the carrot, right side up, with the handle facing backward relative to the front.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Have the left arm set the white cup left of the carrot, keeping it upright and the handle pointed backward using the front as reference.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "With the left hand, position the white cup to the carrot's left, right side up, with its handle facing backward based on the front.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Place the white cup to the left of the carrot, right side up, with the handle facing backward using the front as reference.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Set the white cup left of the carrot, keeping it upright and the handle pointed backward relative to the front.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Position the white cup to the carrot's left with the handle facing backward, right side up from the front reference.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Using the left hand, put the white cup to the left of the carrot.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Have the left arm place the white cup on the carrot's left side.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "With the left hand, set the white cup left of the carrot.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Put the white cup to the left of the carrot.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Place the white cup on the left side of the carrot.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Set the white cup to the carrot's left.", + "start_idx": 2424, + "end_idx": 2517 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Return to home.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Move back to the home position.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Go to the home pose.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Have the arm return home.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Move to the home position.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Return to the home pose.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Go home with the manipulator.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Bring the limb back home.", + "start_idx": 2517, + "end_idx": 2571 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Using the right hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Have the right hand grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "With the right hand, take hold of the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Retrieve the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Have the right hand take the pink cup from the table by the handle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "With the right hand, grasp the pink cup from the table.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 258, + "end_idx": 405 + }, + { + "text": "Put the pink cup in front of the soda can with the handle facing backward right side up using the right hand.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Using the right hand, place the pink cup in front of the soda can, handle facing backward and right side up.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Have the right hand set the pink cup before the soda can with its handle pointed backward, keeping it upright.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "With the right hand, position the pink cup in front of the soda can so the handle faces backward and it stays right side up.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Place the pink cup in front of the soda can with the handle facing backward and right side up.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Set the pink cup before the soda can, handle facing backward and upright.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Position the pink cup in front of the soda can so it is right side up with the handle toward the back.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Using the right hand, put the pink cup in front of the soda can.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "With the right hand, place the pink cup before the soda can.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Have the right hand set the pink cup in front of the soda can.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Place the pink cup in front of the soda can.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Set the pink cup before the soda can.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Position the pink cup in front of the soda can.", + "start_idx": 405, + "end_idx": 519 + }, + { + "text": "Pick up the soda can from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Using the right hand, take the soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Have the right hand grasp the soda can from the table diagonally from the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "With the right hand, retrieve the soda can from the table by approaching diagonally at the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Pick up the soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Take the soda can from the table diagonally from the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Retrieve the soda can from the table by approaching at a diagonal from the top of the object.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Using the right hand, pick up the soda can from the table.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "With the right hand, take the soda can from the table.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Have the right hand retrieve the soda can from the table.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Pick up the soda can from the table.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Take the soda can from the table.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Get the soda can from the table.", + "start_idx": 1017, + "end_idx": 1164 + }, + { + "text": "Place the soda can behind right of the pink cup with the right hand right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Using the right hand, set the soda can behind and to the right of the pink cup, right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Have the right arm place the soda can behind-right of the pink cup with its right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "With the right hand, position the soda can behind the pink cup on its right side, right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Place the soda can behind and to the right of the pink cup.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Set the soda can behind-right of the pink cup.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Position the soda can behind the pink cup on its right side.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Using the right hand, place the soda can behind and to the right of the pink cup.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Have the right arm set the soda can behind-right of the pink cup.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "With the right hand, position the soda can behind the pink cup on its right side.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Set the soda can behind and to the right of the pink cup, right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Place the soda can behind-right of the pink cup with its right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Put the soda can behind the pink cup on its right side, right side up.", + "start_idx": 1164, + "end_idx": 1272 + }, + { + "text": "Pick up the soda can from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Using the right hand, pick up the soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Have the right arm take the soda can from the table with a diagonal approach at the top.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "With the right hand, retrieve the soda can from the table by gripping its top at a diagonal angle.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Pick up the soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Take the soda can from the table with a diagonal approach to the top.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Retrieve the soda can from the table by grasping the top at a diagonal angle.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Using the right hand, pick up the soda can from the table.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Have the right arm take the soda can from the table.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "With the right hand, retrieve the soda can from the table.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Pick up the soda can from the table grasping the top.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Take the soda can from the table with the right hand.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Retrieve the soda can from the table.", + "start_idx": 1509, + "end_idx": 1665 + }, + { + "text": "Put the soda to the right of the pink cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Using the right hand, place the soda to the right of the pink cup, right side up with the front as the reference point.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Have the right arm set the soda to the right of the pink cup, keeping it right side up relative to the front.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "With the right hand, position the soda to the right of the pink cup in an upright orientation using the front as the reference point.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Place the soda to the right of the pink cup, right side up with the front as the reference point.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Set the soda to the right of the pink cup, keeping it right side up relative to the front.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Position the soda to the right of the pink cup upright, with the front as the orientation reference.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Arrange the soda to the right of the pink cup.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Set the soda to the right of the pink cup.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Position the soda to the right of the pink cup.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Place the soda to the right of the pink cup with the right hand.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Using the right hand, set the soda to the right of the pink cup.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Have the right arm place the soda to the right of the pink cup.", + "start_idx": 1665, + "end_idx": 1815 + }, + { + "text": "Pick up the pink cup from the table with the right hand using a diagonal lip grasp at the top right.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Using the right hand, take hold of the pink cup from the table with a diagonal lip grasp at the top right.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Have the right hand pick the pink cup up from the table using a top-right diagonal lip grip.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "The pink cup should be grasped from the table with the right hand via a diagonal lip hold at the top right.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Pick up the pink cup from the table using a diagonal lip grasp at the top right.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Take the pink cup from the table with a diagonal lip grip at the top right.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Grasp the pink cup from the table with a diagonal lip hold at the top right.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "With the right hand, pick up the pink cup from the table.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Use the right hand to take the pink cup from the table.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Have the right hand grasp the pink cup from the table.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Pick up the pink cup from the table with the right hand.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Using the right hand, take the pink cup from the table.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 2571, + "end_idx": 2847 + }, + { + "text": "Put the pink cup to the right of the carrot with the right hand with the front facing backwards.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Using the right hand, place the pink cup to the carrot's right with the front facing backward.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Have the right arm set the pink cup on the right side of the carrot, front oriented backward.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "With the right hand, position the pink cup to the right of the carrot so its front faces backward.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Place the pink cup to the right of the carrot with the front facing backward.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Set the pink cup on the carrot's right side, with its front facing backward.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Position the pink cup to the right of the carrot, front facing backward.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Using the right hand, place the pink cup to the right of the carrot.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Have the right arm set the pink cup on the right side of the carrot.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "With the right hand, position the pink cup to the carrot's right.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Place the pink cup to the right of the carrot.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Set the pink cup on the right side of the carrot.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Position the pink cup by the carrot's right side.", + "start_idx": 2847, + "end_idx": 2988 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Resume the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Head back to the home position.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Go back to home.", + "start_idx": 2988, + "end_idx": 3000 + }, + { + "text": "Assume the home pose.", + "start_idx": 2988, + "end_idx": 3000 + } + ] + }, + "2026-03-16-18-14-40-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 1 aria data", + "total_frames": 8845, + "num_annotations": 2975, + "annotations": [ + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Have the right arm pick the bell pepper off the table with a side grip on its top at a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "With the right hand, retrieve the bell pepper from the table by grasping the top from a diagonal angle using a side hold.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "From the table, take the bell pepper with a side grasp on the top from a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Retrieve the bell pepper off the table by grasping its top from a diagonal angle with a side hold.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table with a side grip at the top.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Have the right arm take the bell pepper from the table using a side grasp on the top.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "With the right hand, collect the bell pepper from the table using a side hold.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Pick up the bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Using the right hand, take the bell pepper from the table at the top from a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Get the bell pepper from the table.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Put the bell pepper to the right of the green bowl with the right hand right side up front.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the green bowl, right side up with the front facing forward.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Have the right arm set the bell pepper to the right of the green bowl in a right-side-up orientation, front outward.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "With the right hand, position the bell pepper to the right of the green bowl so it is right side up and front-facing.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Place the bell pepper to the right of the green bowl, right side up with the front facing forward.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Set the bell pepper to the right of the green bowl in a right-side-up position, front outward.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Position the bell pepper to the right of the green bowl so it is right side up and front-facing.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the green bowl.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Have the right arm set the bell pepper to the right of the green bowl.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "With the right hand, position the bell pepper to the right of the green bowl.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Put the bell pepper to the right of the green bowl.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Place the bell pepper to the right of the green bowl.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Set the bell pepper to the right of the green bowl.", + "start_idx": 156, + "end_idx": 186 + }, + { + "text": "Pick up the purple plate from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Using the right hand, take the purple plate from the table with a diagonal lip grip at the bottom right.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Have the right arm pick the purple plate off the table with a diagonal lip grasp at the bottom right.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "With the right hand, grasp the purple plate from the table using a bottom-right diagonal lip hold.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Pick up the purple plate from the table using a diagonal lip grip at the bottom right.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Take the purple plate off the table with a diagonal lip grasp at the bottom right.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Grasp the purple plate from the table with a bottom-right diagonal lip hold.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Using the right hand, pick up the purple plate from the table.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Have the right arm take the purple plate off the table.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "With the right hand, grasp the purple plate from the table.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Pick up the purple plate from the table.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Take the purple plate off the table.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Have the right arm pick up the purple plate from the table.", + "start_idx": 186, + "end_idx": 210 + }, + { + "text": "Put the purple plate to the right of the bell pepper with the right hand right side up with the tip as the orientation reference point.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Using the right hand, place the purple plate to the right of the bell pepper, right side up with the tip as the reference point.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Have the right arm set the purple plate to the bell pepper's right, keeping it right side up and using the tip as the orientation reference.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "With the right hand, position the purple plate on the right side of the bell pepper, right side up relative to the tip.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Place the purple plate to the right of the bell pepper, right side up with the tip as the reference point.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Set the purple plate on the bell pepper's right side, keeping it right side up with the tip as the orientation reference.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Position the purple plate to the right of the bell pepper, with the tip as the reference point and the plate right side up.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Using the right hand, place the purple plate to the right of the bell pepper.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Have the right arm set the purple plate on the right side of the bell pepper.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "With the right hand, position the purple plate to the bell pepper's right.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Put the purple plate to the right of the bell pepper.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Arrange the purple plate on the right side of the bell pepper.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Place the purple plate on the bell pepper's right.", + "start_idx": 210, + "end_idx": 249 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table at a diagonal angle using a full-object grasp.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle with a full-object grasp.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Get the brown stuffed toy from the table with a diagonal pickup, holding the entire object.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Get the brown stuffed toy from the table with the right hand.", + "start_idx": 315, + "end_idx": 336 + }, + { + "text": "Put the brown stuffed toy in front of the green bowl with the right hand facing right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the green bowl with its tip facing right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the green bowl, oriented so the tip points right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "With the right hand, position the brown stuffed toy in front of the green bowl, tip facing right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Place the brown stuffed toy in front of the green bowl with its tip facing right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Set the brown stuffed toy in front of the green bowl, oriented with the tip to the right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Position the brown stuffed toy in front of the green bowl so its tip points right.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the green bowl.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Have the right arm place the brown stuffed toy in front of the green bowl.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "With the right hand, set the brown stuffed toy in front of the green bowl.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Place the brown stuffed toy in front of the green bowl.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Set the brown stuffed toy in front of the green bowl.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Position the brown stuffed toy in front of the green bowl.", + "start_idx": 336, + "end_idx": 369 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Take the brown stuffed toy from the table diagonally, using an all-over grasp.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally.", + "start_idx": 420, + "end_idx": 444 + }, + { + "text": "Put the brown stuffed toy in front of the bell pepper with the right hand facing bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the bell pepper facing bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the bell pepper with its front toward the bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "With the right hand, position the brown stuffed toy before the bell pepper, front facing bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Place the brown stuffed toy in front of the bell pepper facing bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Set the brown stuffed toy before the bell pepper with its front toward the bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Position the brown stuffed toy in front of the bell pepper, facing bottom right.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the bell pepper.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "With the right hand, set the brown stuffed toy before the bell pepper.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Have the right arm place the brown stuffed toy in front of the bell pepper.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Put the brown stuffed toy in front of the bell pepper.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Place the brown stuffed toy before the bell pepper.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Set the brown stuffed toy in front of the bell pepper.", + "start_idx": 444, + "end_idx": 468 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "With the right hand, secure the green bowl from the table by its bottom-right lip from a diagonal approach.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Grasp the green bowl from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "The green bowl from the table should be picked up with a lip hold on the bottom right from a diagonal angle.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip hold.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Have the right arm grab the green bowl from the table with the lip grip.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Pick up the green bowl from the table with a lip grip.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 468, + "end_idx": 510 + }, + { + "text": "Put the green bowl in front of the purple plate with the right hand.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Using the right hand, place the green bowl in front of the purple plate, right side up.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Have the right arm set the green bowl before the purple plate with the bowl upright.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "With the right hand, position the green bowl at the front of the purple plate, upright.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Place the green bowl in front of the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Set the green bowl before the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Position the green bowl at the front of the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Using the right hand, put the green bowl in front of the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Have the right arm place the green bowl before the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Set the green bowl in front of the purple plate with the right hand.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Using the right hand, place the green bowl before the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Have the right arm set the green bowl at the front of the purple plate.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Put the green bowl before the purple plate with the right hand.", + "start_idx": 510, + "end_idx": 549 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "From the table, collect the brown stuffed toy diagonally while gripping the entire object.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy at a diagonal angle.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 615, + "end_idx": 669 + }, + { + "text": "Place the brown stuffed toy to the left of the gray stuffed toy with the right hand facing top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Using the right hand, set the brown stuffed toy to the left of the gray stuffed toy with its front facing top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Have the right hand place the brown stuffed toy left of the gray stuffed toy, front oriented toward the top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "With the right hand, position the brown stuffed toy to the gray stuffed toy's left, front facing top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Place the brown stuffed toy to the left of the gray stuffed toy with its front facing top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Set the brown stuffed toy left of the gray stuffed toy, with the front pointed top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Position the brown stuffed toy to the left of the gray stuffed toy, front toward the top right.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the left of the gray stuffed toy.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Have the right hand set the brown stuffed toy left of the gray stuffed toy.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "With the right hand, position the brown stuffed toy to the left of the gray stuffed toy.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Place the brown stuffed toy to the left of the gray stuffed toy.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Set the brown stuffed toy left of the gray stuffed toy.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Position the brown stuffed toy to the gray stuffed toy's left.", + "start_idx": 669, + "end_idx": 702 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Have the right hand grasp the bell pepper from the table by the top with a side hold at a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "With the right hand, collect the bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Take the bell pepper from the table with a side hold on the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Grasp the bell pepper from the table by the top using a side grip from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table with a side grip at the top.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Have the right hand take the bell pepper from the table by the top with a side grasp.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "With the right hand, grasp the bell pepper from the table from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Using the right hand, take the bell pepper from the table.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Grasp the bell pepper from the table by the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 879 + }, + { + "text": "Put the bell pepper on top of the purple plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Using the right hand, place the bell pepper on top of the purple plate right side up, with the front as the orientation reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Have the right arm set the bell pepper atop the purple plate in a right-side-up orientation, referencing the front.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "With the right hand, position the bell pepper on the purple plate right side up, using the front as the orientation reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Place the bell pepper on top of the purple plate right side up, with the front as the orientation reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Set the bell pepper atop the purple plate in a right-side-up position, using the front as the reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Position the bell pepper on the purple plate with the front as the orientation reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Using the right hand, place the bell pepper on top of the purple plate.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Have the right arm set the bell pepper atop the purple plate.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "With the right hand, position the bell pepper on the purple plate.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Put the bell pepper on top of the purple plate.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Place the bell pepper on the purple plate right side up.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Set the bell pepper atop the purple plate using the front as the orientation reference point.", + "start_idx": 879, + "end_idx": 909 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom diagonally.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Using the right hand, grasp the green bowl from the table with a lip grip at the bottom diagonally.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Have the right hand pick the green bowl off the table with a bottom lip grasp on a diagonal.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "The green bowl should be taken from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom diagonally.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Take the green bowl off the table with a lip grasp at the bottom diagonally.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "The green bowl should be grasped from the table with a bottom lip grip on a diagonal.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "With the right hand, take the green bowl off the table using a lip grasp.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Have the right hand grasp the green bowl from the table with the lip grip.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Using the right hand, pick up the green bowl from the table diagonally.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "With the right hand, take the green bowl off the table from the bottom on a diagonal.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 909, + "end_idx": 957 + }, + { + "text": "Put the green bowl to the left of the purple plate with the right hand.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Using the right hand, place the green bowl to the left of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Have the right arm set the green bowl down to the left of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "With the right hand, position the green bowl to the left of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Place the green bowl to the left of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Set the green bowl down to the left of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Position the green bowl left of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Move the green bowl beside the purple plate on its left side.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Put the green bowl next to the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Set the green bowl by the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Place the green bowl on the left side of the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Using the right hand, place the green bowl beside the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Have the right arm put the green bowl next to the purple plate.", + "start_idx": 957, + "end_idx": 1002 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table at a diagonal angle using a full-object hold.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Grasp the brown stuffed toy from the table at a diagonal angle with a full-object hold.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a whole-object grasp.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Pick up the brown stuffed toy from the table diagonally.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "From the table, get the brown stuffed toy with the right hand.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Put the brown stuffed toy inside the green bowl with the right hand facing right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Using the right hand, place the brown stuffed toy in the green bowl with its front facing right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Have the right arm put the brown stuffed toy inside the green bowl, front pointed right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "With the right hand, deposit the brown stuffed toy into the green bowl so the front faces right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Place the brown stuffed toy into the green bowl with its front facing right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Put the brown stuffed toy inside the green bowl, front facing right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Set the brown stuffed toy in the green bowl so it faces right.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Using the right hand, place the brown stuffed toy into the green bowl.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Have the right arm put the brown stuffed toy inside the green bowl.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "With the right hand, set the brown stuffed toy in the green bowl.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Place the brown stuffed toy into the green bowl.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Put the brown stuffed toy inside the green bowl.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Set the brown stuffed toy in the green bowl.", + "start_idx": 1116, + "end_idx": 1140 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right using a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a bottom-right lip hold at a diagonal angle.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "With the right hand, secure the green bowl from the table by the bottom right using a diagonal lip grasp.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom right using a diagonal angle.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Grasp the green bowl from the table at the bottom right with a diagonal pick angle using a lip hold.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "From the table, take the green bowl with the right hand using a lip grasp.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Have the right arm grab the green bowl from the table with a lip hold.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the bottom right.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Take the green bowl from the table with the right hand using a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Using the right hand, grasp the green bowl from the table.", + "start_idx": 1140, + "end_idx": 1170 + }, + { + "text": "Dump the brown stuffed toy to the left of the purple plate with the right hand.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Using the right hand, dump the brown stuffed toy to the left of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Have the right arm place the brown stuffed toy to the left of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "With the right hand, set down the brown stuffed toy on the left side of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Dump the brown stuffed toy to the left of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Place the brown stuffed toy to the left of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Set the brown stuffed toy down on the left side of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Put the brown stuffed toy beside the purple plate on its left.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Leave the brown stuffed toy to the left of the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Using the right hand, place the brown stuffed toy by the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "With the right hand, set the brown stuffed toy down beside the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Have the right arm put the brown stuffed toy next to the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Position the brown stuffed toy by the purple plate.", + "start_idx": 1170, + "end_idx": 1188 + }, + { + "text": "Put the green bowl in front of the gray stuffed toy with the right hand.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Using the right hand, place the green bowl in front of the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Have the right arm set the green bowl down in front of the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "With the right hand, position the green bowl before the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Place the green bowl in front of the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Set the green bowl down in front of the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Position the green bowl before the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Put the green bowl by the gray stuffed toy with the right hand.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Using the right hand, place the green bowl near the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Have the right arm put the green bowl next to the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Place the green bowl by the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Set the green bowl near the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Put the green bowl next to the gray stuffed toy.", + "start_idx": 1188, + "end_idx": 1236 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Take the brown stuffed toy from the table diagonally while gripping the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table while holding the entire object.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Have the right arm retrieve the brown stuffed toy from the table with a full-object grasp.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Grasp the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 1443, + "end_idx": 1482 + }, + { + "text": "Put the brown stuffed toy to the bottom left of the purple plate with the right hand facing forwards.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Using the right hand, place the brown stuffed toy at the bottom left of the purple plate, facing forwards.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Have the right arm set the brown stuffed toy down at the bottom left of the purple plate with its front facing forwards.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "With the right hand, position the brown stuffed toy to the bottom left of the purple plate so it faces forwards.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Place the brown stuffed toy at the bottom left of the purple plate, facing forwards.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Set the brown stuffed toy down to the bottom left of the purple plate with its front forwards.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Position the brown stuffed toy at the bottom left of the purple plate so it faces the front.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Using the right hand, place the brown stuffed toy at the bottom left of the purple plate.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "With the right hand, set the brown stuffed toy down to the bottom left of the purple plate.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Have the right arm position the brown stuffed toy at the bottom left of the purple plate.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Place the brown stuffed toy at the bottom left of the purple plate.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Set the brown stuffed toy down to the bottom left of the purple plate.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Have the brown stuffed toy positioned at the bottom left of the purple plate.", + "start_idx": 1482, + "end_idx": 1509 + }, + { + "text": "Pick up the bell pepper from the top of the purple plate with the right hand using a side grip at a diagonal angle from the top.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Using the right hand, take the bell pepper from the top of the purple plate with a side grip at a diagonal angle from above.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Have the right arm grasp the bell pepper from the top of the purple plate using a side hold at a diagonal top angle.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "With the right hand, seize the bell pepper from the top of the purple plate in a side grasp, approached diagonally from the top.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Pick up the bell pepper from the top of the purple plate using a side grip at a diagonal angle from the top.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Take the bell pepper from the top of the purple plate with a side grasp at a diagonal angle from above.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Grasp the bell pepper from the top of the purple plate in a side hold at a diagonal top angle.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Using the right hand, pick up the bell pepper from the top of the purple plate with a side grip.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Have the right arm take the bell pepper from the top of the purple plate using a side grasp.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "With the right hand, grasp the bell pepper from the top of the purple plate in a side hold.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Pick up the bell pepper from the top of the purple plate with the right hand at a diagonal angle from the top.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Take the bell pepper from the top of the purple plate using a side grip.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "With the right hand, pick up the bell pepper from the top of the purple plate.", + "start_idx": 1509, + "end_idx": 1560 + }, + { + "text": "Place the bell pepper with the right hand to the bottom left of the brown stuffed toy right side up with the front as the orientation reference point.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Using the right hand, set the bell pepper at the bottom left of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Have the right arm place the bell pepper bottom-left of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "With the right hand, position the bell pepper to the brown stuffed toy's bottom left, oriented right side up using the front as the reference.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Place the bell pepper at the bottom left of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Set the bell pepper bottom-left of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Position the bell pepper to the bottom left of the brown stuffed toy, with the front as the orientation reference and right side up.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Using the right hand, place the bell pepper at the bottom left of the brown stuffed toy.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Have the right arm set the bell pepper to the brown stuffed toy's bottom left.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "With the right hand, position the bell pepper bottom-left of the brown stuffed toy.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Place the bell pepper at the bottom left of the brown stuffed toy.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Set the bell pepper to the brown stuffed toy's bottom left.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Position the bell pepper bottom-left of the brown stuffed toy.", + "start_idx": 1560, + "end_idx": 1596 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "With the right hand, take the bell pepper from the table using a side grasp at the top with a diagonal angle.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Using the right hand, secure the bell pepper from the table with a side hold at the top on a diagonal.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Have the right arm pick the bell pepper off the table with a side grip at the top, angled diagonally.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Take the bell pepper off the table with a side grasp at the top and a diagonal angle.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Grasp the bell pepper from the table at the top with a side hold on a diagonal.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "With the right hand, pick up the bell pepper from the table.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Using the right hand, take the bell pepper off the table.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Have the right arm grasp the bell pepper from the table.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Pick up the bell pepper from the table with a diagonal angle.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Take the bell pepper off the table from the top.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "With the right hand, pick up the bell pepper from the table with a diagonal angle.", + "start_idx": 1791, + "end_idx": 1824 + }, + { + "text": "Put the bell pepper to the left of the brown stuffed toy with the right hand right side up with the front as the reference point.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Using the right hand, place the bell pepper to the left of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Have the right arm set the bell pepper left of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "With the right hand, position the bell pepper to the left of the brown stuffed toy, right side up using the front as the reference point.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Place the bell pepper to the left of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Set the bell pepper to the left of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Position the bell pepper left of the brown stuffed toy, with the front as the reference for right-side-up placement.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Arrange the bell pepper to the left of the brown stuffed toy.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Set the bell pepper left of the brown stuffed toy.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Place the bell pepper to the left of the brown stuffed toy.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Using the right hand, place the bell pepper to the left of the brown stuffed toy.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Have the right arm set the bell pepper left of the brown stuffed toy.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "With the right hand, position the bell pepper to the left of the brown stuffed toy.", + "start_idx": 1824, + "end_idx": 1860 + }, + { + "text": "Put the brown stuffed toy in front of the bell pepper with the right hand facing top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the bell pepper, facing top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the bell pepper with its front facing top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "With the right hand, position the brown stuffed toy before the bell pepper so the front points top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Place the brown stuffed toy in front of the bell pepper, facing top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Set the brown stuffed toy before the bell pepper with its front toward the top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Position the brown stuffed toy in front of the bell pepper so it faces top left.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the bell pepper.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "With the right hand, place the brown stuffed toy before the bell pepper.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Have the right arm position the brown stuffed toy in front of the bell pepper.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Put the brown stuffed toy in front of the bell pepper.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Set the brown stuffed toy before the bell pepper.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Have the brown stuffed toy placed in front of the bell pepper.", + "start_idx": 1860, + "end_idx": 1902 + }, + { + "text": "Put the brown stuffed toy in front of the bell pepper with the right hand facing top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the bell pepper facing top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the bell pepper, with its front facing top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "With the right hand, position the brown stuffed toy before the bell pepper so the front faces top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Place the brown stuffed toy in front of the bell pepper facing top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Set the brown stuffed toy before the bell pepper with its front toward the top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Position the brown stuffed toy in front of the bell pepper so it faces top left.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the bell pepper.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "With the right hand, place the brown stuffed toy before the bell pepper.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Have the right arm position the brown stuffed toy in front of the bell pepper.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Put the brown stuffed toy in front of the bell pepper.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Set the brown stuffed toy before the bell pepper.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Have the brown stuffed toy placed in front of the bell pepper.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally using a whole-object grasp.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally using a whole-object grasp.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Take the brown stuffed toy from the table with the right hand.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally.", + "start_idx": 2058, + "end_idx": 2094 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate with the right hand facing forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "With the right hand, place the brown stuffed toy in front of the purple plate facing forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Have the right arm set the brown stuffed toy before the purple plate with its front facing forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Using the right hand, position the brown stuffed toy in front of the purple plate, oriented forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Place the brown stuffed toy in front of the purple plate facing forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Set the brown stuffed toy before the purple plate with its front facing forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate, oriented forwards.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "With the right hand, put the brown stuffed toy in front of the purple plate.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Using the right hand, place the brown stuffed toy before the purple plate.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Have the right arm position the brown stuffed toy in front of the purple plate.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Set the brown stuffed toy before the purple plate.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate.", + "start_idx": 2094, + "end_idx": 2130 + }, + { + "text": "Pick up the purple plate from the table with the right hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Using the right hand, pick up the purple plate from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Have the right hand grasp the purple plate from the table with a lip grip on the left side at a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "With a diagonal approach, the right hand should take the purple plate from the table using a lip grip on the left side.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Pick up the purple plate from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Take the purple plate from the table using a lip grip on the left side at a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "The purple plate should be grasped from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Using the right hand, pick up the purple plate from the table with a lip grip.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "With the right hand, grasp the purple plate from the table using a lip grip.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Have the right hand take the purple plate from the table with a lip grasp.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Pick up the purple plate from the table with the right hand at the left side and a diagonal angle.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Using the right hand, take the purple plate from the table.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Grasp the purple plate from the table with a lip grip.", + "start_idx": 2130, + "end_idx": 2187 + }, + { + "text": "Put the purple plate to the left of the bell pepper with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Using the right hand, place the purple plate to the left of the bell pepper, right side up with the front as the reference point.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Have the right arm set the purple plate left of the bell pepper, keeping it right side up relative to the front.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "With the right hand, position the purple plate to the bell pepper's left, oriented right side up using the front as the reference.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Place the purple plate to the left of the bell pepper, right side up with the front as the reference point.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Set the purple plate left of the bell pepper, keeping it right side up relative to the front.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Position the purple plate to the bell pepper's left, oriented right side up using the front as the reference.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Using the right hand, put the purple plate to the left of the bell pepper.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "With the right hand, set the purple plate left of the bell pepper.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Have the right arm place the purple plate to the bell pepper's left.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Put the purple plate to the left of the bell pepper.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Place the purple plate left of the bell pepper, keeping it right side up.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Set the purple plate to the bell pepper's left with the front as the reference point.", + "start_idx": 2187, + "end_idx": 2265 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Have the right arm grasp the bell pepper on the table with a side hold at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "With the right hand, secure the bell pepper from the table using a side grasp on its top at a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Grasp the bell pepper on the table with a side hold at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "The bell pepper from the table should be taken with a side grasp at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "With the right hand, take the bell pepper from the table.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Have the right arm grasp the bell pepper from the table.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Grasp the bell pepper from the table at the top from a diagonal angle.", + "start_idx": 2364, + "end_idx": 2403 + }, + { + "text": "Place the bell pepper in front of the white coffee cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Using the right hand, position the bell pepper in front of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Have the right arm set the bell pepper in front of the white coffee cup, keeping it right side up and using the front as reference.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "With the right hand, place the bell pepper before the white coffee cup, oriented right side up relative to its front.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Place the bell pepper in front of the white coffee cup.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Set the bell pepper before the white coffee cup.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Position the bell pepper in front of the white coffee cup.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Using the right hand, place the bell pepper in front of the white coffee cup.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Have the right arm put the bell pepper before the white coffee cup.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "With the right hand, set the bell pepper before the white coffee cup.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Place the bell pepper in front of the white coffee cup, right side up.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Set the bell pepper before the white coffee cup, keeping it right side up.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Position the bell pepper in front of the white coffee cup using its front as the reference point.", + "start_idx": 2403, + "end_idx": 2445 + }, + { + "text": "Pick up the purple plate from the table with the right hand using a lip grip at the bottom right diagonally.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Using the right hand, take the purple plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Have the right arm grasp the purple plate from the table with a lip hold at the bottom right diagonally.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "With the right hand, secure the purple plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Pick up the purple plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Take the purple plate from the table with a lip hold at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Grasp the purple plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Pick up the purple plate from the table with the right hand using a lip grip.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Using the right hand, take the purple plate from the table with a lip hold.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Have the right arm grasp the purple plate from the table.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Pick up the purple plate from the table with the right hand at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Take the purple plate from the table at the bottom right diagonal.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Grasp the purple plate from the table.", + "start_idx": 2445, + "end_idx": 2493 + }, + { + "text": "Dump the gray stuffed toy to the center of the table with the right hand.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Using the right hand, dump the gray stuffed toy at the table's center.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Have the right arm place the gray stuffed toy in the center of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "With the right hand, deposit the gray stuffed toy onto the middle of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Dump the gray stuffed toy at the center of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Place the gray stuffed toy in the center of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Set the gray stuffed toy down in the middle of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Move the gray stuffed toy to the table's center.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "The gray stuffed toy goes to the center of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Position the gray stuffed toy in the middle of the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Put the gray stuffed toy onto the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Set down the gray stuffed toy on the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Place the gray stuffed toy on the table.", + "start_idx": 2493, + "end_idx": 2514 + }, + { + "text": "Put the purple plate to the top right of the gray stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Using the right hand, place the purple plate at the gray stuffed toy's top right, right side up, with the front as the reference point.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Have the right arm set the purple plate to the top right of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "With the right hand, position the purple plate at the stuffed toy's upper right, right side up, using the front as the orientation reference.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Place the purple plate to the top right of the gray stuffed toy.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Set the purple plate at the upper right of the gray stuffed toy.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Position the purple plate to the gray stuffed toy's top right.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Using the right hand, place the purple plate to the top right of the gray stuffed toy.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Have the right arm set the purple plate at the upper right of the gray stuffed toy.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "With the right hand, position the purple plate by the gray stuffed toy's top right.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Place the purple plate to the top right of the gray stuffed toy, right side up.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Set the purple plate at the upper right of the gray stuffed toy with the front as the orientation reference.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Position the purple plate by the gray stuffed toy's top right, right side up.", + "start_idx": 2514, + "end_idx": 2565 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Using the right hand, take the gray stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Have the right hand grasp the gray stuffed toy from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table using a side grasp on the bottom from a diagonal approach.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Pick up the gray stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Take the gray stuffed toy from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Retrieve the gray stuffed toy from the table using a side grasp at the bottom from a diagonal approach.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Have the right hand take the gray stuffed toy from the table.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "With the right hand, grasp the gray stuffed toy from the table.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Pick up the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "From a diagonal approach, take the gray stuffed toy from the table.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Have the right hand pick up the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 2565, + "end_idx": 2604 + }, + { + "text": "Put the gray stuffed toy inside the white coffee cup with the right hand facing top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Using the right hand, place the gray stuffed toy inside the white coffee cup with its front facing top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Have the right arm put the gray stuffed toy into the white coffee cup, front oriented toward the top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "With the right hand, insert the gray stuffed toy into the white coffee cup so the front faces top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Place the gray stuffed toy inside the white coffee cup with its front facing top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Set the gray stuffed toy into the white coffee cup, with the front toward the top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Put the gray stuffed toy into the white coffee cup so its front points top left.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Using the right hand, place the gray stuffed toy inside the white coffee cup.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "With the right hand, set the gray stuffed toy into the white coffee cup.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Have the right arm put the gray stuffed toy in the white coffee cup.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Place the gray stuffed toy inside the white coffee cup.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Put the gray stuffed toy into the white coffee cup.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Set the gray stuffed toy in the white coffee cup.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table with a lateral grip on the bottom at a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "With the right hand, grasp the brown stuffed toy from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Grasp the brown stuffed toy from the table by the bottom from a diagonal angle using a side hold.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Pick up the brown stuffed toy from the table with a lateral grip on the bottom at a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table with a side grip at the bottom.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table using a side grasp on the bottom.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Have the right arm grasp the brown stuffed toy from the table by the bottom with a side hold.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table at the bottom from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Pick up the brown stuffed toy from the table by the bottom from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2679 + }, + { + "text": "Put the brown stuffed toy to the left of the bell pepper with the right hand facing top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the left of the bell pepper with its front facing top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Have the right arm set the brown stuffed toy to the left of the bell pepper, front pointing toward the top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "With the right hand, position the brown stuffed toy left of the bell pepper so the front faces top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Place the brown stuffed toy to the left of the bell pepper with its front facing top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Set the brown stuffed toy left of the bell pepper, front oriented toward the top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Position the brown stuffed toy to the left of the bell pepper with the front pointing top left.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Using the right hand, put the brown stuffed toy to the left of the bell pepper.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "With the right hand, place the brown stuffed toy left of the bell pepper.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Have the right arm position the brown stuffed toy to the left of the bell pepper.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Put the brown stuffed toy to the left of the bell pepper.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Set the brown stuffed toy to the left of the bell pepper.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Position the brown stuffed toy left of the bell pepper.", + "start_idx": 2679, + "end_idx": 2709 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "With a diagonal approach, the right hand should collect the brown stuffed toy from the table using a full-object hold.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "From the table, collect the brown stuffed toy at a diagonal angle using a full-object hold.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table using a full-object grasp.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Have the right arm collect the brown stuffed toy from the table with a whole-object hold.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "With a diagonal approach, have the right hand take the brown stuffed toy from the table.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Pick up the brown stuffed toy from the table diagonally.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Put the brown stuffed toy to the right of the bell pepper with the right hand facing top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the bell pepper with its front facing the top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the bell pepper, front oriented toward the top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the bell pepper so its front points top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Place the brown stuffed toy to the right of the bell pepper with its front facing the top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Set the brown stuffed toy to the right of the bell pepper, front pointing toward the top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Position the brown stuffed toy to the right of the bell pepper with the front oriented top left.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the bell pepper.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "With the right hand, set the brown stuffed toy to the right of the bell pepper.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Have the right arm position the brown stuffed toy to the right of the bell pepper.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Put the brown stuffed toy to the right of the bell pepper.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Set the brown stuffed toy to the bell pepper's right side.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Position the brown stuffed toy on the right side of the bell pepper.", + "start_idx": 2877, + "end_idx": 2913 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "From a diagonal angle, have the right hand grasp the top of the bell pepper on the table with a side hold.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "With the right hand, seize the bell pepper from the table at its top using a side grasp from a diagonal angle.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "From a diagonal angle, grasp the top of the bell pepper on the table with a side hold.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Take the bell pepper from the table at the top using a side grasp from a diagonal angle.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table with a side grip.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Have the right hand take the bell pepper from the table using a side grasp.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "With the right hand, grasp the bell pepper from the table using a side hold.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Pick up the bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "From a diagonal angle, take the bell pepper from the table with the right hand.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 2913, + "end_idx": 2952 + }, + { + "text": "Place the bell pepper on top of the purple plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Using the right hand, set the bell pepper on top of the purple plate right side up, using the front as the reference point.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Have the right arm place the bell pepper onto the purple plate with its right side up and the front as the orientation reference.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "With the right hand, position the bell pepper atop the purple plate right side up, taking the front as the orientation reference.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Place the bell pepper on top of the purple plate right side up, using the front as the orientation reference point.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Set the bell pepper onto the purple plate with its right side up, using the front as the reference point.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Position the bell pepper atop the purple plate right side up with the front as the orientation reference.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "The bell pepper goes on top of the purple plate right side up, based on the front reference point.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Using the right hand, place the bell pepper on top of the purple plate.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Have the right arm set the bell pepper onto the purple plate.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "With the right hand, position the bell pepper atop the purple plate.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Place the bell pepper on top of the purple plate.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Set the bell pepper onto the purple plate.", + "start_idx": 2952, + "end_idx": 3003 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "From a diagonal angle, have the right hand grasp the brown stuffed toy off the table with a side hold at the bottom.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table using a side grasp on the bottom at a diagonal approach.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "From a diagonal angle, grasp the brown stuffed toy off the table with a side hold at the bottom.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Use the right hand to pick up the brown stuffed toy from the table.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Have the right hand take the brown stuffed toy off the table.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "With the right hand, grasp the brown stuffed toy from the table.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Pick up the brown stuffed toy from the table from a diagonal angle.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "From the table, take the brown stuffed toy at the bottom from a diagonal angle.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 3003, + "end_idx": 3057 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with the right hand facing top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Using the right hand, place the brown stuffed toy inside the green bowl with its front facing top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Have the right arm put the brown stuffed toy into the green bowl, front oriented toward the top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "With the right hand, set the brown stuffed toy in the green bowl so the front points top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with its front facing top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Put the brown stuffed toy into the green bowl with the front directed toward the top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Set the brown stuffed toy in the green bowl so its front faces the top left.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Using the right hand, place the brown stuffed toy inside the green bowl.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Have the right arm put the brown stuffed toy into the green bowl.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "With the right hand, set the brown stuffed toy in the green bowl.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Place the brown stuffed toy inside the green bowl.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Put the brown stuffed toy into the green bowl.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Set the brown stuffed toy in the green bowl.", + "start_idx": 3057, + "end_idx": 3093 + }, + { + "text": "Pick up the bell pepper on top of the purple plate with the right hand using a side grasp at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Using the right hand, pick up the bell pepper on top of the purple plate with a side grasp at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Have the right arm take hold of the bell pepper on the purple plate with a side grip at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "With the right hand, grasp the bell pepper resting on the purple plate from a diagonal angle using a side hold at the top.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Pick up the bell pepper on top of the purple plate using a side grasp at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Grasp the bell pepper on the purple plate with a side hold at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Take the bell pepper resting on the purple plate with a side grip at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Using the right hand, pick up the bell pepper on top of the purple plate.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Have the right arm take the bell pepper from the purple plate.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "With the right hand, grasp the bell pepper on the purple plate.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Pick up the bell pepper on top of the purple plate with the right hand.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Using the right hand, take the bell pepper on the purple plate.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Grasp the bell pepper resting on the purple plate.", + "start_idx": 3093, + "end_idx": 3138 + }, + { + "text": "Put the bell pepper inside the green bowl right side up with the front as the reference point using the right hand.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Using the right hand, place the bell pepper in the green bowl right side up with the front as the reference point.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Have the right hand set the bell pepper inside the green bowl in a right-side-up position, referenced to the front.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "With the right hand, deposit the bell pepper into the green bowl right side up, using the front as the reference point.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Place the bell pepper inside the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Set the bell pepper into the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Have the bell pepper placed in the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Put the bell pepper in the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Using the right hand, place the bell pepper inside the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "With the right hand, set the bell pepper into the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Have the right hand put the bell pepper in the green bowl.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Place the bell pepper in the green bowl right side up.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Set the bell pepper inside the green bowl with the front as the reference point.", + "start_idx": 3138, + "end_idx": 3171 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Have the right arm grasp the bell pepper from the table by the top with a side hold at a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "From a diagonal angle, use the right hand to seize the bell pepper from the table with a side grasp at the top.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "From a diagonal angle, grasp the bell pepper from the table at the top with a side hold.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "The bell pepper from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Use the right hand to grasp the bell pepper from the table with a side hold at the top.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Have the right arm take the bell pepper from the table with a side grasp at the top.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "With the right hand, pick up the bell pepper from the table from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Take the bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Grasp the bell pepper from the table at the top from a diagonal angle.", + "start_idx": 3396, + "end_idx": 3438 + }, + { + "text": "Put the bell pepper in front of the purple plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Using the right hand, place the bell pepper in front of the purple plate right side up, with the front as the orientation reference point.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Have the right arm set the bell pepper in front of the purple plate, keeping it right side up relative to its front.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "With the right hand, position the bell pepper before the purple plate so it is right side up using the front as the reference point.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Place the bell pepper in front of the purple plate right side up, with the front as the orientation reference point.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Set the bell pepper before the purple plate, keeping it right side up relative to the front.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Position the bell pepper in front of the purple plate so it stays right side up with the front as reference.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Using the right hand, put the bell pepper in front of the purple plate.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "With the right hand, set the bell pepper before the purple plate.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Have the right arm place the bell pepper in front of the purple plate.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Put the bell pepper in front of the purple plate.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Set the bell pepper before the purple plate.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Position the bell pepper in front of the purple plate.", + "start_idx": 3438, + "end_idx": 3474 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "The white coffee cup on the table should be picked up with the right hand, angled diagonally and held by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "The white coffee cup from the table should be grasped by the handle at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "The right hand should take the white coffee cup from the table by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "The white coffee cup from the table should be picked up by the handle.", + "start_idx": 3474, + "end_idx": 3513 + }, + { + "text": "Dump the gray stuffed toy to the bottom right of the table with the right hand.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Using the right hand, dump the gray stuffed toy at the table's bottom right.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Have the right arm place the gray stuffed toy in the bottom-right area of the table.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "With the right hand, set the gray stuffed toy down at the bottom right of the table.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Dump the gray stuffed toy at the bottom right of the table.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Place the gray stuffed toy in the table's bottom-right section.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Set down the gray stuffed toy at the bottom right of the table.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Put the gray stuffed toy in the bottom-right area of the table.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "The gray stuffed toy goes at the bottom right of the table.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Position the gray stuffed toy at the table's bottom right.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Using the right hand, dump the gray stuffed toy.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "With the right hand, place the gray stuffed toy down.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Have the right arm set down the gray stuffed toy.", + "start_idx": 3513, + "end_idx": 3528 + }, + { + "text": "Put the white coffee cup to the right of the purple plate with handle facing backward with the right hand right side up.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the purple plate, right side up, with its handle facing backward.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the purple plate, keeping it upright and the handle facing backward.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "With the right hand, position the white coffee cup right of the purple plate, right side up, handle pointing backward.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Place the white coffee cup to the right of the purple plate with its handle facing backward and right side up.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Set the white coffee cup right of the purple plate, keeping it upright with the handle facing backward.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Position the white coffee cup to the right of the purple plate, with the handle facing backward and the cup right side up.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the purple plate.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Have the right arm set the white coffee cup right of the purple plate.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the purple plate.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Place the white coffee cup to the right of the purple plate.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Set the white coffee cup right of the purple plate.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Position the white coffee cup to the right of the purple plate.", + "start_idx": 3528, + "end_idx": 3591 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Using the right hand, take the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Have the right arm pick the gray stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "With the right hand, collect the gray stuffed toy from the table at a diagonal angle using an all-around grasp.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "At a diagonal angle, retrieve the gray stuffed toy from the table with a full-object grasp.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Get the gray stuffed toy off the table diagonally while holding the entire object.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table, grasping the entire object.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "With the right hand, take the gray stuffed toy from the table using a whole-object grasp.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Have the right arm collect the gray stuffed toy from the table with a full-body hold.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "From the table, take the gray stuffed toy at a diagonal angle with the right hand.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Using the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 3591, + "end_idx": 3618 + }, + { + "text": "Put the gray stuffed toy to the left of the bell pepper with the right hand facing right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the left of the bell pepper with its front facing right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Have the right arm set the gray stuffed toy to the left of the bell pepper, front oriented to the right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "With the right hand, position the gray stuffed toy left of the bell pepper so the front faces right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Place the gray stuffed toy to the left of the bell pepper with its front facing right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Set the gray stuffed toy left of the bell pepper, front pointing right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Position the gray stuffed toy to the left of the bell pepper so it faces right.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the left of the bell pepper.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Have the right arm set the gray stuffed toy left of the bell pepper.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "With the right hand, position the gray stuffed toy to the left of the bell pepper.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Place the gray stuffed toy to the left of the bell pepper.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Set the gray stuffed toy left of the bell pepper.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Position the gray stuffed toy beside the bell pepper on its left side.", + "start_idx": 3618, + "end_idx": 3654 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Have the right hand grasp the bell pepper off the table from a diagonal angle, contacting the top with a side hold.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "With the right hand, secure the bell pepper from the table by the top using a side grasp from a diagonal approach.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Grasp the bell pepper off the table by the top using a side hold from a diagonal angle.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Take the bell pepper from the table at the top with a side grasp from a diagonal approach.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "With the right hand, take the bell pepper off the table.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Have the right hand grasp the bell pepper from the table.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table from a diagonal angle.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Take the bell pepper from the table.", + "start_idx": 3729, + "end_idx": 3762 + }, + { + "text": "Put the bell pepper in front of the white coffee cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Using the right hand, place the bell pepper in front of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Have the right arm set the bell pepper in front of the white coffee cup, keeping it right side up relative to its front.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "With the right hand, position the bell pepper before the white coffee cup, oriented right side up using the front as the reference.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Place the bell pepper in front of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Set the bell pepper before the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Position the bell pepper in front of the white coffee cup with its front used as the orientation reference, right side up.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Using the right hand, put the bell pepper in front of the white coffee cup.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "With the right hand, set the bell pepper before the white coffee cup.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Have the right arm place the bell pepper in front of the white coffee cup.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Put the bell pepper in front of the white coffee cup.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Set the bell pepper before the white coffee cup.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Have the bell pepper placed in front of the white coffee cup.", + "start_idx": 3762, + "end_idx": 3798 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Have the right arm grasp the bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "With the right hand, seize the bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "From a diagonal angle, grasp the bell pepper from the table at the top with a side hold.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "The bell pepper from the table should be picked up with a side grasp on the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table with a side grip at the top.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Have the right arm take the bell pepper from the table using a side grip at the top.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "With the right hand, grasp the bell pepper from the table at the top using a side hold.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Take the bell pepper from the table with the right hand at the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Grasp the bell pepper from the table at the top from a diagonal angle.", + "start_idx": 4055, + "end_idx": 4101 + }, + { + "text": "Put the bell pepper to the right of the gray stuffed toy with the right hand right side up with the front as the reference point.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the gray stuffed toy, right side up relative to the front.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Have the right arm set the bell pepper to the gray stuffed toy's right, keeping it right side up with the front as reference.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "With the right hand, position the bell pepper right of the gray stuffed toy, oriented right side up based on the front.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Place the bell pepper to the right of the gray stuffed toy, right side up with the front as the reference point.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Set the bell pepper to the gray stuffed toy's right, keeping it right side up relative to the front.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Position the bell pepper right of the gray stuffed toy, with a right-side-up orientation using the front as reference.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the gray stuffed toy.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "With the right hand, set the bell pepper to the gray stuffed toy's right.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Have the right arm position the bell pepper right of the gray stuffed toy.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Put the bell pepper to the right of the gray stuffed toy.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Arrange the bell pepper to the gray stuffed toy's right.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the gray stuffed toy, right side up.", + "start_idx": 4101, + "end_idx": 4140 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Have the right hand grasp the bell pepper from the table by the top with a side hold at a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "With the right hand, pick the bell pepper up from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Take the bell pepper from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Grasp the bell pepper from the table by the top with a side hold at a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Have the right hand take the bell pepper from the table.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "With the right hand, grasp the bell pepper from the table.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Pick up the bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "From a diagonal angle, take the bell pepper from the table with the right hand.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table with a side grip.", + "start_idx": 4506, + "end_idx": 4554 + }, + { + "text": "Put the bell pepper bottom right of the purple plate with the right hand right side up with the front as the reference point.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Using the right hand, place the bell pepper at the bottom right of the purple plate, right side up with the front as the reference point.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Have the right arm set the bell pepper bottom right of the purple plate, keeping it right side up relative to the front.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "With the right hand, position the bell pepper to the lower right of the purple plate, oriented right side up using the front as the reference point.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Place the bell pepper at the bottom right of the purple plate, right side up with the front as the reference point.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Set the bell pepper to the lower right of the purple plate, keeping it right side up relative to the front.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Position the bell pepper bottom right of the purple plate, with the front as the reference point and right side up.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Using the right hand, place the bell pepper at the bottom right of the purple plate.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Have the right arm set the bell pepper to the lower right of the purple plate.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "With the right hand, position the bell pepper bottom right of the purple plate.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Put the bell pepper at the bottom right of the purple plate.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Set the bell pepper to the lower right of the purple plate.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Position the bell pepper bottom right of the purple plate.", + "start_idx": 4554, + "end_idx": 4602 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Have the right arm grasp the bell pepper off the table with a top side hold from a diagonal approach.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "With the right hand, secure the bell pepper from the table by its top using a side grasp at a diagonal angle.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Pick up the bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "From the table, grasp the bell pepper at the top with a side hold from a diagonal angle.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Take the bell pepper off the table with a side grasp at the top from a diagonal approach.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Use the right hand to pick up the bell pepper from the table.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "With the right hand, collect the bell pepper from the table.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Have the right arm take the bell pepper off the table.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table from a diagonal angle.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Pick up the bell pepper from the table with the right hand.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Grasp the bell pepper from the table.", + "start_idx": 4722, + "end_idx": 4758 + }, + { + "text": "Place the bell pepper inside the green bowl with the right hand right side up.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Using the right hand, place the bell pepper into the green bowl right side up.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Have the right arm set the bell pepper inside the green bowl with its right side up.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "With the right hand, deposit the bell pepper in the green bowl, keeping it right side up.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Put the bell pepper inside the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Set the bell pepper into the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Transfer the bell pepper to the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Place the bell pepper into the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Using the right hand, place the bell pepper in the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Have the right arm put the bell pepper inside the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "With the right hand, set the bell pepper into the green bowl.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Place the bell pepper into the green bowl right side up.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Set the bell pepper inside the green bowl with its right side up.", + "start_idx": 4758, + "end_idx": 4794 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle with a diagonal approach.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "With the right hand, secure the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "From the table, grasp the white coffee cup by the handle at a diagonal angle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Take the white coffee cup from the table by its handle with a diagonal approach.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "With the right hand, take the white coffee cup from the table by its handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Have the right hand collect the white coffee cup from the table by the handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "From the table, grasp the white coffee cup with the right hand at a diagonal angle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 4794, + "end_idx": 4869 + }, + { + "text": "Put the white coffee cup to the bottom right of the purple plate with the handle facing backwards using the right arm.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Using the right arm, place the white coffee cup at the purple plate's bottom right with its handle facing backward.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Have the right arm set the white coffee cup down at the bottom right of the purple plate, handle facing to the back.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Position the white coffee cup to the lower right of the purple plate with the right arm, with the handle pointed backward.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Place the white coffee cup at the bottom right of the purple plate with the handle facing backward.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Set the white coffee cup down to the lower right of the purple plate with its handle toward the back.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "The white coffee cup goes at the purple plate's bottom right, handle pointed backward.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Place the white coffee cup to the bottom right of the purple plate.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Set the white coffee cup down at the lower right of the purple plate.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Position the white coffee cup at the purple plate's bottom right.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Using the right arm, place the white coffee cup at the bottom right of the purple plate.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Have the right arm set the white coffee cup down to the lower right of the purple plate.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Put the white coffee cup by the purple plate's bottom right.", + "start_idx": 4869, + "end_idx": 4929 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right, held at a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "With the right hand, secure the green bowl from the table using the lip edge at the bottom right in a diagonal orientation.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom right, keeping a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Grasp the green bowl from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "The green bowl from the table should be picked up with a lip grip at the bottom right in a diagonal orientation.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip hold.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Have the right arm grasp the green bowl from the table by the lip.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Using the right hand, pick up the green bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "With the right hand, take the green bowl from the table at a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Pick up the green bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 5130, + "end_idx": 5175 + }, + { + "text": "Dump the bell pepper to the right of the brown stuffed toy with the right hand.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Using the right hand, dump the bell pepper to the right of the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Have the right arm dump the bell pepper to the brown stuffed toy's right side.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "With the right hand, tip out the bell pepper on the right side of the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Dump the bell pepper to the right of the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Place the bell pepper on the right side of the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Set the bell pepper down to the brown stuffed toy's right.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Position the bell pepper to the right of the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Move the bell pepper to the right side of the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Using the right hand, place the bell pepper by the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "With the right hand, set the bell pepper beside the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Have the right arm move the bell pepper next to the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Put the bell pepper beside the brown stuffed toy.", + "start_idx": 5175, + "end_idx": 5208 + }, + { + "text": "Put the green bowl in front of the bell pepper with the right hand.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Using the right hand, place the green bowl in front of the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Have the right arm set the green bowl down in front of the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "With the right hand, position the green bowl before the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Place the green bowl in front of the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Set the green bowl down in front of the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Position the green bowl before the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Move the green bowl to the front of the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Using the right hand, put the green bowl by the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "With the right hand, place the green bowl near the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Have the right arm set the green bowl beside the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Put the green bowl next to the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Place the green bowl by the bell pepper.", + "start_idx": 5208, + "end_idx": 5292 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Have the right arm grasp the bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "With the right hand, seize the bell pepper from the table using a side grasp on its top from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "From the table, grasp the bell pepper at the top with a side hold from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Take the bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table with a side grip.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Have the right arm take the bell pepper from the table at the top with a side hold.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "With the right hand, grasp the bell pepper from the table using a side grasp.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Pick up the bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Using the right hand, take the bell pepper from the table at the top.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Grasp the bell pepper from the table at the top.", + "start_idx": 5367, + "end_idx": 5403 + }, + { + "text": "Put the bell pepper in front of the brown stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Using the right hand, place the bell pepper in front of the brown stuffed toy, right side up with the front as the orientation reference point.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Have the right arm set the bell pepper before the brown stuffed toy, keeping it right side up relative to its front.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "With the right hand, position the bell pepper in front of the brown stuffed toy so its front defines a right-side-up orientation.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Place the bell pepper in front of the brown stuffed toy, right side up with the front as the orientation reference point.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Set the bell pepper before the brown stuffed toy, right side up relative to its front.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Position the bell pepper in front of the brown stuffed toy, with its front as the reference for a right-side-up placement.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Using the right hand, place the bell pepper in front of the brown stuffed toy.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Have the right arm put the bell pepper before the brown stuffed toy.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "With the right hand, position the bell pepper in front of the brown stuffed toy.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Put the bell pepper in front of the brown stuffed toy.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Set the bell pepper before the brown stuffed toy.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Place the bell pepper in front of the brown stuffed toy.", + "start_idx": 5403, + "end_idx": 5433 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Have the right arm take the green bowl from the table with a lip grasp at the bowl's right side on a diagonal.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "With the right hand, retrieve the green bowl from the table using a diagonal grasp on the right lip.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Retrieve the green bowl from the table with a lip grasp at the right side, angled diagonally.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "The green bowl should be taken from the table with the right hand.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Have the right arm collect the green bowl from the table.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Using the right hand, grasp the green bowl from the table on the right side.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 5433, + "end_idx": 5463 + }, + { + "text": "Put the green bowl to the right of the purple plate with the right hand.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Using the right hand, place the green bowl to the right of the purple plate, right side up from the front.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Have the right arm set the green bowl to the right of the purple plate, keeping it right side up relative to the front.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "With the right hand, position the green bowl to the right of the purple plate so it is right side up from the front.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Place the green bowl to the right of the purple plate, right side up from the front.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Set the green bowl to the right of the purple plate, keeping it right side up relative to the front.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Position the green bowl to the right of the purple plate, oriented right side up from the front.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Using the right hand, put the green bowl to the right of the purple plate.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "With the right hand, place the green bowl to the right of the purple plate.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Have the right arm set the green bowl to the right of the purple plate.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Put the green bowl to the right of the purple plate.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Set the green bowl to the right of the purple plate.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Position the green bowl to the right of the purple plate.", + "start_idx": 5463, + "end_idx": 5511 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Have the right hand grasp the bell pepper from the table at its top using a side hold from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "With the right hand, secure the bell pepper from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Take the bell pepper from the table by the top with a side hold from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "From the table, grasp the bell pepper at the top using a side grasp from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Have the right hand take the bell pepper from the table.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "With the right hand, grasp the bell pepper from the table.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Pick up the bell pepper from the table with the right hand at the top from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Grasp the bell pepper from the table at the top from a diagonal angle.", + "start_idx": 5616, + "end_idx": 5640 + }, + { + "text": "Put the bell pepper to the right of the white coffee cup with the right hand right side up with the front as the reference point.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Have the right arm set the bell pepper to the right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "With the right hand, position the bell pepper to the right of the white coffee cup in a right-side-up orientation using the front as reference.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Place the bell pepper to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Set the bell pepper to the right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Position the bell pepper to the right of the white coffee cup with a right-side-up orientation based on the front.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Using the right hand, place the bell pepper to the right of the white coffee cup.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Have the right arm set the bell pepper to the right of the white coffee cup.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "With the right hand, position the bell pepper to the right of the white coffee cup.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Put the bell pepper to the right of the white coffee cup.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Arrange the bell pepper to the right of the white coffee cup.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Leave the bell pepper to the right of the white coffee cup.", + "start_idx": 5640, + "end_idx": 5670 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Take the brown stuffed toy from the table diagonally, grasping the whole object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table using a whole-object grasp.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Have the right arm retrieve the brown stuffed toy from the table while holding the entire object.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table diagonally.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Put the brown stuffed toy in front of the white coffee cup with the right hand facing top right.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the white coffee cup, facing top right.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Have the right arm set the brown stuffed toy before the white coffee cup with its front toward the top right.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "With the right hand, position the brown stuffed toy in front of the white coffee cup so it faces top right.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Place the brown stuffed toy in front of the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Set the brown stuffed toy before the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Position the brown stuffed toy in front of the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Arrange the brown stuffed toy in front of the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Have the right arm put the brown stuffed toy before the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "With the right hand, set the brown stuffed toy in front of the white coffee cup.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Place the brown stuffed toy before the white coffee cup, facing top right.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Set the brown stuffed toy in front of the white coffee cup with its front toward the top right.", + "start_idx": 5724, + "end_idx": 5748 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally while holding the whole toy.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Get the gray stuffed toy from the table.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 5748, + "end_idx": 5781 + }, + { + "text": "Put the gray stuffed toy to the right of the brown stuffed toy with the right hand facing forwards.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the right of the brown stuffed toy, facing forwards.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Have the right hand set the gray stuffed toy to the brown stuffed toy's right side with its front facing forward.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "With the right hand, position the gray stuffed toy to the right of the brown stuffed toy so it faces forwards.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Place the gray stuffed toy to the right of the brown stuffed toy with its front facing forward.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Set the gray stuffed toy on the right side of the brown stuffed toy, facing forwards.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Position the gray stuffed toy to the right of the brown stuffed toy so the front faces forward.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the right of the brown stuffed toy.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "With the right hand, set the gray stuffed toy on the right side of the brown stuffed toy.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Have the right hand position the gray stuffed toy to the brown stuffed toy's right.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Put the gray stuffed toy to the right of the brown stuffed toy.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Set the gray stuffed toy beside the brown stuffed toy.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Place the gray stuffed toy on the brown stuffed toy's right side.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Pick up the bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Using the right hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Have the right arm grasp the bell pepper off the table from a diagonal angle, contacting its top with a side hold.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "With the right hand, retrieve the bell pepper from the table by securing the top in a side grasp at a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Take the bell pepper off the table, holding its top with a side grasp from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "From the table, grasp the bell pepper at the top with a side hold from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Using the right hand, pick up the bell pepper from the table.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Have the right arm take the bell pepper off the table.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "With the right hand, grasp the bell pepper from the table.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Pick up the bell pepper from the table.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Using the right hand, take the bell pepper from the table from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "From the table, grasp the bell pepper at the top from a diagonal angle.", + "start_idx": 5808, + "end_idx": 5838 + }, + { + "text": "Place the bell pepper to the left of the purple plate with the right hand right side up with the front as the reference point.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Using the right hand, set the bell pepper to the left of the purple plate right side up, using the front as the reference point.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Have the right arm place the bell pepper left of the purple plate, keeping it right side up with the front as reference.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "With the right hand, position the bell pepper to the purple plate's left, right side up relative to the front.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Place the bell pepper to the left of the purple plate right side up, using the front as the reference point.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Set the bell pepper left of the purple plate, keeping it right side up relative to the front.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Position the bell pepper to the left of the purple plate with its right side up, based on the front.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Using the right hand, place the bell pepper to the left of the purple plate.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Have the right arm set the bell pepper left of the purple plate.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "With the right hand, position the bell pepper to the purple plate's left.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Place the bell pepper to the left of the purple plate.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Set the bell pepper left of the purple plate.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Position the bell pepper to the purple plate's left.", + "start_idx": 5838, + "end_idx": 5883 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table on a diagonal, gripping the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Retrieve the gray stuffed toy from the table on a diagonal, holding the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Take the gray stuffed toy from the table with the right hand.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Retrieve the gray stuffed toy from the table.", + "start_idx": 5883, + "end_idx": 5913 + }, + { + "text": "Put the gray stuffed toy on top of the purple plate with the right hand facing forwards.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Using the right hand, place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Have the right arm set the gray stuffed toy onto the purple plate with its front facing forward.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "With the right hand, position the gray stuffed toy atop the purple plate, front facing forwards.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Set the gray stuffed toy onto the purple plate with its front facing forward.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Position the gray stuffed toy atop the purple plate facing forwards.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Using the right hand, put the gray stuffed toy on top of the purple plate.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "With the right hand, set the gray stuffed toy onto the purple plate.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Have the right arm place the gray stuffed toy atop the purple plate.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Put the gray stuffed toy on top of the purple plate.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Set the gray stuffed toy onto the purple plate.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Have the gray stuffed toy placed on top of the purple plate.", + "start_idx": 5913, + "end_idx": 5943 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Using the right hand, take hold of the white coffee cup from the table with a lip grip at the bottom right diagonal.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "The white coffee cup from the table should be picked up with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the bottom right diagonal.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Grasp the white coffee cup from the table at the bottom right diagonal using a lip grip.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table using a lip grip.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Use the right hand to take the white coffee cup from the table with a lip grasp.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Take the white coffee cup from the table using a lip grip.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "The white coffee cup from the table should be grasped with the right hand.", + "start_idx": 5943, + "end_idx": 5982 + }, + { + "text": "Put the white coffee cup in front of the bell pepper with handle facing backward right side up with the front as reference using the right hand.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the bell pepper, right side up with the handle facing backward relative to the front.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Have the right hand set the white coffee cup before the bell pepper, keeping it upright and the handle pointed backward from the front.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "With the right hand, position the white coffee cup in front of the bell pepper so it stays right side up and its handle faces backward using the front as reference.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Place the white coffee cup in front of the bell pepper, right side up with the handle facing backward relative to the front.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Set the white coffee cup before the bell pepper, keeping it upright and the handle directed backward from the front.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Position the white coffee cup in front of the bell pepper with its handle facing backward, using the front as reference.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Put the white coffee cup in front of the bell pepper.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Place the white coffee cup before the bell pepper.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Set the white coffee cup in front of the bell pepper.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "In front of the bell pepper, place the white coffee cup.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the bell pepper.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Have the right hand put the white coffee cup before the bell pepper.", + "start_idx": 5982, + "end_idx": 6018 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the whole object.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table at a diagonal approach, holding the entire object.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle while holding the whole object.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table using a full-object grasp.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Have the right arm retrieve the brown stuffed toy from the table.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Grasp the brown stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 6018, + "end_idx": 6051 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate with the right hand facing forwards.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the purple plate, facing forwards.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the purple plate with its front facing forward.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "With the right hand, position the brown stuffed toy before the purple plate so it faces forwards.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Place the brown stuffed toy in front of the purple plate facing forwards.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Set the brown stuffed toy before the purple plate with its front forward.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate so it faces forward.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the purple plate.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Have the right arm place the brown stuffed toy before the purple plate.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "With the right hand, set the brown stuffed toy in front of the purple plate.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Set the brown stuffed toy before the purple plate.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate.", + "start_idx": 6051, + "end_idx": 6081 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the bottom.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Have the right arm take the green bowl from the table by its bottom edge with a diagonal lip grip.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "With the right hand, grasp the green bowl from the table at the bottom using a diagonal lip hold.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Pick up the green bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Take the green bowl from the table by its bottom edge with a diagonal lip grip.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Grasp the green bowl from the table at the bottom with a diagonal lip hold.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Take the green bowl from the table using the right arm.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 6081, + "end_idx": 6117 + }, + { + "text": "Put the green bowl to the left of the bell pepper with the right hand.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Using the right hand, place the green bowl to the left of the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Have the right arm set the green bowl down to the left of the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "With the right hand, position the green bowl on the bell pepper's left side.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Place the green bowl to the left of the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Set the green bowl on the left side of the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Position the green bowl left of the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "The green bowl goes to the left of the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Using the right hand, place the green bowl by the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "With the right hand, set the green bowl next to the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Have the right arm put the green bowl beside the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Place the green bowl beside the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Set the green bowl next to the bell pepper.", + "start_idx": 6117, + "end_idx": 6153 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Take the brown stuffed toy from the table diagonally while grasping the entire object.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 6153, + "end_idx": 6177 + }, + { + "text": "Put the brown stuffed toy inside the white coffee cup with the right hand facing top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Using the right hand, place the brown stuffed toy inside the white coffee cup with its front facing top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Have the right hand tuck the brown stuffed toy into the white coffee cup, front oriented toward the top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "With the right hand, insert the brown stuffed toy into the white coffee cup so the front points top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Place the brown stuffed toy inside the white coffee cup with its front facing top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Set the brown stuffed toy into the white coffee cup, front toward the top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Put the brown stuffed toy in the white coffee cup with the front facing top left.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Using the right hand, put the brown stuffed toy inside the white coffee cup.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "With the right hand, place the brown stuffed toy into the white coffee cup.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Have the right hand set the brown stuffed toy in the white coffee cup.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Put the brown stuffed toy inside the white coffee cup.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Place the brown stuffed toy into the white coffee cup.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Set the brown stuffed toy in the white coffee cup.", + "start_idx": 6177, + "end_idx": 6195 + }, + { + "text": "Pick up the gray stuffed toy on top of the purple plate with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Using the right hand, take the gray stuffed toy on top of the purple plate at a diagonal angle, grasping the entire object.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Have the right arm pick up the gray stuffed toy resting on the purple plate with a diagonal approach and a full-object grasp.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from atop the purple plate diagonally while holding the whole object.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Pick up the gray stuffed toy on top of the purple plate at a diagonal angle, grasping the entire object.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Take the gray stuffed toy resting on the purple plate with a diagonal approach and a full-object hold.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Retrieve the gray stuffed toy from atop the purple plate diagonally while grasping the whole object.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy on top of the purple plate.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Have the right arm take the gray stuffed toy resting on the purple plate.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from atop the purple plate.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Pick up the gray stuffed toy on top of the purple plate with the right hand at a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Take the gray stuffed toy resting on the purple plate with a diagonal approach.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Retrieve the gray stuffed toy from atop the purple plate with the right hand.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Put the gray stuffed toy in front of the purple plate with the right hand facing forwards.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Using the right hand, place the gray stuffed toy in front of the purple plate facing forwards.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Have the right arm set the gray stuffed toy in front of the purple plate with its front facing forward.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "With the right hand, position the gray stuffed toy before the purple plate so it faces forwards.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Place the gray stuffed toy in front of the purple plate facing forwards.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Set the gray stuffed toy before the purple plate with its front facing forward.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Position the gray stuffed toy in front of the purple plate so it faces forwards.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Using the right hand, place the gray stuffed toy in front of the purple plate.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Have the right arm set the gray stuffed toy before the purple plate.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "With the right hand, position the gray stuffed toy in front of the purple plate.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Put the gray stuffed toy in front of the purple plate.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Set the gray stuffed toy before the purple plate.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Position the gray stuffed toy in front of the purple plate.", + "start_idx": 6444, + "end_idx": 6468 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Using the right hand, take the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Have the right arm pick the gray stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Take the gray stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Have the right arm take the gray stuffed toy off the table.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Get the gray stuffed toy off the table.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Remove the gray stuffed toy from the table.", + "start_idx": 6543, + "end_idx": 6570 + }, + { + "text": "Put the gray stuffed toy inside the green bowl with the right hand facing forwards.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Using the right hand, place the gray stuffed toy into the green bowl with its front facing forwards.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Have the right arm put the gray stuffed toy inside the green bowl, front facing forward.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "With the right hand, deposit the gray stuffed toy in the green bowl so the front faces forwards.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Place the gray stuffed toy into the green bowl with its front facing forwards.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Put the gray stuffed toy inside the green bowl with the front facing forward.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Set the gray stuffed toy in the green bowl facing forwards.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Using the right hand, place the gray stuffed toy into the green bowl.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "With the right hand, put the gray stuffed toy inside the green bowl.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Have the right arm deposit the gray stuffed toy in the green bowl.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Put the gray stuffed toy into the green bowl.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Place the gray stuffed toy in the green bowl.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Set the gray stuffed toy inside the green bowl.", + "start_idx": 6570, + "end_idx": 6594 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Have the right arm pick the white coffee cup up from the table by the handle with a diagonal grasp.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand at the handle in a diagonal grip.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Take the white coffee cup from the table by the handle using a diagonal grip.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "The white coffee cup from the table should be picked up at the handle with a diagonal grasp.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Have the right arm remove the white coffee cup from the table.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Grab the white coffee cup from the table by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "The white coffee cup should be taken from the table.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Place the white coffee cup in front of the purple plate with handle facing backwards using the right arm right side up.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Using the right arm, set the white coffee cup in front of the purple plate, right side up, with the handle facing backward.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Have the right arm place the white coffee cup before the purple plate with the handle pointing backward and the cup upright.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "With the right arm, position the white coffee cup in front of the purple plate, upright and with its handle facing backwards.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Place the white coffee cup in front of the purple plate, right side up, with the handle facing backward.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Set the white coffee cup before the purple plate, upright with its handle pointing backward.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Position the white coffee cup in front of the purple plate with the handle facing backward.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Put the white coffee cup in front of the purple plate.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Set the white coffee cup before the purple plate.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Using the right arm, place the white coffee cup in front of the purple plate.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Have the right arm set the white coffee cup before the purple plate.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "With the right arm, position the white coffee cup in front of the purple plate.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Using the right arm, place the white coffee cup with the handle facing backward.", + "start_idx": 6825, + "end_idx": 6876 + }, + { + "text": "Pick up the green bowl on top of the purple plate with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Using the right hand, take the green bowl on top of the purple plate with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Have the right arm grasp the green bowl resting on the purple plate with a lip hold at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "With the right hand, secure the green bowl atop the purple plate using a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Take the green bowl on top of the purple plate with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Grasp the green bowl resting on the purple plate using a lip hold at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "The green bowl atop the purple plate should be picked up with a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Using the right hand, pick up the green bowl on top of the purple plate.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Have the right arm take the green bowl resting on the purple plate.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "With the right hand, grasp the green bowl atop the purple plate.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Pick up the green bowl on top of the purple plate with the right hand from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Using the right hand, take the green bowl resting on the purple plate with a lip grip.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "The green bowl atop the purple plate should be grasped at the bottom right from a diagonal angle.", + "start_idx": 6876, + "end_idx": 6906 + }, + { + "text": "Dump the gray stuffed toy to the right of the purple plate with the right hand.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Using the right hand, dump the gray stuffed toy to the right of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Have the right arm place the gray stuffed toy on the right side of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "With the right hand, set down the gray stuffed toy just right of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Put the gray stuffed toy to the right of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Place the gray stuffed toy on the right side of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Set the gray stuffed toy down just right of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Position the gray stuffed toy to the right of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Let the gray stuffed toy end up to the right of the purple plate.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Using the right hand, dump the gray stuffed toy.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "With the right hand, place the gray stuffed toy.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Have the right arm set down the gray stuffed toy.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Dump the gray stuffed toy.", + "start_idx": 6906, + "end_idx": 6930 + }, + { + "text": "Place the green bowl to the right of the white coffee cup with the right hand.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Using the right hand, set the green bowl to the right of the white coffee cup, right side up from the front.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Have the right arm place the green bowl to the right of the white coffee cup with its front right side up.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "With the right hand, position the green bowl to the right of the white coffee cup, keeping it right side up from the front.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Place the green bowl to the right of the white coffee cup, right side up from the front.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Set the green bowl to the right of the white coffee cup with its front right side up.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Position the green bowl to the right of the white coffee cup, keeping it right side up.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Using the right hand, place the green bowl to the right of the white coffee cup.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "With the right hand, set the green bowl to the right of the white coffee cup.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Have the right arm position the green bowl to the right of the white coffee cup.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Place the green bowl to the right of the white coffee cup.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Set the green bowl to the right of the white coffee cup.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Arrange the green bowl to the right of the white coffee cup.", + "start_idx": 6930, + "end_idx": 6978 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the whole object.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "At a diagonal angle, the right hand should collect the brown stuffed toy from the table by grasping the entire object.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "The brown stuffed toy should be picked up from the table at a diagonal angle by grasping the full object.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "With the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Have the right arm collect the brown stuffed toy from the table.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Grasp the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "The brown stuffed toy should be picked up from the table.", + "start_idx": 7032, + "end_idx": 7059 + }, + { + "text": "Put the brown stuffed toy in front of the white coffee cup with the right hand facing backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the white coffee cup, facing backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Have the right arm set the brown stuffed toy before the white coffee cup with its orientation facing backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "With the right hand, position the brown stuffed toy in front of the white coffee cup so it faces backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Place the brown stuffed toy in front of the white coffee cup, facing backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Set the brown stuffed toy before the white coffee cup with its orientation facing backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Position the brown stuffed toy in front of the white coffee cup so it faces backwards.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "With the right hand, set the brown stuffed toy before the white coffee cup.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Have the right arm place the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Put the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Set the brown stuffed toy before the white coffee cup.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Position the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7059, + "end_idx": 7086 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table at a diagonal angle, taking it by the handle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "With the right hand, take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Take the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Have the right arm take the white coffee cup from the table by its handle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle with the right hand.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "From the table, take the white coffee cup with the right hand.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7086, + "end_idx": 7116 + }, + { + "text": "Put the white coffee cup to the bottom left of the purple plate with the right hand right side up with the front facing backward.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Using the right hand, place the white coffee cup at the bottom left of the purple plate, right side up, with the front facing backward.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Have the right arm set the white coffee cup bottom-left of the purple plate, keeping it upright and its front toward the back.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "With the right hand, position the white coffee cup to the lower left of the purple plate, right side up and front facing backward.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Place the white coffee cup at the bottom left of the purple plate, right side up, with the front facing backward.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Set the white coffee cup to the lower left of the purple plate, keeping it upright with the front toward the back.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Position the white coffee cup bottom-left of the purple plate, right side up and facing backward.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Put the white coffee cup to the bottom left of the purple plate.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Arrange the white coffee cup at the lower left of the purple plate.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "The white coffee cup goes to the bottom left of the purple plate.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Place the white coffee cup at the bottom left of the purple plate with the right hand.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "With the right hand, set the white coffee cup to the lower left of the purple plate.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Have the right arm place the white coffee cup bottom-left of the purple plate.", + "start_idx": 7116, + "end_idx": 7161 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "With the right arm, collect the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Have the right hand pick the brown stuffed toy off the table at a diagonal angle using an all-over grasp.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Grab the brown stuffed toy off the table at a diagonal angle with a full-object hold.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "With the right arm, take the brown stuffed toy off the table using a whole-object grasp.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Have the right hand collect the brown stuffed toy from the table with an all-over grasp.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "With the right arm, take the brown stuffed toy off the table diagonally.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 7161, + "end_idx": 7188 + }, + { + "text": "Put the brown stuffed toy on the green bowl with the right hand facing backwards.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Using the right hand, place the brown stuffed toy on the green bowl with its front facing backwards.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Have the right arm set the brown stuffed toy on the green bowl, front oriented backward.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "With the right hand, position the brown stuffed toy on the green bowl so the front faces backwards.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Place the brown stuffed toy on the green bowl with its front facing backwards.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Set the brown stuffed toy on the green bowl, front facing backward.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Position the brown stuffed toy on the green bowl with the front oriented backwards.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Using the right hand, put the brown stuffed toy on the green bowl.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "With the right hand, set the brown stuffed toy on the green bowl.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Have the right arm place the brown stuffed toy on the green bowl.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Put the brown stuffed toy on the green bowl.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Set the brown stuffed toy on the green bowl.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Position the brown stuffed toy on the green bowl.", + "start_idx": 7188, + "end_idx": 7215 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Have the right arm take hold of the gray stuffed toy from the table diagonally around the whole object.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "With the right hand, collect the gray stuffed toy from the table using a diagonal approach and a full-object grasp.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Take the gray stuffed toy from the table diagonally around the whole object.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "The gray stuffed toy should be picked up from the table at a diagonal angle with a full-object hold.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "With the right hand, collect the gray stuffed toy from the table.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle with the right hand.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "At a diagonal angle, take the gray stuffed toy from the table with the right hand.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 7215, + "end_idx": 7251 + }, + { + "text": "Place the gray stuffed toy on top of the purple plate with the right hand facing forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Using the right hand, set the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Have the right arm place the gray stuffed toy atop the purple plate with its front facing forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "With the right hand, position the gray stuffed toy on the purple plate so it faces forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Set the gray stuffed toy atop the purple plate with the front facing forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Position the gray stuffed toy on the purple plate so it faces forwards.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Using the right hand, place the gray stuffed toy on top of the purple plate.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Have the right arm set the gray stuffed toy atop the purple plate.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "With the right hand, position the gray stuffed toy on the purple plate.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Place the gray stuffed toy on top of the purple plate.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Set the gray stuffed toy atop the purple plate.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Put the gray stuffed toy on the purple plate.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right using a diagonal pick angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold at the bottom right on a diagonal approach.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "With the right hand, secure the green bowl from the table using a lip grasp at the bottom right with a diagonal angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom right using a diagonal pick angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Grasp the green bowl from the table with a lip hold at the bottom right on a diagonal approach.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "The green bowl from the table should be picked up with a lip grasp at the bottom right at a diagonal angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "With the right hand, collect the green bowl from the table using a lip grasp.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Have the right arm take the green bowl from the table with a lip hold.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the bottom right using a diagonal pick angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Using the right hand, grasp the green bowl from the table at the bottom right on a diagonal approach.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "The green bowl from the table should be taken with the right hand at the bottom right with a diagonal angle.", + "start_idx": 7380, + "end_idx": 7410 + }, + { + "text": "Dump the brown stuffed toy to the bottom right of the purple plate with the right hand.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "With the right hand, dump the brown stuffed toy to the bottom right of the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Have the right arm dump the brown stuffed toy at the purple plate's bottom-right side.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Using the right hand, place the brown stuffed toy in the bottom-right area of the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Dump the brown stuffed toy to the bottom right of the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Place the brown stuffed toy at the purple plate's bottom-right side.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Set the brown stuffed toy down in the bottom-right area of the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Move the brown stuffed toy to the bottom right of the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "With the right hand, dump the brown stuffed toy by the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Using the right hand, place the brown stuffed toy next to the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Have the right arm set down the brown stuffed toy near the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Put the brown stuffed toy by the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Set the brown stuffed toy beside the purple plate.", + "start_idx": 7410, + "end_idx": 7425 + }, + { + "text": "Put the green bowl to the left of the white coffee cup with the right hand.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Using the right hand, place the green bowl to the left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Have the right arm set the green bowl on the left side of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "With the right hand, position the green bowl left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Place the green bowl to the left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Set the green bowl on the left side of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Position the green bowl left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Move the green bowl to the left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Put the green bowl beside the white coffee cup on its left side.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Set the green bowl to the cup's left.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Place the green bowl left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Arrange the green bowl on the left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Have the green bowl placed to the left of the white coffee cup.", + "start_idx": 7425, + "end_idx": 7479 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table, grasping it at the middle on a diagonal.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table by the middle at a diagonal angle.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Take the brown stuffed toy from the table, grasping it diagonally from the middle.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "From the table, collect the brown stuffed toy at a diagonal angle by the middle.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Have the right arm pick up the brown stuffed toy from the table.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "From the table, collect the brown stuffed toy.", + "start_idx": 7479, + "end_idx": 7515 + }, + { + "text": "Put the brown stuffed toy in front of the white coffee cup with the right hand facing right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the white coffee cup with it facing right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Have the right hand set the brown stuffed toy in front of the white coffee cup, oriented to the right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "With the right hand, position the brown stuffed toy before the white coffee cup so it faces right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Place the brown stuffed toy in front of the white coffee cup so it faces right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Set the brown stuffed toy before the white coffee cup with its front pointing right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Position the brown stuffed toy in front of the white coffee cup, facing right.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Have the right hand put the brown stuffed toy before the white coffee cup.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "With the right hand, set the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Place the brown stuffed toy in front of the white coffee cup.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Set the brown stuffed toy before the white coffee cup.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Position the brown stuffed toy by the white coffee cup.", + "start_idx": 7515, + "end_idx": 7545 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand using a diagonal grasp on the entire object.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table with a diagonal grasp around the entire object.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table using a diagonal whole-object grasp.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "With the right hand, grasp the brown stuffed toy from the table diagonally across the entire object.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Pick up the brown stuffed toy from the table using a diagonal grasp on the entire object.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal whole-object grasp.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Grasp the brown stuffed toy from the table diagonally on the entire object.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "The brown stuffed toy should be picked up from the table with the right hand.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "With the right arm, take the brown stuffed toy from the table.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Using a diagonal grasp on the entire object, pick up the brown stuffed toy from the table.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Take the brown stuffed toy from the table with a whole-object diagonal grasp.", + "start_idx": 7659, + "end_idx": 7680 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate with the right hand facing right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the purple plate, facing right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the purple plate with its front facing right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "With the right hand, position the brown stuffed toy before the purple plate so it faces right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Place the brown stuffed toy in front of the purple plate, facing right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Set the brown stuffed toy before the purple plate with its front to the right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate so it faces right.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the purple plate.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Have the right arm place the brown stuffed toy before the purple plate.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "With the right hand, set the brown stuffed toy in front of the purple plate.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Place the brown stuffed toy before the purple plate.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Set the brown stuffed toy in front of the purple plate.", + "start_idx": 7680, + "end_idx": 7713 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Have the right arm take hold of the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table on a diagonal, enclosing the entire object.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Retrieve the brown stuffed toy from the table on a diagonal while holding the entire object.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a full-object hold.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle with the right hand.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Take the brown stuffed toy from the table diagonally.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 7860, + "end_idx": 7878 + }, + { + "text": "Put the brown stuffed toy inside the green bowl with the right hand facing top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Using the right hand, place the brown stuffed toy inside the green bowl with its front facing the top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Have the right arm put the brown stuffed toy into the green bowl, front oriented toward the top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "With the right hand, set the brown stuffed toy in the green bowl so the front points top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with its front facing the top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Set the brown stuffed toy into the green bowl, front pointing to the top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Put the brown stuffed toy in the green bowl with the front directed toward the top right.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Using the right hand, place the brown stuffed toy inside the green bowl.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "With the right hand, set the brown stuffed toy into the green bowl.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Have the right arm put the brown stuffed toy in the green bowl.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Put the brown stuffed toy inside the green bowl.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Place the brown stuffed toy into the green bowl.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Set the brown stuffed toy in the green bowl.", + "start_idx": 7878, + "end_idx": 7914 + }, + { + "text": "Pick up the purple plate from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Using the right hand, take the purple plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Have the right arm grasp the purple plate from the table using a lip hold at the bottom right diagonal.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "With the right hand, collect the purple plate from the table in a lip grasp at the bottom right diagonal.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Pick up the purple plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Take the purple plate from the table with a lip hold at the bottom right diagonal.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Grasp the purple plate from the table at the bottom right diagonal with a lip grip.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Using a lip grip, pick up the purple plate from the table with the right hand.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "With the right hand, take the purple plate from the table.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Have the right arm grasp the purple plate from the table.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Pick up the purple plate from the table.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Take the purple plate from the table with the right hand.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Using a lip grip, pick up the purple plate from the table.", + "start_idx": 8013, + "end_idx": 8049 + }, + { + "text": "Dump the gray stuffed toy to the top side of the table with the right hand.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Using the right hand, dump the gray stuffed toy onto the top side of the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Have the right arm place the gray stuffed toy on the table's top side.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "With the right hand, set the gray stuffed toy down on the top side of the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Dump the gray stuffed toy onto the top side of the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Place the gray stuffed toy on the table's top side.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Set the gray stuffed toy down onto the top side of the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Put the gray stuffed toy on the top side of the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Move the gray stuffed toy onto the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Deposit the gray stuffed toy on the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Set the gray stuffed toy down there.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Using the right hand, move the gray stuffed toy onto the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Have the gray stuffed toy placed on the top side of the table.", + "start_idx": 8049, + "end_idx": 8061 + }, + { + "text": "Put the purple plate in front of the brown stuffed toy with the right hand right side up.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Using the right hand, place the purple plate in front of the brown stuffed toy right side up.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Have the right arm set the purple plate before the brown stuffed toy, keeping it right side up.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "With the right hand, position the purple plate in front of the brown stuffed toy so it stays right side up.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Place the purple plate in front of the brown stuffed toy right side up.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Set the purple plate before the brown stuffed toy right side up.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Position the purple plate in front of the brown stuffed toy, keeping it upright.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Using the right hand, place the purple plate in front of the brown stuffed toy.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "With the right hand, set the purple plate before the brown stuffed toy.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Have the right arm position the purple plate in front of the brown stuffed toy.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Put the purple plate in front of the brown stuffed toy.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Set the purple plate before the brown stuffed toy.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Position the purple plate in front of the brown stuffed toy.", + "start_idx": 8061, + "end_idx": 8109 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the right hand, take the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the right hand pick the gray stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Take the gray stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the right hand take the gray stuffed toy off the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Take the gray stuffed toy off the table diagonally.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Put the gray stuffed toy to the right of the purple plate upside down with the front oriented accordingly using the right arm.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Using the right arm, place the gray stuffed toy to the right of the purple plate upside down with the front oriented accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Have the right arm set the gray stuffed toy to the right of the purple plate in an upside-down position with the front aligned accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "With the right arm, position the gray stuffed toy to the right of the purple plate upside down, keeping the front oriented accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Place the gray stuffed toy to the right of the purple plate upside down with the front oriented accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Set the gray stuffed toy to the right of the purple plate in an upside-down position with the front aligned accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Position the gray stuffed toy to the right of the purple plate upside down, with the front oriented accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Using the right arm, put the gray stuffed toy to the right of the purple plate.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Have the right arm place the gray stuffed toy to the right of the purple plate.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "With the right arm, set the gray stuffed toy to the right of the purple plate.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Put the gray stuffed toy to the right of the purple plate.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Place the gray stuffed toy upside down with the front oriented accordingly.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Set the gray stuffed toy to the right of the purple plate upside down.", + "start_idx": 8283, + "end_idx": 8313 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "The gray stuffed toy from the table should be picked up diagonally with a full-object grasp.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Get the gray stuffed toy from the table.", + "start_idx": 8550, + "end_idx": 8580 + }, + { + "text": "Put the gray stuffed toy on top of the purple plate with the right hand facing forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Using the right hand, place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Have the right hand set the gray stuffed toy onto the purple plate with its front facing forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "With the right hand, position the gray stuffed toy on the purple plate so it faces forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Set the gray stuffed toy onto the purple plate with its front facing forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Position the gray stuffed toy on the purple plate so it faces forwards.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Put the gray stuffed toy on top of the purple plate.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Set the gray stuffed toy onto the purple plate.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Place the gray stuffed toy on the purple plate.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Using the right hand, place the gray stuffed toy on top of the purple plate.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Have the right hand set the gray stuffed toy onto the purple plate.", + "start_idx": 8580, + "end_idx": 8601 + }, + { + "text": "Pick up the purple plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Using the right hand, take the purple plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "With the right hand, grasp the purple plate from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Have the right arm pick the purple plate off the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Take the purple plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Grasp the purple plate off the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "The purple plate should be picked from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Using the right hand, pick up the purple plate from the table with a lip grip.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "With the right hand, take the purple plate off the table.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Have the right arm grasp the purple plate from the table from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Pick up the purple plate from the table with the right hand.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "From the table, collect the purple plate at the bottom right from a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Take the purple plate off the table.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Dump the gray stuffed toy to the right of the white coffee cup with the right hand.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Using the right hand, dump the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Have the right arm place the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "With the right hand, set down the gray stuffed toy on the right side of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Dump the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Place the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Set the gray stuffed toy down to the right of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Position the gray stuffed toy on the right side of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "The gray stuffed toy goes to the right of the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Move the gray stuffed toy beside the white coffee cup on its right.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Using the right hand, place the gray stuffed toy beside the white coffee cup on its right.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "With the right hand, position the gray stuffed toy next to the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Have the right arm set the gray stuffed toy beside the white coffee cup.", + "start_idx": 8706, + "end_idx": 8718 + }, + { + "text": "Put the purple plate to the bottom side of the table with the right hand right side up front.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Using the right hand, place the purple plate on the bottom side of the table right side up with the front facing forward.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Have the right arm set the purple plate at the table's bottom side, keeping it right side up with the front ahead.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "With the right hand, position the purple plate on the bottom side of the table, right side up and front-facing.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Place the purple plate on the bottom side of the table right side up with the front facing forward.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Set the purple plate at the table's bottom side, keeping it right side up with the front ahead.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Position the purple plate on the bottom side of the table, right side up and front-facing.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Using the right hand, place the purple plate on the bottom side of the table.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "With the right hand, set the purple plate at the table's bottom side.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Have the right arm position the purple plate on the bottom side of the table.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Place the purple plate on the bottom side of the table.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Set the purple plate at the table's bottom side.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Have the right arm place the purple plate on the bottom side of the table.", + "start_idx": 8718, + "end_idx": 8769 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Using the left hand, take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table at a diagonal angle by its handle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "With the left hand, collect the white coffee cup from the table via the handle, keeping a diagonal approach.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Grab the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Retrieve the white coffee cup from the table by the handle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "From the table, pick up the white coffee cup by its handle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "The white coffee cup should be taken from the table using the handle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Have the left arm take the white coffee cup from the table by its handle.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 87 + }, + { + "text": "Put the white coffee cup to the left of the gray stuffed toy with the left hand with the front facing backwards.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the gray stuffed toy with its front facing backward.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Have the left arm set the white coffee cup left of the gray stuffed toy, front oriented backward.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "With the left hand, position the white coffee cup to the gray stuffed toy's left, with the front facing backwards.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Place the white coffee cup to the left of the gray stuffed toy.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Set the white coffee cup on the left side of the gray stuffed toy.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Position the white coffee cup left of the gray stuffed toy.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Leave the white coffee cup to the left of the gray stuffed toy.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Put the white coffee cup to the left of the gray stuffed toy with the left hand.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Using the left hand, place the white coffee cup to the gray stuffed toy's left.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Have the left arm set the white coffee cup beside the gray stuffed toy on its left side.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Place the white coffee cup beside the gray stuffed toy on the left.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Set the white coffee cup on the gray stuffed toy's left side.", + "start_idx": 87, + "end_idx": 135 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "With the left hand, collect the gray stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Take the gray stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "From the table, collect the gray stuffed toy at a diagonal angle while grasping the entire object.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand, grasping the entire object.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Have the left arm collect the gray stuffed toy from the table.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "With the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Take the gray stuffed toy from the table.", + "start_idx": 249, + "end_idx": 282 + }, + { + "text": "Put the gray stuffed toy in front of the white coffee cup with the left hand facing forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front of the white coffee cup facing forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Have the left arm set the gray stuffed toy in front of the white coffee cup with its front facing forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "With the left hand, position the gray stuffed toy in front of the white coffee cup so it faces forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Place the gray stuffed toy in front of the white coffee cup facing forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Set the gray stuffed toy in front of the white coffee cup with its front facing forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Position the gray stuffed toy in front of the white coffee cup so it faces forwards.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Using the left hand, put the gray stuffed toy in front of the white coffee cup.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "With the left hand, place the gray stuffed toy in front of the white coffee cup.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Have the left arm position the gray stuffed toy in front of the white coffee cup.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Put the gray stuffed toy in front of the white coffee cup.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Set the gray stuffed toy in front of the white coffee cup.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "In front of the white coffee cup, place the gray stuffed toy.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "With the left hand, collect the gray stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "The gray stuffed toy from the table should be picked up diagonally while grasping the whole object.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "With the left hand, collect the gray stuffed toy from the table.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "The gray stuffed toy from the table should be picked up diagonally.", + "start_idx": 369, + "end_idx": 393 + }, + { + "text": "Put the gray stuffed toy to the left of the brown stuffed toy with the left hand facing top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the brown stuffed toy with its front facing top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the brown stuffed toy, front oriented toward the top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the brown stuffed toy so the front faces top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Place the gray stuffed toy to the left of the brown stuffed toy with its front facing top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Set the gray stuffed toy left of the brown stuffed toy, with the front pointed top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Position the gray stuffed toy to the left of the brown stuffed toy, front facing the top right.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Using the left hand, put the gray stuffed toy to the left of the brown stuffed toy.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Have the left arm place the gray stuffed toy left of the brown stuffed toy.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the brown stuffed toy.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Put the gray stuffed toy to the left of the brown stuffed toy.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Set the gray stuffed toy left of the brown stuffed toy.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Have the gray stuffed toy placed to the left of the brown stuffed toy.", + "start_idx": 393, + "end_idx": 420 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "With the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Use the left arm to take the gray stuffed toy from the table with a diagonal pickup, holding the whole object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Have the left hand retrieve the gray stuffed toy from the table at a diagonal angle using a full-object grasp.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Take the gray stuffed toy from the table at a diagonal angle with a full-object hold.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table, grasping the entire object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table using a full-object grasp.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Have the left arm retrieve the gray stuffed toy from the table while holding the whole object.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand on a diagonal approach.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Get the gray stuffed toy from the table with the left hand diagonally.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Put the gray stuffed toy in front of the white coffee cup with the left hand facing forwards.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front of the white coffee cup, facing forwards.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Have the left arm set the gray stuffed toy before the white coffee cup with its front facing forward.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "With the left hand, position the gray stuffed toy in front of the white coffee cup so it faces forwards.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Place the gray stuffed toy in front of the white coffee cup, facing forwards.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Set the gray stuffed toy before the white coffee cup with its front facing forward.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Position the gray stuffed toy in front of the white coffee cup so it faces forwards.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Using the left hand, put the gray stuffed toy in front of the white coffee cup.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "With the left hand, set the gray stuffed toy before the white coffee cup.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Have the left arm place the gray stuffed toy in front of the white coffee cup.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Put the gray stuffed toy in front of the white coffee cup.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Set the gray stuffed toy before the white coffee cup.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Position the gray stuffed toy in front of the white coffee cup.", + "start_idx": 585, + "end_idx": 615 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Have the left hand take the gray stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "With the left hand, collect the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Grab the gray stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Have the left hand take the gray stuffed toy from the table.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "With the left hand, collect the gray stuffed toy from the table.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Take the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Grab the gray stuffed toy from the table.", + "start_idx": 702, + "end_idx": 750 + }, + { + "text": "Put the gray stuffed toy to the right of the white coffee cup with the left hand facing top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the white coffee cup with its front facing the top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Have the left arm set the gray stuffed toy to the right of the white coffee cup, front oriented toward the top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "With the left hand, position the gray stuffed toy to the right of the white coffee cup so the front points to the top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Place the gray stuffed toy to the right of the white coffee cup with its front facing the top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Set the gray stuffed toy to the right of the white coffee cup, with the front directed toward the top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Position the gray stuffed toy to the right of the white coffee cup, front toward the top right.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Have the left arm set the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "With the left hand, position the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Put the gray stuffed toy to the right of the white coffee cup.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Place the gray stuffed toy to the right of the white coffee cup with the left hand.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Set the gray stuffed toy to the right of the white coffee cup using the left arm.", + "start_idx": 750, + "end_idx": 771 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table, holding the whole object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table by enclosing the entire object.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 771, + "end_idx": 810 + }, + { + "text": "Put the brown stuffed toy in front of the gray stuffed toy with the left hand facing top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the gray stuffed toy with it facing the top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Have the left arm set the brown stuffed toy before the gray stuffed toy, oriented toward the top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "With the left hand, position the brown stuffed toy in front of the gray stuffed toy so it faces top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Place the brown stuffed toy in front of the gray stuffed toy facing top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Set the brown stuffed toy before the gray stuffed toy with its orientation toward the top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Position the brown stuffed toy in front of the gray stuffed toy so it points top right.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the gray stuffed toy.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Have the left arm set the brown stuffed toy before the gray stuffed toy.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "With the left hand, position the brown stuffed toy in front of the gray stuffed toy.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Put the brown stuffed toy in front of the gray stuffed toy.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Place the brown stuffed toy before the gray stuffed toy.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Set the brown stuffed toy in front of the gray stuffed toy.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally using a whole-object hold.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Take the brown stuffed toy from the table diagonally using a whole-object hold.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Using the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Have the brown stuffed toy taken from the table.", + "start_idx": 1002, + "end_idx": 1044 + }, + { + "text": "Put the brown stuffed toy in front of the green bowl with the left hand facing bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the green bowl facing bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the green bowl with its front toward the bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "With the left hand, position the brown stuffed toy before the green bowl so the front faces bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Place the brown stuffed toy in front of the green bowl facing bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Set the brown stuffed toy before the green bowl with its front toward the bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Position the brown stuffed toy in front of the green bowl so it faces bottom right.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the green bowl.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "With the left hand, place the brown stuffed toy before the green bowl.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the green bowl.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Put the brown stuffed toy in front of the green bowl.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Set the brown stuffed toy before the green bowl.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Position the brown stuffed toy in front of the green bowl.", + "start_idx": 1044, + "end_idx": 1080 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Using the left hand, take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table at a diagonal angle, holding the handle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "With the left hand, pick the white coffee cup up from the table by the handle on a diagonal.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Grasp the white coffee cup from the table by the handle on a diagonal.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Retrieve the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Have the left arm take the white coffee cup from the table by its handle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Take the white coffee cup from the table on a diagonal.", + "start_idx": 1236, + "end_idx": 1302 + }, + { + "text": "Put the white coffee cup to the left of the green bowl with the left hand right side up with the front facing backwards.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the green bowl, right side up, with the front facing backward.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Have the left arm set the white coffee cup left of the green bowl upright, with its front directed backward.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "With the left hand, position the white coffee cup to the green bowl's left, right side up and facing backward at the front.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Place the white coffee cup to the left of the green bowl, right side up, with the front facing backward.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Set the white coffee cup left of the green bowl upright, with its front facing backward.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Position the white coffee cup to the left of the green bowl with the front facing backward and right side up.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the green bowl.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Have the left arm set the white coffee cup left of the green bowl.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "With the left hand, position the white coffee cup to the green bowl's left.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Place the white coffee cup to the left of the green bowl.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Set the white coffee cup left of the green bowl, right side up.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Position the white coffee cup to the left of the green bowl with its front facing backward.", + "start_idx": 1302, + "end_idx": 1359 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Have the left arm pick the gray stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Take the gray stuffed toy off the table with a diagonal approach and a full-object grasp.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally with a whole-object hold.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Have the left arm take the gray stuffed toy off the table.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Take the gray stuffed toy off the table with the left hand.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Get the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 1359, + "end_idx": 1404 + }, + { + "text": "Put the gray stuffed toy between the green bowl and the white coffee cup with the left hand facing forwards.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Using the left hand, place the gray stuffed toy between the green bowl and the white coffee cup, facing forwards.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Have the left arm set the gray stuffed toy between the green bowl and the white coffee cup with its front facing forward.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "With the left hand, position the gray stuffed toy between the green bowl and the white coffee cup so it faces forwards.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Place the gray stuffed toy between the green bowl and the white coffee cup facing forwards.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Set the gray stuffed toy between the green bowl and the white coffee cup with its front forward.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Position the gray stuffed toy between the green bowl and the white coffee cup so it faces forward.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Using the left hand, put the gray stuffed toy between the green bowl and the white coffee cup.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "With the left hand, place the gray stuffed toy between the green bowl and the white coffee cup.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Have the left arm position the gray stuffed toy between the green bowl and the white coffee cup.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Put the gray stuffed toy between the green bowl and the white coffee cup.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Arrange the gray stuffed toy between the green bowl and the white coffee cup.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "The gray stuffed toy goes between the green bowl and the white coffee cup.", + "start_idx": 1404, + "end_idx": 1446 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom left in a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp at the bowl's bottom left, diagonally.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "With the left hand, secure the green bowl from the table by its bottom-left edge using a lip grip at a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom left in a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Take the green bowl from the table using a lip grasp at the bottom left, diagonally.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Grasp the green bowl from the table with a lip grip on the bottom-left area at a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "With the left hand, secure the green bowl from the table using the lip grip.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom left in a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Take the green bowl from the table with the left hand at a diagonal angle from the bottom-left area.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Pick up the green bowl from the table from the bottom-left area in a diagonal angle.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Put the green bowl in front of the gray stuffed toy with the left hand.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Using the left hand, place the green bowl in front of the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Have the left arm set the green bowl down in front of the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "With the left hand, position the green bowl before the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Place the green bowl in front of the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Set the green bowl down in front of the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Position the green bowl before the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Put the green bowl by the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Move the green bowl to the front of the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Place the green bowl in front of the gray stuffed toy with the hand.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Set the green bowl before the gray stuffed toy using that hand.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Have the arm place the green bowl in front of the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Using that hand, put the green bowl by the gray stuffed toy.", + "start_idx": 1641, + "end_idx": 1683 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Using the left hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the handle with a diagonal pick angle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Take the white coffee cup from the table by the handle with a diagonal approach.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Retrieve the white coffee cup from the table with the left hand by the handle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Take the white coffee cup from the table by the handle.", + "start_idx": 1683, + "end_idx": 1737 + }, + { + "text": "Place the white coffee cup to the right side of the gray stuffed toy with the left hand right side up.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Using the left hand, set the white coffee cup to the right of the gray stuffed toy, right side up.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Have the left arm place the white coffee cup on the gray stuffed toy's right side, with the cup upright.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "With the left hand, position the white coffee cup to the right side of the gray stuffed toy, keeping it right side up.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Set the white coffee cup to the right of the gray stuffed toy, right side up.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Position the white coffee cup on the right side of the gray stuffed toy, upright.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Place the white coffee cup beside the gray stuffed toy on its right side, right side up.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the gray stuffed toy.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Have the left arm set the white coffee cup on the gray stuffed toy's right side.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "With the left hand, position the white coffee cup beside the gray stuffed toy on its right.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Place the white coffee cup to the right of the gray stuffed toy.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Set the white coffee cup beside the gray stuffed toy on its right side.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Put the white coffee cup on the right side of the gray stuffed toy.", + "start_idx": 1737, + "end_idx": 1791 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grasp at the handle.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Take the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1989 + }, + { + "text": "Put the white coffee cup to the left of the bell pepper with handle facing backward right side up with the front as the reference using the left hand.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the bell pepper, right side up, with the handle facing backward relative to the front.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Have the left arm set the white coffee cup left of the bell pepper, keeping it upright and the handle pointed backward from the front.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "With the left hand, position the white coffee cup to the bell pepper's left, right side up with its handle facing backward using the front as reference.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Place the white coffee cup to the left of the bell pepper, right side up, with the handle facing backward relative to the front.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Set the white coffee cup on the left side of the bell pepper, keeping it upright and the handle facing backward from the front.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Position the white coffee cup left of the bell pepper, with the handle directed backward and the cup right side up using the front as reference.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the bell pepper.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Have the left arm place the white coffee cup on the left side of the bell pepper.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "With the left hand, set the white coffee cup left of the bell pepper.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Place the white coffee cup to the left of the bell pepper.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Set the white coffee cup on the bell pepper's left side.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Position the white coffee cup left of the bell pepper.", + "start_idx": 1989, + "end_idx": 2058 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Have the left arm pick up the gray stuffed toy from the table using a side hold on the bottom at a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table by the bottom with a side grip from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Pick up the gray stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Take the gray stuffed toy from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Grasp the gray stuffed toy from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Pick up the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Take the gray stuffed toy from the table at the bottom from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 2265, + "end_idx": 2313 + }, + { + "text": "Put the gray stuffed toy on top of the purple plate with the left hand facing forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Using the left hand, place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Have the left arm set the gray stuffed toy onto the purple plate with its front facing forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "With the left hand, position the gray stuffed toy on the purple plate so it faces forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Place the gray stuffed toy on top of the purple plate facing forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Set the gray stuffed toy onto the purple plate with its front facing forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Position the gray stuffed toy on the purple plate so it faces forwards.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Using the left hand, place the gray stuffed toy on top of the purple plate.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Have the left arm set the gray stuffed toy onto the purple plate.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "With the left hand, position the gray stuffed toy on the purple plate.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Put the gray stuffed toy on top of the purple plate.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Set the gray stuffed toy onto the purple plate.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Place the gray stuffed toy on the purple plate.", + "start_idx": 2313, + "end_idx": 2364 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom in a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "With the left hand, pick up the green bowl from the table using a lip grip at the bottom in a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Have the left arm take the green bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Using the left hand, grasp the green bowl from the table with a lip hold on the bottom at a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom in a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Take the green bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Grasp the green bowl from the table with a lip hold on the bottom at a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "With the left hand, pick up the green bowl from the table using a lip grip at the bottom.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Using the left hand, take the green bowl from the table with a bottom lip grasp.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Have the left arm grasp the green bowl from the table at the bottom.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "With the left hand, pick up the green bowl from the table in a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Pick up the green bowl from the table with the left hand in a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Take the green bowl from the table at the bottom in a diagonal angle.", + "start_idx": 2709, + "end_idx": 2787 + }, + { + "text": "Put the green bowl to the left of the purple plate with the left hand.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Using the left hand, place the green bowl to the left of the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Have the left arm set the green bowl to the purple plate's left side.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "With your left hand, position the green bowl on the left side of the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Place the green bowl to the left of the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Set the green bowl on the left side of the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Position the green bowl to the purple plate's left.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Leave the green bowl beside the purple plate on its left side.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Move the green bowl next to the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "The green bowl goes to the left of the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Place the green bowl by the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Set the green bowl beside the purple plate with the left hand.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Using the left hand, move the green bowl next to the purple plate.", + "start_idx": 2787, + "end_idx": 2841 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "From a diagonal angle, have the left hand grasp the green bowl from the table by the bottom lip.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip grasp on the bottom at a diagonal approach.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Take the green bowl from the table using a lip grasp on the bottom from a diagonal angle.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "From a diagonal angle, grasp the green bowl from the table by the bottom lip.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "With the left hand, take the green bowl from the table.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Have the left hand grasp the green bowl from the table.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Using the left hand, pick up the green bowl from the table from a diagonal angle.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "From a diagonal angle, take the green bowl from the table.", + "start_idx": 3171, + "end_idx": 3222 + }, + { + "text": "Dump the brown stuffed toy and the bell pepper to the left of the purple plate with the left hand.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Using the left hand, dump the brown stuffed toy and the bell pepper to the left of the purple plate.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Have the left arm dump the brown stuffed toy and the bell pepper on the left side of the purple plate.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "With the left hand, tip out the brown stuffed toy and the bell pepper beside the purple plate on its left.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Dump the brown stuffed toy and the bell pepper to the left of the purple plate.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Place the brown stuffed toy and the bell pepper on the left side of the purple plate.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Set the brown stuffed toy and the bell pepper down left of the purple plate.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Move the brown stuffed toy and the bell pepper beside the purple plate, on the left.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Deposit the brown stuffed toy and the bell pepper to the left of the purple plate.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Using the left hand, dump the brown stuffed toy and the bell pepper.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "With the left arm, place the brown stuffed toy and the bell pepper down.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Have the left hand deposit the brown stuffed toy and the bell pepper.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Transfer the brown stuffed toy and the bell pepper.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Put the green bowl to the top left side of the table with the left hand.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Using the left hand, place the green bowl on the table's top-left side.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Have the left arm set the green bowl at the upper-left area of the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "With the left hand, position the green bowl in the table's top-left section.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Place the green bowl on the top-left side of the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Set the green bowl at the upper-left area of the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Position the green bowl in the table's top-left section.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Move the green bowl to the top-left side of the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Put the green bowl on the table's upper-left side.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Using the left hand, place the green bowl on the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Have the left arm set the green bowl down on the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "With the left hand, position the green bowl on the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Set the green bowl on the table.", + "start_idx": 3261, + "end_idx": 3315 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table on a diagonal, gripping the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Retrieve the brown stuffed toy from the table on a diagonal, holding the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle by the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table by the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table, holding its middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table on a diagonal.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Get the brown stuffed toy from the table by the middle.", + "start_idx": 3315, + "end_idx": 3360 + }, + { + "text": "Put the brown stuffed toy to the bottom left of the green bowl with the left hand facing forwards.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Using the left hand, place the brown stuffed toy at the bottom left of the green bowl, facing forwards.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Have the left arm set the brown stuffed toy down at the green bowl's bottom-left side with its front facing forwards.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "With the left hand, position the brown stuffed toy to the bottom left of the green bowl so it faces forwards.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Place the brown stuffed toy at the bottom left of the green bowl, facing forwards.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Set the brown stuffed toy down to the bottom left of the green bowl with its front forward.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Position the brown stuffed toy at the green bowl's bottom-left side, facing forwards.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Put the brown stuffed toy to the bottom left of the green bowl.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Set the brown stuffed toy down at the bottom left of the green bowl.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Position the brown stuffed toy at the green bowl's bottom-left side.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Place the brown stuffed toy at the bottom left of the green bowl.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Using the left hand, place the brown stuffed toy at the bottom left of the green bowl.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Have the left arm set the brown stuffed toy down at the green bowl's bottom-left side.", + "start_idx": 3360, + "end_idx": 3396 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Retrieve the gray stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand.", + "start_idx": 3654, + "end_idx": 3696 + }, + { + "text": "Put the gray stuffed toy in front of the green bowl with the left hand facing top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front of the green bowl facing top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Have the left arm set the gray stuffed toy in front of the green bowl with its front facing top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "With the left hand, position the gray stuffed toy before the green bowl so it faces top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Place the gray stuffed toy in front of the green bowl facing top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Set the gray stuffed toy before the green bowl with its front facing top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Position the gray stuffed toy in front of the green bowl so it faces top right.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Using the left hand, put the gray stuffed toy in front of the green bowl.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "With the left hand, place the gray stuffed toy before the green bowl.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Have the left arm set the gray stuffed toy in front of the green bowl.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Put the gray stuffed toy in front of the green bowl.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Set the gray stuffed toy before the green bowl.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Place the gray stuffed toy in front of the green bowl.", + "start_idx": 3696, + "end_idx": 3729 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Have the left arm pick the gray stuffed toy off the table with a diagonal approach at its middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Take the gray stuffed toy off the table diagonally by the middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Have the left arm take the gray stuffed toy off the table.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Take the gray stuffed toy off the table.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Have the gray stuffed toy picked up from the table.", + "start_idx": 3798, + "end_idx": 3846 + }, + { + "text": "Put the gray stuffed toy behind the bottom left of the brown stuffed toy with the left hand facing forwards.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Using the left hand, place the gray stuffed toy behind the bottom-left side of the brown stuffed toy, facing forwards.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Have the left arm set the gray stuffed toy behind the lower-left of the brown stuffed toy with its front facing forward.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "With the left hand, position the gray stuffed toy behind the brown stuffed toy at the bottom left, oriented forwards.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Place the gray stuffed toy behind the bottom-left side of the brown stuffed toy, facing forwards.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Set the gray stuffed toy behind the lower-left of the brown stuffed toy with its front facing forward.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Position the gray stuffed toy behind the brown stuffed toy at the bottom left, oriented forwards.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Using the left hand, put the gray stuffed toy behind the bottom-left of the brown stuffed toy.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "With the left hand, place the gray stuffed toy behind the lower-left side of the brown stuffed toy.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Have the left arm position the gray stuffed toy behind the brown stuffed toy at the bottom left.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Put the gray stuffed toy behind the bottom-left of the brown stuffed toy.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Set the gray stuffed toy behind the lower-left side of the brown stuffed toy.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Position the gray stuffed toy behind the brown stuffed toy at the bottom left.", + "start_idx": 3845, + "end_idx": 3878 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "From a diagonal angle, have the left hand take the green bowl from the table by the bottom using a lip grasp.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "With the left hand, grasp the green bowl from the table at the bottom with a lip grip from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Take the green bowl from the table by the bottom using a lip grasp from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Grasp the green bowl from the table at the bottom with a lip grip from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "With the left hand, pick up the green bowl from the table using a lip grip.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Have the left hand take the green bowl from the table with a lip grasp.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Using the left hand, grasp the green bowl from the table.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Pick up the green bowl from the table from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "With the left hand, pick up the green bowl from the table from a diagonal angle.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 3879, + "end_idx": 3930 + }, + { + "text": "Put the green bowl to the right of the brown stuffed toy with the left hand.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Using the left hand, place the green bowl to the right of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Have the left arm set the green bowl to the brown stuffed toy's right side.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "With the left hand, position the green bowl on the right side of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Place the green bowl to the right of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Set the green bowl on the right side of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Position the green bowl beside the brown stuffed toy on its right.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "The green bowl goes to the right of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Arrange the green bowl to the brown stuffed toy's right.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Place the green bowl next to the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Set the green bowl by the brown stuffed toy on the right side.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Position the green bowl at the right side of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Have the green bowl placed to the right of the brown stuffed toy.", + "start_idx": 3930, + "end_idx": 3972 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, gripping the middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Have the left hand take the gray stuffed toy from the table with a diagonal pickup, holding its middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table diagonally at the middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, gripping the middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Grasp the gray stuffed toy from the table diagonally by its middle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Have the left hand take the gray stuffed toy from the table.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Take the gray stuffed toy from the table diagonally.", + "start_idx": 3972, + "end_idx": 4014 + }, + { + "text": "Place the gray stuffed toy to the right of the green bowl with the left hand facing forwards.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the green bowl with its front facing forwards.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Have the left arm set the gray stuffed toy to the right of the green bowl, front facing forward.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "With the left hand, position the gray stuffed toy to the right of the green bowl so it faces forwards.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Place the gray stuffed toy to the right of the green bowl with its front facing forwards.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Set the gray stuffed toy to the right of the green bowl, front facing forward.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Position the gray stuffed toy to the right of the green bowl so it faces forwards.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the green bowl.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Have the left arm set the gray stuffed toy to the right of the green bowl.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "With the left hand, position the gray stuffed toy to the right of the green bowl.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Place the gray stuffed toy to the right of the green bowl.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Set the gray stuffed toy to the right of the green bowl.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Position the gray stuffed toy to the right of the green bowl.", + "start_idx": 4014, + "end_idx": 4056 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Have the left arm grasp the green bowl off the table with a bottom lip hold at a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "With the left hand, secure the green bowl from the table by the bottom using a lip grasp from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Take the green bowl off the table with a bottom lip grasp from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "From the table, grasp the green bowl with a lip hold at the bottom from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "With the left hand, take the green bowl off the table using a lip grasp at the bottom.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip hold at the bottom.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Using the left hand, pick up the green bowl from the table from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Take the green bowl off the table with the left hand from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Grasp the green bowl from the table at the bottom from a diagonal angle.", + "start_idx": 4140, + "end_idx": 4185 + }, + { + "text": "Put the green bowl behind the gray stuffed toy with the left hand.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Using the left hand, place the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Have the left arm set the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "With the left hand, position the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Place the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Set the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Position the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "The green bowl goes behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Move the green bowl behind the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Put the green bowl by the gray stuffed toy with the left hand.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Using the left hand, place the green bowl by the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Set the green bowl by the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Position the green bowl by the gray stuffed toy.", + "start_idx": 4185, + "end_idx": 4230 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach at the middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Take the brown stuffed toy from the table diagonally, holding its middle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 4230, + "end_idx": 4275 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with the left hand facing top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the green bowl with its front facing the top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Have the left arm set the brown stuffed toy in the green bowl, front oriented toward the top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "With the left hand, position the brown stuffed toy inside the green bowl so the front points top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Place the brown stuffed toy inside the green bowl with its front facing the top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Set the brown stuffed toy in the green bowl with the front toward the top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Put the brown stuffed toy inside the green bowl, front pointed to the top right.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the green bowl.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "With the left hand, put the brown stuffed toy in the green bowl.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Have the left arm set the brown stuffed toy inside the green bowl.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Place the brown stuffed toy inside the green bowl.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Put the brown stuffed toy in the green bowl.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Set the brown stuffed toy into the green bowl.", + "start_idx": 4275, + "end_idx": 4305 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Take the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table, grasping the middle.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 4305, + "end_idx": 4350 + }, + { + "text": "Put the gray stuffed toy with the left hand to the bottom left of the green bowl facing top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Using the left hand, place the gray stuffed toy at the bottom left of the green bowl with its front facing top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Have the left arm set the gray stuffed toy down at the green bowl's bottom-left side, front pointing top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "With the left hand, position the gray stuffed toy to the lower left of the green bowl, front oriented toward the top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Place the gray stuffed toy at the bottom left of the green bowl with its front facing top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Set the gray stuffed toy down to the lower left of the green bowl, front pointing top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Position the gray stuffed toy on the bottom-left side of the green bowl, front toward the top right.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Using the left hand, put the gray stuffed toy at the bottom left of the green bowl.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "With the left hand, set the gray stuffed toy down to the lower left of the green bowl.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Have the left arm place the gray stuffed toy by the green bowl's bottom-left side.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Put the gray stuffed toy at the bottom left of the green bowl.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Set the gray stuffed toy down to the lower left of the green bowl.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Position the gray stuffed toy by the green bowl's bottom-left side.", + "start_idx": 4350, + "end_idx": 4401 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Have the left arm pick the gray stuffed toy up from the table with a diagonal approach at its middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Take the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table, grasping the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table by its middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Have the left arm retrieve the gray stuffed toy from the table, holding the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Retrieve the gray stuffed toy from the table by the middle.", + "start_idx": 4401, + "end_idx": 4479 + }, + { + "text": "Put the gray stuffed toy to the top left of the green bowl with the left hand facing forwards.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Using the left hand, place the gray stuffed toy at the top left of the green bowl, facing forwards.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Have the left arm set the gray stuffed toy top-left of the green bowl with its front facing forward.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "With the left hand, position the gray stuffed toy to the green bowl's top left, facing forwards.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Place the gray stuffed toy at the top left of the green bowl, facing forwards.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Set the gray stuffed toy to the top left of the green bowl with its front forward.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Position the gray stuffed toy top-left of the green bowl, facing forwards.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Using the left hand, put the gray stuffed toy at the top left of the green bowl.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Have the left arm place the gray stuffed toy to the green bowl's top left.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "With the left hand, set the gray stuffed toy top-left of the green bowl.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Put the gray stuffed toy at the top left of the green bowl.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Set the gray stuffed toy to the green bowl's top left.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Position the gray stuffed toy top-left of the green bowl.", + "start_idx": 4479, + "end_idx": 4506 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Have the left arm pick up the green bowl from the table using a bottom-left diagonal lip grip.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Grasp the green bowl from the table by its bottom-left lip at a diagonal angle.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "With the left hand, take the green bowl from the table.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 4602, + "end_idx": 4644 + }, + { + "text": "Dump the brown stuffed toy to the middle of the table with the left hand.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Using the left hand, dump the brown stuffed toy in the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Have the left arm place the brown stuffed toy at the table's center.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "With the left hand, put down the brown stuffed toy in the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Dump the brown stuffed toy in the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Place the brown stuffed toy at the center of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Put the brown stuffed toy down in the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Set the brown stuffed toy in the table's center.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "The brown stuffed toy goes in the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Move the brown stuffed toy to the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Have the brown stuffed toy placed at the center of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Put down the brown stuffed toy at the table's center.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Set the brown stuffed toy down in the middle of the table.", + "start_idx": 4644, + "end_idx": 4662 + }, + { + "text": "Put the green bowl to the bottom right of the brown stuffed toy with the left hand.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Using the left hand, place the green bowl at the stuffed toy's bottom right, right side up relative to the front.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Have the left arm set the green bowl bottom-right of the brown stuffed toy, keeping it right side up from the front.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "With the left hand, position the green bowl to the bottom right of the brown stuffed toy, oriented right side up at the front.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Place the green bowl to the bottom right of the brown stuffed toy.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Set the green bowl at the bottom right of the brown stuffed toy.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Position the green bowl bottom-right of the brown stuffed toy.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Using the left hand, place the green bowl to the bottom right of the brown stuffed toy.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Have the left arm set the green bowl at the stuffed toy's bottom right.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "With the left hand, move the green bowl to the brown stuffed toy's bottom-right side.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Place the green bowl right side up at the bottom right of the brown stuffed toy.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Set the green bowl bottom-right of the brown stuffed toy, keeping it right side up from the front.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Position the green bowl at the stuffed toy's bottom right, oriented right side up.", + "start_idx": 4662, + "end_idx": 4722 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table, grasping it at the middle with a diagonal approach.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Take the brown stuffed toy from the table, grasping it at the middle on a diagonal.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal grasp from the middle.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 4929, + "end_idx": 4977 + }, + { + "text": "Put the brown stuffed toy to the left of the green bowl with the left hand facing forwards.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the green bowl facing forwards.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the green bowl with its front facing forward.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the green bowl, front facing forwards.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Place the brown stuffed toy to the left of the green bowl facing forwards.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Set the brown stuffed toy to the left of the green bowl with its front forward.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Position the brown stuffed toy to the left of the green bowl so it faces forwards.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Using the left hand, put the brown stuffed toy to the left of the green bowl.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Have the left arm place the brown stuffed toy to the left of the green bowl.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "With the left hand, set the brown stuffed toy to the left of the green bowl.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Put the brown stuffed toy to the left of the green bowl.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Place the brown stuffed toy beside the green bowl.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Set the brown stuffed toy on the left side of the green bowl.", + "start_idx": 4977, + "end_idx": 5022 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Have the left arm pick the gray stuffed toy up from the table diagonally by its middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table using a diagonal approach at the middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Take the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal pickup at its middle.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Take the gray stuffed toy from the table.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Have the left arm pick up the gray stuffed toy from the table.", + "start_idx": 5022, + "end_idx": 5082 + }, + { + "text": "Put the gray stuffed toy to the left of the brown stuffed toy with the left hand facing forwards.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the brown stuffed toy, facing forwards.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the brown stuffed toy with its front facing forward.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the brown stuffed toy so it faces forwards.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Place the gray stuffed toy to the left of the brown stuffed toy, facing forwards.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Set the gray stuffed toy left of the brown stuffed toy with its front forward.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Position the gray stuffed toy to the left of the brown stuffed toy so it faces forward.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Using the left hand, put the gray stuffed toy to the left of the brown stuffed toy.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "With the left hand, place the gray stuffed toy left of the brown stuffed toy.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Have the left arm position the gray stuffed toy to the left of the brown stuffed toy.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Put the gray stuffed toy to the left of the brown stuffed toy.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Set the gray stuffed toy left of the brown stuffed toy.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Position the gray stuffed toy beside the brown stuffed toy.", + "start_idx": 5082, + "end_idx": 5130 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table by the middle at a diagonal angle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "From the table, retrieve the brown stuffed toy at a diagonal angle by the middle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 5292, + "end_idx": 5334 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate with the left hand facing top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the purple plate facing top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the purple plate with its front facing top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "With the left hand, position the brown stuffed toy before the purple plate so the front points top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Place the brown stuffed toy in front of the purple plate facing top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Set the brown stuffed toy before the purple plate with its front toward the top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate, oriented top right.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the purple plate.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "With the left hand, place the brown stuffed toy before the purple plate.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the purple plate.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Put the brown stuffed toy in front of the purple plate.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Set the brown stuffed toy before the purple plate.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Position the brown stuffed toy in front of the purple plate.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "With the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Using the left arm, take the gray stuffed toy from the table with a diagonal approach, holding its middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Have the left hand retrieve the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally by its middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "With the left hand, pick up the gray stuffed toy from the table, grasping the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Using the left arm, take the gray stuffed toy from the table by the middle.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Have the left hand retrieve the gray stuffed toy from the table.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Take the gray stuffed toy from the table diagonally.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Get the gray stuffed toy from the table.", + "start_idx": 5511, + "end_idx": 5583 + }, + { + "text": "Put the gray stuffed toy to the right of the bell pepper with the left hand facing forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the bell pepper with its front facing forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Have the left arm set the gray stuffed toy to the bell pepper's right, facing forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "With the left hand, position the gray stuffed toy right of the bell pepper so the front faces forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Place the gray stuffed toy to the right of the bell pepper with its front facing forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Set the gray stuffed toy to the bell pepper's right, facing forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Position the gray stuffed toy right of the bell pepper with the front facing forwards.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Using the left hand, put the gray stuffed toy to the right of the bell pepper.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "With the left hand, set the gray stuffed toy to the bell pepper's right.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Have the left arm place the gray stuffed toy right of the bell pepper.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Put the gray stuffed toy to the right of the bell pepper.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Place the gray stuffed toy to the bell pepper's right.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Set the gray stuffed toy right of the bell pepper.", + "start_idx": 5583, + "end_idx": 5616 + }, + { + "text": "Pick up the bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Using the left hand, take the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Have the left arm grasp the bell pepper from the table at its top with a side hold from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "With the left hand, secure the bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Pick up the bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "From the table, grasp the bell pepper at the top with a side hold from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Take the bell pepper from the table using a side grasp on its top from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Use the left hand to pick up the bell pepper from the table.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Have the left arm take the bell pepper from the table.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "With the left hand, grasp the bell pepper from the table.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Pick up the bell pepper from the table from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "From the table, take the bell pepper with the left hand.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Grasp the bell pepper from the table at the top from a diagonal angle.", + "start_idx": 6195, + "end_idx": 6237 + }, + { + "text": "Put the bell pepper at the bottom left of the green bowl with the left hand right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Using the left hand, place the bell pepper at the bottom left of the green bowl right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Have the left arm set the bell pepper in the green bowl's bottom-left area, keeping it right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "With the left hand, position the bell pepper at the lower-left of the green bowl, right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Place the bell pepper at the bottom left of the green bowl right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Set the bell pepper in the bottom-left of the green bowl right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Position the bell pepper at the lower-left area of the green bowl right side up.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Using the left hand, put the bell pepper at the bottom left of the green bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "With the left hand, place the bell pepper in the green bowl's bottom-left area.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Have the left arm set the bell pepper at the lower-left of the green bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Put the bell pepper at the bottom left of the green bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Set the bell pepper in the green bowl's bottom-left area.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Place the bell pepper at the lower-left of the green bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grip on the handle.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table with a diagonal hold on the handle.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Have the left arm take the white coffee cup from the table, using a diagonal grip at the handle.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "With the left hand, collect the white coffee cup from the table by securing the handle diagonally.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grip on the handle.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Take the white coffee cup from the table with a diagonal hold on the handle.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Grasp the white coffee cup from the table by the handle with a diagonal grip.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 6270, + "end_idx": 6312 + }, + { + "text": "Put the white coffee cup to the right of the bell pepper with handle facing backward right side up with the left hand.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the bell pepper, right side up, with its handle facing backward.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Have the left arm set the white coffee cup to the bell pepper's right, keeping it upright and the handle pointed backward.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "With the left hand, position the white coffee cup on the right side of the bell pepper, upright with the handle facing back.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Place the white coffee cup to the right of the bell pepper, right side up, with its handle facing backward.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Set the white coffee cup on the right side of the bell pepper, keeping it upright and the handle pointed backward.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Position the white coffee cup to the bell pepper's right, with the handle facing backward and the cup right side up.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the bell pepper.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Have the left arm set the white coffee cup on the right side of the bell pepper.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "With the left hand, position the white coffee cup to the bell pepper's right.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Place the white coffee cup to the right of the bell pepper.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Set the white coffee cup on the right side of the bell pepper.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Have the white coffee cup placed to the bell pepper's right.", + "start_idx": 6312, + "end_idx": 6351 + }, + { + "text": "Pick up the bell pepper from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Using the left hand, take the bell pepper from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Have the left arm pick the bell pepper up from the table diagonally by the top.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "With the left hand, retrieve the bell pepper from the table using a diagonal approach and hold the top of the object.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Pick up the bell pepper from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Take the bell pepper from the table diagonally while holding the top.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Retrieve the bell pepper from the table with a diagonal pickup, gripping the top of the object.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Pick up the bell pepper from the table with the left hand.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Using the left hand, take the bell pepper from the table.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Have the left arm retrieve the bell pepper from the table.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Pick up the bell pepper from the table.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Take the bell pepper from the table.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Retrieve the bell pepper from the table.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Put the bell pepper between the green bowl and purple plate with the left hand right side up with the front as the reference point.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Using the left hand, place the bell pepper between the green bowl and purple plate right side up, with the front as the reference point.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Have the left arm set the bell pepper between the green bowl and purple plate, keeping it right side up relative to the front.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "With the left hand, position the bell pepper between the green bowl and purple plate so it is right side up from the front reference point.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Place the bell pepper between the green bowl and purple plate right side up, using the front as the reference point.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Set the bell pepper between the green bowl and purple plate, keeping it right side up relative to the front.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Position the bell pepper between the green bowl and purple plate so it stays right side up from the front.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Using the left hand, put the bell pepper between the green bowl and purple plate.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "With the left hand, set the bell pepper between the green bowl and purple plate.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Have the left arm place the bell pepper between the green bowl and purple plate.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Put the bell pepper between the green bowl and purple plate.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Set the bell pepper between the green bowl and purple plate.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Position the bell pepper between the green bowl and purple plate.", + "start_idx": 6387, + "end_idx": 6414 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Have the left arm take the green bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom lip using a diagonal approach.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Take the green bowl from the table by the bottom lip at a diagonal angle.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Grasp the green bowl from the table using a bottom lip hold and a diagonal approach.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp at the bottom.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Pick up the green bowl from the table with the left hand and a diagonal pick angle.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Take the green bowl from the table using a lip grip at the bottom.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "The green bowl from the table should be picked up.", + "start_idx": 6468, + "end_idx": 6513 + }, + { + "text": "Put the green bowl on top of the purple plate with the left hand.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Using the left hand, place the green bowl onto the purple plate right side up.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Have the left arm set the green bowl on top of the purple plate with its front facing forward.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "With the left hand, position the green bowl atop the purple plate in an upright orientation.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Place the green bowl on top of the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Set the green bowl onto the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Have the green bowl rest atop the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Using the left hand, place the green bowl on top of the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "With the left hand, set the green bowl onto the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Left hand: put the green bowl atop the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Put the green bowl on top of the purple plate with its front facing forward.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Have the green bowl placed on the purple plate right side up.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Using the left hand, place the green bowl on the purple plate.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Have the left hand pick up the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a diagonal handle grasp.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grasp at the handle.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Have the white coffee cup picked up from the table with a diagonal grasp at the handle.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Have the left hand collect the white coffee cup from the table.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6594, + "end_idx": 6645 + }, + { + "text": "Dump the brown stuffed toy in front of the green bowl with the left hand.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Using the left hand, dump the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Have the left arm place the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "With the left hand, set the brown stuffed toy down in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Dump the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Place the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Set the brown stuffed toy down in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Position the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Move the brown stuffed toy to a spot in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Put the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "The brown stuffed toy goes in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Get the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Arrange the brown stuffed toy in front of the green bowl.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Put the white coffee cup to the left of the green bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the green bowl with the handle facing backward and upright.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Have the left arm set the white coffee cup left of the green bowl, handle pointing backward, right side up.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "With the left hand, position the white coffee cup to the green bowl's left, keeping it upright and the handle facing the back.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Place the white coffee cup to the left of the green bowl with the handle facing backward and right side up.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Set the white coffee cup left of the green bowl, upright with its handle pointing backward.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Position the white coffee cup to the left of the green bowl, keeping the handle facing the back and the cup right side up.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the green bowl.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "With the left hand, place the white coffee cup left of the green bowl.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Have the left arm position the white coffee cup to the green bowl's left.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Put the white coffee cup to the left of the green bowl.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Set the white coffee cup left of the green bowl.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Have the white coffee cup placed to the left of the green bowl.", + "start_idx": 6678, + "end_idx": 6732 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "From the table, retrieve the brown stuffed toy diagonally while holding the entire object.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Using the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "From the table, collect the brown stuffed toy.", + "start_idx": 6732, + "end_idx": 6768 + }, + { + "text": "Put the brown stuffed toy to the left of the white coffee cup with the left hand facing backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "With the left hand, place the brown stuffed toy to the left of the white coffee cup facing backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the white coffee cup with its front facing backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Using the left hand, position the brown stuffed toy left of the white coffee cup so it faces backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Place the brown stuffed toy to the left of the white coffee cup facing backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Set the brown stuffed toy left of the white coffee cup with its front facing backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Position the brown stuffed toy to the left of the white coffee cup so it faces backwards.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "With the left hand, place the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Using the left hand, set the brown stuffed toy left of the white coffee cup.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Put the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Set the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Have the stuffed toy placed left of the white coffee cup.", + "start_idx": 6768, + "end_idx": 6789 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle, grasping its middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Take the brown stuffed toy from the table, grasping the middle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 6978, + "end_idx": 7008 + }, + { + "text": "Put the brown stuffed toy to the right of the purple plate with the left hand facing backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the purple plate facing backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the purple plate with its front facing backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the purple plate so it faces backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Place the brown stuffed toy to the right of the purple plate facing backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Set the brown stuffed toy to the right of the purple plate with its front facing backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Position the brown stuffed toy to the right of the purple plate so it is facing backwards.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "With the left hand, put the brown stuffed toy to the right of the purple plate.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Using the left hand, set the brown stuffed toy to the right of the purple plate.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Have the left arm place the brown stuffed toy to the right of the purple plate.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Put the brown stuffed toy to the right of the purple plate.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Place the brown stuffed toy to the right of the purple plate.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Set the brown stuffed toy to the right of the purple plate.", + "start_idx": 7008, + "end_idx": 7032 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Using the left hand, take hold of the white coffee cup by the handle with a diagonal grasp.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table with a diagonal handle grasp.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "With the left hand, grasp the white coffee cup at the handle from the table using a diagonal hold.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Pick up the white coffee cup from the table by the handle using a diagonal grasp.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Take the white coffee cup from the table at the handle.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Grasp the white coffee cup from the table by the handle.", + "start_idx": 7284, + "end_idx": 7335 + }, + { + "text": "Put the white coffee cup to the right of the purple plate with handle facing backward with the left hand.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the purple plate with the handle facing backward.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Have the left arm set the white coffee cup to the right of the purple plate, handle pointing backward.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "With the left hand, position the white coffee cup to the right of the purple plate so its handle faces backward.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Place the white coffee cup to the right of the purple plate with the handle facing backward.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Set the white coffee cup to the right of the purple plate, with its handle pointing backward.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Position the white coffee cup to the right of the purple plate, keeping the handle facing backward.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the purple plate.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "With the left hand, set the white coffee cup to the right of the purple plate.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Have the left arm position the white coffee cup to the right of the purple plate.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Place the white coffee cup to the right of the purple plate.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Set the white coffee cup beside the purple plate on its right side.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Position the white coffee cup on the right side of the purple plate.", + "start_idx": 7335, + "end_idx": 7380 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Have the left arm take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Have the left arm take the white coffee cup from the table by the handle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "From the table, take the white coffee cup with the left hand.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7545, + "end_idx": 7605 + }, + { + "text": "Put the white coffee cup in front of the green bowl with handle facing backward with the left hand.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the green bowl with its handle facing backward.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Have the left arm set the white coffee cup in front of the green bowl, handle turned backward.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "With the left hand, position the white coffee cup before the green bowl so the handle points backward.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Place the white coffee cup in front of the green bowl with its handle facing backward.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Set the white coffee cup before the green bowl, keeping the handle pointed backward.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Position the white coffee cup in front of the green bowl so the handle faces backward.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Using the left hand, put the white coffee cup in front of the green bowl.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "With the left hand, place the white coffee cup before the green bowl.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Have the left arm set the white coffee cup in front of the green bowl.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Put the white coffee cup in front of the green bowl.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Set the white coffee cup before the green bowl.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Position the white coffee cup in front of the green bowl.", + "start_idx": 7605, + "end_idx": 7659 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Have the left arm take the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom-left lip on a diagonal.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Grasp the green bowl from the table at the bottom-left lip diagonally.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 7713, + "end_idx": 7743 + }, + { + "text": "Put the green bowl to the right of the white coffee cup with the left hand.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Using the left hand, place the green bowl to the right of the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Have the left arm set the green bowl on the right side of the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "With the left hand, position the green bowl to the white coffee cup's right.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Place the green bowl to the right of the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Set the green bowl on the right side of the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Position the green bowl to the white coffee cup's right.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Using the left hand, place the green bowl by the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Have the left arm set the green bowl next to the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "With the left hand, position the green bowl beside the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Place the green bowl by the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Set the green bowl beside the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Position the green bowl next to the white coffee cup.", + "start_idx": 7743, + "end_idx": 7782 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table by the handle with a diagonal grip.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grasp at the handle.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Take the white coffee cup from the table by the handle with a diagonal grip.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "The white coffee cup from the table should be grasped.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Put the white coffee cup to the bottom left of the bell pepper with handle facing backward with the left hand.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Using the left hand, place the white coffee cup at the bell pepper's bottom left with the handle facing backward.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Have the left arm set the white coffee cup down to the bottom left of the bell pepper, handle facing backward.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "With the left hand, position the white coffee cup at the lower left of the bell pepper, with its handle facing backward.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Place the white coffee cup to the bottom left of the bell pepper with the handle facing backward.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Set the white coffee cup down at the lower left of the bell pepper, handle facing backward.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Position the white coffee cup at the bell pepper's bottom-left side with its handle facing backward.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Using the left hand, place the white coffee cup to the bottom left of the bell pepper.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "With the left hand, set the white coffee cup down at the lower left of the bell pepper.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Have the left arm position the white coffee cup beside the bell pepper on its bottom-left side.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Put the white coffee cup at the lower left of the bell pepper.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Set the white coffee cup down beside the bell pepper at its bottom-left side.", + "start_idx": 7824, + "end_idx": 7860 + }, + { + "text": "Pick up the green bowl from the table with the left hand at a diagonal angle grasping the bottom left using a lip grip.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Using the left hand, take the green bowl from the table at a diagonal angle, gripping the bottom left with a lip grip.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Have the left hand pick up the green bowl from the table diagonally by the bottom left using a lip grasp.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "With the left hand, grasp the green bowl from the table at a diagonal angle on the bottom left with a lip hold.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle, gripping the bottom left with a lip grip.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Take the green bowl from the table diagonally from the bottom left using a lip grasp.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Grasp the green bowl from the table at a diagonal angle by the bottom left with a lip hold.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Using the left hand, pick up the green bowl from the table using a lip grip.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "With the left hand, take the green bowl from the table, grasping the bottom left.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a lip grip.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle on the bottom left.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Take the green bowl from the table diagonally by the bottom left.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 7914, + "end_idx": 7944 + }, + { + "text": "Dump the brown stuffed toy to the bottom left of the purple plate with the left hand.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Using the left hand, dump the brown stuffed toy to the bottom left of the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Have the left arm place the brown stuffed toy at the bottom left of the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "With the left hand, deposit the brown stuffed toy to the purple plate's bottom-left side.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Dump the brown stuffed toy to the bottom left of the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Place the brown stuffed toy at the bottom left of the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Set the brown stuffed toy down to the bottom left of the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Move the brown stuffed toy to the bottom left of the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Put the brown stuffed toy beside the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Position the brown stuffed toy near the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Using the left hand, put the brown stuffed toy beside the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "With the left hand, place the brown stuffed toy near the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Have the left arm set the brown stuffed toy down beside the purple plate.", + "start_idx": 7944, + "end_idx": 7959 + }, + { + "text": "Put the green bowl to the left of the brown stuffed toy with the left hand.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Using the left hand, place the green bowl to the left of the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Have the left arm set the green bowl down to the left of the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "With the left hand, position the green bowl on the left side of the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Place the green bowl to the left of the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Set the green bowl on the left side of the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Position the green bowl left of the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Using the left hand, put the green bowl by the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Have the left arm place the green bowl near the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "With the left hand, set the green bowl next to the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Put the green bowl by the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Set the green bowl beside the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Position the green bowl next to the brown stuffed toy.", + "start_idx": 7959, + "end_idx": 8013 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Have the left hand take the green bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a lip hold on the bottom at a diagonal approach.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Take the green bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Grasp the green bowl from the table using a lip hold on the bottom with a diagonal approach.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip grasp on the bottom.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a bottom lip hold.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "With the left hand, take the green bowl from the table with a diagonal approach.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 8109, + "end_idx": 8139 + }, + { + "text": "Put the green bowl to the left of the white coffee cup with the left hand.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Using the left hand, place the green bowl to the left of the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Have the left arm set the green bowl on the left side of the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "With the left hand, position the green bowl left of the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Place the green bowl to the left of the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Set the green bowl on the left side of the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "The green bowl goes to the left of the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Position the green bowl beside the white coffee cup on its left.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Place the green bowl with the left hand.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Using the left hand, set down the green bowl.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Have the left arm place the green bowl.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Put the green bowl beside the white coffee cup.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Set the green bowl down.", + "start_idx": 8139, + "end_idx": 8181 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 8181, + "end_idx": 8223 + }, + { + "text": "Put the brown stuffed toy to the left of the purple plate with the left hand facing forwards.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "With the left hand, place the brown stuffed toy to the left of the purple plate facing forwards.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the purple plate, with its front facing forward.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Using the left hand, position the brown stuffed toy left of the purple plate so it faces forwards.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Place the brown stuffed toy to the left of the purple plate facing forwards.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Set the brown stuffed toy to the left of the purple plate with its front facing forward.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Position the brown stuffed toy left of the purple plate so it faces forwards.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the purple plate.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "With the left hand, set the brown stuffed toy left of the purple plate.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the purple plate.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Place the brown stuffed toy to the left of the purple plate.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Set the brown stuffed toy left of the purple plate.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Position the brown stuffed toy to the left of the purple plate.", + "start_idx": 8223, + "end_idx": 8250 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grip at the handle.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grip at the handle.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the handle with a diagonal hold.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "With the left hand, pick the white coffee cup off the table using a diagonal handle grasp.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grip at the handle.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Take the white coffee cup off the table with a diagonal grasp on the handle.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Grasp the white coffee cup from the table by the handle with a diagonal hold.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "With the left hand, take the white coffee cup off the table.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Take the white coffee cup off the table.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 8313, + "end_idx": 8361 + }, + { + "text": "Put the white coffee cup to the left of the brown stuffed toy with the left hand right side up with its front facing bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the brown stuffed toy, right side up, with its front facing bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Have the left arm set the white coffee cup left of the brown stuffed toy, keeping it upright and its front toward the bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the brown stuffed toy so it is right side up and its front faces bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Place the white coffee cup to the left of the brown stuffed toy, right side up, with its front facing bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Set the white coffee cup left of the brown stuffed toy, upright, with the front pointed bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Position the white coffee cup to the left of the brown stuffed toy with its front facing bottom left.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Have the left arm set the white coffee cup left of the brown stuffed toy.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Put the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Place the white coffee cup left of the brown stuffed toy.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Set the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 8361, + "end_idx": 8418 + }, + { + "text": "Pick up the bell pepper from the table with the left hand using a side grasp at the top from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Using the left hand, take the bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Have the left arm pick the bell pepper up from the table with a side grasp at the top on a diagonal approach.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "With the left hand, grasp the bell pepper from the table at the top using a side hold from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Pick up the bell pepper from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Take the bell pepper from the table with a side hold at the top from a diagonal approach.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Grasp the bell pepper from the table at the top with a side grip from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Using the left hand, pick up the bell pepper from the table.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Have the left arm take the bell pepper from the table.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "With the left hand, grasp the bell pepper from the table.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Pick up the bell pepper from the table with the left hand.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Using the left hand, take the bell pepper from the table from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Pick up the bell pepper from the table at the top using a side grasp.", + "start_idx": 8418, + "end_idx": 8472 + }, + { + "text": "Put the bell pepper behind the brown stuffed toy with the left hand right side up with the front as the reference point.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Using the left hand, place the bell pepper behind the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Have the left arm set the bell pepper behind the brown stuffed toy with its right side up, using the front as reference.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "With the left hand, position the bell pepper behind the brown stuffed toy so it is right side up relative to the front.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Place the bell pepper behind the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Set the bell pepper behind the brown stuffed toy with its right side up, using the front as reference.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Position the bell pepper behind the brown stuffed toy so it is right side up relative to the front.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Using the left hand, put the bell pepper behind the brown stuffed toy.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "With the left hand, place the bell pepper behind the brown stuffed toy.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Have the left arm set the bell pepper behind the brown stuffed toy.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Put the bell pepper behind the brown stuffed toy.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Place the bell pepper behind the brown stuffed toy.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Set the bell pepper behind the brown stuffed toy.", + "start_idx": 8472, + "end_idx": 8502 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "With the left hand, grasp the middle of the brown stuffed toy on the table and retrieve it at a diagonal angle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Grasp the middle of the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Get the brown stuffed toy from the table at a diagonal angle by the middle.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "With the left hand, get the brown stuffed toy from the table.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 8502, + "end_idx": 8532 + }, + { + "text": "Put the brown stuffed toy inside the white coffee cup upside down with the front as the reference using the left hand.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Using the left hand, place the brown stuffed toy into the white coffee cup upside down, with the front as the reference.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Have the left arm put the brown stuffed toy inside the white coffee cup in an upside-down orientation referenced to the front.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "With the left hand, insert the brown stuffed toy into the white coffee cup so it is upside down relative to the front.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Place the brown stuffed toy inside the white coffee cup upside down with the front as the reference.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Insert the brown stuffed toy into the white coffee cup in an upside-down orientation referenced to the front.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Put the brown stuffed toy into the white coffee cup so the front serves as the reference and it ends up upside down.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Set the brown stuffed toy inside the white coffee cup using the left hand.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Using the left hand, place the brown stuffed toy into the white coffee cup.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Have the left arm put the brown stuffed toy inside the white coffee cup.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Put the brown stuffed toy into the white coffee cup.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Place the brown stuffed toy inside the white coffee cup upside down.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Insert the brown stuffed toy into the white coffee cup with the front as the reference.", + "start_idx": 8532, + "end_idx": 8550 + }, + { + "text": "Pick up the bell pepper from the table with the left hand from the top using a side grasp at a diagonal angle.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Using the left hand, pick up the bell pepper from the table from the top with a side grasp at a diagonal angle.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Have the left arm take the bell pepper from the table by its top using a side grasp, angled diagonally.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "With the left hand, grasp the bell pepper from the table at the top using a side hold at a diagonal angle.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Pick up the bell pepper from the table from the top with a side grasp at a diagonal angle.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Grasp the bell pepper from the table by the top with a side hold at a diagonal angle.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Take the bell pepper from the table at the top using a side grasp, diagonally angled.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "With the left hand, pick up the bell pepper from the table from the top using a side grasp.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Have the left arm take the bell pepper from the table by its top with a side hold.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Using the left hand, grasp the bell pepper from the table at the top with a side grip.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Pick up the bell pepper from the table with the left hand from the top at a diagonal angle.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "From the table, take the bell pepper with the left hand using a side grasp.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Using the left hand, pick up the bell pepper from the table from the top.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Put the bell pepper to the top left of the white coffee cup with the left hand right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "With the left hand, place the bell pepper at the white coffee cup's top left, keeping it right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Have the left arm set the bell pepper to the upper left of the white coffee cup, right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Using the left hand, position the bell pepper at the top-left side of the white coffee cup, right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Place the bell pepper to the top left of the white coffee cup, keeping it right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Set the bell pepper at the white coffee cup's upper left, right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Position the bell pepper to the upper left of the white coffee cup, right side up.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "With the left hand, place the bell pepper to the top left of the white coffee cup.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Have the left arm set the bell pepper at the upper left of the white coffee cup.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Using the left hand, position the bell pepper by the white coffee cup's top-left side.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Put the bell pepper to the top left of the white coffee cup.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Set the bell pepper at the white coffee cup's upper left.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Place the bell pepper by the white coffee cup's top-left side.", + "start_idx": 8637, + "end_idx": 8667 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal approach around the whole object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal approach around the whole object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Take the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 8769, + "end_idx": 8790 + }, + { + "text": "Put the gray stuffed toy to the left of the white coffee cup with the left hand facing bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the white coffee cup with its front facing bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the white coffee cup, front pointed toward the bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the white coffee cup so the front faces bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Place the gray stuffed toy to the left of the white coffee cup with its front facing bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Set the gray stuffed toy left of the white coffee cup, with the front oriented toward the bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Position the gray stuffed toy to the left of the white coffee cup, front facing bottom left.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the white coffee cup.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "With the left hand, set the gray stuffed toy left of the white coffee cup.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Have the left arm position the gray stuffed toy to the left of the white coffee cup.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Place the gray stuffed toy to the left of the white coffee cup.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Set the gray stuffed toy left of the white coffee cup.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Position the gray stuffed toy to the left of the white coffee cup.", + "start_idx": 8790, + "end_idx": 8814 + }, + { + "text": "Return both arms to home.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Bring both arms back to the home position.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Move both arms to home position.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Have both arms return to home.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Return to home position.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Move to home.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Go back to home.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Bring the arms back.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Return both to home.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Move both arms back.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Have the arms go home.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Bring both back to the home position.", + "start_idx": 8814, + "end_idx": 8847 + }, + { + "text": "Send the arms to home.", + "start_idx": 8814, + "end_idx": 8847 + } + ] + }, + "2026-03-16-18-37-11-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 1 aria data", + "total_frames": 9114, + "num_annotations": 2979, + "annotations": [ + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Have the left arm grasp the carrot from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "With the left hand, retrieve the carrot from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Retrieve the carrot from the table by its bottom with a side hold from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Have the left arm take the carrot from the table at its bottom.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Using the left hand, grasp the carrot from the table from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Pick up the carrot from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Take the carrot from the table with the left hand using a side grip.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Grasp the carrot from the table at its bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 42 + }, + { + "text": "Place the carrot inside the beige bowl with the left hand right side up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Using the left hand, set the carrot into the beige bowl with its tip right side up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Have the left arm place the carrot in the beige bowl, keeping the tip right side up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "With the left hand, deposit the carrot inside the beige bowl so the tip is right side up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Put the carrot into the beige bowl with its tip right side up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Place the carrot inside the beige bowl right side up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Set the carrot in the beige bowl with the tip facing up.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Using the left hand, place the carrot into the beige bowl.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Have the left arm put the carrot inside the beige bowl.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "With the left hand, set the carrot in the beige bowl.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Place the carrot into the beige bowl.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Put the carrot in the beige bowl.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Set the carrot inside the beige bowl.", + "start_idx": 42, + "end_idx": 81 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup at the middle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "From the table, take the asparagus with the left hand.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 81, + "end_idx": 120 + }, + { + "text": "Put the asparagus in front of the corn with the left hand with the tip facing bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Using the left hand, place the asparagus in front of the corn with the tip facing bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Have the left arm set the asparagus in front of the corn, tip oriented toward the bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "With the left hand, position the asparagus before the corn, keeping the tip pointed bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Place the asparagus in front of the corn with the tip facing bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Set the asparagus before the corn with the tip pointed toward the bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Position the asparagus in front of the corn, with its tip oriented bottom left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Using the left hand, put the asparagus in front of the corn.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "With the left hand, place the asparagus before the corn.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Have the left arm position the asparagus in front of the corn.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Set the asparagus in front of the corn.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Place the asparagus before the corn.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Position the asparagus in front of the corn.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "With the left hand, collect the corn from the table diagonally by the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Collect the corn from the table diagonally by the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "With the left hand, collect the corn from the table.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Take the corn from the table by the middle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Collect the corn from the table.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Put the corn to the front right of the beige bowl with the left hand facing backwards with the tip as the reference point.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Using the left hand, place the corn at the front-right of the beige bowl, with its tip as the reference point and facing backward.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Have the left arm set the corn to the front right of the beige bowl, oriented backward relative to its tip.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "With the left hand, position the corn front-right of the beige bowl so the tip-referenced orientation faces backward.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Place the corn at the front right of the beige bowl, with its tip as the reference point and facing backward.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Set the corn to the front-right of the beige bowl, oriented backward from the tip.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Position the corn at the front right of the beige bowl with the tip facing backward.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Using the left hand, place the corn at the front right of the beige bowl.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Have the left arm set the corn to the front-right of the beige bowl.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "With the left hand, position the corn by the front right side of the beige bowl.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Place the corn at the front right of the beige bowl.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Set the corn by the front-right of the beige bowl.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Position the corn next to the beige bowl on its front-right side.", + "start_idx": 273, + "end_idx": 315 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "With the left hand, collect the asparagus from the table, holding it at a diagonal angle around its middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Grasp the asparagus from the table at a diagonal angle around the middle.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Have the left arm collect the asparagus from the table.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Using the left hand, grasp the asparagus from the table.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 381, + "end_idx": 423 + }, + { + "text": "Put the asparagus in front of the beige bowl with the left hand with the tip facing bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Using the left hand, place the asparagus in front of the beige bowl with its tip facing bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Have the left arm set the asparagus in front of the beige bowl, tip oriented toward the bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "With the left hand, position the asparagus before the beige bowl so the tip points bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Place the asparagus in front of the beige bowl with the tip facing bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Set the asparagus before the beige bowl with its tip pointing to the bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Position the asparagus in front of the beige bowl, tip directed bottom right.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Using the left hand, put the asparagus in front of the beige bowl.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "With the left hand, set the asparagus before the beige bowl.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Have the left arm place the asparagus in front of the beige bowl.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Put the asparagus in front of the beige bowl.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Set the asparagus before the beige bowl.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Position the asparagus in front of the beige bowl.", + "start_idx": 423, + "end_idx": 459 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom with a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom and a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Have the left hand take the beige bowl from the table, gripping the bottom lip at a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the bottom lip at a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the bottom and a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Grasp the beige bowl from the table by the bottom lip at a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Take the beige bowl from the table using a bottom lip grip at a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "With the left hand, take the beige bowl from the table using a lip grip at the bottom.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Have the left hand grasp the beige bowl from the table by the bottom lip.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at a diagonal angle.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "With the left hand, take the beige bowl from the table.", + "start_idx": 459, + "end_idx": 492 + }, + { + "text": "Dump the carrot to the right of the corn with the left hand.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Using the left hand, dump the carrot to the right of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Have the left arm place the carrot on the corn's right side.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "With the left hand, deposit the carrot just right of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Dump the carrot to the right of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Place the carrot on the right side of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Set the carrot down just to the right of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Move the carrot to a spot right of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Position the carrot to the right of the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Leave the carrot on the corn's right side.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Put the carrot beside the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Set the carrot down next to the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Place the carrot by the corn.", + "start_idx": 491, + "end_idx": 534 + }, + { + "text": "Put the beige bowl behind the corn with the left hand.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Using the left hand, place the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Have the left arm set the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "With the left hand, position the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Place the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Set the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Position the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Move the beige bowl behind the corn.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Put the beige bowl with the left hand.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "With the left hand, set the beige bowl down.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Have the left arm place the beige bowl.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Place the beige bowl.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Set down the beige bowl.", + "start_idx": 534, + "end_idx": 591 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "From a diagonal angle, have the left hand grasp the carrot from the table with a side hold at the bottom.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "With the left hand, secure the carrot from the table at its bottom using a side grasp from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "From a diagonal angle, grasp the carrot from the table at the bottom with a side hold.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Have the left hand take the carrot from the table using a side hold.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "With the left hand, grasp the carrot from the table using a side grasp.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Using the left hand, pick up the carrot from the table from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Pick up the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 591, + "end_idx": 633 + }, + { + "text": "Put the carrot to the left of the asparagus with the left hand facing forwards with the tip as the reference point.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Using the left hand, place the carrot left of the asparagus with its tip facing forwards.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Have the left hand set the carrot to the asparagus's left, oriented forwards from the tip.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "With the left hand, position the carrot on the left side of the asparagus, tip pointing forwards.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Place the carrot to the left of the asparagus.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Set the carrot on the left side of the asparagus.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Position the carrot left of the asparagus.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Arrange the carrot to the left of the asparagus.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Put the carrot to the left of the asparagus with its tip facing forwards.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Place the carrot left of the asparagus, oriented forwards from the tip.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Set the carrot on the asparagus's left with the tip pointing forwards.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Position the carrot to the left of the asparagus with the left hand.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Using the left hand, place the carrot on the asparagus's left side.", + "start_idx": 633, + "end_idx": 678 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "From the middle, have the left hand grasp the asparagus on the table at a diagonal angle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "At a diagonal angle, the left hand should pick the asparagus up from the table by the middle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "From the middle, grasp the asparagus on the table at a diagonal angle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Take the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Get the asparagus from the table with the left hand.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "From the middle, have the left hand pick up the asparagus from the table.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Put the asparagus inside the beige bowl with the left hand facing bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Using the left hand, place the asparagus in the beige bowl with the tip facing the bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Have the left arm set the asparagus inside the beige bowl so its tip points toward the bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "With the left hand, deposit the asparagus into the beige bowl, tip oriented to the bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Place the asparagus in the beige bowl with the tip facing the bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Set the asparagus inside the beige bowl so the tip points to the bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Deposit the asparagus into the beige bowl with its tip directed toward the bottom right.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Using the left hand, put the asparagus inside the beige bowl.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Have the left arm place the asparagus in the beige bowl.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "With the left hand, set the asparagus into the beige bowl.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Put the asparagus in the beige bowl.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Place the asparagus inside the beige bowl.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Set the asparagus into the beige bowl.", + "start_idx": 726, + "end_idx": 759 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by gripping the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Take the corn from the table at a diagonal angle by gripping its middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "With the left hand, pick up the corn from the table, grasping the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Have the left arm take the corn from the table by the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Using the left hand, retrieve the corn from the table.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Get the corn from the table at a diagonal angle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Take the corn from the table by the middle.", + "start_idx": 759, + "end_idx": 798 + }, + { + "text": "Put the corn inside the beige bowl with the left hand.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Using the left hand, place the corn into the beige bowl with its tip facing backward.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Have the left arm set the corn inside the beige bowl so the tip points backward.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "With the left hand, deposit the corn in the beige bowl, tip oriented backward.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Place the corn into the beige bowl with the tip facing backward.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Set the corn inside the beige bowl so its tip points backward.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Put the corn in the beige bowl, with the tip facing backward.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Move the corn into the beige bowl.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Get the corn into the beige bowl.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Transfer the corn to the inside of the beige bowl.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Place the corn into the beige bowl.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Using the left hand, put the corn in the beige bowl.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Have the left arm place the corn into the beige bowl.", + "start_idx": 798, + "end_idx": 831 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Using the left hand, grasp the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp at the bottom at a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "With the left hand, secure the carrot from the table by its bottom using a side hold from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "From the table, take the carrot by the bottom with a side grasp at a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Grasp the carrot from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "With the left hand, take the carrot from the table using a side grasp at the bottom.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Have the left arm pick up the carrot from the table by the bottom with a side hold.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Using the left hand, pick up the carrot from the table from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "With the left hand, take the carrot from the table at a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Pick up the carrot from the table by the bottom from a diagonal angle.", + "start_idx": 993, + "end_idx": 1032 + }, + { + "text": "Place the carrot to the front left of the cabbage with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Using the left hand, place the carrot front-left of the cabbage, facing forward with the tip as the reference point.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Have the left hand set the carrot to the cabbage's front left, with its tip defining a forward-facing orientation.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "With the left hand, position the carrot at the front left of the cabbage, oriented forward using the tip as the reference point.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Place the carrot to the front left of the cabbage.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Set the carrot at the cabbage's front left.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Position the carrot front-left of the cabbage.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Put the carrot to the front left of the cabbage.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Using the left hand, place the carrot to the front left of the cabbage.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Have the left hand set the carrot at the cabbage's front left.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "With the left hand, position the carrot beside the cabbage at the front left.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Place the carrot beside the cabbage at the front left, facing forward with the tip as the reference point.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Set the carrot at the cabbage's front left, with the tip indicating a forward-facing orientation.", + "start_idx": 1032, + "end_idx": 1080 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip hold at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "With the left hand, collect the beige bowl from the table using a lip grasp at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Take the beige bowl from the table with a lip hold at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Grasp the beige bowl from the table using a lip grasp at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "With the left hand, pick up the beige bowl from the table using a lip grip.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip hold.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip grasp.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "With the left hand, take the beige bowl from the table at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Grasp the beige bowl from the table at the bottom left diagonal.", + "start_idx": 1236, + "end_idx": 1272 + }, + { + "text": "Put the beige bowl to the right of the silver bowl with the left hand.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Using the left hand, place the beige bowl to the right of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Have the left arm set the beige bowl down to the right of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "With the left hand, position the beige bowl on the right side of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Place the beige bowl to the right of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Set the beige bowl on the right side of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Position the beige bowl to the right of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Put the beige bowl beside the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Arrange the beige bowl on the silver bowl's right side.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Move the beige bowl next to the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Set the beige bowl down beside the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Place the beige bowl on the right side of the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Position the beige bowl beside the silver bowl.", + "start_idx": 1272, + "end_idx": 1329 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup at its middle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 1476, + "end_idx": 1524 + }, + { + "text": "Place the carrot to the center of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Using the left hand, place the carrot at the table's center with its tip facing forward.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Have the left arm set the carrot in the center of the table, tip oriented forward.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip points forward.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Place the carrot at the center of the table.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Set the carrot in the middle of the table.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Put the carrot down at the table's center.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Position the carrot in the center of the table.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Move the carrot to the center of the table.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Using the left hand, place the carrot at the center of the table.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Have the left arm put the carrot in the middle of the table.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Set the carrot at the table's center with the left hand.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Place the carrot in the middle of the table with the left hand.", + "start_idx": 1524, + "end_idx": 1569 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Have the left arm grasp the cabbage from the table diagonally from its middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "With the left hand, collect the cabbage from the table using a diagonal approach at the middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Take the cabbage from the table diagonally from its middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Grasp the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Using the left hand, collect the cabbage from the table.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1728, + "end_idx": 1782 + }, + { + "text": "Put the cabbage to the left of the carrot with the left hand facing backwards from the front.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Using the left hand, place the cabbage to the left of the carrot, facing backward from the front.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Have the left arm set the cabbage to the carrot's left with its front facing backward.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "With the left hand, position the cabbage left of the carrot so the front points backward.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Place the cabbage to the left of the carrot with its front facing backward.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Set the cabbage on the left side of the carrot, front facing backward.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Position the cabbage to the carrot's left, with the front toward the back.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Put the cabbage to the left of the carrot.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Place the cabbage on the left side of the carrot.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Set the cabbage to the carrot's left.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Put the cabbage to the left of the carrot with the left hand.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Using the left hand, place the cabbage on the left side of the carrot.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Have the left arm set the cabbage to the carrot's left.", + "start_idx": 1782, + "end_idx": 1818 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Have the left arm take the corn from the table diagonally, holding it at the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle from its middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Take the corn from the table diagonally, holding the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle from its middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Use the left hand to pick up the corn from the table, grasping the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Have the left arm take the corn from the table by the middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "With the left hand, retrieve the corn from the table from its middle.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 1959, + "end_idx": 2001 + }, + { + "text": "Put the corn to the left of the cabbage with the left hand facing forwards.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Using the left hand, place the corn to the left of the cabbage with its tip facing forwards.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Have the left arm set the corn to the cabbage's left, tip pointed forward.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "With the left hand, position the corn left of the cabbage so the tip faces forwards.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Place the corn to the left of the cabbage with its tip facing forwards.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Set the corn to the left of the cabbage, tip facing forwards.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Position the corn on the left side of the cabbage with the tip pointed forward.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Using the left hand, put the corn to the left of the cabbage.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Have the left arm place the corn on the cabbage's left side.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "With the left hand, set the corn to the left of the cabbage.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Put the corn to the left of the cabbage.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Place the corn on the left side of the cabbage.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Set the corn beside the cabbage on its left side.", + "start_idx": 2001, + "end_idx": 2046 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "With the left hand, retrieve the asparagus from the table at a diagonal angle by grasping its middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 2046, + "end_idx": 2094 + }, + { + "text": "Put the asparagus behind the cabbage with the left hand with the tip facing bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Using the left hand, place the asparagus behind the cabbage with the tip facing bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Have the left arm set the asparagus behind the cabbage, tip oriented toward the bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "With the left hand, position the asparagus behind the cabbage so its tip points bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Place the asparagus behind the cabbage with the tip facing bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Set the asparagus behind the cabbage with its tip directed to the bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Position the asparagus behind the cabbage, keeping the tip pointed bottom right.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Using the left hand, put the asparagus behind the cabbage.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "With the left hand, place the asparagus behind the cabbage.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Have the left arm set the asparagus behind the cabbage.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Put the asparagus behind the cabbage.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Place the asparagus behind the cabbage.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Set the asparagus behind the cabbage.", + "start_idx": 2094, + "end_idx": 2145 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "With the left arm, grasp the cabbage from the table by its bottom using a side hold at a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Have the left hand take the cabbage from the table with a side grasp on the bottom at a diagonal angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Pick up the cabbage from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Take the cabbage from the table by the bottom with a side grasp at a diagonal angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Grasp the cabbage from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip at the bottom.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "With the left hand, take the cabbage from the table using a side grasp at the bottom.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Have the left arm grasp the cabbage from the table by the bottom with a side hold.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "With the left hand, take the cabbage from the table at the bottom with a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 2145, + "end_idx": 2193 + }, + { + "text": "Place the cabbage to the right of the asparagus with the left hand facing bottom left from the front.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Using the left hand, place the cabbage to the right of the asparagus, facing bottom left from the front.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Have the left arm set the cabbage to the asparagus's right with its front facing bottom left.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "With the left hand, position the cabbage on the right side of the asparagus, oriented bottom left from the front.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Place the cabbage to the right of the asparagus with its front facing bottom left.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Set the cabbage on the right side of the asparagus, facing bottom left from the front.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Position the cabbage to the asparagus's right, with the front pointing bottom left.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Using the left hand, place the cabbage to the right of the asparagus.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "With the left hand, set the cabbage on the right side of the asparagus.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Have the left arm position the cabbage to the asparagus's right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Put the cabbage to the right of the asparagus.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Arrange the cabbage on the right side of the asparagus.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Place the cabbage beside the asparagus on its right side.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Have the left arm pick the silver bowl up from the table with a bottom-left diagonal lip hold.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "With the left hand, grasp the silver bowl on the table using a diagonal lip grip at the bottom left.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Take the silver bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left with a diagonal lip hold.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "With the left hand, pick up the silver bowl from the table.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Using the left hand, take the silver bowl from the table.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Have the left arm grasp the silver bowl from the table.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Have the arm collect the silver bowl from the table.", + "start_idx": 2340, + "end_idx": 2379 + }, + { + "text": "Put the silver bowl between the corn and the carrot with the left hand.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Using the left hand, place the silver bowl between the corn and the carrot, right side up.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Have the left arm set the silver bowl between the corn and the carrot with its front facing forward.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "With the left hand, position the silver bowl between the corn and the carrot in an upright orientation.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Place the silver bowl between the corn and the carrot, right side up.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Set the silver bowl between the corn and the carrot with its front facing forward.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Position the silver bowl between the corn and the carrot in an upright orientation.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Using the left hand, put the silver bowl between the corn and the carrot.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Have the left arm place the silver bowl between the corn and the carrot.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "With the left hand, set the silver bowl between the corn and the carrot.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Place the silver bowl between the corn and the carrot.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Set the silver bowl between the corn and the carrot.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Position the silver bowl between the corn and the carrot.", + "start_idx": 2379, + "end_idx": 2427 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Have the left arm pick the corn off the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "With the left hand, retrieve the corn from the table using a side hold at the bottom from a diagonal approach.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Take the corn off the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Retrieve the corn from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Have the left arm collect the corn from the table with a side hold.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Pick up the corn from the table from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Take the corn off the table.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Put the corn inside the silver bowl with the left hand right side up.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Using the left hand, place the corn into the silver bowl with its tip right side up.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Have the left arm put the corn inside the silver bowl, keeping the tip right side up.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "With the left hand, set the corn in the silver bowl so the tip stays right side up.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Place the corn inside the silver bowl with its tip right side up.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Set the corn into the silver bowl right side up.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "The corn goes in the silver bowl with the tip upright.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Put the corn into the silver bowl with the left hand.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Using the left hand, place the corn inside the silver bowl.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Have the left arm set the corn in the silver bowl.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Place the corn into the silver bowl.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Set the corn inside the silver bowl.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "The corn belongs in the silver bowl.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by grasping its middle.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Retrieve the asparagus from the table diagonally by its center.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Using the left hand, grab the asparagus from the table.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 2499, + "end_idx": 2541 + }, + { + "text": "Put the asparagus to the right of the carrot with the left hand with its tip facing right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Using the left hand, place the asparagus to the carrot's right with its tip pointing right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Have the left arm set the asparagus on the right side of the carrot, tip facing right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "With the left hand, position the asparagus right of the carrot so its tip faces right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Place the asparagus to the right of the carrot with its tip facing right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Set the asparagus on the carrot's right side with its tip pointing right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Position the asparagus to the right of the carrot, keeping the tip directed right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Using the left hand, put the asparagus to the right of the carrot.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "With the left hand, place the asparagus on the right side of the carrot.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Have the left arm set the asparagus to the carrot's right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Place the asparagus to the right of the carrot.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Set the asparagus on the right side of the carrot.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Position the asparagus to the carrot's right.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Have the left hand take the carrot from the table with a diagonal approach at the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "With the left hand, collect the carrot from the table by gripping the middle at a diagonal angle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding its middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Grab the carrot from the table at a diagonal angle by the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Using the left hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Have the left hand take the carrot from the table by its middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "With the left hand, collect the carrot from the table, holding the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Pick up the carrot from the table, grasping the middle.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Grab the carrot from the table.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Put the carrot to the top left side of the table with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Using the left hand, place the carrot at the table's top-left side with the tip facing forward.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Have the left arm set the carrot on the top left side of the table, oriented forward from its tip.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "With the left hand, position the carrot at the top-left area of the table so its tip points forward.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Place the carrot on the top left side of the table.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Set the carrot at the table's top-left side.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Position the carrot on the table's top-left area.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Using the left hand, place the carrot at the top left side of the table.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Have the left arm set the carrot on the top-left side of the table.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Put the carrot on the table's top-left side with the left hand.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Place the carrot at the table's top-left side with its tip facing forward.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Set the carrot on the top left side of the table so the tip points forward.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Position the carrot at the top-left area of the table, facing forward from the tip.", + "start_idx": 2616, + "end_idx": 2673 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Have the left arm pick the cabbage up from the table diagonally at its middle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "With the left hand, grasp the cabbage from the table from the middle at a diagonal angle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Take the cabbage from the table diagonally from the middle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Grasp the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Have the left arm grasp the cabbage from the table.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Using the left hand, pick up the cabbage from the table diagonally.", + "start_idx": 2673, + "end_idx": 2730 + }, + { + "text": "Put the cabbage to the front left of the asparagus with the left hand facing backwards with the front as the reference point.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Using the left hand, place the cabbage front-left of the asparagus, facing backward relative to its front.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Have the left arm set the cabbage to the asparagus's front-left, with the front as reference and the cabbage facing backward.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "With the left hand, position the cabbage at the front left of the asparagus, oriented backward from its front.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Place the cabbage to the front left of the asparagus, facing backward relative to its front.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Set the cabbage front-left of the asparagus, with its front as the reference point and facing backward.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Position the cabbage at the asparagus's front-left, oriented backward from the front.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Using the left hand, put the cabbage to the front left of the asparagus.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "With the left hand, set the cabbage at the asparagus's front-left.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Have the left arm place the cabbage by the asparagus at the front-left.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Place the cabbage to the front left of the asparagus.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Set the cabbage at the asparagus's front-left.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Position the cabbage by the asparagus on the front-left side.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pick, holding it at the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal angle by gripping the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "The asparagus from the table should be picked up.", + "start_idx": 2772, + "end_idx": 2829 + }, + { + "text": "Put the asparagus to the center of the table with the left hand facing top right with the tip as the reference point.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table with the tip facing the top right.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Have the left arm set the asparagus in the table center, oriented top right from the tip.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "With the left hand, position the asparagus in the center of the table so its tip points to the top right.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Place the asparagus at the center of the table with the tip facing the top right.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Set the asparagus in the center of the table, oriented toward the top right from the tip.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Position the asparagus at the center of the table so the tip points top right.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Using the left hand, put the asparagus in the center of the table.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "With the left hand, place the asparagus at the table center.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Have the left arm set the asparagus down in the center of the table.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Put the asparagus at the center of the table.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Set the asparagus in the middle of the table.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Position the asparagus at the table center.", + "start_idx": 2829, + "end_idx": 2874 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom diagonally.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Have the left arm pick the carrot up from the table with a diagonal side hold at its bottom.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "With the left hand, grasp the carrot from the table on its bottom using a side grip diagonally.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom diagonally.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom diagonally.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Grasp the carrot from the table at its bottom with a diagonal side hold.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "The carrot should be picked up from the table with the left hand.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Using the left hand, take the carrot from the table.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Have the left arm grasp the carrot from the table.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Take the carrot from the table diagonally.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Using a side grip, pick up the carrot from the table.", + "start_idx": 2874, + "end_idx": 2919 + }, + { + "text": "Put the carrot to the front right of the asparagus with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Using the left hand, place the carrot front-right of the asparagus, facing forward with the tip as the reference point.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Have the left arm set the carrot to the asparagus's front right, oriented forward relative to its tip.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "With the left hand, position the carrot at the front right of the asparagus, with its tip defining a forward-facing orientation.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Place the carrot to the front right of the asparagus, facing forward with the tip as the reference point.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Set the carrot front-right of the asparagus, with the tip as the reference point and facing forwards.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Position the carrot at the asparagus's front right, oriented forward relative to its tip.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "With the left hand, put the carrot to the front right of the asparagus.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Using the left hand, place the carrot at the asparagus's front right.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Have the left arm set the carrot front-right of the asparagus.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Put the carrot to the front right of the asparagus.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Position the carrot at the asparagus's front right.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Set the carrot next to the asparagus on its front-right side.", + "start_idx": 2919, + "end_idx": 2964 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Have the left arm pick the silver bowl up from the table using a bottom-left diagonal lip grasp.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by the bottom-left lip on a diagonal.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Take the silver bowl from the table with a bottom-left diagonal lip grasp.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Grasp the silver bowl from the table at the bottom-left lip on a diagonal.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "The silver bowl should be taken from the table with the left hand.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 2964, + "end_idx": 2997 + }, + { + "text": "Dump the corn to the left of the carrot with the left hand.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Using the left hand, dump the corn to the left of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Have the left arm place the corn to the carrot's left.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "With the left hand, deposit the corn on the left side of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Dump the corn to the left of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Place the corn on the left side of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Set the corn down to the carrot's left.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Position the corn left of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Put the corn beside the carrot on its left side.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Have the corn placed to the left of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Deposit the corn to the carrot's left.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Set the corn on the carrot's left side.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Place the corn left of the carrot.", + "start_idx": 2997, + "end_idx": 3051 + }, + { + "text": "Put the silver bowl to the left of the cabbage with the left hand.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the cabbage, right side up from the front.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Have the left arm set the silver bowl to the cabbage's left, with the bowl upright from the front.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "With the left hand, position the silver bowl on the left side of the cabbage, keeping it right side up from the front.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Place the silver bowl to the left of the cabbage, right side up from the front.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Set the silver bowl on the cabbage's left side, with the bowl upright from the front.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Position the silver bowl left of the cabbage, maintaining a right-side-up orientation from the front.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Using the left hand, put the silver bowl to the left of the cabbage.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "With the left hand, set the silver bowl on the left side of the cabbage.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Have the left arm place the silver bowl left of the cabbage.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Place the silver bowl to the left of the cabbage.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Set the silver bowl on the cabbage's left side.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Position the silver bowl left of the cabbage.", + "start_idx": 3051, + "end_idx": 3117 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "From a diagonal angle, have the left hand take the corn from the table with a side grasp at the bottom.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "From a diagonal angle, take the corn from the table with a side grasp at the bottom.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Have the left hand grasp the corn from the table with a side hold.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Pick up the corn from the table at the bottom from a diagonal angle.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Take the corn from the table.", + "start_idx": 3117, + "end_idx": 3144 + }, + { + "text": "Put the corn to the right of the asparagus with the left hand facing top left by the tip.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Using the left hand, place the corn to the right of the asparagus with its tip facing the top left.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Have the left arm set the corn to the asparagus's right, tip oriented toward the top left.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "With the left hand, position the corn right of the asparagus, keeping the tip pointed top left.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Place the corn to the right of the asparagus with its tip facing the top left.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Set the corn to the asparagus's right with the tip pointed toward the top left.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Position the corn right of the asparagus, tip facing top left.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "With the left hand, put the corn to the right of the asparagus.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Using the left hand, set the corn to the asparagus's right.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Have the left arm place the corn right of the asparagus.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Place the corn to the right of the asparagus.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Set the corn to the asparagus's right.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Position the corn right of the asparagus.", + "start_idx": 3144, + "end_idx": 3186 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "With the left hand, retrieve the carrot from the table at a diagonal angle by grasping its middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Take the carrot from the table with a diagonal pickup, holding the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Retrieve the carrot from the table at a diagonal angle by grasping its middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Using the left hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "With the left hand, take the carrot from the table by its middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Have the left arm collect the carrot from the table, holding the middle.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 3186, + "end_idx": 3237 + }, + { + "text": "Put the carrot to the right of the cabbage with the left hand facing forwards with the tip facing forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Using the left hand, place the carrot to the right of the cabbage with the tip facing forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Have the left arm set the carrot to the right of the cabbage, oriented so its tip points forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "With the left hand, position the carrot to the right of the cabbage, keeping the tip directed forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Place the carrot to the right of the cabbage with the tip facing forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Set the carrot to the right of the cabbage, with its tip pointing forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Position the carrot to the right of the cabbage so the tip faces forwards.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Using the left hand, put the carrot to the right of the cabbage.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Have the left arm place the carrot to the right of the cabbage.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "With the left hand, set the carrot to the right of the cabbage.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Put the carrot to the right of the cabbage.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "To the right of the cabbage, place the carrot.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "The carrot goes to the right of the cabbage.", + "start_idx": 3237, + "end_idx": 3276 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Have the left arm grasp the silver bowl from the table by its bottom edge with a lip hold at a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a bottom lip grasp from a diagonal approach.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Take the silver bowl from the table with a bottom lip grasp from a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "The silver bowl should be grasped from the table with a lip hold at the bottom from a diagonal approach.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Have the left arm take the silver bowl from the table using a lip hold.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by its bottom edge.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Pick up the silver bowl from the table with the left hand from a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Take the silver bowl from the table at the bottom from a diagonal angle.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "The silver bowl should be picked up from the table.", + "start_idx": 3276, + "end_idx": 3309 + }, + { + "text": "Put the silver bowl to the center of the table with the left hand.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Using the left hand, place the silver bowl at the center of the table upright.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Have the left arm set the silver bowl in the middle of the table, right side up.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "With the left hand, position the silver bowl at the table center in an upright orientation.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Place the silver bowl at the center of the table.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Set the silver bowl in the middle of the table.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "The silver bowl goes to the center of the table.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Move the silver bowl to the table center.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Using the left hand, put the silver bowl at the center of the table.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "With the left hand, set the silver bowl in the middle of the table.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Place the silver bowl at the center of the table upright.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Set the silver bowl in the middle of the table in an upright position.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Position the silver bowl upright at the table center.", + "start_idx": 3309, + "end_idx": 3360 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, contacting the middle at a diagonal angle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding its middle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "From the table, retrieve the cabbage at a diagonal angle by the middle.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "From the table, retrieve the cabbage.", + "start_idx": 3360, + "end_idx": 3393 + }, + { + "text": "Place the cabbage inside the silver bowl with the left hand facing bottom left from the front.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Using the left hand, place the cabbage into the silver bowl with it facing bottom left from the front.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Have the left arm put the cabbage inside the silver bowl, oriented toward the bottom left from the front.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "With the left hand, set the cabbage in the silver bowl so it faces bottom left from the front.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Place the cabbage inside the silver bowl facing bottom left from the front.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Set the cabbage into the silver bowl with its front facing bottom left.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Put the cabbage in the silver bowl so the front points bottom left.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "The cabbage goes inside the silver bowl with its front toward the bottom left.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Using the left hand, place the cabbage inside the silver bowl.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Have the left arm put the cabbage into the silver bowl.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "With the left hand, set the cabbage in the silver bowl.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Place the cabbage into the silver bowl.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Put the cabbage inside the silver bowl.", + "start_idx": 3393, + "end_idx": 3426 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Have the left arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Take the asparagus from the table diagonally from the middle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Grasp the asparagus from the table by its middle at a diagonal angle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Have the left arm grasp the asparagus from the table.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 3426, + "end_idx": 3456 + }, + { + "text": "Put the asparagus in front of the silver bowl with the left hand facing top right by the tip.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Using the left hand, place the asparagus in front of the silver bowl with the tip facing the top right.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Have the left hand set the asparagus in front of the silver bowl, oriented top right at the tip.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "With the left hand, position the asparagus before the silver bowl so its tip points to the top right.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Place the asparagus in front of the silver bowl with the tip facing the top right.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Set the asparagus before the silver bowl, with its tip oriented toward the top right.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Position the asparagus in front of the silver bowl so the tip faces top right.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Using the left hand, put the asparagus in front of the silver bowl.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "With the left hand, place the asparagus before the silver bowl.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Have the left hand set the asparagus in front of the silver bowl.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Put the asparagus in front of the silver bowl.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Set the asparagus before the silver bowl.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Position the asparagus in front of the silver bowl.", + "start_idx": 3456, + "end_idx": 3507 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "With the left arm, grasp the corn from the table from the side at its bottom using a diagonal approach.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Have the left hand pick the corn off the table with a bottom side hold and a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Take the corn off the table using a side grasp at the bottom and a diagonal approach.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Grasp the corn from the table from the side at its bottom with a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "With the left arm, take the corn from the table from the side at the bottom.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Have the left hand grasp the corn off the table at the bottom with a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal pick angle.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Grasp the corn from the table at the bottom with a diagonal approach.", + "start_idx": 3507, + "end_idx": 3555 + }, + { + "text": "Put the corn to the left of the silver bowl with the left hand facing forwards with the tip as the reference point.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Using the left hand, place the corn to the left of the silver bowl with the tip facing forwards.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Have the left arm set the corn left of the silver bowl, oriented forward from its tip.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "With the left hand, position the corn to the left of the silver bowl so the tip points forwards.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Place the corn to the left of the silver bowl with the tip facing forwards.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Set the corn left of the silver bowl with the tip oriented forwards from the tip.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Position the corn to the left of the silver bowl so its tip faces forwards.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Using the left hand, place the corn to the left of the silver bowl.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Have the left arm set the corn left of the silver bowl.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "With the left hand, position the corn to the left of the silver bowl.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Place the corn to the left of the silver bowl.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Set the corn left of the silver bowl.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Position the corn beside the silver bowl on its left side.", + "start_idx": 3555, + "end_idx": 3597 + }, + { + "text": "Pick up the carrot from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Using the left hand, pick up the carrot from the table at the middle with a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Have the left arm grasp the carrot from the table at its middle along a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "With the left hand, take hold of the carrot from the table at the middle on a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Pick up the carrot from the table at the middle with a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Grasp the carrot from the table at its middle along a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Take the carrot from the table by the middle using a diagonal angle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "At the middle, pick up the carrot from the table.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Take hold of the carrot from the table by the middle.", + "start_idx": 3681, + "end_idx": 3726 + }, + { + "text": "Put the carrot to the bottom side of the table with the left hand facing forwards with the tip facing forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Using the left hand, place the carrot on the bottom side of the table with its tip facing forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Have the left hand set the carrot at the table's bottom side, oriented so the tip points forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "With the left hand, position the carrot on the bottom side of the table, keeping the tip facing forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Place the carrot on the bottom side of the table with its tip facing forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Set the carrot at the table's bottom side, with the tip pointing forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Position the carrot on the bottom side of the table so its tip faces forwards.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Using the left hand, put the carrot on the bottom side of the table.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Have the left hand place the carrot at the table's bottom side.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "With the left hand, set the carrot on the bottom side of the table.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Put the carrot on the bottom side of the table.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Place the carrot at the table's bottom side.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Set the carrot on the bottom side of the table.", + "start_idx": 3726, + "end_idx": 3765 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle, holding the middle.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Take the corn from the table.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 3834, + "end_idx": 3876 + }, + { + "text": "Put the corn behind the carrot with the left hand facing forwards with the tip facing forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Using the left hand, place the corn behind the carrot with its tip facing forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Have the left arm set the corn behind the carrot, oriented so the tip points forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "With the left hand, position the corn behind the carrot, keeping the tip facing forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Place the corn behind the carrot with its tip facing forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Set the corn behind the carrot so the tip points forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Position the corn behind the carrot, oriented with the tip towards the front.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Using the left hand, put the corn behind the carrot.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Have the left arm place the corn behind the carrot.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "With the left hand, set the corn behind the carrot.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Put the corn behind the carrot.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Place the corn behind the carrot, facing forwards.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Set the corn behind the carrot with the tip towards the front.", + "start_idx": 3875, + "end_idx": 3908 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Have the left hand grasp the silver bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "With the left hand, retrieve the silver bowl from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Take the silver bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Retrieve the silver bowl from the table with a lip grasp on the bottom-left edge at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "The silver bowl should be picked up from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "With the left hand, pick up the silver bowl from the table using a lip grip.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Have the left hand take the silver bowl from the table with a lip grasp.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Using the left hand, collect the silver bowl from the table by the lip.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "The silver bowl should be taken from the table from a diagonal angle.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "With the left hand, retrieve the silver bowl from the table.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Have the left hand take the silver bowl from the table.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Take the silver bowl from the table using a lip grip.", + "start_idx": 3909, + "end_idx": 3933 + }, + { + "text": "Dump the cabbage to the center of the table with the left hand.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Using the left hand, dump the cabbage at the center of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Have the left arm place the cabbage in the middle of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "With the left hand, deposit the cabbage onto the table's center.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Dump the cabbage at the center of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Place the cabbage in the middle of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Set the cabbage down at the table's center.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "The cabbage goes to the center of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Move the cabbage to the middle of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Put the cabbage at the center of the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Transfer the cabbage onto the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Place the cabbage down.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Set the cabbage on the table.", + "start_idx": 3933, + "end_idx": 3969 + }, + { + "text": "Put the silver bowl to the left of the carrot with the left hand.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Have the left arm set the silver bowl down left of the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "With the left hand, position the silver bowl on the carrot's left side.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Place the silver bowl to the left of the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Set the silver bowl down left of the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Position the silver bowl on the left side of the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "The silver bowl goes to the left of the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Move the silver bowl to the carrot's left side.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Using the left hand, place the silver bowl by the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "With the left hand, set the silver bowl down near the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Place the silver bowl next to the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Set down the silver bowl by the carrot.", + "start_idx": 3969, + "end_idx": 4017 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Using the left hand, take the carrot from the table at a diagonal angle by grasping its middle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Have the left arm pick the carrot up from the table with a diagonal approach, holding it at the center.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "With the left hand, retrieve the carrot from the table, grasping the middle at a diagonal angle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding its middle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Retrieve the carrot from the table by grasping the center at a diagonal angle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Using the left hand, take the carrot from the table.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Have the left arm retrieve the carrot from the table.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Pick up the carrot from the table grasping the middle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Take the carrot from the table with the left hand, grasping the middle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Using the left hand, retrieve the carrot from the table at a diagonal angle.", + "start_idx": 4092, + "end_idx": 4125 + }, + { + "text": "Put the carrot inside the silver bowl with the left hand right side up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Using the left hand, place the carrot into the silver bowl with its tip right side up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Have the left arm put the carrot inside the silver bowl, keeping the tip facing up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "With the left hand, set the carrot in the silver bowl so the tip stays right side up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Place the carrot into the silver bowl.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Set the carrot inside the silver bowl.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Put the carrot in the silver bowl.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Have the carrot placed into the silver bowl.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Using the left hand, place the carrot into the silver bowl.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "With the left hand, set the carrot inside the silver bowl.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Put the carrot in the silver bowl with its tip right side up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Have the carrot placed into the silver bowl with the tip facing up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Set the carrot inside the silver bowl with the tip right side up.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Have the left arm take the silver bowl from the table by the bottom with a lip grasp, keeping a diagonal angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom using a lip hold and a diagonal approach.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Take the silver bowl from the table by the bottom using a lip grasp at a diagonal angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Grasp the silver bowl from the table at the bottom with a lip hold and a diagonal approach.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Have the left arm take the silver bowl from the table by the bottom using a lip grasp.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom with a lip hold.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the bottom with a diagonal pick angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "With the left hand, take the silver bowl from the table using a diagonal approach.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Pick up the silver bowl from the table at the bottom with a diagonal pick angle.", + "start_idx": 4215, + "end_idx": 4260 + }, + { + "text": "Put the silver bowl to the left of the corn with the left hand.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the corn.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Have the left arm set the silver bowl down to the left of the corn.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "With your left hand, position the silver bowl left of the corn.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Place the silver bowl to the left of the corn.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Set the silver bowl down left of the corn.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Position the silver bowl on the corn's left side.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Leave the silver bowl beside the corn.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Using the left hand, place the silver bowl.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Have the left arm set down the silver bowl.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "With your left hand, position the silver bowl.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Place the silver bowl.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Set down the silver bowl.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "With the left hand, grasp the corn from the table at a diagonal angle around its middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Grasp the corn from the table diagonally at its middle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "At a diagonal angle, take the corn from the table with the left hand.", + "start_idx": 4299, + "end_idx": 4338 + }, + { + "text": "Put the corn in front of the silver bowl with the left hand facing forwards.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Using the left hand, place the corn in front of the silver bowl with its tip facing forwards.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Have the left arm set the corn in front of the silver bowl, tip pointed forward.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "With the left hand, position the corn before the silver bowl so the tip faces forwards.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Place the corn in front of the silver bowl with its tip facing forwards.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Set the corn before the silver bowl with the tip pointed forward.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Position the corn in front of the silver bowl, keeping the tip facing forwards.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Using the left hand, put the corn in front of the silver bowl.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "With the left hand, place the corn before the silver bowl.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Have the left arm set the corn in front of the silver bowl.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Put the corn in front of the silver bowl.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Set the corn before the silver bowl.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Place the corn in front of the silver bowl.", + "start_idx": 4338, + "end_idx": 4374 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Have the left arm grasp the silver bowl from the table using a bottom-left diagonal lip hold.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "With the left hand, secure the silver bowl from the table by the bottom-left area in a diagonal lip grip.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold at the bottom-left edge.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Take the silver bowl from the table by the bottom-left area with a diagonal lip grasp.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Using a diagonal lip grip at the bottom left, pick up the silver bowl from the table.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 4443, + "end_idx": 4488 + }, + { + "text": "Dump the carrot to the bottom side of the table with the left hand.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Using the left hand, dump the carrot to the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Have the left arm dump the carrot onto the table's bottom side.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "With the left hand, empty the carrot to the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Dump the carrot to the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Place the carrot on the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Send the carrot to the table's bottom side.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Move the carrot to the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Get the carrot onto the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Transfer the carrot to the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Put the carrot on the table's bottom side.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Set the carrot down on the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Deposit the carrot at the bottom side of the table.", + "start_idx": 4488, + "end_idx": 4518 + }, + { + "text": "Put the silver bowl behind the corn with the left hand.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Using the left hand, place the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Have the left arm set the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "With the left hand, position the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Place the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Set the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Position the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Move the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Arrange the silver bowl behind the corn.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "With the left hand, place the silver bowl.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Using the left hand, set the silver bowl down.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Have the left arm position the silver bowl.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Put the silver bowl in place.", + "start_idx": 4518, + "end_idx": 4590 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, securing the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Take the corn from the table on a diagonal, holding the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Get the corn from the table with the left hand.", + "start_idx": 4656, + "end_idx": 4695 + }, + { + "text": "Put the corn to the center of the table with the left hand facing forwards with the tip facing forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Using the left hand, place the corn at the center of the table with its tip facing forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Have the left arm set the corn in the table center, oriented forwards with the tip facing forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "With the left hand, position the corn at the center of the table so it faces forwards, tip forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Place the corn at the center of the table with its tip facing forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Set the corn in the center of the table facing forwards with the tip facing forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Position the corn at the table center, oriented forwards with the tip facing forwards.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Using the left hand, put the corn at the center of the table.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "With the left hand, place the corn in the center of the table.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Have the left arm set the corn at the table center.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Put the corn at the center of the table.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Using the left hand, position the corn at the center of the table.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Set the corn in the center of the table.", + "start_idx": 4695, + "end_idx": 4734 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Have the left arm pick the corn up from the table with a side hold at the bottom diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "With the left hand, retrieve the corn from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Retrieve the corn from the table with a side hold at the bottom diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "With the left hand, collect the corn from the table using a side grasp.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Have the left arm take the corn from the table with a side hold.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Using the left hand, pick up the corn from the table diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom diagonally.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 4878, + "end_idx": 4920 + }, + { + "text": "Put the corn to the front left of the carrot with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Using the left hand, place the corn at the carrot's front left, facing forwards with the tip as the reference point.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Have the left arm set the corn to the front left of the carrot, with the tip pointing forwards as the reference point.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "With the left hand, position the corn in front-left of the carrot, oriented forwards using the tip as the reference point.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Place the corn to the front left of the carrot, facing forwards with the tip as the reference point.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Set the corn at the carrot's front left, with the tip as the reference point and facing forwards.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Position the corn in the front-left spot relative to the carrot, oriented forwards from the tip.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Using the left hand, put the corn to the front left of the carrot.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Have the left arm place the corn at the carrot's front left.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "With the left hand, set the corn in front-left of the carrot.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Place the corn to the front left of the carrot.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Set the corn at the carrot's front left with the left hand.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Position the corn in front-left of the carrot.", + "start_idx": 4920, + "end_idx": 4959 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Have the left arm grasp the carrot from the table from a diagonal angle, contacting its bottom with a side hold.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "With the left hand, seize the carrot from the table using a side grasp at the bottom at a diagonal approach.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Grasp the carrot from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Using the left hand, grasp the carrot from the table.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Pick up the carrot from the table with the left hand from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Grasp the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 5037, + "end_idx": 5085 + }, + { + "text": "Put the carrot inside the silver bowl with the left hand facing top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Using the left hand, place the carrot in the silver bowl with its tip facing the top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Have the left arm set the carrot inside the silver bowl so the tip points top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "With the left hand, deposit the carrot into the silver bowl, tip oriented toward the top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Place the carrot in the silver bowl with its tip facing the top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Set the carrot inside the silver bowl with the tip pointed toward the top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Deposit the carrot into the silver bowl, keeping the tip aimed at the top right.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Using the left hand, put the carrot inside the silver bowl.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Have the left arm place the carrot into the silver bowl.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "With the left hand, set the carrot in the silver bowl.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Put the carrot in the silver bowl.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Place the carrot inside the silver bowl.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Set the carrot into the silver bowl.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "With the left hand, pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Have the left arm take the corn from the table, approaching diagonally and holding its middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Using the left hand, grasp the corn at its middle from the table with a diagonal approach.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Grasp the corn from the table at its middle with a diagonal pickup.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "With the left hand, pick up the corn from the table by grasping the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Using the left hand, take the corn from the table at the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Have the left arm grasp the corn from the table at its middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Take the corn from the table by grasping the middle.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Grasp the middle of the corn from the table.", + "start_idx": 5115, + "end_idx": 5154 + }, + { + "text": "Put the corn in front of the silver bowl with the left hand facing forwards with the tip facing forwards.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Using the left hand, place the corn in front of the silver bowl with its tip facing forwards.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Have the left arm set the corn in front of the silver bowl, oriented forwards with the tip pointing forwards.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "With the left hand, position the corn before the silver bowl so the tip faces forwards.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Place the corn in front of the silver bowl with its tip facing forwards.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Set the corn before the silver bowl, keeping the tip pointed forwards.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Position the corn in front of the silver bowl so it faces forwards at the tip.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Using the left hand, put the corn in front of the silver bowl.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "With the left hand, set the corn before the silver bowl.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Have the left arm place the corn in front of the silver bowl.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Put the corn in front of the silver bowl.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Place the corn before the silver bowl.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Set the corn in front of the silver bowl.", + "start_idx": 5154, + "end_idx": 5196 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "With the left hand, retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "The corn from the table should be picked up diagonally by the middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Take the corn from the table by grasping the middle.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5310, + "end_idx": 5352 + }, + { + "text": "Put the corn to the front right of the beige bowl with the left hand facing top right with the tip as the reference point.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Using the left hand, place the corn at the front right of the beige bowl, facing top right with the tip as the reference point.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Have the left arm set the corn to the front-right of the beige bowl, with the tip indicating a top-right facing direction.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "With the left hand, position the corn in front of and to the right of the beige bowl, oriented top right based on its tip.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Place the corn at the front right of the beige bowl, facing top right with the tip as the reference point.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Set the corn to the front-right of the beige bowl, with its tip defining a top-right orientation.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Position the corn in front of and to the right of the beige bowl, oriented top right using the tip as the reference point.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Using the left hand, place the corn at the front right of the beige bowl.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Have the left arm set the corn to the front-right of the beige bowl.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "With the left hand, position the corn in front of and to the right of the beige bowl.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Place the corn at the front right of the beige bowl.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Set the corn to the front-right of the beige bowl.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Position the corn in front of and to the right of the beige bowl.", + "start_idx": 5352, + "end_idx": 5388 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle by grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Retrieve the corn from the table on a diagonal angle by grasping its middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Put the corn to the front left of the beige bowl with the left hand facing forwards with the tip facing forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Using the left hand, place the corn at the front left of the beige bowl with the tip facing forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Have the left arm set the corn to the front-left of the beige bowl, oriented so its tip points forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "With the left hand, position the corn in front-left of the beige bowl, keeping the tip facing forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Place the corn at the front left of the beige bowl with the tip facing forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Set the corn to the front-left of the beige bowl with the tip pointing forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Position the corn in front-left of the beige bowl, with its tip oriented forwards.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Using the left hand, put the corn to the front left of the beige bowl.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Have the left arm place the corn at the front-left of the beige bowl.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "With the left hand, set the corn in front-left of the beige bowl.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Place the corn to the front left of the beige bowl.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Set the corn at the front-left of the beige bowl with the left hand.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Position the corn in front-left of the beige bowl.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "With the left hand, grasp the middle of the corn from the table at a diagonal angle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Grasp the middle of the corn from the table at a diagonal angle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Take the corn from the table at the middle.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Grasp the corn from the table with the left hand.", + "start_idx": 5619, + "end_idx": 5658 + }, + { + "text": "Put the corn inside the beige bowl with the left hand right side up.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Using the left hand, place the corn in the beige bowl with its tip pointing up.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Have the left arm set the corn inside the beige bowl right side up.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "With the left hand, position the corn in the beige bowl so the tip faces upward.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Place the corn into the beige bowl right side up.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Set the corn inside the beige bowl with its tip up.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Position the corn in the beige bowl with the tip facing upward.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Using the left hand, put the corn in the beige bowl.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "With the left hand, place the corn inside the beige bowl.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Have the left arm set the corn into the beige bowl.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Put the corn in the beige bowl.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Set the corn inside the beige bowl.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Position the corn in the beige bowl.", + "start_idx": 5658, + "end_idx": 5700 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally at its middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "With the left hand, retrieve the asparagus from the table using a diagonal approach at the middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle from its middle.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 5700, + "end_idx": 5736 + }, + { + "text": "Put the asparagus to the front left of the silver bowl with the left hand with the tip facing bottom left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Using the left hand, place the asparagus at the front left of the silver bowl with the tip pointing bottom left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Have the left arm set the asparagus in front-left of the silver bowl, tip oriented toward the bottom left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "With the left hand, position the asparagus to the silver bowl's front left, keeping the tip aimed bottom left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Place the asparagus at the front left of the silver bowl.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Set the asparagus down in front-left of the silver bowl.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Position the asparagus to the front left of the silver bowl.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Put the asparagus beside the silver bowl on its front-left side.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Using the left hand, place the asparagus at the front left of the silver bowl.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Have the left arm set the asparagus in front-left of the silver bowl.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "With the left hand, position the asparagus to the silver bowl's front left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Place the asparagus by the silver bowl's front-left side with the tip pointing bottom left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Set the asparagus down at the front left of the silver bowl, tip aimed bottom left.", + "start_idx": 5736, + "end_idx": 5772 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "With the left arm, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Have the left hand pick the asparagus up from the table on a diagonal, holding its middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "With the left arm, take the asparagus from the table.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Have the left hand retrieve the asparagus from the table.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Grab the asparagus from the table with the left hand.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 5844, + "end_idx": 5883 + }, + { + "text": "Put the asparagus to the front left of the table with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Using the left hand, place the asparagus at the table's front left with the tip facing bottom left.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Have the left arm set the asparagus at the front-left side of the table, with its tip oriented bottom left.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "With the left hand, position the asparagus at the front left of the table, tip pointing bottom left.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Place the asparagus at the table's front left with its tip facing bottom left.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Set the asparagus down at the front left of the table, with the tip oriented bottom left.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Position the asparagus at the front-left area of the table so its tip points bottom left.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Using the left hand, put the asparagus at the front left of the table.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "With the left hand, place the asparagus at the table's front-left side.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Have the left arm set the asparagus at the front left of the table.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Put the asparagus at the front left of the table.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Set the asparagus down at the table's front-left area.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Place the asparagus at the front-left side of the table.", + "start_idx": 5883, + "end_idx": 5925 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the bottom, held at a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Have the left arm grasp the carrot from the table from the bottom using a side hold, keeping it diagonal.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "With the left hand, secure the carrot from the table by its bottom in a side grasp at a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom with a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Take the carrot from the table with a side hold at the bottom and a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Grasp the carrot from the table from the bottom using a side grip at a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "With the left hand, take the carrot from the table by the bottom using a side grasp.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Have the left arm secure the carrot from the table from the bottom with a side hold.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Take the carrot from the table from the bottom with a diagonal angle.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 5925, + "end_idx": 5958 + }, + { + "text": "Put the carrot to the front left of the silver bowl with the left hand facing forwards with the tip as the reference point.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the left hand, place the carrot at the front-left of the silver bowl with the tip facing forward.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Have the left hand set the carrot in front of and left of the silver bowl, oriented forward from the tip.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "With the left hand, position the carrot to the silver bowl's front left, keeping the tip pointed forward.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Place the carrot at the front-left of the silver bowl with the tip facing forward.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Set the carrot in front of and left of the silver bowl, with the tip pointed forward.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Position the carrot to the front left of the silver bowl, oriented forward from the tip.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the left hand, place the carrot at the front-left of the silver bowl.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Have the left hand set the carrot in front of and left of the silver bowl.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "With the left hand, position the carrot to the silver bowl's front left.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Place the carrot at the front-left of the silver bowl.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Set the carrot in front of and left of the silver bowl.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Move the carrot to the silver bowl's front-left area.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a bottom diagonal lip hold.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "The silver bowl from the table should be picked up using a diagonal lip grip at the bottom.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Using the left hand, take the silver bowl from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Put the silver bowl to the right of the asparagus with the left hand.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Using the left hand, place the silver bowl to the right of the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Have the left arm set the silver bowl down to the asparagus's right.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "With the left hand, position the silver bowl on the right side of the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Place the silver bowl to the right of the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Set the silver bowl on the asparagus's right side.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Position the silver bowl to the right of the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Put the silver bowl beside the asparagus with the left hand.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Using the left hand, set the silver bowl next to the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Have the left arm place the silver bowl beside the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Place the silver bowl beside the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Set the silver bowl next to the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Position the silver bowl by the asparagus.", + "start_idx": 6027, + "end_idx": 6072 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom at a diagonal angle.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Have the left hand take the asparagus from the table in a side grasp at the bottom, held diagonally.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "With the left hand, grasp the asparagus from the table at the bottom using a side hold at a diagonal angle.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Take the asparagus from the table in a side grasp at the bottom, diagonally oriented.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Grasp the asparagus from the table at the bottom with a side hold at a diagonal angle.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "With the left hand, take the asparagus from the table in a side grasp at the bottom.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Have the left hand grasp the asparagus from the table at the bottom using a side hold.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at the bottom at a diagonal angle.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Take the asparagus from the table with the left hand at the bottom, diagonally oriented.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Pick up the asparagus from the table at the bottom.", + "start_idx": 6072, + "end_idx": 6093 + }, + { + "text": "Put the asparagus behind the carrort with the left hand facing bottom left by the tip.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Using the left hand, place the asparagus behind the carrort with the tip facing bottom left.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Have the left arm set the asparagus behind the carrort, oriented bottom left at the tip.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "With the left hand, position the asparagus behind the carrort so its tip points bottom left.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Place the asparagus behind the carrort with the tip facing bottom left.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Set the asparagus behind the carrort so the tip points bottom left.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Position the asparagus behind the carrort, oriented bottom left at the tip.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Using the left hand, put the asparagus behind the carrort.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Have the left arm place the asparagus behind the carrort.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "With the left hand, set the asparagus behind the carrort.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Put the asparagus behind the carrort.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Position the asparagus behind the carrort.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Set the asparagus behind the carrort.", + "start_idx": 6093, + "end_idx": 6135 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Have the left arm pick the carrot up from the table with a side grip at its bottom diagonally.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "With the left hand, grasp the carrot from the table in a diagonal side hold at the bottom.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom diagonally.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Grasp the carrot from the table at the bottom with a diagonal side hold.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "With the left hand, take the carrot from the table.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Have the left arm grasp the carrot from the table.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Pick up the carrot from the table diagonally.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Take the carrot from the table at the bottom diagonal.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Grasp the carrot from the table with the left hand.", + "start_idx": 6135, + "end_idx": 6177 + }, + { + "text": "Put the carrot to the left of the cabbage with the left hand facing forwards with the tip facing forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Using the left hand, place the carrot to the left of the cabbage with its tip facing forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Have the left arm set the carrot to the left of the cabbage, oriented forwards with the tip pointing forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "With the left hand, position the carrot left of the cabbage so the tip faces forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Place the carrot to the left of the cabbage with its tip facing forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Set the carrot left of the cabbage, oriented forwards with the tip pointing forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Position the carrot to the left of the cabbage, keeping the tip facing forwards.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Put the carrot to the left of the cabbage.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Set the carrot left of the cabbage.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Position the carrot to the left of the cabbage.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Place the carrot left of the cabbage with the left hand.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Have the left arm put the carrot to the left of the cabbage.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Using the left hand, set the carrot left of the cabbage.", + "start_idx": 6177, + "end_idx": 6216 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Have the left arm take the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by its bottom-left edge in a diagonal lip hold.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left with a diagonal lip hold.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Using a diagonal lip grip, pick up the silver bowl from the table.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Take the silver bowl from the table with a lip grasp.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Secure the silver bowl from the table in a diagonal lip hold.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "With the left hand, pick up the silver bowl from the table.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 6216, + "end_idx": 6252 + }, + { + "text": "Put the silver bowl to the front right of the asparagus with the left hand.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Using the left hand, place the silver bowl at the asparagus's front right, right side up.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Have the left arm set the silver bowl to the front-right of the asparagus, keeping it upright.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "With the left hand, position the silver bowl in front and to the right of the asparagus, right side up.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Place the silver bowl at the asparagus's front right, right side up.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Set the silver bowl in front and to the right of the asparagus, upright.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Position the silver bowl to the front-right of the asparagus, keeping it right side up.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Using the left hand, put the silver bowl by the asparagus.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Have the left arm place the silver bowl next to the asparagus.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "With the left hand, set the silver bowl beside the asparagus.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Put the silver bowl by the asparagus.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Using the left hand, place the silver bowl at the asparagus's front right.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Set the silver bowl to the front-right of the asparagus.", + "start_idx": 6252, + "end_idx": 6303 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pick, holding its middle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Retrieve the cabbage from the table by holding its middle at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Take the cabbage from the table with a diagonal pick at the middle.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Remove the cabbage from the table.", + "start_idx": 6363, + "end_idx": 6381 + }, + { + "text": "Put the cabbage to the right of the silver bowl with the left hand facing bottom left from the front.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Using the left hand, place the cabbage to the right of the silver bowl with its front facing bottom left.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Have the left arm set the cabbage to the right of the silver bowl, front oriented toward the bottom left.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "With the left hand, position the cabbage to the right of the silver bowl so the front points bottom left.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Place the cabbage to the right of the silver bowl with its front facing bottom left.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Set the cabbage to the right of the silver bowl, with the front oriented toward the bottom left.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Position the cabbage to the right of the silver bowl so its front points bottom left.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Using the left hand, place the cabbage to the right of the silver bowl.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Have the left arm set the cabbage to the right of the silver bowl.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "With the left hand, position the cabbage to the right of the silver bowl.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Place the cabbage to the right of the silver bowl.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Set the cabbage beside the silver bowl on its right side.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Position the cabbage on the right side of the silver bowl.", + "start_idx": 6381, + "end_idx": 6432 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Have the left hand take the silver bowl from the table by the bottom left with a lip grasp from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom left using a lip hold from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Take the silver bowl from the table by the bottom left with a lip grasp from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left using a lip hold from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "With the left hand, pick up the silver bowl from the table using a lip grip.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Have the left hand take the silver bowl from the table with a lip grasp.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Using the left hand, grasp the silver bowl from the table with a lip hold.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Pick up the silver bowl from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "With the left hand, take the silver bowl from the table by the bottom left from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Using the left hand, grasp the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 6432, + "end_idx": 6468 + }, + { + "text": "Put the silver bowl to the left of the carrot with the left hand.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Have the left arm set the silver bowl down left of the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "With the left hand, position the silver bowl on the carrot's left side.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Place the silver bowl to the left of the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Set the silver bowl down left of the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Position the silver bowl on the left side of the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Leave the silver bowl to the carrot's left.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Using the left hand, place the silver bowl by the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "With the left hand, set the silver bowl down near the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Have the left arm position the silver bowl beside the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Place the silver bowl by the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Set the silver bowl beside the carrot.", + "start_idx": 6468, + "end_idx": 6516 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 6516, + "end_idx": 6558 + }, + { + "text": "Put the cabbage to the left of the beige bowl with the left hand facing backwards from the front.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Using the left hand, place the cabbage to the left of the beige bowl with its front facing backward.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Have the left arm set the cabbage to the left of the beige bowl, oriented backward from the front.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "With the left hand, position the cabbage left of the beige bowl so the front faces backward.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Place the cabbage to the left of the beige bowl with its front facing backward.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Set the cabbage left of the beige bowl, with the front oriented backward.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Position the cabbage to the left of the beige bowl so its front points backward.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Using the left hand, put the cabbage to the left of the beige bowl.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Have the left arm place the cabbage left of the beige bowl.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "With the left hand, set the cabbage to the left of the beige bowl.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Place the cabbage to the left of the beige bowl.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Set the cabbage left of the beige bowl.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Position the cabbage to the left of the beige bowl.", + "start_idx": 6558, + "end_idx": 6591 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "With the left hand, collect the cabbage from the table diagonally by gripping its middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "From the table, pick the cabbage up diagonally while gripping its middle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Take the cabbage from the table diagonally.", + "start_idx": 6726, + "end_idx": 6768 + }, + { + "text": "Put the cabbage to the front right of the asparagus with the left hand facing backwards with the front as the reference point.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Using the left hand, place the cabbage front-right of the asparagus, oriented backward relative to the front.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Have the left arm set the cabbage to the asparagus's front right, with its orientation facing backward using the front as reference.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "With the left hand, position the cabbage at the front right of the asparagus, facing backward from the front reference point.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Place the cabbage to the front right of the asparagus, facing backward relative to the front.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Set the cabbage front-right of the asparagus with its back toward the front reference.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Position the cabbage at the asparagus's front right, oriented backward from the front.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Arrange the cabbage to the front right of the asparagus.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Set the cabbage at the asparagus's front right.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Position the cabbage front-right of the asparagus.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Using the left hand, place the cabbage to the front right of the asparagus.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Have the left arm set the cabbage at the asparagus's front right.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "With the left hand, arrange the cabbage front-right of the asparagus.", + "start_idx": 6768, + "end_idx": 6810 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Using the left hand, grasp the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Have the left arm take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "With the left hand, seize the asparagus from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "The asparagus from the table should be grasped with a side hold at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Have the left arm grasp the asparagus from the table with a side hold at the bottom.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Pick up the asparagus from the table with the left hand from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "With the left hand, take the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "The asparagus from the table should be grasped at the bottom from a diagonal angle.", + "start_idx": 6810, + "end_idx": 6843 + }, + { + "text": "Put the asparagus in front of the beige bowl with the left hand with the tip facing bottom left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Using the left hand, place the asparagus in front of the beige bowl with the tip pointing to the bottom left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Have the left arm set the asparagus in front of the beige bowl, tip directed bottom left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "With the left hand, position the asparagus in front of the beige bowl so its tip faces the lower left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Place the asparagus in front of the beige bowl with the tip pointing to the bottom left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Set the asparagus in front of the beige bowl so the tip faces lower left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Position the asparagus in front of the beige bowl with its tip directed toward the bottom left.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Using the left hand, put the asparagus in front of the beige bowl.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "With the left hand, place the asparagus in front of the beige bowl.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Have the left arm set the asparagus in front of the beige bowl.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Put the asparagus in front of the beige bowl.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Place the asparagus in front of the beige bowl.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Set the asparagus in front of the beige bowl.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Have the left arm grasp the asparagus from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "With the left hand, secure the asparagus from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Grasp the asparagus from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Have the left arm take the asparagus from the table with a side grasp at the bottom.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side hold at the bottom.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Using the left hand, pick up the asparagus from the table from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "With the left hand, take the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Pick up the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 6954, + "end_idx": 6987 + }, + { + "text": "Put the asparagus to the top left side of the table with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Using the left hand, place the asparagus at the table's top left with its tip facing bottom left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Have the left hand set the asparagus on the top-left side of the table, oriented bottom left from the tip.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "With the left hand, position the asparagus at the top left of the table so the tip points bottom left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Place the asparagus at the table's top-left side with the tip facing bottom left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Set the asparagus on the top left of the table, with the tip oriented toward bottom left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Position the asparagus on the table's top-left side so its tip points bottom left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "At the table's top-left area, place the asparagus with the tip directed bottom left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Using the left hand, put the asparagus on the top-left side of the table.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "With the left hand, set the asparagus at the table's top left.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Have the left hand place the asparagus on the top-left area of the table.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Put the asparagus at the top left of the table.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Set the asparagus on the table's top-left side.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Have the left hand take the cabbage from the table with a diagonal pickup angle at its middle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup angle at its middle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Retrieve the cabbage from the table, grasping the middle at a diagonal angle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Have the left hand take the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle.", + "start_idx": 7026, + "end_idx": 7065 + }, + { + "text": "Put the cabbage in front of the beige bowl with the left hand facing backwards relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Using the left hand, place the cabbage in front of the beige bowl facing backwards relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Have the left arm set the cabbage in front of the beige bowl with its orientation backwards relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "With the left hand, position the cabbage before the beige bowl so it faces backward relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Place the cabbage in front of the beige bowl facing backwards relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Set the cabbage before the beige bowl with its back-facing orientation relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Position the cabbage in front of the beige bowl so it faces backward relative to the front.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Using the left hand, put the cabbage in front of the beige bowl.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "With the left hand, place the cabbage before the beige bowl.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Have the left arm position the cabbage in front of the beige bowl.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Put the cabbage in front of the beige bowl.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Set the cabbage before the beige bowl.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Position the cabbage in front of the beige bowl.", + "start_idx": 7065, + "end_idx": 7095 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Have the left hand take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "With the left hand, grasp the asparagus from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Take the asparagus from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Grasp the asparagus from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "With the left hand, take the asparagus from the table at the bottom using a side grasp.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Have the left hand pick up the asparagus from the table from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Pick up the asparagus from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side grip.", + "start_idx": 7095, + "end_idx": 7125 + }, + { + "text": "Put the asparagus in front of the silver bowl with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Using the left hand, place the asparagus in front of the silver bowl with the tip facing bottom left.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Have the left arm set the asparagus in front of the silver bowl, oriented bottom left by its tip.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "With the left hand, position the asparagus in front of the silver bowl so its tip points bottom left.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Place the asparagus in front of the silver bowl with the tip facing bottom left.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Set the asparagus in front of the silver bowl, with its tip pointing bottom left.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Position the asparagus in front of the silver bowl so the tip faces bottom left.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Using the left hand, put the asparagus in front of the silver bowl.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Have the left arm place the asparagus in front of the silver bowl.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "With the left hand, set the asparagus in front of the silver bowl.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Put the asparagus in front of the silver bowl.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Place the asparagus in front of the silver bowl.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Set the asparagus in front of the silver bowl.", + "start_idx": 7125, + "end_idx": 7164 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, contacting the middle at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Take the cabbage from the table, approaching diagonally and holding the middle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "With the left hand, pick up the cabbage from the table.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Using the left hand, retrieve the cabbage from the table.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "With the left hand, get the cabbage from the table at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7275 + }, + { + "text": "Put the cabbage to the front left of the beige bowl with the left hand facing bottom left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Using the left hand, place the cabbage at the beige bowl's front-left, with it facing bottom left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Have the left arm set the cabbage to the front left of the beige bowl, oriented bottom-left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "With the left hand, position the cabbage in front-left of the beige bowl, facing bottom left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Place the cabbage to the front left of the beige bowl, facing bottom left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Set the cabbage at the front-left side of the beige bowl, facing bottom left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Position the cabbage to the beige bowl's front left, with its orientation bottom left from the front.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Using the left hand, place the cabbage to the front left of the beige bowl.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "With the left hand, set the cabbage at the front-left of the beige bowl.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Have the left arm position the cabbage by the beige bowl's front-left side.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Put the cabbage to the front left of the beige bowl.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Set the cabbage at the beige bowl's front-left side.", + "start_idx": 7275, + "end_idx": 7311 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by holding its middle at a diagonal angle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "The cabbage from the table should be picked up.", + "start_idx": 7467, + "end_idx": 7503 + }, + { + "text": "Put the cabbage in front of the silver bowl with the left hand facing backwards from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Using the left hand, place the cabbage in front of the silver bowl with it facing backwards from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Have the left arm set the cabbage in front of the silver bowl, oriented backward from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "With the left hand, position the cabbage before the silver bowl so it faces backwards from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Place the cabbage in front of the silver bowl with it facing backwards from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Set the cabbage before the silver bowl, facing backwards from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Position the cabbage in front of the silver bowl so it is oriented backwards from the front.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Using the left hand, put the cabbage in front of the silver bowl.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Have the left arm place the cabbage before the silver bowl.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "With the left hand, set the cabbage in front of the silver bowl.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Place the cabbage in front of the silver bowl.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Set the cabbage before the silver bowl.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Position the cabbage in front of the silver bowl.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the center.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally, grasping its middle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Take the cabbage from the table diagonally, grasping it at the center.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Get the cabbage from the table at a diagonal angle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Remove the cabbage from the table by grasping the middle.", + "start_idx": 7617, + "end_idx": 7674 + }, + { + "text": "Put the cabbage on the top side of the table with the left hand facing backwards from the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Using the left hand, place the cabbage on the top side of the table with it facing backwards from the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Have the left arm set the cabbage on the table's top side, oriented backwards relative to the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "With the left hand, position the cabbage on the top side of the table so it faces backward from the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Place the cabbage on the top side of the table facing backwards from the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Set the cabbage on the table's top side, oriented backward relative to the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Position the cabbage on the top side of the table so it faces backward from the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Put the cabbage on the top side of the table.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Place the cabbage on the table's top side.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Set the cabbage on the top side of the table with the left hand.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Using the left hand, place the cabbage on the top side of the table.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Have the left arm set the cabbage on the table's top side.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Put the cabbage on the top side of the table facing backwards from the front.", + "start_idx": 7674, + "end_idx": 7713 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a bottom-left lip grip at a diagonal angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a lip grasp on the bottom left at a diagonal pick angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Take the beige bowl from the table with a lip grasp at the bottom left using a diagonal angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Grasp the beige bowl from the table with a bottom-left lip grip at a diagonal pick angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Have the left arm take the beige bowl from the table using a lip grasp.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using the lip grip.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at the bottom left using a diagonal pick angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Using the left hand, take the beige bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Have the left arm grasp the beige bowl from the table diagonally at the bottom left.", + "start_idx": 7713, + "end_idx": 7761 + }, + { + "text": "Place the beige bowl in front of the cabbage with the left hand.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Using the left hand, set the beige bowl in front of the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Have the left arm place the beige bowl before the cabbage, right side up.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "With the left hand, position the beige bowl in front of the cabbage upright.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Place the beige bowl in front of the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Set the beige bowl before the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Position the beige bowl in front of the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Put the beige bowl in front of the cabbage with the left hand.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Using the left hand, place the beige bowl before the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Have the left arm set the beige bowl in front of the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Place the beige bowl before the cabbage upright.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Set the beige bowl upright in front of the cabbage.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Position the beige bowl before the cabbage, right side up.", + "start_idx": 7761, + "end_idx": 7806 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Have the left hand take the beige bowl from the table by gripping the bottom lip at a diagonal angle.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using a bottom lip hold on a diagonal approach.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Take the beige bowl from the table by the bottom lip with a diagonal approach.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Grasp the beige bowl from the table at the bottom lip on a diagonal.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "With the left hand, take the beige bowl from the table.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Have the left hand grasp the beige bowl from the table.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Pick up the beige bowl from the table with the left hand and a diagonal pick angle.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 7890, + "end_idx": 7941 + }, + { + "text": "Put the beige bowl to the left of the silver bowl with the left hand.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the silver bowl, right side up.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Have the left arm set the beige bowl to the left of the silver bowl with its front facing forward and upright.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "With the left hand, position the beige bowl upright to the left of the silver bowl, front forward.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Place the beige bowl to the left of the silver bowl, keeping it upright.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Set the beige bowl to the left of the silver bowl with the bowl right side up.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Position the beige bowl to the left of the silver bowl in an upright orientation.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Arrange the beige bowl to the left of the silver bowl.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Put the beige bowl to the left of the silver bowl.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Set the beige bowl on the left side of the silver bowl.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the silver bowl.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Have the left arm put the beige bowl on the left side of the silver bowl.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "With the left hand, set the beige bowl beside the silver bowl.", + "start_idx": 7941, + "end_idx": 7983 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding its middle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 7983, + "end_idx": 8019 + }, + { + "text": "Put the cabbage to the center of the table with the left hand facing backwards with the front as the reference point.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Using the left hand, place the cabbage at the table's center with its front facing backward.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Have the left arm set the cabbage in the middle of the table, front side oriented backward.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "With the left hand, position the cabbage at the center of the table so the front faces backward.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Place the cabbage at the center of the table with its front facing backward.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Set the cabbage in the middle of the table with the front oriented backward.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Position the cabbage at the table's center so its front points backward.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Put the cabbage at the center of the table using the left hand.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Using the left hand, set the cabbage in the middle of the table.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Have the left arm place the cabbage at the table's center.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Place the cabbage at the center of the table.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Set the cabbage in the middle of the table.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Position the cabbage at the table's center.", + "start_idx": 8019, + "end_idx": 8052 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the left side.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal lip grasp at the left side.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Have the left arm pick up the beige bowl from the table using a diagonal grasp on the left lip.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the left lip at a diagonal angle.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp at the left side.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Grasp the beige bowl from the table by the left lip diagonally.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grasp at the left side.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 8115, + "end_idx": 8145 + }, + { + "text": "Put the beige bowl to the left of the cabbage with the left hand.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Have the left arm set the beige bowl down to the cabbage's left side.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "With the left hand, position the beige bowl on the left side of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Place the beige bowl to the left of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Set the beige bowl down to the left of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Position the beige bowl on the cabbage's left side.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "The beige bowl goes to the left of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Put the beige bowl beside the cabbage on its left side.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Move the beige bowl to the left of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Set the beige bowl to the cabbage's left side.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Place the beige bowl on the left side of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Have the beige bowl placed to the left of the cabbage.", + "start_idx": 8145, + "end_idx": 8193 + }, + { + "text": "Pick up the corn from the beige bowl with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Using the left hand, take the corn from the beige bowl at a diagonal angle, grasping the middle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Have the left arm collect the corn from the beige bowl with a diagonal pickup, holding it at the middle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "With the left hand, retrieve the corn from the beige bowl on a diagonal, gripping the middle section.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Pick up the corn from the beige bowl at a diagonal angle, grasping the middle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Retrieve the corn from the beige bowl on a diagonal, holding the middle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Take the corn from the beige bowl with a diagonal pickup at the middle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Using the left hand, pick up the corn from the beige bowl.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Have the left arm take the corn from the beige bowl.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "With the left hand, retrieve the corn from the beige bowl.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Pick up the corn from the beige bowl.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Take the corn from the beige bowl on a diagonal.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Using the left hand, collect the corn from the beige bowl at a diagonal angle.", + "start_idx": 8193, + "end_idx": 8211 + }, + { + "text": "Put the corn to the front left of the beige bowl with the left hand facing bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Using the left hand, place the corn at the front-left of the beige bowl with its tip facing bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Have the left arm set the corn to the front left of the beige bowl, tip oriented toward the bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "With the left hand, position the corn front-left of the beige bowl so the tip points bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Place the corn to the front left of the beige bowl with its tip facing bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Set the corn at the front-left of the beige bowl, with the tip pointing bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Position the corn in front of and left of the beige bowl, tip directed bottom left.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Using the left hand, put the corn to the front left of the beige bowl.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "With the left hand, set the corn at the front-left of the beige bowl.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Have the left arm place the corn in front of and left of the beige bowl.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Place the corn to the front left of the beige bowl.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Set the corn at the front-left of the beige bowl.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Position the corn in front of and left of the beige bowl.", + "start_idx": 8211, + "end_idx": 8253 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach and grasp the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, grasping its middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Take the cabbage from the table, grasping the middle.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8253, + "end_idx": 8292 + }, + { + "text": "Put the cabbage to the bottom side of the table with the left hand facing left with the front as the reference point.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Using the left hand, place the cabbage at the bottom side of the table, oriented left relative to its front.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Have the left arm set the cabbage on the bottom side of the table with its front pointing left.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "With the left hand, position the cabbage at the table's bottom side so the left-facing direction is defined by its front.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Place the cabbage at the bottom side of the table with its front pointing left.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Set the cabbage on the bottom side of the table facing left relative to the front.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Position the cabbage at the table's bottom side so it faces left from the front reference.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Using the left hand, put the cabbage at the bottom side of the table.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Have the left arm place the cabbage on the bottom side of the table.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "With the left hand, set the cabbage at the table's bottom side.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Put the cabbage on the bottom side of the table.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Set the cabbage at the table's bottom side.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Position the cabbage on the bottom side of the table.", + "start_idx": 8292, + "end_idx": 8328 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a bottom diagonal lip hold.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a diagonal grip on the bottom lip.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Grasp the beige bowl from the table with a diagonal lip hold on the bottom.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Take the beige bowl from the table with a bottom diagonal lip grasp.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Using the left hand, collect the beige bowl from the table.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Take the beige bowl from the table with the left hand.", + "start_idx": 8424, + "end_idx": 8457 + }, + { + "text": "Put the beige bowl to the left side of the table with the left hand.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Using the left hand, place the beige bowl on the left side of the table, right side up.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Have the left arm set the beige bowl on the table's left side with the front oriented forward and upright.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "With the left hand, position the beige bowl at the left side of the table, keeping it upright with the front facing front.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Place the beige bowl on the left side of the table, right side up.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Set the beige bowl at the table's left side with the front facing front and upright.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Position the beige bowl to the left side of the table, keeping it right side up.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Using the left hand, put the beige bowl on the left side of the table.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "With the left arm, place the beige bowl at the table's left side.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Set the beige bowl on the left side of the table.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Have the bowl placed on the table's left side.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Using the left hand, set the beige bowl on the table's left side.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Place the beige bowl at the left side of the table.", + "start_idx": 8457, + "end_idx": 8505 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "From a diagonal angle, grasp the asparagus from the table with the left hand using a side hold at the bottom.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Have the left hand pick the asparagus from the table with a side grasp on its bottom at a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "From a diagonal angle, take the asparagus from the table with a side hold at the bottom.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Grasp the asparagus from the table at its bottom with a side grip from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Using a diagonal approach, secure the asparagus from the table with a side grasp at the bottom.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "With the left hand, pick up the asparagus from the table from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Take the asparagus from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Have the left hand grasp the asparagus from the table from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "From the table, take the asparagus at the bottom from a diagonal angle.", + "start_idx": 8652, + "end_idx": 8676 + }, + { + "text": "Put the asparagus to the right of the corn with the left hand with its tip facing top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Using the left hand, place the asparagus to the right of the corn with its tip pointing to the top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Have the left hand set the asparagus right of the corn, tip oriented toward the top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "With the left hand, position the asparagus to the corn's right, keeping the tip aimed top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Place the asparagus to the right of the corn with its tip pointing to the top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Set the asparagus right of the corn, with the tip oriented toward the top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Position the asparagus to the corn's right, tip aimed at the top left.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Using the left hand, place the asparagus to the right of the corn.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "With the left hand, set the asparagus right of the corn.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Have the left hand position the asparagus to the corn's right.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Place the asparagus to the right of the corn.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Set the asparagus to the corn's right.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Position the asparagus right of the corn.", + "start_idx": 8676, + "end_idx": 8712 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "With the left hand, grasp the cabbage from the table at the middle using a diagonal angle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Grasp the cabbage from the table at a diagonal angle by the middle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 8778, + "end_idx": 8817 + }, + { + "text": "Put the cabbage in front of the beige bowl with the left hand facing backwards with the front as the reference point.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Using the left hand, place the cabbage in front of the beige bowl with its front facing backward.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Have the left arm set the cabbage in front of the beige bowl, oriented backward relative to its front.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "With the left hand, position the cabbage before the beige bowl so the front faces backward.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Place the cabbage in front of the beige bowl with its front facing backward.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Set the cabbage before the beige bowl, with the front oriented backward.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Position the cabbage in front of the beige bowl so its front points backward.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Put the cabbage in front of the beige bowl.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Place the cabbage before the beige bowl.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Set the cabbage in front of the beige bowl.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Using the left hand, place the cabbage in front of the beige bowl.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Have the left arm set the cabbage before the beige bowl.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "With the left hand, position the cabbage in front of the beige bowl.", + "start_idx": 8817, + "end_idx": 8856 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom on a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Have the left arm pick the carrot up from the table with a side grip at the bottom, diagonally oriented.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "With the left hand, grasp the carrot from the table by its bottom using a side hold at a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom with a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Grasp the carrot from the table by the bottom with a side hold at a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "The carrot should be taken from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Using the left hand, take the carrot from the table by its bottom with a side grasp.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Have the left arm grasp the carrot from the table with a side hold at the bottom.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Pick up the carrot from the table with the left hand at the bottom with a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Using the left hand, take the carrot from the table diagonally.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Pick up the carrot from the table by the bottom with a diagonal angle.", + "start_idx": 8973, + "end_idx": 8994 + }, + { + "text": "Put the carrot behind the silver bowl with the left hand facing top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Using the left hand, place the carrot behind the silver bowl with its tip facing the top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Have the left arm set the carrot behind the silver bowl, tip oriented toward the top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "With the left hand, position the carrot behind the silver bowl so the tip points top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Place the carrot behind the silver bowl with its tip facing the top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Set the carrot behind the silver bowl, with the tip pointing to the top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Position the carrot behind the silver bowl so its tip faces top left.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Using the left hand, put the carrot behind the silver bowl.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "With the left hand, place the carrot behind the silver bowl.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Have the left arm position the carrot behind the silver bowl.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Put the carrot behind the silver bowl.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Set the carrot behind the silver bowl.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Place the carrot behind the silver bowl.", + "start_idx": 8994, + "end_idx": 9036 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "With the right hand, retrieve the cabbage from the table on a diagonal approach and grasp the center.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Retrieve the cabbage from the table on a diagonal path, holding it at the center.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, grasping the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Using the right hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Have the right arm take the cabbage from the table by the middle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "With the right hand, collect the cabbage from the table by its center.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Retrieve the cabbage from the table with the right hand.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "From the table, take the cabbage at a diagonal angle.", + "start_idx": 156, + "end_idx": 198 + }, + { + "text": "Place the cabbage to the right of the asparagus with the right hand facing bottom right with the front as the reference point.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Using the right hand, set the cabbage to the right of the asparagus, facing bottom right relative to the front.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Have the right arm place the cabbage to the asparagus's right, with the front as reference and oriented bottom right.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "With the right hand, position the cabbage right of the asparagus so it faces bottom right from the front.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Place the cabbage to the right of the asparagus, facing bottom right with the front as the reference point.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Set the cabbage to the asparagus's right, with its front facing bottom right.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Position the cabbage to the right of the asparagus, oriented bottom right relative to the front.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Put the cabbage to the right of the asparagus.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Arrange the cabbage to the asparagus's right.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Place the cabbage on the right side of the asparagus.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Set the cabbage to the right of the asparagus with the right hand.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Using the right hand, put the cabbage to the asparagus's right.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Have the right arm position the cabbage on the right side of the asparagus.", + "start_idx": 198, + "end_idx": 237 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Have the right arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "With the right hand, grasp the cabbage from the table at the middle using a diagonal angle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Grasp the cabbage from the table diagonally at its middle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "With the right hand, grasp the cabbage from the table.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Take the cabbage from the table diagonally.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 315, + "end_idx": 348 + }, + { + "text": "Put the cabbage inside the silver bowl with the right hand facing backwards.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Using the right hand, place the cabbage in the silver bowl with its front facing backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Have the right arm set the cabbage inside the silver bowl, front oriented backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "With the right hand, deposit the cabbage into the silver bowl so the front faces backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Place the cabbage into the silver bowl with its front facing backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Set the cabbage inside the silver bowl, front facing backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Put the cabbage in the silver bowl so it faces backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Move the cabbage into the silver bowl with the front oriented backward.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Using the right hand, place the cabbage in the silver bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Have the right arm put the cabbage inside the silver bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "With the right hand, set the cabbage into the silver bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Place the cabbage into the silver bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Put the cabbage in the silver bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Have the right arm grasp the silver bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "With the right hand, secure the silver bowl from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "From the table, grasp the silver bowl with a lip hold at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Take the silver bowl from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Have the right arm take the silver bowl from the table using a lip hold.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "With the right hand, grasp the silver bowl from the table using a lip grasp.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Have the right arm take the silver bowl from the table at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "From the table, grasp the silver bowl at the bottom right diagonal.", + "start_idx": 831, + "end_idx": 891 + }, + { + "text": "Dump the cabbage to the center of the table with the right hand.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Using the right hand, dump the cabbage onto the center of the table.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Have the right arm place the cabbage at the table's center by dumping it.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "With the right hand, tip the cabbage out at the center of the table.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Dump the cabbage onto the center of the table.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Place the cabbage by dumping it in the middle of the table.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "The cabbage goes to the center of the table.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Set the cabbage down in the table's center.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Dump the cabbage with the right hand.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Have the right arm dump the cabbage.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Using the right hand, place the cabbage down.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Put the cabbage on the table with the right hand.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "The cabbage should be dumped onto the table.", + "start_idx": 891, + "end_idx": 921 + }, + { + "text": "Put the silver bowl to the front right of the cabbage with the right hand.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Using the right hand, place the silver bowl at the cabbage's front-right side.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Have the right arm set the silver bowl down in front and to the right of the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "With the right hand, position the silver bowl to the front right of the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Place the silver bowl at the front right of the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Set the silver bowl down to the cabbage's front-right side.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Position the silver bowl in front of and to the right of the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "The silver bowl goes at the cabbage's front-right corner.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Move the silver bowl beside the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Put the silver bowl near the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Set the silver bowl down by the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Using the right hand, place the silver bowl near the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Have the right arm put the silver bowl by the cabbage.", + "start_idx": 921, + "end_idx": 993 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Have the right hand take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "With the right hand, retrieve the cabbage from the table, contacting it at the middle on a diagonal.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Retrieve the cabbage from the table, contacting the middle at a diagonal angle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Have the right hand take the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Retrieve the cabbage from the table with the right hand.", + "start_idx": 1080, + "end_idx": 1122 + }, + { + "text": "Put the cabbage inside the silver bowl with the right hand facing top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Using the right hand, place the cabbage in the silver bowl with its front facing top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Have the right arm set the cabbage inside the silver bowl, front pointed toward the top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "With the right hand, deposit the cabbage into the silver bowl so the front faces top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Place the cabbage in the silver bowl with its front facing top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Set the cabbage inside the silver bowl with the front oriented toward the top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Deposit the cabbage into the silver bowl so the front points top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Using the right hand, place the cabbage in the silver bowl.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "With the right hand, set the cabbage inside the silver bowl.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Have the right arm deposit the cabbage into the silver bowl.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Put the cabbage in the silver bowl.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Using the right hand, place the cabbage into the silver bowl.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Set the cabbage inside the silver bowl facing top right.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Have the right arm grasp the carrot from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "With the right hand, secure the carrot from the table by the bottom in a side grasp from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Take the carrot from the table at its bottom using a side grasp from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Grasp the carrot from the table by the bottom with a side hold from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Using the right hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Have the right arm take the carrot from the table by the bottom using a side grasp.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "With the right hand, grasp the carrot from the table at the bottom using a side hold.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Pick up the carrot from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "From a diagonal angle, take the carrot from the table with the right hand by the bottom.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "With the right hand, grasp the carrot from the table at the bottom.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Put the carrot to the top right side of the table with the right hand facing forwards with the tip facing forwards.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Using the right hand, place the carrot on the table's top-right side with its tip pointing forward.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Have the right arm set the carrot at the top right of the table, keeping the tip facing forward.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "With the right hand, position the carrot on the top-right area of the table so the tip faces forward.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Place the carrot on the table's top-right side with its tip pointing forward.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Set the carrot at the top right of the table, with the tip facing forward.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Position the carrot on the top-right area of the table so the tip points forward.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Using the right hand, place the carrot on the table's top-right side.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Have the right arm set the carrot at the top right of the table.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "With the right hand, position the carrot on the top-right area of the table.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Place the carrot on the table's top-right side.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Set the carrot at the top right of the table.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Position the carrot on the top-right area of the table.", + "start_idx": 1197, + "end_idx": 1236 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right in a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grip at the bottom right in a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Have the right arm grasp the silver bowl from the table with a lip hold on the bottom-right side at a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "With the right hand, secure the silver bowl from the table by the bottom right using a lip grasp at a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom right in a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Grasp the silver bowl from the table using a lip hold on the bottom-right area at a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Take the silver bowl from the table with a lip grasp at the bottom right on a diagonal.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "With the right hand, take the silver bowl from the table using a lip hold.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Have the right arm grasp the silver bowl from the table with a lip grasp.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Pick up the silver bowl from the table with the right hand at the bottom right in a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Using the right hand, secure the silver bowl from the table at a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Take the silver bowl from the table at the bottom right in a diagonal angle.", + "start_idx": 1329, + "end_idx": 1368 + }, + { + "text": "Dump the cabbage in front of the carrot with the right hand.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "With the right hand, dump the cabbage in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Have the right arm place the cabbage in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Using the right hand, set the cabbage down in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Dump the cabbage in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Place the cabbage in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Set the cabbage in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Position the cabbage in front of the carrot.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "With the right hand, dump the cabbage.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Using the right hand, place the cabbage.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Have the right arm set down the cabbage.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Dump the cabbage.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Place the cabbage.", + "start_idx": 1368, + "end_idx": 1410 + }, + { + "text": "Put the silver bowl to the top right side of the table with the right hand.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Using the right hand, place the silver bowl on the table's top right side, right side up from the front.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Have the right arm set the silver bowl at the table's upper right area, keeping its front-facing upright orientation.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "With the right hand, position the silver bowl in the table's top-right section, upright relative to the front.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Place the silver bowl on the top right side of the table, right side up from the front.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Set the silver bowl in the table's upper right area, keeping it upright relative to the front.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Position the silver bowl at the table's top-right side with its front-facing upright orientation.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "With the right hand, put the silver bowl on the top right side of the table.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Using the right hand, set the silver bowl in the table's upper right area.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Have the right arm place the silver bowl at the table's top-right side.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Put the silver bowl on the top right side of the table.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Set the silver bowl in the table's upper right area.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Position the silver bowl at the table's top-right side.", + "start_idx": 1410, + "end_idx": 1476 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "With the right hand, retrieve the cabbage from the table on a diagonal approach and grip the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Grasp the cabbage from the table with the right hand.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Put the cabbage to the right of the beige bowl with the right hand facing bottom right from the front.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Using the right hand, place the cabbage to the right of the beige bowl, facing bottom right from the front.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Have the right arm set the cabbage to the beige bowl's right side with its front facing bottom right.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "With the right hand, position the cabbage right of the beige bowl so the front points bottom right.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Place the cabbage to the right of the beige bowl, facing bottom right from the front.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Set the cabbage on the right side of the beige bowl with the front facing bottom right.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Position the cabbage to the beige bowl's right, oriented bottom right from the front.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Put the cabbage to the right of the beige bowl with the right hand.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Using the right hand, place the cabbage on the beige bowl's right side.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Have the right arm set the cabbage to the right of the beige bowl.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Place the cabbage to the right of the beige bowl.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Set the cabbage on the right side of the beige bowl.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Position the cabbage to the beige bowl's right.", + "start_idx": 1596, + "end_idx": 1641 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Have the right arm take the cabbage from the table, grasping it at the middle on a diagonal.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "The cabbage from the table should be picked up with the right hand from the middle at a diagonal angle.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Take the cabbage from the table, approaching from the middle on a diagonal.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "The cabbage from the table should be picked up diagonally from the middle.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Use the right hand to take the cabbage from the table.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Have the right arm pick the cabbage up from the table.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Take the cabbage from the table from the middle.", + "start_idx": 1641, + "end_idx": 1686 + }, + { + "text": "Put the cabbage to the left of the beige bowl with the right hand facing bottom right from the front.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Using the right hand, place the cabbage to the left of the beige bowl with its front facing the bottom right.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Have the right arm set the cabbage left of the beige bowl, oriented bottom right from the front.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "With the right hand, position the cabbage to the left of the beige bowl so the front faces bottom right.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Place the cabbage to the left of the beige bowl with the front facing bottom right.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Set the cabbage left of the beige bowl, front oriented toward the bottom right.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Position the cabbage to the left of the beige bowl so its front points bottom right.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Put the cabbage to the left of the beige bowl.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Arrange the cabbage left of the beige bowl.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Have the cabbage placed to the left of the beige bowl.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Using the right hand, place the cabbage to the left of the beige bowl.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "With the right hand, set the cabbage left of the beige bowl.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Have the right arm put the cabbage to the left of the beige bowl.", + "start_idx": 1686, + "end_idx": 1728 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Have the right arm grasp the beige bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "With the right hand, secure the beige bowl from the table using the lip grip on the bottom-right area from a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Grasp the beige bowl from the table with a lip hold on the bottom-right area at a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "The beige bowl from the table should be taken with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "With the right hand, take the beige bowl from the table using a lip hold.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Have the right arm grasp the beige bowl from the table with the lip grip.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Pick up the beige bowl from the table with the right hand from a diagonal angle.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Using the right hand, take the beige bowl from the table at the bottom right.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Grasp the beige bowl from the table with a lip grip.", + "start_idx": 1818, + "end_idx": 1872 + }, + { + "text": "Dump the corn and the asparagus to the right of the carrot with the right hand.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Using the right hand, dump the corn and the asparagus to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Have the right arm place the corn and the asparagus on the carrot's right side.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "With the right hand, deposit the corn and the asparagus to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Dump the corn and the asparagus to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Place the corn and the asparagus on the right side of the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Set down the corn and the asparagus to the carrot's right.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Move the corn and the asparagus beside the carrot on its right side.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Position the corn and the asparagus to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Put down the corn and the asparagus next to the carrot on the right.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Arrange the corn and the asparagus on the carrot's right side.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Set the corn and the asparagus beside the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Place the corn and the asparagus next to the carrot.", + "start_idx": 1872, + "end_idx": 1908 + }, + { + "text": "Put the beige bowl in front of the silver bowl with the right hand.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Using the right hand, place the beige bowl in front of the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Have the right arm set the beige bowl down in front of the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "With the right hand, position the beige bowl before the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Place the beige bowl in front of the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Set the beige bowl down in front of the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Position the beige bowl before the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Move the beige bowl to the area in front of the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "The beige bowl goes in front of the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Using the right hand, place the beige bowl by the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Have the right arm set the beige bowl next to the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Put the beige bowl by the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Using the right hand, move the beige bowl beside the silver bowl.", + "start_idx": 1908, + "end_idx": 1959 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Have the right arm grasp the silver bowl from the table using a lip hold at the bottom right diagonal.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "With the right hand, seize the silver bowl from the table in a lip grasp at the bottom right diagonal.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Take the silver bowl from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Grasp the silver bowl from the table at the bottom right diagonal using a lip grip.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "With the right hand, pick up the silver bowl from the table using a lip grip.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Have the right arm take the silver bowl from the table with a lip hold.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Using the right hand, grasp the silver bowl from the table with a lip grip.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Take the silver bowl from the table with the right hand.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 2232, + "end_idx": 2289 + }, + { + "text": "Put the silver bowl to the center of the table with the right hand.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Using the right hand, place the silver bowl at the center of the table upright.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Have the right arm set the silver bowl in the table's center with its front oriented correctly.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "With the right hand, position the silver bowl in the middle of the table right side up.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Place the silver bowl at the center of the table upright.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Set the silver bowl in the middle of the table with the front oriented correctly.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Position the silver bowl in the table's center right side up.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Move the silver bowl to the center of the table.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Put the silver bowl in the middle of the table.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Set the silver bowl at the table's center.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Using the right hand, place the silver bowl at the center of the table.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "With the right hand, move the silver bowl to the middle of the table.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Have the right arm set the silver bowl in the table's center.", + "start_idx": 2289, + "end_idx": 2340 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Have the right hand grasp the beige bowl from the table using a lip hold at the bottom right diagonal.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "With the right hand, collect the beige bowl from the table in a lip grasp at the bottom right diagonal.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Take the beige bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Grasp the beige bowl from the table at the bottom right diagonal with a lip grip.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "From the table, take the beige bowl with the right hand using a lip hold.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Have the right hand collect the beige bowl from the table with a lip grasp.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Put the beige bowl to the top right side of the table with the right hand.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Using the right hand, place the beige bowl on the table's top-right side, right side up with the front facing forward.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Have the right arm set the beige bowl at the upper-right area of the table, keeping it upright and the front forward.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "With the right hand, position the beige bowl on the top right of the table, oriented right side up and front-facing.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Place the beige bowl on the table's top-right side.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Set the beige bowl at the upper-right area of the table.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Position the beige bowl on the top right of the table.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Move the beige bowl to the table's top-right side with the right hand.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Using the right hand, set the beige bowl at the upper-right area of the table.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Have the right arm place the beige bowl on the top right of the table.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Put the beige bowl on the table's top-right side, right side up with the front facing forward.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Set the beige bowl at the upper-right area of the table, keeping it upright and the front forward.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Position the beige bowl on the top right of the table, with the front facing forward.", + "start_idx": 3633, + "end_idx": 3681 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "With the right arm, pick the asparagus up from the table diagonally by the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Have the right hand retrieve the asparagus from the table with a diagonal approach, holding its middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup at its middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "With the right arm, take the asparagus from the table by the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Have the right hand collect the asparagus from the table at the middle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "With the right arm, retrieve the asparagus from the table diagonally.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3765, + "end_idx": 3801 + }, + { + "text": "Put the asparagus to the bottom right side of the table with the right hand facing top right at the tip.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Using the right hand, place the asparagus on the bottom right side of the table with its tip facing the top right.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Have the right hand set the asparagus at the table's bottom right side, oriented with the tip toward the top right.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "With the right hand, position the asparagus on the bottom right area of the table so the tip points top right.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Place the asparagus on the bottom right side of the table with its tip facing the top right.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Set the asparagus at the table's bottom right side, with the tip oriented toward the top right.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Position the asparagus on the bottom right area of the table so its tip points to the top right.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Using the right hand, place the asparagus on the bottom right side of the table.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "With the right hand, set the asparagus at the table's bottom right side.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Have the right hand position the asparagus on the bottom right area of the table.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Put the asparagus on the bottom right side of the table.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Place the asparagus at the table's bottom right side.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Set the asparagus on the bottom right area of the table.", + "start_idx": 3801, + "end_idx": 3834 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Have the right arm pick the cabbage off the table with a diagonal approach at the middle.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "With the right hand, grasp the cabbage from the table diagonally at its center.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Take the cabbage off the table with a diagonal approach at its center.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Grasp the cabbage from the table diagonally at the middle.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "With the right hand, take the cabbage off the table.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Have the right arm grasp the cabbage from the table.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 4017, + "end_idx": 4056 + }, + { + "text": "Put the cabbage behind the asparagus with the right hand facing forwards from the front.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Using the right hand, place the cabbage behind the asparagus, facing forwards from the front.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "With the right arm, set the cabbage behind the asparagus so it faces forwards from the front.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Have the right hand position the cabbage behind the asparagus, oriented forwards from the front.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Place the cabbage behind the asparagus, facing forwards from the front.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Set the cabbage behind the asparagus so it faces forwards from the front.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Position the cabbage behind the asparagus with its front facing forward.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Using the right hand, put the cabbage behind the asparagus.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "With the right arm, place the cabbage behind the asparagus.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Have the right hand set the cabbage behind the asparagus.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Put the cabbage behind the asparagus.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Position the cabbage behind the asparagus.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Set the cabbage behind the asparagus.", + "start_idx": 4055, + "end_idx": 4091 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Have the right arm pick the cabbage off the table on a diagonal, holding it at the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "With the right hand, grasp the middle of the cabbage on the table and pick it up diagonally.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Take the cabbage off the table diagonally, holding the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Grasp the cabbage at the middle from the table and raise it at a diagonal angle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "With the right hand, take the cabbage off the table.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Have the right arm grasp the cabbage from the table.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Pick up the cabbage from the table, grasping the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Take the cabbage off the table while holding the middle.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Grasp the cabbage from the table with the right hand.", + "start_idx": 4155, + "end_idx": 4182 + }, + { + "text": "Put the cabbage inside the beige bowl with the right hand facing forwards.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Using the right hand, place the cabbage into the beige bowl with its front facing forward.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Have the right arm set the cabbage inside the beige bowl, front oriented forward.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "With the right hand, deposit the cabbage in the beige bowl facing forwards.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Place the cabbage into the beige bowl with its front facing forward.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Set the cabbage inside the beige bowl facing forwards.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Deposit the cabbage in the beige bowl with the front forward.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Using the right hand, put the cabbage inside the beige bowl.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "With the right hand, place the cabbage into the beige bowl.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Have the right arm deposit the cabbage in the beige bowl.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Put the cabbage inside the beige bowl.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Using the right hand, set the cabbage into the beige bowl.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Have the right arm place the cabbage inside the beige bowl.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, gripping its middle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Put the asparagus in front of the beige bowl with the right hand facing forwards with the tip as the reference point.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Using the right hand, place the asparagus in front of the beige bowl with the tip facing forwards.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Have the right arm set the asparagus in front of the beige bowl, tip oriented forward.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "With the right hand, position the asparagus in front of the beige bowl so its tip points forwards.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Place the asparagus in front of the beige bowl with the tip facing forwards.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Set the asparagus in front of the beige bowl, keeping the tip pointed forward.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Position the asparagus in front of the beige bowl so the tip faces forwards.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Put the asparagus in front of the beige bowl.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Place the asparagus in front of the beige bowl.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Set the asparagus in front of the beige bowl.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Using the right hand, put the asparagus in front of the beige bowl.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Have the right arm place the asparagus in front of the beige bowl.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "With the right hand, set the asparagus in front of the beige bowl.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Have the right hand pick the carrot off the table at a diagonal angle by the middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally, holding it at the center.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Take the carrot off the table diagonally by its middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Retrieve the carrot from the table at a diagonal angle while holding the center.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "With the right hand, take the carrot off the table by the middle.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Have the right hand retrieve the carrot from the table, holding its center.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Take the carrot off the table with the right hand.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 4590, + "end_idx": 4623 + }, + { + "text": "Put the carrot to the bottom right side of the table with the right hand facing top right by its tip.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Using the right hand, place the carrot at the table's bottom right with its tip facing the top right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Have the right hand set the carrot on the bottom right side of the table, tip oriented toward the top right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "With the right hand, position the carrot at the bottom right of the table so its tip points top right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Place the carrot on the bottom right side of the table with its tip facing the top right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Set the carrot at the table's bottom right, with the tip pointing to the top right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Position the carrot on the bottom right of the table, tip directed toward the top right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Put the carrot on the bottom right side of the table with the right hand.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Using the right hand, set the carrot at the table's bottom right.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Have the right hand place the carrot on the bottom right of the table.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Put the carrot at the bottom right of the table.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Set the carrot on the table's bottom right side.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Position the carrot at the bottom right of the table.", + "start_idx": 4623, + "end_idx": 4656 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Have the right hand grasp the asparagus from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "With the right hand, pick the asparagus up from the table, contacting the bottom with a side grasp from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Take the asparagus from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Grasp the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Using the right hand, take the asparagus from the table at the bottom.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "With the right hand, grasp the asparagus from the table from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Pick up the asparagus from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Take the asparagus from the table using a side grip.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "From a diagonal angle, pick up the asparagus from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Put the asparagus to the right side of the table with the right hand with its tip facing top right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the right hand, place the asparagus on the table's right side with its tip pointing to the top right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the right arm set the asparagus at the right side of the table, tip oriented toward the top right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the right hand, position the asparagus to the right of the table so its tip faces the upper right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Place the asparagus on the right side of the table with its tip facing the top right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Set the asparagus to the table's right side, with the tip directed toward the upper right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Position the asparagus at the right side of the table, tip pointing top right.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the right hand, put the asparagus on the right side of the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the right arm place the asparagus to the table's right side.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the right hand, set the asparagus at the right side of the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Place the asparagus on the table's right side.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Set the asparagus to the right of the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Position the asparagus at the table's right side.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal angle by grasping its middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Take the carrot from the table on a diagonal approach, holding the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Retrieve the carrot from the table by grasping its middle at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "With the right hand, take the carrot from the table by the middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Have the right arm retrieve the carrot from the table, holding its middle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "At a diagonal angle, take the carrot from the table with the right hand.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 4803, + "end_idx": 4845 + }, + { + "text": "Put the carrot to the center of the table with the right hand facing forwards with the tip as the orientation reference point.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Using the right hand, place the carrot at the center of the table with the tip facing forwards.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Have the right arm set the carrot in the table's center, oriented forward by its tip.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "With the right hand, position the carrot at the center of the table so the tip points forwards.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Place the carrot at the center of the table.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Set the carrot in the center of the table.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Position the carrot at the table's center.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Have the carrot placed at the center of the table.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Using the right hand, put the carrot at the center of the table.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Have the right arm place the carrot in the center of the table.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Set the carrot at the center of the table with the right hand.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Put the carrot in the center of the table with the tip facing forwards.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "At the center of the table, place the carrot with its tip facing forwards.", + "start_idx": 4845, + "end_idx": 4878 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Have the right arm pick the asparagus up from the table with a side grip at the bottom on a diagonal.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "With the right hand, grasp the asparagus from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Grasp the asparagus from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "The asparagus from the table should be picked up with a side grip at the bottom from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Have the right arm take the asparagus from the table using a side grasp.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "With the right hand, grasp the asparagus from the table.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Pick up the asparagus from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "The asparagus from the table should be taken with the right hand from a diagonal angle.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at the bottom.", + "start_idx": 4959, + "end_idx": 4995 + }, + { + "text": "Put the asparagus to the front right of the carrot with the right hand with the tip facing top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Using the right hand, place the asparagus front-right of the carrot with its tip pointing to the top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Have the right arm set the asparagus to the carrot's front right, tip directed top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "With the right hand, position the asparagus in front of and to the right of the carrot, tip facing top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Place the asparagus to the front right of the carrot with its tip pointing top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Set the asparagus in front of and to the right of the carrot, with the tip facing the top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Position the asparagus front-right of the carrot, tip oriented toward the top left.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Using the right hand, put the asparagus to the front right of the carrot.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Have the right arm place the asparagus in front of and to the right of the carrot.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "With the right hand, position the asparagus front-right of the carrot.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Place the asparagus next to the carrot at its front-right.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Set the asparagus to the front right of the carrot.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Put the asparagus by the carrot on its front-right side.", + "start_idx": 4995, + "end_idx": 5037 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Have the right arm grasp the beige bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "With the right hand, secure the beige bowl from the table by its bottom right lip from a diagonal approach.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Take the beige bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Grasp the beige bowl from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "The beige bowl should be picked up from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "With the right hand, take the beige bowl from the table using a lip grasp.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Have the right arm collect the beige bowl from the table with a lip hold.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Pick up the beige bowl from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Using the right hand, take the beige bowl from the table.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Grab the beige bowl from the table.", + "start_idx": 5196, + "end_idx": 5229 + }, + { + "text": "Dump the cabbage behind the asparagus with the right hand.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Using the right hand, dump the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Have the right arm place the cabbage behind the asparagus by dumping it.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "With the right hand, tip out the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Dump the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Place the cabbage behind the asparagus by dumping it.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Set the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Position the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Put the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Move the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Using the right hand, place the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "With the right hand, set the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Have the right arm move the cabbage behind the asparagus.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Place the beige bowl to the left side of the silver bowl with the right hand.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Using the right hand, set the beige bowl to the left of the silver bowl, right side up from the front.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Have the right arm place the beige bowl on the silver bowl's left side, upright from the front.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "With the right hand, position the beige bowl left of the silver bowl, right side up facing front.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Place the beige bowl to the left of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Set the beige bowl on the left side of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Position the beige bowl left of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Put the beige bowl on the silver bowl's left side.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Using the right hand, place the beige bowl to the left of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Have the right arm set the beige bowl on the left side of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "With the right hand, position the beige bowl left of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Set the beige bowl to the left of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Have the right arm place the beige bowl to the left of the silver bowl.", + "start_idx": 5259, + "end_idx": 5310 + }, + { + "text": "Pick up the cabbage from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "With the right hand, pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Have the right arm take the cabbage from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Using a diagonal approach, grasp the cabbage from the table at the bottom with the right hand in a side grip.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Take the cabbage from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "From a diagonal angle, grasp the cabbage from the table at the bottom using a side grip.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "With the right hand, pick up the cabbage from the table using a side grip.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Have the right arm take the cabbage from the table with a side grasp at the bottom.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Using the right hand, grasp the cabbage from the table from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "With the right hand, pick up the cabbage from the table at the bottom from a diagonal angle.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Take the cabbage from the table with a side grasp.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Grasp the cabbage from the table at the bottom.", + "start_idx": 5388, + "end_idx": 5424 + }, + { + "text": "Put the cabbage at the center of the table with the right hand facing forwards front.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Using the right hand, place the cabbage at the center of the table with its front facing forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Have the right arm set the cabbage in the table's center, front facing forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "With the right hand, position the cabbage at the center of the table so the front faces forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Place the cabbage at the center of the table with its front facing forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Set the cabbage in the center of the table with the front facing forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Position the cabbage at the table center so its front faces forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Using the right hand, place the cabbage at the center of the table.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Have the right arm set the cabbage in the middle of the table.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "With the right hand, position the cabbage at the table center.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Put the cabbage at the center of the table.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Set the cabbage in the center of the table.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "At the center of the table, place the cabbage.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "From a diagonal angle, have the right hand grasp the asparagus on the table with a side hold at the bottom.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "The right hand should seize the asparagus from the table with a side grasp at its bottom from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "From a diagonal angle, grasp the asparagus on the table with a side hold at the bottom.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Take the asparagus from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Use the right hand to pick up the asparagus from the table with a side grip.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "With the right hand, take the asparagus from the table using a side hold.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Have the right hand grasp the asparagus from the table with a side grasp.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Pick up the asparagus from the table with the right hand from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Take the asparagus from the table with the right hand at the bottom.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Grasp the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 5541, + "end_idx": 5577 + }, + { + "text": "Put the asparagus to the center of the table with the right hand with its tip facing top left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Using the right hand, place the asparagus at the center of the table with its tip pointing to the top left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Have the right arm set the asparagus in the table center, tip oriented toward the top left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "With the right hand, position the asparagus in the center of the table so its tip faces the upper left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Place the asparagus at the center of the table with its tip pointing to the top left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Set the asparagus in the center of the table with its tip facing the upper left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Position the asparagus at the table center so the tip faces top left.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Using the right hand, put the asparagus at the center of the table.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "With the right hand, set the asparagus in the center of the table.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Have the right arm place the asparagus at the table center.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Put the asparagus in the center of the table.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Place the asparagus at the center of the table.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Set the asparagus in the table center.", + "start_idx": 5577, + "end_idx": 5619 + }, + { + "text": "Pick up the cabbage from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "With the right hand, pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Have the right arm take the cabbage from the table with a side grasp at its bottom from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Using a side hold at the bottom from a diagonal angle, the right hand should grasp the cabbage from the table.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Take the cabbage from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Grasp the cabbage from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "From the table, pick up the cabbage with the right hand using a side grip.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Use the right hand to take the cabbage from the table with a side grasp.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Have the right arm grasp the cabbage from the table with a side hold.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "With the right hand, pick up the cabbage from the table from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Take the cabbage from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 5772, + "end_idx": 5802 + }, + { + "text": "Put the cabbage to the front right of the beige bowl with the right hand facing top left with the front as the reference point.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Using the right hand, place the cabbage at the front right of the beige bowl, facing top left from the front reference point.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Have the right arm set the cabbage front-right of the beige bowl with its top angled left relative to the front.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "With the right hand, position the cabbage to the bowl's front right, oriented top left using the front as reference.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Place the cabbage at the front right of the beige bowl.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Set the cabbage down front-right of the beige bowl.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Position the cabbage to the front right of the beige bowl.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Arrange the cabbage at the bowl's front right.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Using the right hand, put the cabbage to the front right of the beige bowl.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "With the right hand, set the cabbage down front-right of the beige bowl.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Have the right arm place the cabbage by the bowl's front right.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Place the cabbage facing top left from the front reference point.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Set the cabbage down with its top leftward relative to the front.", + "start_idx": 5802, + "end_idx": 5844 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Have the right arm grasp the carrot from the table with a side hold at its bottom on a diagonal.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "With the right hand, collect the carrot from the table using a lateral grip on the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Take the carrot from the table with a side grip on the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "From the table, grasp the carrot with a side hold at the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "With the right hand, grasp the carrot from the table.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Pick up the carrot from the table diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Take the carrot from the table with the right hand.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "From the table, grasp the carrot at the bottom diagonally.", + "start_idx": 6303, + "end_idx": 6330 + }, + { + "text": "Place the carrot to the front right of the cabbage with the right hand facing forwards with the tip as the reference point.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Using the right hand, set the carrot at the cabbage's front-right, facing forward with its tip as the reference point.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Have the right arm place the carrot to the front right of the cabbage, oriented forward from the tip.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "With the right hand, position the carrot in front of and to the right of the cabbage, tip-forward.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Place the carrot to the front right of the cabbage, facing forwards with the tip as the reference point.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Set the carrot at the cabbage's front-right, with the tip pointing forward.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Position the carrot in front of and to the right of the cabbage, oriented forward from the tip.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Place the carrot to the front right of the cabbage.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Put the carrot at the cabbage's front-right.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Position the carrot in front of and to the right of the cabbage.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Set the carrot at the cabbage's front-right with the right hand.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Using the right hand, place the carrot in front of and to the right of the cabbage.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Have the right arm put the carrot at the cabbage's front-right.", + "start_idx": 6330, + "end_idx": 6363 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal approach and grip the center.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding the middle.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Retrieve the carrot from the table at a diagonal angle by the middle.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 6591, + "end_idx": 6615 + }, + { + "text": "Put the carrot to the right side of the table with the right hand facing forwards with the tip as the reference point.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Using the right hand, place the carrot on the table's right side with the tip facing forwards.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Have the right arm set the carrot at the right side of the table, oriented forward from its tip.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "With the right hand, position the carrot to the table's right side so the tip faces forwards.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Place the carrot on the right side of the table with the tip facing forwards.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Set the carrot at the table's right side with the tip oriented forwards.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Position the carrot to the right side of the table, tip facing forwards.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Using the right hand, place the carrot on the table's right side.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Have the right arm set the carrot at the right side of the table.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "With the right hand, position the carrot to the table's right side.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Place the carrot on the right side of the table.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Set the carrot at the table's right side.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Position the carrot to the right side of the table.", + "start_idx": 6615, + "end_idx": 6660 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Have the right hand grasp the silver bowl from the table with a bottom-right diagonal lip hold.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "With the right hand, secure the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Have the right hand take the silver bowl from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Put the silver bowl in front of the carrot with the right hand.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Using the right hand, place the silver bowl in front of the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Have the right arm set the silver bowl down in front of the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "With the right hand, position the silver bowl before the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Place the silver bowl in front of the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Set the silver bowl down in front of the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Position the silver bowl before the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Using the right hand, put the silver bowl by the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Have the right arm place the silver bowl near the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Set the silver bowl next to the carrot with the right hand.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Using the right hand, place the silver bowl by the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Put the silver bowl near the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Set the silver bowl down by the carrot.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Have the right arm grasp the silver bowl from the table with a bottom-right diagonal lip hold.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "With the right hand, collect the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "From the table, grasp the silver bowl with a bottom-right diagonal lip hold.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Using the right hand, take the silver bowl from the table.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Have the right arm collect the silver bowl from the table.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "From the table, grasp the silver bowl.", + "start_idx": 6885, + "end_idx": 6909 + }, + { + "text": "Put the silver bowl to the left of the carrot with the right hand.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Using the right hand, place the silver bowl to the left of the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Have the right arm set the silver bowl down left of the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "With the right hand, position the silver bowl on the carrot's left side.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Place the silver bowl to the left of the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Set the silver bowl down left of the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "The silver bowl goes to the left of the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Position the silver bowl on the left side of the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Using the right hand, place the silver bowl by the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Have the right arm set the silver bowl down near the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "With the right hand, position the silver bowl next to the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Place the silver bowl by the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Set the silver bowl down near the carrot.", + "start_idx": 6909, + "end_idx": 6954 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Have the right hand grasp the silver bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "With the right hand, secure the silver bowl from the table using a bottom-right diagonal lip grip.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Take the silver bowl from the table using a bottom-right diagonal lip grip.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Have the right hand take the silver bowl from the table.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip.", + "start_idx": 7164, + "end_idx": 7203 + }, + { + "text": "Put the silver bowl in front of the carrot with the right hand right side up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Using the right hand, place the silver bowl in front of the carrot right side up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Have the right arm set the silver bowl down in front of the carrot with its right side facing up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "With the right hand, position the silver bowl in front of the carrot so it remains right side up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Place the silver bowl in front of the carrot right side up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Set the silver bowl down in front of the carrot with its upright side up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Position the silver bowl in front of the carrot, keeping it right side up.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Using the right hand, put the silver bowl in front of the carrot.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "With the right hand, set the silver bowl down in front of the carrot.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Have the right arm place the silver bowl in front of the carrot.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Put the silver bowl in front of the carrot.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Set the silver bowl down in front of the carrot.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Position the silver bowl in front of the carrot.", + "start_idx": 7203, + "end_idx": 7242 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Have the right arm grasp the asparagus from the table at its bottom using a side hold with a diagonal approach.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "With the right hand, secure the asparagus from the table by the bottom in a side grasp at a diagonal angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Grasp the asparagus from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Take the asparagus from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Have the right arm take the asparagus from the table at the bottom using a side hold.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "With the right hand, grasp the asparagus from the table by the bottom.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a diagonal pick angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Pick up the asparagus from the table with the right hand at the bottom and a diagonal pick angle.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Take the asparagus from the table by the bottom with a diagonal approach.", + "start_idx": 7311, + "end_idx": 7350 + }, + { + "text": "Put the asparagus to the right of the silver bowl with the right hand facing bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Using the right hand, place the asparagus to the right of the silver bowl with the tip facing bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Have the right arm set the asparagus to the right of the silver bowl, tip oriented toward the bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "With the right hand, position the asparagus to the right of the silver bowl so its tip points bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Place the asparagus to the right of the silver bowl with the tip facing bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Set the asparagus to the right of the silver bowl, with its tip pointing bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Position the asparagus to the right of the silver bowl so the tip faces bottom left.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Using the right hand, put the asparagus to the right of the silver bowl.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "With the right hand, place the asparagus to the right of the silver bowl.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Have the right arm set the asparagus to the right of the silver bowl.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Put the asparagus to the right of the silver bowl.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Place the asparagus to the right of the silver bowl.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Set the asparagus to the right of the silver bowl.", + "start_idx": 7350, + "end_idx": 7389 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip at the bottom right, angled diagonally.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Have the right arm grasp the silver bowl from the table by the bottom-right edge with a lip grasp in a diagonal orientation.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "With the right hand, take hold of the silver bowl from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Take the silver bowl from the table using a lip grasp on the bottom-right area at a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Grasp the silver bowl from the table at the bottom right with a lip hold, keeping a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Have the right arm take the silver bowl from the table using a lip grasp.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by its rim.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Pick up the silver bowl from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Using the right hand, take the silver bowl from the table at the bottom right and diagonally.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Pick up the silver bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 7389, + "end_idx": 7425 + }, + { + "text": "Put the silver bowl to the left of the carrot with the right hand.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Using the right hand, place the silver bowl to the left of the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Have the right arm set the silver bowl down to the carrot's left.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "With the right hand, position the silver bowl on the left side of the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Place the silver bowl to the left of the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Set the silver bowl on the carrot's left side.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Position the silver bowl left of the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Put the silver bowl by the carrot with the right hand.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Using the right hand, place the silver bowl near the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Set the silver bowl down next to the carrot with the right hand.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Place the silver bowl beside the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Set the silver bowl next to the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Have the right arm place the silver bowl beside the carrot.", + "start_idx": 7425, + "end_idx": 7467 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "With the right arm, grasp the asparagus from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Have the right hand pick the asparagus up from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "From a diagonal angle, take the asparagus from the table with a side hold at the bottom.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "The asparagus should be grasped from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "With the right hand, take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Have the right arm grasp the asparagus from the table at the bottom with a side hold.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Using the right hand, pick up the asparagus from the table from a diagonal angle.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "From a diagonal angle, take the asparagus from the table with the right hand.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Pick up the asparagus from the table at the bottom.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Put the asparagus inside the silver bowl with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Using the right hand, place the asparagus into the silver bowl with the tip facing bottom right.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Have the right arm set the asparagus inside the silver bowl, oriented bottom right by its tip.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "With the right hand, deposit the asparagus in the silver bowl so the tip points toward the bottom right.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Place the asparagus into the silver bowl with the tip facing bottom right.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Set the asparagus inside the silver bowl, with its tip oriented toward the bottom right.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Deposit the asparagus in the silver bowl so its tip points bottom right.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Using the right hand, put the asparagus inside the silver bowl.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Have the right arm place the asparagus into the silver bowl.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "With the right hand, set the asparagus in the silver bowl.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Place the asparagus in the silver bowl.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Put the asparagus into the silver bowl.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Set the asparagus inside the silver bowl.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Have the right arm grasp the silver bowl from the table via a diagonal lip hold at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "With the right hand, secure the silver bowl from the table using the lip grip diagonally at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Take the silver bowl from the table with the lip grip placed diagonally at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Have the right arm take the silver bowl from the table.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 7806, + "end_idx": 7845 + }, + { + "text": "Put the silver bowl in front of the carrot with the right hand right side up.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Using the right hand, place the silver bowl in front of the carrot right side up.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Have the right arm set the silver bowl down in front of the carrot, right side up.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "With the right hand, position the silver bowl right side up in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Place the silver bowl in front of the carrot right side up.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Set the silver bowl down in front of the carrot right side up.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Position the silver bowl right side up in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Using the right hand, put the silver bowl in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Have the right arm place the silver bowl in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "With the right hand, set the silver bowl down in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Put the silver bowl in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Set the silver bowl down in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Place the silver bowl in front of the carrot.", + "start_idx": 7845, + "end_idx": 7890 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grasp at the bottom diagonally.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Have the right arm pick the carrot up from the table in a diagonal bottom side hold.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "With the right hand, grasp the carrot from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom diagonally.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Grasp the carrot from the table in a diagonal side hold at the bottom.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Using the right hand, pick up the carrot from the table with a side grip.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "With the right hand, take the carrot from the table in a side grasp.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Have the right arm grasp the carrot from the table from the side.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Pick up the carrot from the table diagonally at the bottom.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Take the carrot from the table from the bottom on a diagonal.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 8051, + "end_idx": 8075 + }, + { + "text": "Put the carrot to the right of the silver bowl with the tip facing forwards using the right hand.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Using the right hand, place the carrot to the right of the silver bowl with the tip facing forwards.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Have the right hand set the carrot to the silver bowl's right side, tip oriented forward.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "With the right hand, position the carrot right of the silver bowl so its tip points forwards.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Place the carrot to the right of the silver bowl with the tip facing forwards.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Set the carrot on the right side of the silver bowl, with the tip pointing forwards.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Position the carrot to the silver bowl's right, keeping the tip directed forwards.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Using the right hand, put the carrot to the right of the silver bowl.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "With the right hand, place the carrot on the right side of the silver bowl.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Have the right hand position the carrot beside the silver bowl on its right.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Put the carrot to the right of the silver bowl.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Set the carrot on the right side of the silver bowl.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Place the carrot beside the silver bowl on its right.", + "start_idx": 8076, + "end_idx": 8115 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Have the right arm grasp the silver bowl from the table with a bottom-right diagonal lip hold.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "The silver bowl should be picked up from the table by the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Grasp the silver bowl from the table with a bottom-right diagonal lip hold.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "With the right hand, pick up the silver bowl from the table.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "The right hand should take the silver bowl from the table.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Have the right arm grasp the silver bowl from the table.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 8328, + "end_idx": 8367 + }, + { + "text": "Put the silver bowl to the center of the table with the right hand.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Using the right hand, place the silver bowl at the center of the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Have the right arm set the silver bowl in the middle of the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "With the right hand, position the silver bowl at the table's center.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Place the silver bowl at the center of the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Set the silver bowl in the middle of the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Position the silver bowl at the table's center.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Move the silver bowl to the center of the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "The silver bowl goes at the center of the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Put the silver bowl on the table with the right hand.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Using the right hand, place the silver bowl on the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Set the silver bowl on the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Have the silver bowl placed on the table.", + "start_idx": 8367, + "end_idx": 8424 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Have the right arm take the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the bottom-right edge with a diagonal lip hold.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Grasp the silver bowl from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Use the right hand to take the silver bowl from the table.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Have the right arm grasp the silver bowl from the table.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "With the right hand, take the silver bowl from the table.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 8541, + "end_idx": 8562 + }, + { + "text": "Dump the asparagus to the center of the table with the right hand.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Using the right hand, dump the asparagus onto the center of the table.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Have the right arm tip the asparagus out at the table's center.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "With the right hand, empty the asparagus into the middle of the table.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Dump the asparagus onto the center of the table.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Empty the asparagus at the table's center.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Put the asparagus down in the middle of the table.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Transfer the asparagus to the center of the table.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "The asparagus goes onto the center of the table.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "With the right hand, dump the asparagus.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Have the right arm empty the asparagus.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Put down the asparagus with the right hand.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Place the asparagus.", + "start_idx": 8562, + "end_idx": 8589 + }, + { + "text": "Put the silver bowl to the right of the cabbage with the right hand.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Have the right arm set the silver bowl down to the cabbage's right.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "With the right hand, position the silver bowl on the right side of the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Place the silver bowl to the right of the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Set the silver bowl on the cabbage's right side.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Position the silver bowl to the right of the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Arrange the silver bowl beside the cabbage on its right.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Using the right hand, put the silver bowl beside the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "With the right hand, place the silver bowl next to the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Have the right arm set the silver bowl by the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Put the silver bowl next to the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Set the silver bowl beside the cabbage.", + "start_idx": 8589, + "end_idx": 8652 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Have the right hand grasp the carrot from the table from the middle at a diagonal angle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "With the right hand, take the carrot from the table using a diagonal middle grasp.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Take the carrot from the table from the middle at a diagonal angle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Grasp the carrot from the table with a diagonal middle approach.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Have the right hand take the carrot from the table.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "With the right hand, grasp the carrot from the table.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Take the carrot from the table from the middle.", + "start_idx": 8712, + "end_idx": 8742 + }, + { + "text": "Place the carrot inside the beige bowl with the right hand right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Using the right hand, set the carrot into the beige bowl with its tip right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Have the right arm place the carrot inside the beige bowl, keeping the tip right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "With the right hand, position the carrot in the beige bowl so the tip is right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Put the carrot inside the beige bowl with its tip right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Place the carrot into the beige bowl, keeping the tip right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Set the carrot in the beige bowl with the tip right side up.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Using the right hand, place the carrot inside the beige bowl.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "With the right hand, put the carrot into the beige bowl.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Have the right arm set the carrot in the beige bowl.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Place the carrot inside the beige bowl.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Put the carrot into the beige bowl.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Using the right hand, place the carrot in the beige bowl.", + "start_idx": 8742, + "end_idx": 8778 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Have the right hand grasp the silver bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "With the right hand, take the silver bowl from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Take the silver bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Grasp the silver bowl from the table at the bottom right diagonal with a lip grip.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Have the right hand take the silver bowl from the table using a lip grasp.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "With the right hand, grasp the silver bowl from the table using a lip hold.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Pick up the silver bowl from the table with the right hand at the bottom right diagonal.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Take the silver bowl from the table using a lip grip.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "With the right hand, pick up the silver bowl from the table.", + "start_idx": 8856, + "end_idx": 8883 + }, + { + "text": "Dump the carrot to the right of the asparagus with the right hand.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Using the right hand, dump the carrot to the right of the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Have the right arm place the carrot on the asparagus's right side.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "With the right hand, deposit the carrot just right of the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Dump the carrot to the right of the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Place the carrot on the right side of the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Set the carrot just to the asparagus's right.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Move the carrot to the asparagus's right.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Position the carrot beside the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Put the carrot down next to the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Transfer the carrot beside the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Arrange the carrot on the right side of the asparagus.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Leave the carrot to the asparagus's right.", + "start_idx": 8883, + "end_idx": 8916 + }, + { + "text": "Put the silver bowl right side of the carrot with the right hand.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Have the right arm set the silver bowl on the carrot's right side.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "With the right hand, position the silver bowl right of the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Place the silver bowl to the right of the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Set the silver bowl on the carrot's right side.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Position the silver bowl right of the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Move the silver bowl to the carrot's right side.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "The silver bowl goes to the right of the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Using the right hand, place the silver bowl by the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Have the right arm set the silver bowl next to the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "With the right hand, move the silver bowl beside the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Put the silver bowl next to the carrot.", + "start_idx": 8916, + "end_idx": 8973 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle from the middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Have the right hand grasp the carrot from the table diagonally at its middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "With the right hand, collect the carrot from the table using a diagonal pickup from the middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Take the carrot from the table diagonally from its middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle from the middle.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "With the right hand, take the carrot from the table.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Have the right hand collect the carrot from the table.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 9036, + "end_idx": 9054 + }, + { + "text": "Put the carrot to the right of the silver bowl with the right hand with its tip facing top left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Using the right hand, place the carrot to the right of the silver bowl with its tip pointed toward the top left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Have the right arm set the carrot to the right of the silver bowl, tip facing top left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "With the right hand, position the carrot to the right of the silver bowl so its tip faces the upper left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Place the carrot to the right of the silver bowl with its tip pointed toward the top left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Set the carrot to the right of the silver bowl, with the tip facing upper left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Position the carrot to the right of the silver bowl so the tip points to the top left.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Using the right hand, place the carrot to the right of the silver bowl.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Have the right arm set the carrot to the right of the silver bowl.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "With the right hand, position the carrot to the right of the silver bowl.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Place the carrot to the right of the silver bowl.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Set the carrot to the right of the silver bowl.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "The carrot goes to the right of the silver bowl.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Return both hands to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Move both hands back to the home position.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Bring both hands to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Have both arms return to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Return the hands to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Bring the hands back to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Move the hands to the home position.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Have the hands go to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Send the hands back home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Guide the hands to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Put the hands in the home position.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Reset the hands to home.", + "start_idx": 9093, + "end_idx": 9114 + }, + { + "text": "Position the hands at home.", + "start_idx": 9093, + "end_idx": 9114 + } + ] + }, + "2026-03-16-18-50-09-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 1 aria data", + "total_frames": 9195, + "num_annotations": 2768, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Have the left arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "With the left hand, retrieve the asparagus from the table by grasping its middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Take the asparagus from the table diagonally from the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Retrieve the asparagus from the table by grasping it at the middle on a diagonal.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Put the asparagus inside the beige bowl with the left hand facing top left by the tip.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Using the left hand, place the asparagus in the beige bowl with the tip facing top left.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Have the left arm set the asparagus inside the beige bowl so its tip points top left.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "With the left hand, deposit the asparagus into the beige bowl, tip oriented toward the top left.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Place the asparagus inside the beige bowl with its tip facing top left.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Set the asparagus in the beige bowl so the tip points top left.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Put the asparagus into the beige bowl with the tip directed top left.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Using the left hand, place the asparagus inside the beige bowl.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "With the left hand, set the asparagus into the beige bowl.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Have the left arm put the asparagus in the beige bowl.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Put the asparagus inside the beige bowl.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Place the asparagus into the beige bowl.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Set the asparagus in the beige bowl.", + "start_idx": 75, + "end_idx": 102 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Have the left arm pick the cabbage up from the table diagonally by its middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "With the left hand, retrieve the cabbage from the table at a diagonal angle, holding the middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle, holding the middle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 102, + "end_idx": 141 + }, + { + "text": "Put the cabbage to the center of the table with the left hand facing backwards with the front as the reference point.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Using the left hand, place the cabbage at the center of the table with its front facing backward.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Have the left arm set the cabbage in the table center, oriented backward relative to its front.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "With the left hand, position the cabbage at the center of the table so the front faces backward.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Place the cabbage at the center of the table with its front facing backward.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Set the cabbage in the center of the table, oriented backward relative to its front.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Position the cabbage at the table center so its front points backward.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Using the left hand, place the cabbage at the center of the table.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "With the left hand, set the cabbage in the center of the table.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Have the left arm position the cabbage at the table center.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Put the cabbage at the center of the table.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Using the left hand, place the cabbage at the table center.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Set the cabbage in the center of the table.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "With the left hand, grasp the corn at its middle from the table on a diagonal.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Take the corn from the table on a diagonal, holding the middle.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Grasp the corn from the table at its middle with a diagonal approach.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Take the corn from the table on a diagonal.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 174, + "end_idx": 204 + }, + { + "text": "Put the corn to the right of the cabbage with the left hand with the tip facing left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Using the left hand, place the corn to the right of the cabbage with the tip facing left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Have the left arm set the corn to the right of the cabbage, tip pointed left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "With the left hand, position the corn to the right of the cabbage so its tip faces left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Place the corn to the right of the cabbage with the tip facing left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Set the corn to the right of the cabbage, keeping the tip pointed left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Position the corn to the right of the cabbage so the tip is directed left.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Using the left hand, place the corn to the right of the cabbage.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Have the left arm set the corn to the right of the cabbage.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "With the left hand, position the corn beside the cabbage on its right side.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Place the corn to the right of the cabbage.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Set the corn beside the cabbage on its right side.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Position the corn on the cabbage's right side.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Put the cabbage in front of the beige bowl with the left hand facing left from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Using the left hand, place the cabbage in front of the beige bowl facing left from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "With the left arm, set the cabbage in front of the beige bowl so it faces left from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Have the left hand position the cabbage before the beige bowl, oriented leftward from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Place the cabbage in front of the beige bowl facing left from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Set the cabbage in front of the beige bowl facing left from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Position the cabbage before the beige bowl facing left from the front.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Using the left hand, place the cabbage in front of the beige bowl.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "With the left arm, set the cabbage before the beige bowl.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Have the left hand position the cabbage in front of the beige bowl.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Place the cabbage in front of the beige bowl.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Set the cabbage before the beige bowl.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Position the cabbage in front of the beige bowl.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "With the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Have the left arm pick the corn up from the table diagonally, holding it at the middle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Using the left hand, grasp the middle of the corn on the table and remove it at a diagonal angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Take the corn from the table diagonally, holding the middle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Grasp the middle of the corn from the table and pick it up at a diagonal angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Use the left hand to take the corn from the table.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Have the left arm remove the corn from the table.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Take the corn from the table.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Grasp the corn from the table and remove it.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Put the corn to the right of the cabbage with the left hand with its tip facing bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Using the left hand, place the corn to the right of the cabbage with its tip pointing to the bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Have the left arm set the corn to the right of the cabbage, tip aimed bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "With the left hand, position the corn to the right of the cabbage so its tip faces the bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Place the corn to the right of the cabbage with its tip pointing to the bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Set the corn to the right of the cabbage, keeping the tip oriented bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Position the corn to the right of the cabbage so the tip faces bottom left.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Using the left hand, put the corn to the right of the cabbage.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Have the left arm place the corn to the right of the cabbage.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "With the left hand, set the corn to the right of the cabbage.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Place the corn to the right of the cabbage.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Set the corn by the cabbage on its right side.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Position the corn on the cabbage's right side.", + "start_idx": 519, + "end_idx": 558 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Have the left arm take the beige bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by its bottom-left area in a diagonal lip hold.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Pick up the beige bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Grasp the beige bowl from the table at the bottom left with a diagonal lip hold.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Retrieve the beige bowl from the table.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Pick up the beige bowl from the table at the bottom left.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Take the beige bowl from the table with the left hand.", + "start_idx": 558, + "end_idx": 579 + }, + { + "text": "Dump the asparagus behind the corn with the left hand.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Using the left hand, dump the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Have the left arm place the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "With the left hand, put down the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Dump the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Place the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Set the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Position the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Move the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "The asparagus goes behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Put the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Transfer the asparagus behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Have the asparagus placed behind the corn.", + "start_idx": 579, + "end_idx": 609 + }, + { + "text": "Place the beige bowl to the left side of the cabbage with the left hand.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Using the left hand, set the beige bowl to the left of the cabbage, right side up.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Have the left arm place the beige bowl on the cabbage's left side with the front as reference, right side up.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "With the left hand, position the beige bowl left of the cabbage, keeping it upright.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Place the beige bowl to the left of the cabbage, right side up.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Set the beige bowl on the left side of the cabbage, keeping it upright.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Position the beige bowl left of the cabbage with the front as reference, right side up.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the cabbage.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "With the left hand, set the beige bowl on the cabbage's left side.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Have the left arm position the beige bowl left of the cabbage.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Put the beige bowl to the left of the cabbage.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Set the beige bowl on the cabbage's left side.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Position the beige bowl left of the cabbage.", + "start_idx": 609, + "end_idx": 669 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Take the corn from the table diagonally.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "From the table, grasp the corn at the middle.", + "start_idx": 669, + "end_idx": 711 + }, + { + "text": "Put the corn to the bottom side of the table with the left hand facing left with the tip as the reference point.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table with the tip facing left.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Have the left arm set the corn at the bottom side of the table, oriented left by its tip.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "With the left hand, position the corn on the table's bottom side so the tip points left.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Place the corn on the bottom side of the table with the tip facing left.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Set the corn at the bottom side of the table, oriented left by its tip.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Position the corn on the table's bottom side so the tip points left.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Using the left hand, put the corn on the bottom side of the table.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "With the left hand, set the corn at the bottom side of the table.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Have the left arm place the corn on the table's bottom side.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Put the corn on the bottom side of the table.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Set the corn at the bottom side of the table.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Position the corn on the table's bottom side.", + "start_idx": 711, + "end_idx": 747 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Have the left arm grasp the cabbage from the table from the top using a side hold at a diagonal angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by its top with a side grasp and a diagonal approach.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Take the cabbage from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Retrieve the cabbage from the table by the top using a side hold at a diagonal pick angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "From the table, take the cabbage with the left hand using a side grasp at the top.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Have the left arm collect the cabbage from the table with a diagonal pick angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Pick up the cabbage from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "With the left hand, get the cabbage from the table by the top.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Put the cabbage to the left side of the corn with the left hand facing backwards with the front facing backwards.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Using the left hand, place the cabbage to the left of the corn with the front facing backward.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Have the left arm set the cabbage on the corn's left side, oriented so the front points backward.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "With the left hand, position the cabbage left of the corn, keeping its front facing backward.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Place the cabbage to the left of the corn with its front facing backward.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Set the cabbage on the left side of the corn, with the front oriented backward.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Position the cabbage left of the corn so its front points backward.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Using the left hand, place the cabbage to the left of the corn.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "With the left hand, set the cabbage on the corn's left side.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Have the left arm position the cabbage left of the corn.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Put the cabbage to the left of the corn.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Set the cabbage on the left side of the corn.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Position the cabbage beside the corn on its left side.", + "start_idx": 792, + "end_idx": 834 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Have the left arm grasp the beige bowl from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a bottom lip hold at a diagonal approach.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Take the beige bowl from the table with a lip grasp at the bottom and a diagonal approach.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "From the table, grasp the beige bowl by the bottom edge with a diagonal pick angle.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at a diagonal pick angle.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal approach.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Grasp the beige bowl from the table by the bottom edge.", + "start_idx": 834, + "end_idx": 864 + }, + { + "text": "Place the beige bowl behind the cabbage with the left hand right side up.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Using the left hand, set the beige bowl behind the cabbage right side up.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Have the left arm place the beige bowl behind the cabbage in an upright orientation.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "With the left hand, position the beige bowl behind the cabbage so it stays right side up.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Place the beige bowl behind the cabbage right side up.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Set the beige bowl behind the cabbage in an upright position.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Position the beige bowl behind the cabbage so it is right side up.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Using the left hand, place the beige bowl behind the cabbage.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Have the left arm set the beige bowl behind the cabbage.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "With the left hand, position the beige bowl behind the cabbage.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Put the beige bowl behind the cabbage.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Set the beige bowl behind the cabbage.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Position the beige bowl behind the cabbage.", + "start_idx": 864, + "end_idx": 915 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Have the left arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "With the left hand, collect the cabbage from the table by gripping the middle at a diagonal angle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding its middle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "From the table, collect the cabbage at a diagonal angle by grasping the middle.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Have the left arm collect the cabbage from the table.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "From the table, grasp the cabbage.", + "start_idx": 915, + "end_idx": 954 + }, + { + "text": "Put the cabbage to the right side of the corn with the left hand facing bottom right from the front.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Using the left hand, place the cabbage to the right of the corn, facing bottom right from the front.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Have the left arm set the cabbage on the corn's right side with its front facing bottom right.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "With the left hand, position the cabbage to the right side of the corn, front facing bottom right.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Place the cabbage to the right of the corn.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Set the cabbage on the right side of the corn.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Position the cabbage to the corn's right.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Using the left hand, put the cabbage to the right of the corn.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Have the left arm place the cabbage on the right side of the corn.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Put the cabbage to the right of the corn, with the front facing bottom right.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Arrange the cabbage on the corn's right side so its front faces bottom right.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Set the cabbage to the right of the corn.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "With the left hand, place the cabbage to the corn's right.", + "start_idx": 954, + "end_idx": 1002 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Have the left arm take the beige bowl from the table, gripping the bottom with a diagonal lip grasp.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "With the left hand, retrieve the beige bowl from the table by applying a diagonal lip grip at its bottom.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Pick up the beige bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Retrieve the beige bowl from the table with a lip grip at the bowl's bottom.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "With the left hand, retrieve the beige bowl from the table.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Take the beige bowl from the table with the left hand.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Retrieve the beige bowl from the table.", + "start_idx": 1164, + "end_idx": 1209 + }, + { + "text": "Put the beige bowl to the bottom side of the table with the left hand.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Using the left hand, place the beige bowl at the bottom side of the table, right side up with the front facing forward.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Have the left arm set the beige bowl on the bottom side of the table, keeping it upright and the front forward.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "With the left hand, position the beige bowl at the table's bottom side, upright with the front oriented forward.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Place the beige bowl at the bottom side of the table, right side up with the front facing forward.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Set the beige bowl on the bottom side of the table, keeping it upright and the front forward.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Position the beige bowl at the table's bottom side, upright with the front oriented forward.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Using the left hand, put the beige bowl at the bottom side of the table.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Have the left arm place the beige bowl on the bottom side of the table.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "With the left hand, set the beige bowl at the table's bottom side.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Put the beige bowl on the bottom side of the table.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Place the beige bowl at the table's bottom side.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Set the beige bowl on the bottom side of the table.", + "start_idx": 1209, + "end_idx": 1254 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Have the left arm pick the asparagus off the table diagonally, holding it at the middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "With the left hand, retrieve the asparagus from the table in a diagonal orientation by grasping its middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Take the asparagus off the table diagonally by holding the middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, grasping its center.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "With the left hand, take the asparagus off the table.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Take the asparagus off the table by grasping the middle.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 1323, + "end_idx": 1362 + }, + { + "text": "Put the asparagus to the left side of the table with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Using the left hand, place the asparagus on the table's left side with the tip facing bottom right.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Have the left arm set the asparagus at the left side of the table, oriented bottom right from the tip.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "With the left hand, position the asparagus to the left of the table so its tip points toward the bottom right.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Place the asparagus on the left side of the table.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Set the asparagus to the table's left side.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Position the asparagus at the left side of the table.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Put the asparagus on the table's left side.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Using the left hand, place the asparagus on the table's left side.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Have the left arm set the asparagus at the left side of the table.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "With the left hand, position the asparagus to the left of the table.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Place the asparagus on the table's left side with the tip facing bottom right.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Set the asparagus to the table's left side, oriented bottom right from the tip.", + "start_idx": 1362, + "end_idx": 1407 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "With the left hand, retrieve the beige bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Take the beige bowl from the table with a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Retrieve the beige bowl from the table using a lip hold at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Have the left arm take the beige bowl from the table using a lip grasp.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "With the left hand, grasp the beige bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "The beige bowl from the table, pick it up with the left hand from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Pick up the beige bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Get the beige bowl from the table with the left hand.", + "start_idx": 1479, + "end_idx": 1521 + }, + { + "text": "Put the beige bowl to the bottom left side of the table with the left hand.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Using the left hand, place the beige bowl at the table's bottom-left side.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Have the left arm set the beige bowl on the bottom-left area of the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "With the left hand, position the beige bowl at the bottom-left side of the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Place the beige bowl at the bottom-left side of the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Set the beige bowl on the table's bottom-left side.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Position the beige bowl in the bottom-left area of the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Move the beige bowl to the table's bottom-left side.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "On the bottom-left side of the table, put the beige bowl.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Have the beige bowl placed at the bottom-left area of the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Using the left hand, place the beige bowl on the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "With the left hand, set the beige bowl down on the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Put the beige bowl on the table.", + "start_idx": 1521, + "end_idx": 1566 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "With the left hand, collect the cabbage from the table on a diagonal approach, gripping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle by the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Using the left hand, take the cabbage from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Have the left arm collect the cabbage from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Put the cabbage to the bottom side of the table with the left hand facing backwards with the front as reference.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Using the left hand, place the cabbage on the bottom side of the table with the front facing backwards.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Have the left arm set the cabbage at the table's bottom side, oriented backwards relative to its front.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "With the left hand, position the cabbage on the bottom side of the table so its front faces backward.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Place the cabbage on the bottom side of the table with its front facing backwards.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Set the cabbage at the table's bottom side with the front oriented backward.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Position the cabbage on the bottom side of the table so the front points backward.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Using the left hand, put the cabbage on the bottom side of the table.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "With the left hand, place the cabbage at the table's bottom side.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Have the left arm set the cabbage on the bottom side of the table.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Put the cabbage on the bottom side of the table.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Using the left hand, position the cabbage at the table's bottom side.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Set the cabbage on the table's bottom side with its front facing backward.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by holding its middle at a diagonal angle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 1806, + "end_idx": 1842 + }, + { + "text": "Put the cabbage behind the beige bowl with the left hand facing backwards with the front as the reference point.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Using the left hand, place the cabbage behind the beige bowl with its front facing backward.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Have the left arm set the cabbage behind the beige bowl, oriented backward relative to its front.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "With the left hand, position the cabbage behind the beige bowl so the front points backward.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Place the cabbage behind the beige bowl with its front facing backward.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Set the cabbage behind the beige bowl, oriented backward from the front.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Position the cabbage behind the beige bowl so the front faces backward.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Using the left hand, put the cabbage behind the beige bowl.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "With the left hand, place the cabbage behind the beige bowl.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Have the left arm position the cabbage behind the beige bowl.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Put the cabbage behind the beige bowl.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Set the cabbage behind the beige bowl.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Position the cabbage behind the beige bowl.", + "start_idx": 1842, + "end_idx": 1881 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "With the left hand, take the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Using a diagonal lip grasp at the bottom, have the left hand collect the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "The left hand should grasp the beige bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Using a diagonal lip grasp at the bottom, collect the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "With the left hand, pick up the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Have the left hand take the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "The beige bowl should be grasped from the table with the left hand.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Using the left hand, collect the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 1881, + "end_idx": 1923 + }, + { + "text": "Put the beige bowl to the bottom side of the table with the left hand.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Using the left hand, place the beige bowl on the bottom side of the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Have the left arm set the beige bowl at the table's bottom side.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "With the left hand, position the beige bowl along the bottom side of the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Place the beige bowl on the bottom side of the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Set the beige bowl at the table's bottom side.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "The beige bowl goes to the bottom side of the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Move the beige bowl to the lower side of the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Using the left hand, place the beige bowl on the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Have the left arm set the beige bowl down on the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "With the left hand, move the beige bowl onto the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Place the beige bowl on the table.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Set the beige bowl down.", + "start_idx": 1922, + "end_idx": 1967 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Have the left arm pick the cabbage up from the table with a diagonal approach at the middle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and pick it up diagonally.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Grasp the cabbage at its middle from the table and pick it up at a diagonal angle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Have the left arm collect the cabbage from the table.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Pick up the cabbage from the table grasping the middle.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "From the table, pick up the cabbage with the left hand.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1967, + "end_idx": 2009 + }, + { + "text": "Put the cabbage inside the beige bowl with the left hand facing backwards.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Using the left hand, place the cabbage into the beige bowl with its front facing backward.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Have the left arm set the cabbage inside the beige bowl, front oriented backward.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "With the left hand, deposit the cabbage in the beige bowl so the front faces backward.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Place the cabbage into the beige bowl with its front facing backward.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Set the cabbage inside the beige bowl, front facing backward.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Put the cabbage in the beige bowl with the front oriented backward.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Using the left hand, place the cabbage into the beige bowl.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "With the left hand, set the cabbage inside the beige bowl.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Have the left arm put the cabbage in the beige bowl.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Put the cabbage into the beige bowl.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Set the cabbage inside the beige bowl.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Using the left hand, place the cabbage in the beige bowl.", + "start_idx": 2010, + "end_idx": 2049 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grasp at the bottom on a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a bottom side hold at a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom with a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom on a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "The asparagus should be picked up from the table with a side hold at the bottom at a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Have the left arm take the asparagus from the table with a side grasp at the bottom.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side hold on the bottom.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Pick up the asparagus from the table with the left hand at the bottom with a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Using the left hand, take the asparagus from the table with a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Pick up the asparagus from the table at the bottom with a diagonal angle.", + "start_idx": 2049, + "end_idx": 2097 + }, + { + "text": "Put the asparagus to the center of the table with the left hand with its tip facing bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table with its tip pointing to the bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Have the left arm set the asparagus in the middle of the table, tip directed toward the bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "With the left hand, position the asparagus at the table center so its tip faces bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Place the asparagus at the center of the table with its tip pointing to the bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Set the asparagus in the middle of the table, with the tip facing bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Position the asparagus at the table center so the tip points bottom left.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Using the left hand, put the asparagus at the center of the table.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Have the left arm place the asparagus in the middle of the table.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "With the left hand, set the asparagus at the table center.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Place the asparagus at the center of the table.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Set the asparagus in the middle of the table.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "At the table center, position the asparagus.", + "start_idx": 2097, + "end_idx": 2139 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "The asparagus from the table should be picked up with the left hand at a diagonal angle by grasping its middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle while holding the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Pick up the asparagus from the table with the left hand, grasping the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "With the left hand, take the asparagus from the table by its middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Have the left arm pick up the asparagus from the table.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "The asparagus from the table should be picked up by the middle.", + "start_idx": 2223, + "end_idx": 2271 + }, + { + "text": "Put the asparagus to the center of the table with the left hand with its tip facing bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table with its tip pointing to the bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Have the left arm set the asparagus in the table center, keeping the tip oriented bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "With the left hand, position the asparagus at the center of the table so the tip faces the bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Place the asparagus at the center of the table with its tip pointing to the bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Set the asparagus in the center of the table so its tip faces bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Position the asparagus at the table center with the tip directed toward the bottom right.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Have the left arm set the asparagus in the center of the table.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "With the left hand, position the asparagus at the table center.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Place the asparagus at the center of the table.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Set the asparagus in the center of the table.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Position the asparagus at the table center.", + "start_idx": 2271, + "end_idx": 2304 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Have the left hand take the beige bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using the lip at the bottom left from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Take the beige bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Grasp the beige bowl from the table using the lip at the bottom left from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "With the left hand, take the beige bowl from the table using a lip grasp.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Have the left hand grasp the beige bowl from the table with the lip grip.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "With the left hand, take the beige bowl from the table at the bottom left on a diagonal.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Pick up the beige bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 2466, + "end_idx": 2505 + }, + { + "text": "Dump the cabbage to the center of the table with the left hand.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Using the left hand, dump the cabbage at the center of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Have the left arm place the cabbage in the middle of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "With the left hand, deposit the cabbage onto the table's center.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Dump the cabbage to the center of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Place the cabbage in the middle of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Move the cabbage onto the center of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Set the cabbage down at the table's center.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "The cabbage goes in the center of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Put the cabbage at the center of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Transfer the cabbage to the middle of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Get the cabbage to the table's center.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Position the cabbage in the center of the table.", + "start_idx": 2505, + "end_idx": 2559 + }, + { + "text": "Put the beige bowl in front of the asparagus with the left hand.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Using the left hand, place the beige bowl in front of the asparagus right side up.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Have the left arm set the beige bowl down in front of the asparagus, upright.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "With the left hand, position the beige bowl in front of the asparagus so it is right side up.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Place the beige bowl in front of the asparagus right side up.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Set the beige bowl down in front of the asparagus, upright.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Position the beige bowl in front of the asparagus so it stays right side up.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Using the left hand, put the beige bowl in front of the asparagus.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Have the left arm place the beige bowl in front of the asparagus.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "With the left hand, set the beige bowl down in front of the asparagus.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Put the beige bowl in front of the asparagus.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Set the beige bowl down in front of the asparagus.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Position the beige bowl in front of the asparagus.", + "start_idx": 2559, + "end_idx": 2616 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding its middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup at its middle.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 2616, + "end_idx": 2655 + }, + { + "text": "Put the cabbage in between the beige bowl and the silver bowl with the left hand facing backwards from the front.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Using the left hand, place the cabbage between the beige bowl and the silver bowl, facing backward from the front.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Have the left arm set the cabbage in between the beige bowl and the silver bowl with its front pointing backward.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "With the left hand, position the cabbage between the beige bowl and the silver bowl so it faces backward from the front.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Place the cabbage between the beige bowl and the silver bowl, facing backward from the front.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Set the cabbage in between the beige bowl and the silver bowl with its front directed backward.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Position the cabbage between the beige bowl and the silver bowl so the front faces backward.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Using the left hand, put the cabbage between the beige bowl and the silver bowl.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Have the left arm place the cabbage in between the beige bowl and the silver bowl.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "With the left hand, set the cabbage between the beige bowl and the silver bowl.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Put the cabbage between the beige bowl and the silver bowl.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Arrange the cabbage in between the beige bowl and the silver bowl.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Place the cabbage in the space between the beige bowl and the silver bowl.", + "start_idx": 2655, + "end_idx": 2691 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Have the left arm take the beige bowl from the table using a bottom-left diagonal lip grasp.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Take the beige bowl from the table with a bottom-left diagonal lip grasp.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Grasp the beige bowl from the table at the bottom left with a diagonal lip hold.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 2691, + "end_idx": 2733 + }, + { + "text": "Place the beige bowl behind the cabbage with the left hand right side up.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Using the left hand, set the beige bowl behind the cabbage right side up.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Have the left arm place the beige bowl behind the cabbage in an upright orientation.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "With the left hand, position the beige bowl behind the cabbage so it is right side up.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Place the beige bowl behind the cabbage right side up.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Set the beige bowl behind the cabbage with its open side facing up.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Position the beige bowl behind the cabbage upright.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Using the left hand, place the beige bowl behind the cabbage.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Have the left arm set the beige bowl behind the cabbage.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "With the left hand, position the beige bowl behind the cabbage.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Place the beige bowl behind the cabbage.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Set the beige bowl behind the cabbage.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Position the beige bowl behind the cabbage.", + "start_idx": 2733, + "end_idx": 2775 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grasp at the bottom with a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grasp at the bottom with a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Using the left arm, grasp the asparagus from the table from the side at its bottom on a diagonal.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Have the left hand pick the asparagus from the table with a side hold at the bottom, angled diagonally.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Pick up the asparagus from the table using a side grasp at the bottom with a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom at a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Grasp the asparagus from the table from the side at its bottom with a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "With the left hand, pick up the asparagus from the table using a side grasp at the bottom.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Using the left arm, take the asparagus from the table with a side hold at the bottom.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Pick up the asparagus from the table with the left hand at the bottom with a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "With the left hand, grasp the asparagus from the table at the bottom on a diagonal.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Pick up the asparagus from the table with a diagonal angle.", + "start_idx": 2775, + "end_idx": 2820 + }, + { + "text": "Put the asparagus to the front left of the beige bowl with the left hand with the tip facing bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Using the left hand, place the asparagus at the bowl's front-left with its tip pointing bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Have the left arm set the asparagus in front-left of the beige bowl, tip directed toward the bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "With the left hand, position the asparagus to the front left of the beige bowl, keeping the tip facing bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Place the asparagus to the front left of the beige bowl with its tip facing bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Set the asparagus at the beige bowl's front-left, with the tip pointing bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Position the asparagus in front-left of the beige bowl, tip toward the bottom left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Using the left hand, put the asparagus to the front left of the beige bowl.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "With the left hand, set the asparagus at the beige bowl's front-left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Have the left arm place the asparagus in front-left of the beige bowl.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Place the asparagus to the front left of the beige bowl.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Set the asparagus at the beige bowl's front-left.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Position the asparagus beside the beige bowl on its front-left side.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Have the left arm take the beige bowl from the table with a lip grasp on the bottom-left area, diagonally oriented.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the bottom left using a lip hold at a diagonal angle.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Grasp the beige bowl from the table at the bottom-left area with a lip hold, diagonally.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Take the beige bowl from the table using a lip grasp on the bottom left with a diagonal angle.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "With the left hand, take the beige bowl from the table using a lip hold.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip grasp.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Put the beige bowl to the left of the asparagus with the left hand.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the asparagus.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Have the left arm set the beige bowl down left of the asparagus.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "With the left hand, position the beige bowl on the asparagus's left side.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Place the beige bowl to the left of the asparagus.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Set the beige bowl down left of the asparagus.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Position the beige bowl on the left side of the asparagus.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "The beige bowl goes to the left of the asparagus.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Using the left hand, place the beige bowl.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "With the left arm, set down the beige bowl.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Have the left hand position the beige bowl.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Place the beige bowl.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Set down the beige bowl.", + "start_idx": 2982, + "end_idx": 3036 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "With the left hand, grasp the cabbage from the table at a diagonal angle by the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Grasp the cabbage from the table at a diagonal angle by the middle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Using the left hand, take the cabbage from the table.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Have the left arm grasp the cabbage from the table.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "With the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 3036, + "end_idx": 3084 + }, + { + "text": "Put the cabbage in front of the asparagus with the left hand facing bottom right from the front.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Using the left hand, place the cabbage in front of the asparagus, facing bottom right from the front.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Have the left arm set the cabbage down in front of the asparagus with its front facing bottom right.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "With the left hand, position the cabbage before the asparagus so the front faces bottom right.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Place the cabbage in front of the asparagus with its front facing bottom right.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Set the cabbage down in front of the asparagus, front facing bottom right.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Position the cabbage before the asparagus with the front oriented toward bottom right.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Using the left hand, put the cabbage in front of the asparagus.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "With the left hand, set the cabbage down before the asparagus.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Have the left arm place the cabbage in front of the asparagus.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Put the cabbage in front of the asparagus.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Set the cabbage before the asparagus.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Position the cabbage in front of the asparagus.", + "start_idx": 3084, + "end_idx": 3129 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Take the asparagus from the table on a diagonal while holding the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup by grasping its middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Using the left hand, pick up the asparagus from the table by grasping the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Have the left arm take the asparagus from the table at the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "From the table, grasp the asparagus at the middle.", + "start_idx": 3129, + "end_idx": 3180 + }, + { + "text": "Put the asparagus inside the beige bowl with the left hand facing bottom right from the tip.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Using the left hand, place the asparagus in the beige bowl with its tip facing bottom right.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Have the left arm set the asparagus inside the beige bowl, tip oriented toward the bottom right.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "With the left hand, deposit the asparagus into the beige bowl so the tip points bottom right.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Place the asparagus in the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Set the asparagus inside the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Put the asparagus into the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Transfer the asparagus to the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Using the left hand, place the asparagus in the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Have the left arm put the asparagus inside the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "With the left hand, set the asparagus into the beige bowl.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Place the asparagus in the beige bowl with its tip facing bottom right.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Set the asparagus inside the beige bowl, tip directed toward the bottom right.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Have the left arm pick the cabbage up from the table diagonally by its middle.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal, holding it at the center.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach at its center.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 3384, + "end_idx": 3432 + }, + { + "text": "Put the cabbage to the front left of the silver bowl with the left hand facing backwards with the front as the reference point.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Using the left hand, place the cabbage at the front left of the silver bowl, facing backwards relative to the front.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Have the left arm set the cabbage to the bowl's front-left, with its orientation facing backward from the front reference.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "With the left hand, position the cabbage in front-left of the silver bowl, oriented backward using the front as reference.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Place the cabbage at the front left of the silver bowl.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Set the cabbage to the front-left of the silver bowl.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Have the cabbage placed in the front-left position beside the silver bowl.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Using the left hand, place the cabbage at the front left of the silver bowl.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "With the left hand, set the cabbage to the front-left of the silver bowl.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Have the left arm place the cabbage by the silver bowl's front-left.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Place the cabbage facing backwards relative to the front.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Set the cabbage down facing backward with the front as reference.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Position the cabbage oriented backward from the front reference point.", + "start_idx": 3432, + "end_idx": 3471 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Have the left arm take the beige bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "With the left hand, grasp the beige bowl from the table in a diagonal lip hold at the bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grasp at its bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Grasp the beige bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 3471, + "end_idx": 3519 + }, + { + "text": "Dump the asparagus behind the cabbage with the left hand.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Using the left hand, dump the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Have the left arm place the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "With the left hand, deposit the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Dump the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Place the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Set the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Move the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Position the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Transfer the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "The asparagus goes behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Put the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Arrange the asparagus behind the cabbage.", + "start_idx": 3519, + "end_idx": 3579 + }, + { + "text": "Put the beige bowl to the bottom side of the table with the left hand.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Using the left hand, place the beige bowl at the bottom side of the table upright from the front reference.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Have the left arm set the beige bowl on the bottom side of the table, right side up relative to the front.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "With the left hand, position the beige bowl at the table's bottom side, keeping it right side up from the front.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Place the beige bowl at the bottom side of the table, keeping it right side up from the front.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Set the beige bowl on the bottom side of the table, right side up relative to the front.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Position the beige bowl at the table's bottom side with its upright orientation referenced from the front.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Using the left hand, put the beige bowl at the bottom side of the table.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "With the left hand, set the beige bowl on the bottom side of the table.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Have the left arm place the beige bowl at the table's bottom side.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Put the beige bowl on the bottom side of the table.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Set the beige bowl at the table's bottom side.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Position the beige bowl on the bottom side of the table.", + "start_idx": 3579, + "end_idx": 3639 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "With the left hand, collect the asparagus from the table at a diagonal angle, holding the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Grab the asparagus from the table at a diagonal angle, holding its middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "With the left hand, collect the asparagus from the table, holding the middle.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Have the asparagus picked up from the table.", + "start_idx": 3639, + "end_idx": 3684 + }, + { + "text": "Put the asparagus to the left side of the table with the left hand facing top left by the tip.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Using the left hand, place the asparagus on the table's left side with the tip facing top left.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Have the left arm set the asparagus at the left side of the table, oriented top left at the tip.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "With the left hand, position the asparagus to the left of the table so its tip points top left.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Place the asparagus on the left side of the table with the tip facing top left.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Set the asparagus to the table's left side, with its tip oriented toward the top left.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Position the asparagus at the left side of the table so the tip points top left.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Using the left hand, put the asparagus on the left side of the table.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "With the left hand, set the asparagus to the left of the table.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Have the left arm place the asparagus at the table's left side.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Put the asparagus on the left side of the table.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Set the asparagus to the table's left side.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Position the asparagus at the left of the table.", + "start_idx": 3684, + "end_idx": 3729 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "With the left hand, take hold of the beige bowl from the table using a lip grasp at the bottom left in a diagonal orientation.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the bottom left with a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Take the beige bowl from the table using a lip grasp on the bottom-left side at a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Grasp the beige bowl from the table with a lip hold at the bottom left in a diagonal orientation.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Have the left arm take the beige bowl from the table using a lip grasp.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using a lip hold.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "From the table, take the beige bowl at the bottom left with a diagonal angle.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Have the left arm grasp the beige bowl from the table.", + "start_idx": 3729, + "end_idx": 3771 + }, + { + "text": "Put the beige bowl to the bottom left of the table with the left hand.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Using the left hand, place the beige bowl at the table's bottom left, right side up.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Have the left arm set the beige bowl at the bottom-left area of the table with its front facing forward.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "With the left hand, position the beige bowl at the bottom left of the table upright, front toward the front.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Place the beige bowl at the bottom left of the table, right side up.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Set the beige bowl in the table's bottom-left spot with its front facing forward.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Position the beige bowl at the bottom left of the table upright.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Using the left hand, put the beige bowl at the bottom left of the table.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Have the left arm place the beige bowl in the table's bottom-left area.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "With the left hand, set the beige bowl at the table's bottom left.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Put the beige bowl at the bottom left of the table.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Set the beige bowl in the bottom-left area of the table.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Position the beige bowl at the table's bottom left.", + "start_idx": 3771, + "end_idx": 3819 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "With the left hand, retrieve the silver bowl from the table using a lip grasp at the bottom left from a diagonal approach.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Retrieve the silver bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Take the silver bowl from the table using a lip grasp at the bottom left from a diagonal approach.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using a lip hold.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Have the left hand take the silver bowl from the table with a lip grasp.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table from a diagonal angle.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "With the left hand, retrieve the silver bowl from the table at the bottom left from a diagonal approach.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 3900, + "end_idx": 3930 + }, + { + "text": "Dump the corn and the carrot to the center of the table with the left hand.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Using the left hand, empty the corn and the carrot onto the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Have the left arm dump the corn and the carrot at the table's center.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "With the left hand, pour out the corn and the carrot into the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Dump the corn and the carrot onto the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Empty the corn and the carrot at the table's center.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Pour the corn and the carrot into the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Move the corn and the carrot to the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Place the corn and the carrot at the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Send the corn and the carrot to the middle of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "The corn and the carrot should go to the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Transfer the corn and the carrot to the table's center.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Get the corn and the carrot to the center of the table.", + "start_idx": 3930, + "end_idx": 3990 + }, + { + "text": "Put the silver bowl in between the asparagus and the corn with the left hand.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Using the left hand, place the silver bowl between the asparagus and the corn, with the front facing bottom left.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Have the left arm set the silver bowl in between the asparagus and the corn, front toward the bottom left.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "With the left hand, position the silver bowl between the asparagus and the corn so the front points bottom left.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Place the silver bowl between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Set the silver bowl in between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Position the silver bowl between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Put the silver bowl between the asparagus and the corn, with the front facing bottom left.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Arrange the silver bowl in between the asparagus and the corn, front toward the bottom left.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Using the left hand, place the silver bowl between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "With the left hand, set the silver bowl in between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Have the left arm position the silver bowl between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Move the silver bowl between the asparagus and the corn.", + "start_idx": 3990, + "end_idx": 4059 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom diagonally.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Have the left arm pick the carrot up from the table in a diagonal bottom side grip.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "With the left hand, grasp the carrot from the table by its bottom using a diagonal side hold.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom diagonally.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Take the carrot from the table with a diagonal side grasp at the bottom.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Grasp the carrot from the table by the bottom in a diagonal orientation.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Using a side grip at the bottom, pick up the carrot from the table with the left hand.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "With the left hand, take the carrot from the table using a side grasp.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Have the left arm grasp the carrot from the table with a side hold.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Put the carrot in front of the corn with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Using the left hand, place the carrot in front of the corn, facing forwards with the tip as the orientation reference point.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Have the left arm set the carrot in front of the corn with its tip as the reference point, facing forwards.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "With the left hand, position the carrot before the corn so it faces forwards, using the tip as the orientation reference point.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Place the carrot in front of the corn.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Set the carrot before the corn.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Position the carrot in front of the corn.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Using the left hand, put the carrot in front of the corn.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Have the left arm place the carrot before the corn.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Set the carrot in front of the corn facing forwards with the tip as the orientation reference point.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Position the carrot before the corn with the tip as the orientation reference point, facing forwards.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Place the carrot in front of the corn with the left hand.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "With the left hand, set the carrot before the corn.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle, grasping its middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Take the corn from the table on a diagonal approach, holding the middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Retrieve the corn from the table diagonally, with the grasp at the middle.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Take the corn from the table.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Have the corn taken from the table.", + "start_idx": 4137, + "end_idx": 4179 + }, + { + "text": "Put the corn to the right of the carrot with the left hand facing top left with the tip as the reference point.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Using the left hand, place the corn to the right of the carrot with the tip facing top left.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Have the left arm set the corn right of the carrot, oriented top left relative to its tip.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "With the left hand, position the corn to the carrot's right, with the tip directed toward the top left.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Place the corn to the right of the carrot with the tip facing top left.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Set the corn right of the carrot, oriented top left from the tip.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Position the corn to the carrot's right with the tip directed toward the top left.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Using the left hand, put the corn to the right of the carrot.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Have the left arm place the corn to the carrot's right.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "With the left hand, set the corn right of the carrot.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Put the corn to the right of the carrot.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Set the corn to the carrot's right.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Position the corn right of the carrot.", + "start_idx": 4179, + "end_idx": 4239 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal angle by grasping its middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Take the carrot from the table on a diagonal angle, holding the middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup at its middle.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "With the left hand, take the carrot from the table.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Have the left arm retrieve the carrot from the table.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 4335, + "end_idx": 4380 + }, + { + "text": "Put the carrot in front of the silver bowl with the left hand facing top right with the tip as the reference point.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Using the left hand, place the carrot in front of the silver bowl with its tip facing the top right.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Have the left arm set the carrot in front of the silver bowl, oriented top right from the tip.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "With the left hand, position the carrot before the silver bowl so the tip points to the top right.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Place the carrot in front of the silver bowl with its tip facing the top right.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Set the carrot before the silver bowl, with the tip oriented toward the top right.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Position the carrot in front of the silver bowl so its tip faces the top right.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Put the carrot in front of the silver bowl with the left hand.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Using the left hand, place the carrot before the silver bowl.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Have the left arm set the carrot in front of the silver bowl.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Place the carrot in front of the silver bowl.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Set the carrot before the silver bowl.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Position the carrot in front of the silver bowl.", + "start_idx": 4380, + "end_idx": 4422 + }, + { + "text": "Pick up the beige bowl from the table with the left hand by the bottom at a diagonal angle using a lip grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Using the left hand, take the beige bowl from the table by the bottom at a diagonal angle with a lip grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Have the left hand grasp the beige bowl from the table at its bottom diagonally using a lip grasp.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "With the left hand, secure the beige bowl from the table by the bottom on a diagonal with a lip-style grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Pick up the beige bowl from the table by the bottom at a diagonal angle using a lip grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Take the beige bowl from the table at its bottom diagonally with a lip grasp.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Grasp the beige bowl from the table by the bottom on a diagonal using a lip-style grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table by the bottom with a lip grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "With the left hand, take the beige bowl from the table by the bottom using a lip grasp.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Have the left hand collect the beige bowl from the table by the bottom with a lip-style grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Using the left hand, grasp the beige bowl from the table by the bottom at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "With the left hand, take the beige bowl from the table diagonally using a lip grip.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Pick up the beige bowl from the table by the bottom at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Put the beige bowl behind the corn with the left hand.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Using the left hand, place the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Have the left arm set the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "With the left hand, position the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Put the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Place the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Set the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Position the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Leave the beige bowl behind the corn.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Behind the corn, place the beige bowl.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Using the left hand, put the beige bowl down.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Have the left arm place the beige bowl.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Set the beige bowl down with the left hand.", + "start_idx": 4455, + "end_idx": 4503 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "From a diagonal angle, have the left hand grasp the asparagus on the table with a side hold at its bottom.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "With the left hand, secure the asparagus from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "From a diagonal angle, grasp the asparagus on the table with a side hold at its bottom.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Secure the asparagus from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Have the left hand take the asparagus from the table using a side hold.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side grasp.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Pick up the asparagus from the table from a diagonal angle.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Grasp the asparagus from the table with a side grip.", + "start_idx": 4503, + "end_idx": 4545 + }, + { + "text": "Put the asparagus behind the cabbage with the left hand with its tip facing top right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Using the left hand, place the asparagus behind the cabbage with its tip pointing to the top right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Have the left arm set the asparagus behind the cabbage, tip oriented toward the upper right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "With the left hand, position the asparagus behind the cabbage so the tip faces top right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Place the asparagus behind the cabbage with its tip pointing to the top right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Set the asparagus behind the cabbage, keeping the tip aimed at the upper right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Position the asparagus behind the cabbage so its tip faces top right.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Using the left hand, put the asparagus behind the cabbage.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "With the left hand, place the asparagus behind the cabbage.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Have the left arm set the asparagus behind the cabbage.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Put the asparagus behind the cabbage.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Place the asparagus behind the cabbage.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Set the asparagus behind the cabbage.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup from the middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "With the left hand, grasp the carrot from the table diagonally at its middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Grasp the carrot from the table diagonally from the middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Take the carrot from the table with a diagonal approach at the middle.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4593, + "end_idx": 4635 + }, + { + "text": "Put the carrot to the top left side of the table with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Using the left hand, place the carrot on the table's top-left side with the tip facing forwards.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Have the left hand set the carrot at the top left of the table, oriented forwards from the tip.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "With the left hand, position the carrot on the table's upper-left side so its tip faces forwards.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Place the carrot on the table's top-left side.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Set the carrot at the top left of the table.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Position the carrot on the upper-left side of the table.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Move the carrot to the table's top-left side.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Using the left hand, place the carrot on the table's top-left side.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "With the left hand, set the carrot at the top left of the table.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Have the left hand position the carrot on the upper-left side of the table.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Place the carrot on the table's top-left side with the tip facing forwards.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Set the carrot at the top left of the table so the tip points forwards.", + "start_idx": 4635, + "end_idx": 4680 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "With the left hand, take the silver bowl from the table using the lip grip on the bottom left at a diagonal approach.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Take the silver bowl from the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Grasp the silver bowl from the table with the lip grip at the bottom left from a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "With the left hand, take the silver bowl from the table using a lip grasp.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Have the left hand grasp the silver bowl from the table.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "From a diagonal angle, take the silver bowl from the table at the bottom-left area.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Put the silver bowl in front of the corn with the left hand right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Using the left hand, place the silver bowl in front of the corn right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Have the left arm set the silver bowl down in front of the corn with its right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "With the left hand, position the silver bowl in front of the corn so it stays right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Place the silver bowl in front of the corn right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Set the silver bowl down in front of the corn with its right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Position the silver bowl in front of the corn, keeping it right side up.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Put the silver bowl in front of the corn with the left hand.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Using the left hand, place the silver bowl before the corn.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Have the left arm set the silver bowl down in front of the corn.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Put the silver bowl in front of the corn.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Set the silver bowl down before the corn.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Position the silver bowl in front of the corn.", + "start_idx": 4725, + "end_idx": 4770 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Have the left hand take the corn from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "With the left arm, grasp the corn from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Pick up the corn from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Take the corn from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Grasp the corn from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip at the top.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Have the left hand take the corn from the table with a side grasp at the top.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Using the left arm, grasp the corn from the table with a side hold at the top.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "With the left hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Put the corn to the center of the table with the left hand facing backwards with the tip as the reference point.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Using the left hand, place the corn at the center of the table with the tip facing backwards.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Have the left hand set the corn in the table center, oriented backwards relative to its tip.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "With the left hand, position the corn at the center of the table so the tip faces backward.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Place the corn at the center of the table with the tip facing backwards.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Set the corn in the center of the table with its tip oriented backward.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Position the corn at the table center so the tip points backward.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Using the left hand, place the corn at the center of the table.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Have the left hand set the corn in the center of the table.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "With the left hand, position the corn at the table center.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Put the corn at the center of the table.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Set the corn in the center of the table.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Position the corn at the table center.", + "start_idx": 4875, + "end_idx": 4926 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "With the left hand, take the silver bowl from the table using a left-side lip grip at a diagonal approach.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Take the silver bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "The silver bowl should be grasped from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "From the table, pick up the silver bowl with the left hand using a lip grip.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Use the left hand to take the silver bowl from the table with a lip grasp.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Have the left hand pick up the silver bowl from the table.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Pick up the silver bowl from the table from the left at a diagonal angle.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Take the silver bowl from the table with the left hand.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "The silver bowl should be grasped from the table using a lip grip.", + "start_idx": 4926, + "end_idx": 4968 + }, + { + "text": "Put the silver bowl to the bottom left side of the table with the left hand.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Using the left hand, place the silver bowl on the bottom-left side of the table, right side up.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Have the left arm set the silver bowl at the table's bottom-left area with its front facing forward and upright.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "With the left hand, position the silver bowl in the bottom-left part of the table, keeping it upright.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Place the silver bowl on the bottom-left side of the table, right side up.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Set the silver bowl at the bottom-left area of the table with its front facing forward.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Position the silver bowl in the table's bottom-left section, upright.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Arrange the silver bowl on the bottom-left side of the table.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "The silver bowl goes at the bottom-left part of the table.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Set the silver bowl down on the table's bottom-left area.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Place the silver bowl at the bottom-left side of the table.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "On the bottom-left side of the table, place the silver bowl.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Have the silver bowl placed in the bottom-left part of the table.", + "start_idx": 4968, + "end_idx": 5016 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom left and a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Have the left arm pick the beige bowl up from the table with a diagonal approach, gripping the bottom left lip.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the bottom-left lip on a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left with a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Take the beige bowl from the table by the bottom-left lip with a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Grasp the beige bowl from the table at the bottom left using a lip hold and a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Using a lip grip, collect the beige bowl from the table at the bottom left on a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "With the left hand, pick up the beige bowl from the table.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Using the left hand, grasp the beige bowl from the table.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Pick up the beige bowl from the table at the bottom left with a diagonal approach.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Take the beige bowl from the table with the left hand.", + "start_idx": 5016, + "end_idx": 5055 + }, + { + "text": "Put the beige bowl in front of the corn with the left hand right side up.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Using the left hand, place the beige bowl in front of the corn right side up.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Have the left arm set the beige bowl down in front of the corn with its right side up.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "With the left hand, position the beige bowl in front of the corn upright.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Place the beige bowl in front of the corn right side up.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Set the beige bowl down in front of the corn with its right side up.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Position the beige bowl in front of the corn upright.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Using the left hand, put the beige bowl in front of the corn.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Have the left arm place the beige bowl in front of the corn.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "With the left hand, set the beige bowl down in front of the corn.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Put the beige bowl in front of the corn.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Set the beige bowl down in front of the corn.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Position the beige bowl in front of the corn.", + "start_idx": 5055, + "end_idx": 5103 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by its middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Retrieve the corn from the table diagonally by its middle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 5103, + "end_idx": 5145 + }, + { + "text": "Put the corn to the center of the table with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Using the left hand, place the corn at the table center with the tip facing bottom left.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Have the left arm set the corn in the center of the table, oriented bottom left by its tip.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "With the left hand, position the corn at the table's center so the tip points bottom left.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Place the corn at the center of the table.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Set the corn in the middle of the table.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Move the corn to the table center.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Put the corn at the center of the table.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Using the left hand, place the corn at the center of the table.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "With the left hand, set the corn in the middle of the table.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Position the corn at the center of the table with the tip facing bottom left.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Set the corn in the middle of the table so the tip faces bottom left.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Place the corn at the table center, oriented bottom left by the tip.", + "start_idx": 5145, + "end_idx": 5184 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal from the middle.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Using the left hand, take the carrot from the table with a diagonal grasp at the middle.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Have the left arm pick up the carrot from the table, grasping it diagonally at the middle.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "With the left hand, grasp the carrot from the table at the middle on a diagonal.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Pick up the carrot from the table with a diagonal grasp at the middle.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Take the carrot from the table, grasping it diagonally at the middle.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Grasp the carrot from the table at the middle on a diagonal.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Using the left hand, take the carrot from the table.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Grab the carrot from the table.", + "start_idx": 5343, + "end_idx": 5400 + }, + { + "text": "Put the carrot behind the beige bowl with the left hand facing forwards with the tip forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Using the left hand, place the carrot behind the beige bowl with its tip facing forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Have the left arm set the carrot behind the beige bowl, oriented forwards with the tip pointing forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "With the left hand, position the carrot behind the beige bowl so the tip faces forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Place the carrot behind the beige bowl with its tip facing forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Set the carrot behind the beige bowl, oriented forwards with the tip pointing forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Position the carrot behind the beige bowl so the tip faces forwards.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Using the left hand, put the carrot behind the beige bowl.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "With the left hand, place the carrot behind the beige bowl.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Have the left arm set the carrot behind the beige bowl.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Put the carrot behind the beige bowl.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Place the carrot behind the beige bowl.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Set the carrot behind the beige bowl.", + "start_idx": 5400, + "end_idx": 5454 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Have the left arm grasp the silver bowl from the table using a bottom-left diagonal lip hold.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "With the left hand, secure the silver bowl from the table in a diagonal lip grasp at the bottom left.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Grasp the silver bowl from the table in a diagonal lip hold at the bottom left.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "With the left hand, pick up the silver bowl from the table.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Use the left hand to take the silver bowl from the table.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Have the left arm grasp the silver bowl from the table.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Using the left hand, collect the silver bowl from the table.", + "start_idx": 5454, + "end_idx": 5505 + }, + { + "text": "Put the silver bowl to the top side of the table with the left hand.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Using the left hand, place the silver bowl on the top side of the table, right side up with its front forward.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Have the left arm set the silver bowl on the table's top side, keeping it upright and the front facing ahead.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "With the left hand, position the silver bowl at the top side of the table, upright with the front oriented forward.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Place the silver bowl on the top side of the table, right side up with its front forward.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Set the silver bowl at the top side of the table, upright and with the front facing ahead.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Position the silver bowl on the table's top side, keeping it right side up and the front forward.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Using the left hand, put the silver bowl on the top side of the table.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "With the left hand, place the silver bowl at the top side of the table.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Have the left arm set the silver bowl on the table's top side.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Put the silver bowl on the top side of the table.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Set the silver bowl at the top side of the table.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Position the silver bowl on the table's top side.", + "start_idx": 5505, + "end_idx": 5568 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom with a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Have the left arm pick the carrot from the table with a bottom side hold, approaching diagonally.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "With the left hand, grasp the carrot from the table at its bottom using a side grip and a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom and a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Grasp the carrot from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Take the carrot from the table using a side grip at the bottom and a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp at the bottom.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Using the left hand, grasp the carrot from the table at the bottom with a side hold.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Pick up the carrot from the table with the left hand at the bottom using a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "With the left hand, take the carrot from the table with a diagonal approach.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Pick up the carrot from the table at the bottom using a side grip.", + "start_idx": 5568, + "end_idx": 5616 + }, + { + "text": "Put the carrot in between the asparagus and the beige bowl with the left hand facing top right with the tip as the reference point.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Using the left hand, place the carrot between the asparagus and the beige bowl with the tip facing top right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Have the left arm set the carrot in between the asparagus and the beige bowl, tip oriented toward the top right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "With the left hand, position the carrot between the asparagus and the beige bowl so its tip points to the top right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Place the carrot between the asparagus and the beige bowl with the tip facing top right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Set the carrot in between the asparagus and the beige bowl, with its tip directed to the top right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Position the carrot between the asparagus and the beige bowl so the tip faces top right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Using the left hand, put the carrot between the asparagus and the beige bowl.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "With the left hand, place the carrot in between the asparagus and the beige bowl.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Have the left arm set the carrot between the asparagus and the beige bowl.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Put the carrot between the asparagus and the beige bowl.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Set the carrot in between the asparagus and the beige bowl.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Position the carrot between the asparagus and the beige bowl.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Have the left arm grasp the beige bowl from the table by the bottom lip at a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a bottom lip grasp from a diagonal approach.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Take the beige bowl from the table by the bottom lip from a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "From a diagonal angle, grasp the beige bowl from the table with a lip hold at the bottom.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Pick up the beige bowl from the table with the left hand from a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "From the table, grasp the beige bowl at the bottom from a diagonal angle.", + "start_idx": 5655, + "end_idx": 5688 + }, + { + "text": "Put the beige bowl to the right of the silver bowl with the left hand.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Using the left hand, place the beige bowl to the right of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Have the left arm set the beige bowl down to the right of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "With the left hand, position the beige bowl on the right side of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Place the beige bowl to the right of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Set the beige bowl down to the right of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Position the beige bowl on the right side of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Move the beige bowl beside the silver bowl on its right.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Have the beige bowl placed to the silver bowl's right.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Using the left hand, place the beige bowl beside the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "With the left hand, set the beige bowl on the silver bowl's right side.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Have the left arm move the beige bowl beside the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Using the left hand, position the beige bowl to the right of the silver bowl.", + "start_idx": 5688, + "end_idx": 5733 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "With the left hand, collect the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "The corn from the table should be picked up at a diagonal angle, grasping the middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Grasp the corn from the table and pick it up with the left hand.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Use the left hand to take the corn from the table.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Have the left arm collect the corn from the table.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Pick up the corn from the table, grasping the middle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 5733, + "end_idx": 5784 + }, + { + "text": "Put the corn to the left of the carrot with the left hand facing backwards by the tip.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Using the left hand, place the corn to the carrot's left with its tip facing backward.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Have the left arm set the corn left of the carrot, oriented backward at the tip.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "With the left hand, position the corn on the left side of the carrot, tip facing backwards.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Place the corn to the left of the carrot with its tip facing backward.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Set the corn on the left side of the carrot, with the tip facing backwards.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Position the corn left of the carrot, keeping the tip facing backward.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Using the left hand, put the corn to the left of the carrot.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "With the left hand, set the corn on the left side of the carrot.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Have the left arm place the corn left of the carrot.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Put the corn to the left of the carrot.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Set the corn left of the carrot.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Position the corn on the carrot's left side.", + "start_idx": 5784, + "end_idx": 5820 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "With the left arm, grasp the carrot off the table using a side grip on its bottom at a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Have the left hand pick the carrot up from the table with a side hold at the bottom from a diagonal approach.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Grasp the carrot off the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "The carrot should be taken from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "With the left arm, take the carrot off the table using a side grasp on the bottom.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Have the left hand grasp the carrot from the table with a side hold at the bottom.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Using the left hand, pick up the carrot from the table from a diagonal angle.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "With the left arm, take the carrot off the table at a diagonal approach.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Pick up the carrot from the table with a side grip.", + "start_idx": 5967, + "end_idx": 5994 + }, + { + "text": "Put the carrot to the center of the table with the left hand facing top right with the tip as the reference point.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Using the left hand, place the carrot at the center of the table with its tip facing the top right.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Have the left arm set the carrot in the table center, oriented top right from the tip.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip points toward the top right.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Place the carrot at the center of the table with its tip facing the top right.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Set the carrot in the center of the table, with the tip oriented toward the top right.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Position the carrot at the table center so its tip faces top right.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Using the left hand, put the carrot at the center of the table.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "With the left hand, place the carrot in the center of the table.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Have the left arm set the carrot down at the table center.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Put the carrot at the center of the table.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Place the carrot in the center of the table.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Set the carrot down at the table center.", + "start_idx": 5994, + "end_idx": 6039 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle by grasping the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Retrieve the corn from the table on a diagonal path, holding the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Take the corn from the table at the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Using the left hand, pick up the corn from the table at the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Put the corn to the bottom side of the table with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table with its tip facing bottom left.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Have the left arm set the corn at the table's bottom side, oriented bottom left using the tip as reference.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table so the tip points bottom left.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Place the corn on the bottom side of the table.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Set the corn at the bottom side of the table.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Position the corn on the table's bottom side.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Put the corn on the bottom side of the table.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Have the left arm set the corn at the table's bottom side.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Place the corn on the bottom side of the table with its tip facing bottom left.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Set the corn at the table's bottom side so the tip faces bottom left.", + "start_idx": 6078, + "end_idx": 6111 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grasp at the bottom from a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Have the left arm pick the carrot up from the table, grasping its bottom from a diagonal angle with a side hold.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "With the left hand, retrieve the carrot from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Pick up the carrot from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Take the carrot from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Retrieve the carrot from the table, grasping the bottom from a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Pick up the carrot from the table from a diagonal angle.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 6198, + "end_idx": 6246 + }, + { + "text": "Place the carrot to the center of the table with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Using the left hand, set the carrot at the center of the table with its tip facing forwards.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Have the left arm place the carrot in the table center, oriented forward using the tip as reference.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip points forwards.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Place the carrot at the center of the table with its tip facing forwards.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Set the carrot in the center of the table, oriented forward from the tip.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Position the carrot at the table center so the tip faces forwards.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Put the carrot at the center of the table.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Set the carrot in the middle of the table.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Position the carrot at the table center.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Place the carrot at the center of the table with the left hand.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Using the left hand, set the carrot in the center of the table.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Have the left arm position the carrot at the table center.", + "start_idx": 6246, + "end_idx": 6297 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Have the left arm pick the carrot up from the table with a side grip at its bottom from a diagonal approach.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "With the left hand, grasp the carrot from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Grasp the carrot from the table with a side hold at its bottom from a diagonal approach.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp at its bottom.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "With the left hand, grasp the carrot from the table from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Pick up the carrot from the table with the left hand from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Using the left hand, take the carrot from the table at the bottom.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Grasp the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 6450, + "end_idx": 6498 + }, + { + "text": "Place the carrot to the center of the table with the left hand with the tip facing top left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Using the left hand, set the carrot at the center of the table with its tip facing the top left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Have the left arm place the carrot in the table center, oriented with the tip toward the upper left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "With the left hand, position the carrot at the center of the table so its tip points top left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Place the carrot at the center of the table with its tip facing the top left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Set the carrot in the center of the table, with the tip directed toward the upper left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Position the carrot at the table center so the tip points to the top left.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Using the left hand, place the carrot at the center of the table.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "With the left hand, set the carrot in the center of the table.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Have the left arm position the carrot at the table center.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Place the carrot at the center of the table.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Set the carrot in the center of the table.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Position the carrot at the table center.", + "start_idx": 6498, + "end_idx": 6543 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach at the middle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "With the left hand, retrieve the carrot from the table by grasping its middle at an angle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Retrieve the carrot from the table with a diagonal approach, holding it at the middle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Take the carrot from the table by grasping the middle at a diagonal angle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Take the carrot from the table at a diagonal angle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Using the left hand, grasp the carrot from the table at the middle.", + "start_idx": 6633, + "end_idx": 6687 + }, + { + "text": "Put the carrot to the left of the cabbage with the left hand with the tip facing right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Using the left hand, place the carrot to the left of the cabbage with its tip facing right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Have the left hand set the carrot left of the cabbage, keeping the tip pointed to the right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "With the left arm, position the carrot on the cabbage's left side so the tip faces right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Place the carrot to the left of the cabbage with its tip facing right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Set the carrot on the left side of the cabbage, with the tip pointed right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Position the carrot left of the cabbage, tip facing right.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Using the left hand, put the carrot to the left of the cabbage.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "With the left arm, set the carrot on the cabbage's left side.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Have the left hand position the carrot left of the cabbage.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Place the carrot to the left of the cabbage.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Set the carrot on the left side of the cabbage.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Have the carrot placed left of the cabbage.", + "start_idx": 6687, + "end_idx": 6741 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal, gripping the middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Take the carrot from the table with a diagonal pickup, holding the middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Retrieve the carrot from the table on a diagonal while gripping its middle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6816, + "end_idx": 6870 + }, + { + "text": "Place the carrot to the center of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Using the left hand, place the carrot at the center of the table with its tip facing forwards.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Have the left arm set the carrot in the table center, oriented forwards using the tip as the reference point.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip points forwards.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Place the carrot at the center of the table with its tip facing forwards.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Set the carrot in the center of the table, with the tip directed forwards.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Position the carrot at the table center so the tip faces forwards.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Using the left hand, place the carrot at the center of the table.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Have the left arm set the carrot in the middle of the table.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "With the left hand, position the carrot at the table center.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Put the carrot in the center of the table.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Set the carrot down at the center of the table.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "At the table center, place the carrot.", + "start_idx": 6870, + "end_idx": 6915 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the bottom diagonally.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Have the left arm grasp the carrot from the table with a diagonal side hold at the bottom.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "With the left hand, secure the carrot from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom diagonally.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom diagonally.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Grasp the carrot from the table at the bottom with a diagonal side hold.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Using the left hand, grasp the carrot from the table with a side hold.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Pick up the carrot from the table with the left hand at the bottom diagonally.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Using the left hand, take the carrot from the table diagonally at the bottom.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Have the left arm grasp the carrot from the table.", + "start_idx": 7149, + "end_idx": 7191 + }, + { + "text": "Put the carrot inside the silver bowl with the left hand facing top left by the tip.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Using the left hand, place the carrot in the silver bowl with its tip facing the top left.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Have the left arm set the carrot inside the silver bowl, tip oriented toward the top left.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "With the left hand, position the carrot in the silver bowl so the tip points top left.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Place the carrot into the silver bowl with its tip facing the top left.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Set the carrot inside the silver bowl with the tip directed toward the top left.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Position the carrot in the silver bowl so its tip faces the top left.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Put the carrot inside the silver bowl with the left hand.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Using the left hand, place the carrot in the silver bowl.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Have the left arm set the carrot inside the silver bowl.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Place the carrot into the silver bowl.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Set the carrot inside the silver bowl.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Put the carrot in the silver bowl.", + "start_idx": 7191, + "end_idx": 7224 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "With the left hand, retrieve the cabbage from the table at a diagonal angle by grasping its middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Take the cabbage from the table at a diagonal angle while holding the middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, grasping its middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Using the left hand, take the cabbage from the table.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Have the left arm retrieve the cabbage from the table.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Pick up the cabbage from the table, grasping the middle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle.", + "start_idx": 7281, + "end_idx": 7317 + }, + { + "text": "Put the cabbage to the right of the silver bowl with the left hand facing backwards from the front.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Using the left hand, place the cabbage to the right of the silver bowl, facing backwards from the front.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Have the left arm set the cabbage to the right of the silver bowl with its front facing backward.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "With the left hand, position the cabbage to the right of the silver bowl so it faces backwards from the front.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Place the cabbage to the right of the silver bowl, facing backwards from the front.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Set the cabbage to the right of the silver bowl with its front facing backward.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "The cabbage goes to the right of the silver bowl, oriented backwards from the front.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Using the left hand, put the cabbage to the right of the silver bowl.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Have the left arm place the cabbage to the right of the silver bowl.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "With the left hand, set the cabbage to the right of the silver bowl.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Put the cabbage to the right of the silver bowl.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Set the cabbage to the right of the silver bowl.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "The cabbage should be placed to the right of the silver bowl.", + "start_idx": 7317, + "end_idx": 7347 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Have the left arm grasp the silver bowl from the table by the bottom rim with a diagonal lip hold.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a diagonal grip on the bottom lip.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Grasp the silver bowl from the table by the bottom rim with a diagonal lip hold.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Take the silver bowl from the table with a diagonal grip on the bottom lip.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Using the left hand, take the silver bowl from the table.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 7347, + "end_idx": 7380 + }, + { + "text": "Dump the carrot to the center of the table with the left hand.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Using the left hand, dump the carrot onto the center of the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Have the left arm place the carrot at the table's center.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "With the left hand, deposit the carrot in the center of the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Dump the carrot onto the center of the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Place the carrot in the table's center.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Move the carrot to the center of the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Set the carrot down at the center of the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "The carrot goes to the center of the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Put the carrot on the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Place the carrot down on the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Set the carrot on the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Move the carrot onto the table.", + "start_idx": 7380, + "end_idx": 7440 + }, + { + "text": "Put the silver bowl in front of the carrot with the left hand.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Using the left hand, place the silver bowl in front of the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Have the left arm set the silver bowl down in front of the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "With the left hand, position the silver bowl before the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Place the silver bowl in front of the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Set the silver bowl down before the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Position the silver bowl in front of the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Using the left hand, put the silver bowl by the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Have the left arm place the silver bowl next to the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "With the left hand, set the silver bowl beside the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Put the silver bowl by the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Place the silver bowl beside the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Set the silver bowl next to the carrot.", + "start_idx": 7440, + "end_idx": 7506 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Have the left arm pick the carrot up from the table with a top side grip at a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "With the left hand, grasp the carrot from the table at the top using a side hold from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Take the carrot from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Grasp the carrot from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "The carrot from the table should be picked up with a side grip at the top from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Pick up the carrot from the table with the left hand from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Take the carrot from the table at the top with the left hand.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Grasp the carrot from the table at the top from a diagonal angle.", + "start_idx": 7506, + "end_idx": 7551 + }, + { + "text": "Put the carrot to the center of the table with the left hand facing top right with the tip as the reference point.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Using the left hand, place the carrot at the center of the table with its tip facing the top right.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Have the left arm set the carrot in the table center, oriented top right using the tip as the reference point.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip points toward the top right.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Place the carrot at the center of the table with its tip facing the top right.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Set the carrot in the center of the table, oriented top right from the tip.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Position the carrot at the table center so the tip faces the top right.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Using the left hand, put the carrot at the center of the table.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "With the left hand, set the carrot down in the center of the table.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Have the left arm place the carrot in the table center.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Place the carrot at the center of the table.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Set the carrot down in the center of the table.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "The carrot goes in the center of the table.", + "start_idx": 7551, + "end_idx": 7602 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "With the left hand, collect the cabbage from the table by gripping the middle at a diagonal angle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding its middle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "The cabbage from the table should be picked up.", + "start_idx": 7683, + "end_idx": 7719 + }, + { + "text": "Put the cabbage in front of the carrot with the left hand facing bottom left from the front.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Using the left hand, place the cabbage in front of the carrot facing bottom left from the front.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Have the left arm set the cabbage in front of the carrot with its front facing bottom left.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "With the left hand, position the cabbage in front of the carrot so the front points bottom left.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Place the cabbage in front of the carrot facing bottom left from the front.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Set the cabbage in front of the carrot with its front facing bottom left.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Position the cabbage in front of the carrot so the front faces bottom left.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Using the left hand, put the cabbage in front of the carrot.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "With the left hand, place the cabbage in front of the carrot.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Have the left arm position the cabbage in front of the carrot.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Put the cabbage in front of the carrot.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Set the cabbage in front of the carrot.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Position the cabbage in front of the carrot.", + "start_idx": 7719, + "end_idx": 7746 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "With the left hand, collect the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "From the table, collect the cabbage at a diagonal angle by grasping its middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Take the cabbage from the table, grasping the middle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 7854, + "end_idx": 7893 + }, + { + "text": "Place the cabbage to the left side of the asparagus with the left hand facing backwards with the front as the reference point.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Using the left hand, place the cabbage to the left of the asparagus with its front facing backward.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Have the left arm set the cabbage on the asparagus's left side, oriented backward relative to its front.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "With the left hand, position the cabbage left of the asparagus, keeping the front pointed backward.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Place the cabbage to the left of the asparagus with its front facing backward.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Set the cabbage on the left side of the asparagus, front facing backward.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Position the cabbage left of the asparagus, oriented backward from the front.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Put the cabbage to the left of the asparagus.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Set the cabbage on the asparagus's left side.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Position the cabbage to the left of the asparagus.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Using the left hand, place the cabbage to the left of the asparagus.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Have the left arm set the cabbage on the asparagus's left side.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "With the left hand, position the cabbage left of the asparagus.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom on a diagonal angle.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Have the left arm pick the carrot from the table with a side hold at the bottom, diagonally oriented.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "With the left hand, grasp the carrot from the table by the bottom using a side grip at a diagonal angle.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom with a diagonal angle.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Grasp the carrot from the table by the bottom using a side hold at a diagonal angle.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp at the bottom.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Using the left hand, grasp the carrot from the table by the bottom.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "With the left hand, take the carrot from the table diagonally.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 7931, + "end_idx": 7979 + }, + { + "text": "Put the carrot to the center of the table with the left hand with its tip facing top left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Using the left hand, place the carrot at the center of the table with its tip pointing to the top left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Have the left arm set the carrot in the table center, keeping the tip oriented toward the top-left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "With the left hand, position the carrot at the center of the table so its tip faces top left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Place the carrot at the center of the table with its tip facing top left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Set the carrot in the center of the table with its tip pointing top left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Position the carrot at the table center with the tip directed toward the top-left.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Using the left hand, put the carrot in the center of the table.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Have the left arm place the carrot at the center of the table.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "With the left hand, set the carrot down in the table center.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Put the carrot at the center of the table.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Set the carrot in the center of the table.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Position the carrot at the table center.", + "start_idx": 7980, + "end_idx": 8031 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "With the left arm, grasp the carrot from the table from the bottom using a side grip at a diagonal angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Have the left hand pick the carrot up from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Grasp the carrot from the table from the bottom using a side hold at a diagonal angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "With the left arm, take the carrot from the table using a side grasp at the bottom.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Have the left hand grasp the carrot from the table from the bottom with a side hold.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "With the left arm, take the carrot from the table from the bottom on a diagonal approach.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Pick up the carrot from the table from the bottom with a diagonal pick angle.", + "start_idx": 8274, + "end_idx": 8316 + }, + { + "text": "Put the carrot to the left of the beige bowl with the left hand facing forwards with the tip as the reference point.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Using the left hand, place the carrot to the left of the beige bowl with its tip facing forward.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Have the left arm set the carrot left of the beige bowl, oriented forward using the tip as the reference point.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "With the left hand, position the carrot to the left of the beige bowl so the tip points forward.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Place the carrot to the left of the beige bowl with its tip facing forward.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Set the carrot left of the beige bowl, keeping the tip pointed forward.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Position the carrot to the left of the beige bowl with the tip oriented forward.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Put the carrot to the left of the beige bowl.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Place the carrot left of the beige bowl.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Set the carrot down to the left of the beige bowl.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Position the carrot to the left of the beige bowl.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Using the left hand, put the carrot to the left of the beige bowl.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Have the left arm place the carrot left of the beige bowl.", + "start_idx": 8316, + "end_idx": 8367 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Have the left hand take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Have the left hand take the cabbage from the table.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Take the cabbage from the table, grasping the middle.", + "start_idx": 8367, + "end_idx": 8415 + }, + { + "text": "Put the cabbage to the right of the beige bowl with the left hand facing bottom left from the front.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Using the left hand, place the cabbage to the right of the beige bowl, facing bottom left from the front.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Have the left arm set the cabbage to the right of the beige bowl with its front facing bottom left.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "With the left hand, position the cabbage to the right of the beige bowl so the front points bottom left.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Place the cabbage to the right of the beige bowl, facing bottom left from the front.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Set the cabbage to the right of the beige bowl with its front facing bottom left.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Position the cabbage to the right of the beige bowl so the front faces bottom left.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Using the left hand, put the cabbage to the right of the beige bowl.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "With the left hand, place the cabbage to the right of the beige bowl.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Have the left arm set the cabbage to the right of the beige bowl.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Place the cabbage to the right of the beige bowl.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Set the cabbage to the right of the beige bowl.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Position the cabbage to the right of the beige bowl.", + "start_idx": 8415, + "end_idx": 8466 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Using the left hand, collect the asparagus from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Have the left arm take the asparagus from the table by its bottom using a side grasp and a diagonal approach.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "With the left hand, grasp the asparagus from the table at the bottom with a side hold and a diagonal pickup angle.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Take the asparagus from the table at the bottom with a side grasp and a diagonal approach.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Get the asparagus from the table using a side hold at the bottom with a diagonal angle.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Take the asparagus from the table with the left hand using a side grasp at the bottom.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "With the left hand, secure the asparagus from the table at the bottom using a side hold.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a diagonal pick angle.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Take the asparagus from the table using a side grip at the bottom.", + "start_idx": 8466, + "end_idx": 8523 + }, + { + "text": "Put the asparagus to the bottom side of the table with the left hand with its tip facing bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Using the left hand, place the asparagus on the bottom side of the table with its tip pointing to the bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Have the left hand set the asparagus at the table's bottom side, tip oriented toward the bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "With the left hand, position the asparagus along the bottom side of the table so its tip faces bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Place the asparagus on the bottom side of the table with its tip pointing to the bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Set the asparagus at the table's bottom side with the tip facing bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Position the asparagus on the bottom side of the table, keeping its tip directed toward the bottom right.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Using the left hand, put the asparagus on the bottom side of the table.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "With the left hand, place the asparagus at the table's bottom side.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Have the left hand set the asparagus down on the bottom side of the table.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Put the asparagus on the bottom side of the table.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Set the asparagus at the table's bottom side.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Position the asparagus on the table's bottom side.", + "start_idx": 8523, + "end_idx": 8583 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal, holding it at the middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Take the cabbage from the table on a diagonal, grasping it at the middle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Using the left hand, grasp the cabbage from the table.", + "start_idx": 8673, + "end_idx": 8712 + }, + { + "text": "Put the cabbage behind the corn with the left hand facing left with the front as the reference point.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Using the left hand, place the cabbage behind the corn with its front facing left.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Have the left arm set the cabbage behind the corn, front oriented to the left.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "With the left hand, position the cabbage behind the corn so the front points left.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Place the cabbage behind the corn with its front facing left.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Set the cabbage behind the corn, with the front of the cabbage pointing left.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Position the cabbage behind the corn so its front faces left.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Using the left hand, put the cabbage behind the corn.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Have the left arm place the cabbage behind the corn.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "With the left hand, set the cabbage behind the corn.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Put the cabbage behind the corn.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Place the cabbage behind the corn.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Set the cabbage behind the corn.", + "start_idx": 8712, + "end_idx": 8766 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 8850, + "end_idx": 8877 + }, + { + "text": "Place the beige bowl behind the asparagus with the left hand right side up.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Using the left hand, set the beige bowl behind the asparagus right side up.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Have the left arm place the beige bowl behind the asparagus upright.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "With the left hand, position the beige bowl behind the asparagus so it stays right side up.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Place the beige bowl behind the asparagus right side up.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Set the beige bowl behind the asparagus upright.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Position the beige bowl behind the asparagus so it is right side up.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Using the left hand, place the beige bowl behind the asparagus.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Have the left arm set the beige bowl behind the asparagus.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "With the left hand, position the beige bowl behind the asparagus.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Put the beige bowl behind the asparagus.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Using the left hand, put the beige bowl behind the asparagus.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Place the beige bowl behind the asparagus with the left hand.", + "start_idx": 8877, + "end_idx": 8919 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Have the left arm pick the carrot up from the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "With the left hand, grasp the carrot from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Take the carrot from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Grasp the carrot from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Have the left arm take the carrot from the table using a side grasp.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "With the left hand, grasp the carrot from the table using a side hold.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Using the left hand, pick up the carrot from the table from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Have the left arm take the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 8919, + "end_idx": 8964 + }, + { + "text": "Put the carrot inside the beige bowl with the left hand facing top left by the tip.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Using the left hand, place the carrot in the beige bowl with its tip facing the top left.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Have the left arm set the carrot inside the beige bowl, tip oriented toward the top left.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "With the left hand, deposit the carrot into the beige bowl so the tip points top left.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Place the carrot in the beige bowl with its tip facing the top left.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Set the carrot inside the beige bowl, with the tip oriented toward the top left.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Put the carrot into the beige bowl so its tip faces the top left.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Using the left hand, put the carrot inside the beige bowl.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Have the left arm place the carrot into the beige bowl.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "With the left hand, set the carrot in the beige bowl.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Put the carrot in the beige bowl.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Place the carrot inside the beige bowl.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Set the carrot into the beige bowl.", + "start_idx": 8964, + "end_idx": 9000 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal approach, gripping the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Retrieve the asparagus from the table on a diagonal approach, holding the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Take the asparagus from the table at a diagonal angle, grasping it at the middle.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 9090, + "end_idx": 9129 + }, + { + "text": "Put the asparagus to the top side of the table with the left hand with the tip facing bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Using the left hand, place the asparagus on the table's top side with its tip pointing bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Have the left arm set the asparagus at the top side of the table, tip directed toward the bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "With the left hand, position the asparagus on the top side of the table so the tip faces bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Place the asparagus on the table's top side with its tip pointing bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Set the asparagus at the top side of the table, with the tip facing bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Position the asparagus on the top side of the table so its tip points bottom right.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Using the left hand, put the asparagus on the table's top side.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Have the left arm place the asparagus at the top side of the table.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "With the left hand, set the asparagus on the top side of the table.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Place the asparagus on the table's top side.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Set the asparagus at the top side of the table.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Position the asparagus on the top side of the table.", + "start_idx": 9129, + "end_idx": 9165 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip at the bottom right on a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Have the right arm take the silver bowl from the table with a lip grasp on the bottom-right area at a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the bottom right using the lip at a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom right on a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Grasp the silver bowl from the table by the bottom-right area with a lip hold at a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Take the silver bowl from the table using a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "With the right hand, take the silver bowl from the table using a lip grasp.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Have the right arm grasp the silver bowl from the table with the lip hold.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Take the silver bowl from the table by the bottom-right area on a diagonal angle.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Grasp the silver bowl from the table with the right hand.", + "start_idx": 237, + "end_idx": 273 + }, + { + "text": "Put the silver bowl to the right of the corn with the right hand.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Have the right arm set the silver bowl down to the right of the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "With the right hand, position the silver bowl on the corn's right side.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Place the silver bowl to the right of the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Set the silver bowl down to the right of the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Position the silver bowl on the right side of the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Move the silver bowl to a spot right of the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Using the right hand, put the silver bowl by the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "With the right hand, set the silver bowl beside the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Have the right arm place the silver bowl next to the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Put the silver bowl beside the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Set the silver bowl next to the corn.", + "start_idx": 273, + "end_idx": 318 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle from the middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Have the right arm grasp the carrot from the table diagonally at its middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "With the right hand, retrieve the carrot from the table using a diagonal approach at the middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Take the carrot from the table diagonally from its middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle from the middle.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "The carrot should be picked up from the table with the right hand.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "With the right hand, take the carrot from the table.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Grab the carrot from the table.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 318, + "end_idx": 357 + }, + { + "text": "Put the carrot to the bottom right of the table with the right hand with its tip facing top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Using the right hand, place the carrot at the table's bottom right with its tip pointing to the top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Have the right arm set the carrot down at the bottom right of the table, tip oriented toward the top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "With the right hand, position the carrot in the table's bottom-right area so its tip faces top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Place the carrot at the bottom right of the table.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Set the carrot down in the table's bottom-right spot.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Position the carrot at the bottom right of the table.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Using the right hand, place the carrot at the bottom right of the table.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Have the right arm set the carrot down at the table's bottom right.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Put the carrot at the bottom right of the table with its tip facing top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Arrange the carrot at the table's bottom right with the tip pointing top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "With its tip facing top left, place the carrot at the table's bottom right.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Set the carrot down at the bottom right of the table so the tip points top left.", + "start_idx": 357, + "end_idx": 396 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle from the middle.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Have the right arm pick the corn up from the table, grasping it at the middle on a diagonal.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "With the right hand, grasp the corn from the table diagonally at its middle.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Take the corn from the table diagonally from the middle.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Grasp the corn from the table at the middle with a diagonal approach.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "The corn from the table should be picked up with the right hand.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Using the right hand, take the corn from the table.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Have the right arm grasp the corn from the table.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "With the right hand, pick up the corn from the table.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1002, + "end_idx": 1038 + }, + { + "text": "Put the corn to the right of the silver bowl with the right hand facing forwards with the tip facing forwards.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Using the right hand, place the corn to the right of the silver bowl with its tip facing forwards.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Have the right arm set the corn to the right of the silver bowl, oriented forwards at the tip.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "With the right hand, position the corn to the right of the silver bowl so the tip points forwards.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Place the corn to the right of the silver bowl with its tip facing forwards.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Set the corn to the right of the silver bowl with the tip facing forwards.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Position the corn to the right of the silver bowl, keeping the tip pointed forwards.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Using the right hand, put the corn to the right of the silver bowl.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Have the right arm place the corn to the right of the silver bowl.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "With the right hand, set the corn to the right of the silver bowl.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Place the corn to the right of the silver bowl.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Set the corn to the right of the silver bowl.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Position the corn to the right of the silver bowl.", + "start_idx": 1038, + "end_idx": 1080 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "With the right arm, collect the cabbage from the table diagonally by holding its middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Have the right hand pick the cabbage off the table at a diagonal angle from the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Take the cabbage off the table diagonally while holding the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Grab the cabbage from the table at a diagonal angle by the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Using the right hand, take the cabbage off the table.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Have the right arm collect the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Take the cabbage from the table by the middle.", + "start_idx": 1080, + "end_idx": 1119 + }, + { + "text": "Put the cabbage in front of the asparagus with the right hand facing bottom right from the front.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Using the right hand, place the cabbage in front of the asparagus facing bottom right from the front.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Have the right arm set the cabbage in front of the asparagus with its front facing bottom right.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "With the right hand, position the cabbage before the asparagus, oriented bottom right from the front.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Place the cabbage in front of the asparagus facing bottom right from the front.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Set the cabbage before the asparagus with its front facing bottom right.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Position the cabbage in front of the asparagus, oriented bottom right from the front.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Using the right hand, put the cabbage in front of the asparagus.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Have the right arm place the cabbage before the asparagus.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "With the right hand, set the cabbage in front of the asparagus.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Put the cabbage in front of the asparagus.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Place the cabbage before the asparagus.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Set the cabbage in front of the asparagus.", + "start_idx": 1119, + "end_idx": 1164 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grasp at the bottom diagonally.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "With the right arm, grasp the carrot from the table in a diagonal side hold at its bottom.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Have the right hand pick the carrot up from the table with a side grip on the bottom at a diagonal.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom diagonally.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Take the carrot from the table in a diagonal side grasp at the bottom.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Grasp the carrot from the table at its bottom diagonally.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "The carrot from the table should be picked up with the right hand using a side grip.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Use the right hand to take the carrot from the table with a side grasp.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "With the right arm, pick up the carrot from the table by the bottom diagonally.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Pick up the carrot from the table with the right hand at the bottom diagonally.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Take the carrot from the table using a side grip.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "The carrot from the table should be grasped with the right hand.", + "start_idx": 1254, + "end_idx": 1287 + }, + { + "text": "Put the carrot in front of the silver bowl with the right hand facing forwards with the tip as the orientation reference point.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Using the right hand, place the carrot in front of the silver bowl with the tip facing forwards.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Have the right arm set the carrot in front of the silver bowl, oriented forward using its tip as the reference point.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "With the right hand, position the carrot in front of the silver bowl so the tip points forwards.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Place the carrot in front of the silver bowl with the tip facing forwards.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Set the carrot in front of the silver bowl, with its tip oriented forwards.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Position the carrot in front of the silver bowl so the tip points forward.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Using the right hand, put the carrot in front of the silver bowl.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Have the right arm place the carrot in front of the silver bowl.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "With the right hand, set the carrot in front of the silver bowl.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Put the carrot in front of the silver bowl.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Set the carrot in front of the silver bowl.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Position the carrot in front of the silver bowl.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Pick up the cabbage from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Using the right hand, take the cabbage from the table with a side grip at the bottom diagonally.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Have the right arm pick the cabbage up from the table using a diagonal side grasp at the bottom.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "With the right hand, grasp the cabbage from the table by the bottom in a diagonal side hold.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom diagonally.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Take the cabbage from the table with a diagonal side grasp at the bottom.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Grasp the cabbage from the table by the bottom with a side grip on a diagonal.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "With the right hand, take the cabbage from the table.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Have the right arm grasp the cabbage from the table.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Pick up the cabbage from the table at the bottom diagonally.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Take the cabbage from the table with the right hand.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Grasp the cabbage from the table diagonally at the bottom.", + "start_idx": 1407, + "end_idx": 1443 + }, + { + "text": "Put the cabbage to the right side of the beige bowl with the right hand facing backwards with the front as the orientation reference point.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Using the right hand, place the cabbage on the right side of the beige bowl, facing backwards relative to its front.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Have the right arm set the cabbage to the beige bowl's right, with the front as the reference and facing backwards.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "With the right hand, position the cabbage to the right of the beige bowl so its front faces backwards.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Place the cabbage on the right side of the beige bowl, facing backwards relative to its front.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Set the cabbage to the right of the beige bowl with its front oriented backwards.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Position the cabbage to the beige bowl's right, with the front facing backwards.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Arrange the cabbage on the right side of the beige bowl, oriented backwards from the front.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Using the right hand, place the cabbage to the right of the beige bowl.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Have the right arm set the cabbage on the beige bowl's right side.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "With the right hand, position the cabbage beside the beige bowl on its right.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Put the cabbage to the right of the beige bowl.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Set the cabbage on the beige bowl's right side.", + "start_idx": 1443, + "end_idx": 1479 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "From a diagonal angle, have the right hand seize the carrot from the table with a side grip at the bottom.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "With the right hand, pick the carrot up from the table using a side hold on the bottom at a diagonal angle.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "From a diagonal angle, grasp the carrot from the table with a side hold at the bottom.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Take the carrot from the table using a side grasp on its bottom from a diagonal angle.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Have the right hand take the carrot from the table.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "With the right hand, grasp the carrot from the table.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Pick up the carrot from the table from a diagonal angle.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "From a diagonal angle, take the carrot from the table.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 1650, + "end_idx": 1692 + }, + { + "text": "Put the carrot to the bottom right side of the table with the right hand facing top right by the tip.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Using the right hand, place the carrot at the table's bottom right with its tip facing the top right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Have the right hand set the carrot on the bottom right side of the table, tip oriented toward the top right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "With the right hand, position the carrot at the bottom right of the table, keeping the tip pointed top right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Place the carrot at the bottom right side of the table with its tip facing the top right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Set the carrot on the table's bottom right side with the tip directed toward the top right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Position the carrot at the bottom right of the table, tip pointing to the top right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Using the right hand, put the carrot on the bottom right side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "With the right hand, place the carrot at the table's bottom right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Have the right hand set the carrot at the bottom right of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Put the carrot on the bottom right side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Set the carrot at the table's bottom right.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Position the carrot on the bottom right of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Have the right arm grasp the silver bowl from the table using a diagonal lip hold at the bowl's bottom-right edge.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "With the right hand, secure the silver bowl from the table in a bottom-right diagonal lip grasp.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Grasp the silver bowl from the table in a diagonal lip grip at the bottom right.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Using a diagonal lip grip, collect the silver bowl from the table at the bottom right.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "With the right hand, pick up the silver bowl from the table.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Have the right arm take the silver bowl from the table.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Using the right hand, grasp the silver bowl from the table.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 1731, + "end_idx": 1764 + }, + { + "text": "Put the silver bowl to the left side of the carrot with the right hand.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Using the right hand, place the silver bowl to the left of the carrot, right side up from the front.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Have the right arm set the silver bowl on the carrot's left side with its front kept right side up.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "With the right hand, position the silver bowl left of the carrot in a right-side-up front-facing orientation.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Place the silver bowl to the left of the carrot.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Set the silver bowl on the left side of the carrot.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Position the silver bowl left of the carrot.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Using the right hand, place the silver bowl to the left of the carrot.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Have the right arm set the silver bowl on the carrot's left side.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "With the right hand, position the silver bowl left of the carrot.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Put the silver bowl to the left of the carrot.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Set the silver bowl to the left of the carrot with its front right side up.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Using the right hand, place the silver bowl on the carrot's left side.", + "start_idx": 1764, + "end_idx": 1806 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Have the right arm take the silver bowl from the table using a diagonal lip grasp on its right side.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the right side using a diagonal lip hold.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Grasp the silver bowl from the table by the right side with a diagonal lip hold.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Have the right arm take the silver bowl from the table.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Using the right hand, take the silver bowl from the table.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 2139, + "end_idx": 2184 + }, + { + "text": "Put the silver bowl to the bottom side of the table with the right hand.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Using the right hand, place the silver bowl at the bottom side of the table, right side up from the front.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Have the right hand set the silver bowl on the bottom side of the table with its front right side up.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "With the right hand, position the silver bowl at the table's bottom side, keeping it right side up relative to the front.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Place the silver bowl at the bottom side of the table, right side up from the front.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Set the silver bowl on the bottom side of the table with its front right side up.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Position the silver bowl at the table's bottom side, keeping it right side up relative to the front.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Using the right hand, place the silver bowl at the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Have the right hand set the silver bowl on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "With the right hand, position the silver bowl at the table's bottom side.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Place the silver bowl at the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Set the silver bowl on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Position the silver bowl at the table's bottom side.", + "start_idx": 2184, + "end_idx": 2223 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Have the right arm grasp the carrot from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "With the right hand, secure the carrot from the table using a side grasp on its bottom from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "From a diagonal angle, grasp the carrot from the table with a side hold at the bottom.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "The carrot from the table should be picked up with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Using the right hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "With the right hand, take the carrot from the table using a side grasp on the bottom.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Have the right arm grab the carrot from the table with a side hold at the bottom.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Using the right hand, pick up the carrot from the table from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "From a diagonal angle, take the carrot from the table with the right hand.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Pick up the carrot from the table with a side grip.", + "start_idx": 2304, + "end_idx": 2346 + }, + { + "text": "Put the carrot to the front left of the corn with the right hand facing top right with the tip as the orientation reference point.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Using the right hand, place the carrot front-left of the corn, with the tip oriented toward the top right.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Have the right hand set the carrot to the corn's front left, tip facing the top right.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "With the right hand, position the carrot at the front left of the corn, using the tip as the reference and facing top right.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Place the carrot to the front left of the corn, with the tip facing the top right.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Set the carrot front-left of the corn, tip oriented toward the top right.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Position the carrot at the corn's front left, with the tip directed to the top right.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Using the right hand, put the carrot to the front left of the corn.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Have the right hand place the carrot at the corn's front left.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "With the right hand, set the carrot front-left of the corn.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Put the carrot to the front left of the corn.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Place the carrot at the front left of the corn.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Set the carrot front-left of the corn.", + "start_idx": 2346, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grasp at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Using the right hand, take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Have the right arm pick the corn up from the table with a bottom side grasp at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Pick up the corn from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Take the corn from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Grasp the corn from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Using the right hand, take the corn from the table.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Have the right arm grasp the corn from the table.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Pick up the corn from the table with the right hand from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Take the corn from the table using a side grasp at the bottom.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Put the corn to the bottom right side of the table with the right hand facing forwards with the tip as the reference point.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Using the right hand, place the corn on the bottom-right side of the table with the tip facing forward.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Have the right hand set the corn at the table's bottom-right side, oriented forward by its tip.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "With the right hand, position the corn at the bottom right of the table so the tip points forward.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Place the corn on the bottom-right side of the table with the tip facing forward.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Set the corn at the bottom right of the table, keeping the tip pointed forward.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Position the corn on the table's bottom-right side so its tip faces forward.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "At the bottom-right side of the table, place the corn.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Set the corn on the bottom right of the table.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "The corn goes at the table's bottom-right side.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Using the right hand, place the corn on the bottom-right side of the table.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "With the right hand, set the corn at the table's bottom-right side.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Have the right hand position the corn at the bottom right of the table.", + "start_idx": 2424, + "end_idx": 2466 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Have the right hand take the silver bowl from the table using a bottom-right diagonal lip grip.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by its bottom-right lip at a diagonal angle.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Grasp the silver bowl from the table by the bottom-right lip on a diagonal.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Have the right hand take the silver bowl from the table.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Take the silver bowl from the table using the right hand.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 2862, + "end_idx": 2901 + }, + { + "text": "Put the silver bowl to the front right of the beige bowl with the right hand.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Using the right hand, place the silver bowl at the front-right of the beige bowl, right side up.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Have the right arm set the silver bowl front-right of the beige bowl, keeping it upright.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "With the right hand, position the silver bowl to the beige bowl's front right, right side up.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Place the silver bowl at the front-right of the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Set the silver bowl to the front right of the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Position the silver bowl in front of and to the right of the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Arrange the silver bowl at the beige bowl's front-right.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Using the right hand, put the silver bowl by the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "With the right hand, set the silver bowl next to the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Have the right arm place the silver bowl beside the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Put the silver bowl front-right of the beige bowl with the right hand.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Place the silver bowl near the beige bowl.", + "start_idx": 2901, + "end_idx": 2946 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "With the right hand, retrieve the corn from the table by grasping its middle at a diagonal angle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Using the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Have the right hand take the corn from the table by its middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "With the right hand, retrieve the corn from the table while holding the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Retrieve the corn from the table by grasping the middle.", + "start_idx": 3222, + "end_idx": 3270 + }, + { + "text": "Put the corn inside the silver bowl with the right hand facing top left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Using the right hand, place the corn in the silver bowl with its tip facing the top left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Have the right arm set the corn inside the silver bowl, tip oriented toward the top left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "With the right hand, position the corn in the silver bowl so the tip points to the upper left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Place the corn inside the silver bowl with its tip facing the top left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Set the corn in the silver bowl with the tip pointing toward the upper left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Position the corn inside the silver bowl so its tip faces the top left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Using the right hand, put the corn in the silver bowl.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "With the right hand, place the corn inside the silver bowl.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Have the right arm deposit the corn into the silver bowl.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Put the corn into the silver bowl.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Set the corn inside the silver bowl.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Place the corn in the silver bowl.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal angle by grasping its middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Take the carrot from the table on a diagonal angle while holding the middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup, grasping it at the middle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Using the right hand, take the carrot from the table.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Have the right arm retrieve the carrot from the table.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "With the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 3306, + "end_idx": 3351 + }, + { + "text": "Put the carrot inside the silver bowl with the right hand facing top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Using the right hand, place the carrot in the silver bowl with its tip facing the top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Have the right arm put the carrot inside the silver bowl, tip oriented toward the top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "With the right hand, set the carrot into the silver bowl so the tip points top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Place the carrot inside the silver bowl with its tip facing the top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Set the carrot into the silver bowl with the tip pointing toward the top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Put the carrot in the silver bowl so its tip faces the top left.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Using the right hand, place the carrot inside the silver bowl.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "With the right hand, set the carrot into the silver bowl.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Have the right arm put the carrot in the silver bowl.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Put the carrot inside the silver bowl.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Set the carrot into the silver bowl.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Using the right hand, place the carrot in the silver bowl.", + "start_idx": 3351, + "end_idx": 3384 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "With the right hand, grasp the cabbage at its middle from the table on a diagonal.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Grasp the cabbage from the table at its middle on a diagonal.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Using the right hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "With the right hand, take the cabbage from the table at a diagonal angle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Have the right arm grasp the cabbage from the table diagonally.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Take the cabbage from the table, grasping the middle.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 3819, + "end_idx": 3867 + }, + { + "text": "Put the cabbage to the right of the silver bowl with the right hand facing bottom right from the front.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Using the right hand, place the cabbage to the right of the silver bowl, facing bottom right from the front.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Have the right arm set the cabbage to the silver bowl's right side with its front facing bottom right.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "With the right hand, position the cabbage right of the silver bowl so the front faces bottom right.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Place the cabbage to the right of the silver bowl with its front facing bottom right.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Set the cabbage on the right side of the silver bowl, front facing bottom right.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Position the cabbage to the right of the silver bowl, oriented bottom right from the front.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Using the right hand, put the cabbage to the right of the silver bowl.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "With the right hand, place the cabbage on the silver bowl's right side.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Have the right arm set the cabbage to the right of the silver bowl.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Put the cabbage to the right of the silver bowl.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Set the cabbage beside the silver bowl on its right side.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Position the cabbage on the right side of the silver bowl.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "With the right hand, grasp the cabbage from the table at the middle using a diagonal approach.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "From the table, grasp the cabbage at the middle with a diagonal approach.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "With the right hand, grasp the cabbage from the table.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 4239, + "end_idx": 4290 + }, + { + "text": "Put the cabbage to the right of the corn with the right hand facing bottom right relative to the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Using the right hand, place the cabbage to the right of the corn, facing bottom right relative to the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Have the right arm set the cabbage to the corn's right side with its orientation facing bottom right from the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "With the right hand, position the cabbage right of the corn, oriented toward the bottom right relative to the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Place the cabbage to the right of the corn, facing bottom right relative to the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Set the cabbage on the right side of the corn, with bottom-right orientation from the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Position the cabbage to the corn's right, directed toward the bottom right relative to the front.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Using the right hand, place the cabbage to the right of the corn.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Have the right arm set the cabbage on the right side of the corn.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "With the right hand, position the cabbage to the corn's right.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Place the cabbage to the right of the corn.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Set the cabbage on the right side of the corn.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Position the cabbage to the corn's right.", + "start_idx": 4290, + "end_idx": 4335 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the right hand grasp the cabbage from the table diagonally at its middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the right hand, take the cabbage from the table using a diagonal approach at the middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Take the cabbage from the table diagonally from the middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Grasp the cabbage from the table at a diagonal angle from its middle.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the right hand take the cabbage from the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the right hand, grasp the cabbage from the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Put the cabbage to the right side of the table with the right hand facing backwards with the front as the reference point.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Using the right hand, place the cabbage on the table's right side with its front facing backward.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Have the right arm set the cabbage to the right of the table, oriented backward relative to its front.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "With the right hand, position the cabbage at the table's right side, front facing backward.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Place the cabbage on the right side of the table with its front facing backward.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Set the cabbage to the table's right side, with the front oriented backward.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Position the cabbage on the right side of the table, keeping its front toward the back.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Using the right hand, place the cabbage on the table's right side.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Have the right arm set the cabbage to the right of the table.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "With the right hand, position the cabbage at the table's right side.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Put the cabbage on the right side of the table.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Set the cabbage to the table's right side.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Position the cabbage on the table's right side.", + "start_idx": 4803, + "end_idx": 4839 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Have the right arm grasp the asparagus from the table from a diagonal angle, using a side hold at the bottom.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "With the right hand, secure the asparagus from the table at the bottom with a side grasp from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "From a diagonal angle, grasp the asparagus from the table at the bottom with a side hold.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "The asparagus should be picked up from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Have the right arm take the asparagus from the table using a side hold at the bottom.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "With the right hand, grasp the asparagus from the table from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Take the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "The asparagus should be grasped from the table with a side grip.", + "start_idx": 5184, + "end_idx": 5220 + }, + { + "text": "Put the asparagus to the bottom side of the table with the right hand facing top left with the tip as the reference point.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Using the right hand, place the asparagus on the bottom side of the table with the tip facing top left.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Have the right hand set the asparagus at the table's bottom side, oriented top left by its tip.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "With the right hand, position the asparagus on the bottom side of the table so the tip points top left.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Place the asparagus on the bottom side of the table.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Set the asparagus at the table's bottom side.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Position the asparagus on the bottom side of the table.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Put the asparagus on the bottom side of the table.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Using the right hand, place the asparagus on the bottom side of the table.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Have the right hand set the asparagus at the table's bottom side.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "With the right hand, position the asparagus on the bottom side of the table.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Place the asparagus on the bottom side of the table with the right hand.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Set the asparagus on the table's bottom side with the right hand.", + "start_idx": 5220, + "end_idx": 5256 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "With the right hand, retrieve the cabbage from the table diagonally, gripping the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Retrieve the cabbage from the table diagonally, with the grasp at its middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Using the right hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "With the right hand, take the cabbage from the table by the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Have the right arm collect the cabbage from the table, holding the middle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Take the cabbage from the table with a diagonal approach using the right hand.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Retrieve the cabbage from the table diagonally with a middle grasp.", + "start_idx": 5256, + "end_idx": 5298 + }, + { + "text": "Put the cabbage behind the asparagus with the right hand facing bottom left relative to the front.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Using the right hand, place the cabbage behind the asparagus with it facing bottom left relative to the front.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Have the right arm set the cabbage behind the asparagus, oriented bottom-left from the front.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "With the right hand, position the cabbage behind the asparagus so it faces the bottom left relative to the front.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Place the cabbage behind the asparagus so it faces bottom left relative to the front.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Set the cabbage behind the asparagus, oriented bottom left from the front.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Position the cabbage behind the asparagus with the front facing bottom left.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Using the right hand, put the cabbage behind the asparagus.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "With the right hand, place the cabbage behind the asparagus.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Have the right arm set the cabbage behind the asparagus.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Put the cabbage behind the asparagus.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Using the right hand, position the cabbage behind the asparagus.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Place the cabbage behind the asparagus facing bottom left.", + "start_idx": 5298, + "end_idx": 5343 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Have the right arm take the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the bottom-right edge in a diagonal lip hold.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Grasp the silver bowl from the table at the bottom right with a diagonal lip hold.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Have the right arm take the silver bowl from the table.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Have the right arm pick up the silver bowl from the table.", + "start_idx": 5820, + "end_idx": 5856 + }, + { + "text": "Put the silver bowl to the bottom right side of the table with the right hand.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Using the right hand, place the silver bowl at the table's bottom right with it right side up and the front facing forward.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Have the right arm set the silver bowl on the bottom-right area of the table, upright with the front forward.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "With the right hand, position the silver bowl on the lower-right side of the table, keeping it right side up and the front toward the front.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Place the silver bowl on the bottom right side of the table, keeping it right side up and the front forward.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Set the silver bowl at the table's bottom-right area, upright with the front facing forward.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Position the silver bowl on the lower-right side of the table, right side up with the front toward the front.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Using the right hand, put the silver bowl on the bottom right side of the table.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "With the right hand, place the silver bowl at the table's lower-right area.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Have the right arm set the silver bowl on the bottom-right part of the table.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Put the silver bowl on the bottom right side of the table.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Set the silver bowl at the table's lower-right area.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Position the silver bowl on the bottom-right part of the table.", + "start_idx": 5856, + "end_idx": 5910 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "With the right hand, grasp the asparagus at its middle and retrieve it from the table at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Grasp the asparagus at its middle and remove it from the table on a diagonal.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "With the right hand, take the asparagus from the table by the middle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Have the right hand grasp the middle of the asparagus and retrieve it from the table.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Take the asparagus from the table at a diagonal angle with the right hand.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Grasp the asparagus from the table at its middle and pick it up.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Put the asparagus inside the silver bowl with the right hand facing top right by the tip.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Using the right hand, place the asparagus in the silver bowl with the tip facing the top right.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Have the right hand set the asparagus inside the silver bowl, oriented with its tip toward the top right.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "With the right hand, position the asparagus in the silver bowl so the tip points top right.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Place the asparagus in the silver bowl with the tip facing the top right.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Set the asparagus inside the silver bowl so its tip points toward the top right.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Position the asparagus in the silver bowl, tip directed to the top right.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Using the right hand, put the asparagus inside the silver bowl.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "With the right hand, place the asparagus in the silver bowl.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Have the right hand set the asparagus into the silver bowl.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Put the asparagus in the silver bowl.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Place the asparagus inside the silver bowl.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Set the asparagus into the silver bowl.", + "start_idx": 5934, + "end_idx": 5967 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle gripping the middle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, gripping the middle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach and a middle hold.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "With the right hand, grasp the cabbage from the table diagonally at its middle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, gripping the middle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Grasp the cabbage from the table diagonally by the middle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "With the right hand, grasp the cabbage from the table.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Take the cabbage from the table with the right hand.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 6111, + "end_idx": 6144 + }, + { + "text": "Put the cabbage to the right side of the table with the right hand facing backwards with the front as the reference point.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Using the right hand, place the cabbage on the table's right side with its front facing backward.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Have the right arm set the cabbage to the right of the table, oriented backward relative to its front.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "With the right hand, position the cabbage at the table's right side so the front faces backward.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Place the cabbage on the right side of the table with its front facing backward.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Set the cabbage to the table's right side, with the front oriented backward.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Position the cabbage on the table's right side so its front points backward.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Using the right hand, place the cabbage on the table's right side.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Have the right arm set the cabbage to the right of the table.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "With the right hand, position the cabbage at the table's right side.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Place the cabbage on the right side of the table.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Set the cabbage to the table's right side.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Position the cabbage on the table's right side.", + "start_idx": 6144, + "end_idx": 6198 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Have the right arm take the corn from the table, grasping its bottom from the side at a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom in a side hold with a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Take the corn from the table, grasping the bottom from the side at a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Grasp the corn from the table at the bottom with a side hold and a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Have the right arm take the corn from the table with a side grasp at the bottom.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom from the side.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Using the right hand, take the corn from the table at the bottom with a diagonal angle.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Grasp the corn from the table at the bottom from the side.", + "start_idx": 6297, + "end_idx": 6324 + }, + { + "text": "Put the corn to the left of the silver bowl with the right hand facing forwards with the tip as the reference point.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Using the right hand, place the corn to the left of the silver bowl with the tip facing forwards.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Have the right arm set the corn to the left of the silver bowl, oriented forward by its tip.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "With the right hand, position the corn left of the silver bowl so the tip points forwards.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Place the corn to the left of the silver bowl with the tip facing forwards.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Set the corn left of the silver bowl with the tip pointing forwards.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Position the corn to the left of the silver bowl, tip facing forwards.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Put the corn to the left of the silver bowl with the right hand.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Using the right hand, place the corn left of the silver bowl.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Have the right arm set the corn to the left of the silver bowl.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Place the corn to the left of the silver bowl.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Set the corn left of the silver bowl.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Position the corn to the left of the silver bowl.", + "start_idx": 6324, + "end_idx": 6366 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Have the right arm collect the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "With the right hand, retrieve the cabbage from the table by gripping its middle at a diagonal angle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "With the right hand, collect the cabbage from the table.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Using the right hand, grab the cabbage from the table at a diagonal angle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Get the cabbage from the table by grasping the middle.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Place the cabbage to the left of the corn with the right hand facing right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Using the right hand, place the cabbage to the left of the corn with its front facing right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Have the right arm set the cabbage left of the corn, front oriented to the right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "With the right hand, position the cabbage to the left of the corn so the front faces right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Place the cabbage to the left of the corn with its front facing right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Set the cabbage left of the corn with the front pointed right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Position the cabbage to the left of the corn, front facing right.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Using the right hand, place the cabbage to the left of the corn.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Have the right arm set the cabbage left of the corn.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "With the right hand, position the cabbage to the left of the corn.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Place the cabbage to the left of the corn.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Set the cabbage left of the corn.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Have the cabbage positioned to the left of the corn.", + "start_idx": 6405, + "end_idx": 6450 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "With the right hand, retrieve the corn from the table at a diagonal angle by grasping its middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Take the corn from the table at a diagonal angle while holding the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, grasping its middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Using the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "With the right hand, take the corn from the table by the middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Have the right arm retrieve the corn from the table, holding its middle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 6543, + "end_idx": 6582 + }, + { + "text": "Put the corn to the center of the table with the right hand facing right with the tip as the reference point.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Using the right hand, place the corn at the center of the table with its tip facing right.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Have the right hand set the corn in the table center, oriented rightward using the tip as the reference point.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "With the right hand, position the corn at the center of the table so the tip points right.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Place the corn at the center of the table with the tip facing right.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Set the corn in the center of the table, oriented to the right by its tip.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Position the corn at the table center so its tip faces right.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Put the corn at the center of the table.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Set the corn in the center of the table.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Position the corn at the table center.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Using the right hand, place the corn at the center of the table.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Have the right hand set the corn in the table center.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "With the right hand, position the corn at the center of the table.", + "start_idx": 6582, + "end_idx": 6633 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle gripping the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, gripping the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Have the right arm grasp the cabbage from the table through the middle at a diagonal angle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "With the right hand, retrieve the cabbage from the table, holding it at the middle on a diagonal.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, gripping the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Take the cabbage from the table on a diagonal, grasping the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Using the right hand, pick up the cabbage from the table gripping the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "With the right hand, take the cabbage from the table at a diagonal angle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Have the right arm retrieve the cabbage from the table at a diagonal angle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "From the table, grasp the cabbage through the middle.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 6741, + "end_idx": 6774 + }, + { + "text": "Put the cabbage to the top side of the table with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Using the right hand, place the cabbage on the table's top side with the tip oriented backward.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Have the right arm set the cabbage at the top side of the table, with the tip facing backward.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "With the right hand, position the cabbage on the table's top side so its tip points backward.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Place the cabbage on the top side of the table.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Set the cabbage at the table's top side.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Position the cabbage on the top side of the table.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Move the cabbage to the table's top side.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "On the top side of the table, place the cabbage with the right hand.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Use the right hand to set the cabbage on the table's top side.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Have the right arm position the cabbage at the top side of the table.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Place the cabbage on the table's top side with its tip facing backward.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Set the cabbage at the top side of the table, oriented backward from the tip.", + "start_idx": 6774, + "end_idx": 6816 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the bottom.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Have the right hand take the silver bowl from the table using a bottom diagonal lip grip.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "With the right hand, grasp the silver bowl from the table at the bottom with a diagonal lip hold.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Grasp the silver bowl from the table at the bottom using a diagonal lip hold.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Have the right hand take the silver bowl from the table.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Using the right hand, take the silver bowl from the table.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 6915, + "end_idx": 6966 + }, + { + "text": "Dump the asparagus to the right of the carrot with the right hand.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Using the right hand, dump the asparagus to the right of the carrot.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Have the right arm place the asparagus on the carrot's right side.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "With the right hand, deposit the asparagus to the right of the carrot.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Dump the asparagus to the right of the carrot.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Place the asparagus on the right side of the carrot.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Set the asparagus to the carrot's right.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Move the asparagus to the right of the carrot.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Position the asparagus on the carrot's right side.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Using the right hand, dump the asparagus.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Have the right arm place the asparagus.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "With the right hand, set down the asparagus.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Place the asparagus.", + "start_idx": 6966, + "end_idx": 7017 + }, + { + "text": "Put the silver bowl to the left of the carrot with the right hand.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Using the right hand, place the silver bowl to the left of the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Have the right arm set the silver bowl to the carrot's left.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "With the right hand, position the silver bowl on the left side of the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Place the silver bowl to the left of the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Set the silver bowl on the left side of the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Position the silver bowl to the carrot's left.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Leave the silver bowl to the left of the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Using the right hand, place the silver bowl by the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Have the right arm set the silver bowl near the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "With the right hand, position the silver bowl next to the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Place the silver bowl by the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Set the silver bowl near the carrot.", + "start_idx": 7017, + "end_idx": 7074 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "With the right hand, retrieve the corn from the table on a diagonal approach and grip the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Retrieve the corn from the table on a diagonal approach, holding the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Take the corn from the table at a diagonal angle by the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Get the corn from the table by the middle.", + "start_idx": 7074, + "end_idx": 7113 + }, + { + "text": "Put the corn inside the beige bowl with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Using the right hand, place the corn into the beige bowl with its tip facing bottom left.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Have the right arm put the corn inside the beige bowl, oriented bottom left from the tip.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "With the right hand, deposit the corn in the beige bowl so the tip points toward the bottom left.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Place the corn inside the beige bowl with its tip facing bottom left.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Set the corn into the beige bowl with the tip oriented toward the bottom left.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Put the corn in the beige bowl, keeping the tip aimed at the bottom left.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Using the right hand, place the corn into the beige bowl.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Have the right arm set the corn inside the beige bowl.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "With the right hand, put the corn in the beige bowl.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Put the corn inside the beige bowl.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Set the corn into the beige bowl.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Have the corn placed in the beige bowl.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Have the right arm pick up the asparagus from the table with a side grip at the bottom on a diagonal.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "With the right hand, grasp the asparagus from the table by its bottom using a side hold from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Take the asparagus from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Grasp the asparagus from the table at the bottom from a diagonal angle using a side hold.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "With the right hand, take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Have the right arm grasp the asparagus from the table by the bottom with a side hold.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Pick up the asparagus from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Using the right hand, take the asparagus from the table from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Pick up the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 7224, + "end_idx": 7248 + }, + { + "text": "Put the asparagus in front of the beige bowl with the right hand facing top left with the tip as the reference point.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Using the right hand, place the asparagus in front of the beige bowl with the tip facing top left.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Have the right arm set the asparagus in front of the beige bowl, oriented top left from the tip.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "With the right hand, position the asparagus before the beige bowl so the tip points top left.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Place the asparagus in front of the beige bowl with the tip facing top left.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Set the asparagus before the beige bowl with the tip oriented toward the top left.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Position the asparagus in front of the beige bowl so the tip points top left.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Using the right hand, place the asparagus in front of the beige bowl.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "With the right hand, set the asparagus before the beige bowl.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Have the right arm position the asparagus in front of the beige bowl.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Put the asparagus in front of the beige bowl.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Set the asparagus before the beige bowl.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Position the asparagus in front of the beige bowl.", + "start_idx": 7248, + "end_idx": 7281 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal, gripping the center.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Take the asparagus from the table on a diagonal while holding the middle.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup at the center.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Remove the asparagus from the table.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Put the asparagus to the front right of the silver bowl with the right hand with the tip facing top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Using the right hand, place the asparagus at the silver bowl's front-right, with the tip pointing to the top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Have the right arm set the asparagus in front of and to the right of the silver bowl, tip aimed top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "With the right hand, position the asparagus to the front right of the silver bowl so its tip faces top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Place the asparagus at the front right of the silver bowl.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Set the asparagus down in front of and to the right of the silver bowl.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "The asparagus goes to the silver bowl's front-right side.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Put the asparagus to the front right of the silver bowl with the right hand.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Using the right hand, place the asparagus by the silver bowl's front-right side.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Have the right arm set the asparagus down in front of and to the right of the silver bowl.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Place the asparagus with the tip facing top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Set the asparagus down so its tip points top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Position the asparagus with its tip aimed toward the top left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Have the right hand grasp the silver bowl from the table with a bottom-right diagonal lip hold.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "With the right hand, secure the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "The silver bowl from the table should be grasped with a diagonal lip hold at the bottom right.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Have the right hand take the silver bowl from the table.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "The silver bowl from the table should be picked up with the right hand.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "The silver bowl from the table should be grasped.", + "start_idx": 7746, + "end_idx": 7803 + }, + { + "text": "Put the silver bowl to the right of the asparagus with the right hand.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Have the right arm set the silver bowl to the asparagus's right side.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "With the right hand, position the silver bowl on the right side of the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Place the silver bowl to the right of the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Set the silver bowl on the right side of the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Position the silver bowl to the asparagus's right.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Move the silver bowl to the right of the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Using the right hand, place the silver bowl by the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "With the right hand, set the silver bowl next to the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Have the right arm place the silver bowl beside the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Put the silver bowl by the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Set the silver bowl beside the asparagus.", + "start_idx": 7803, + "end_idx": 7854 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, gripping the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Have the right arm grasp the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "With the right hand, collect the asparagus from the table using a diagonal approach at its middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Grasp the asparagus from the table at a diagonal angle around the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "The asparagus from the table should be picked up diagonally at its middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "With the right hand, take the asparagus from the table by the middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Have the right arm collect the asparagus from the table around its middle.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 8031, + "end_idx": 8073 + }, + { + "text": "Put the asparagus on the center of the table with the right hand with the tip facing top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Using the right hand, place the asparagus at the center of the table with its tip facing the top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Have the right hand set the asparagus in the table's center, tip oriented toward the top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "With the right hand, position the asparagus on the center of the table so the tip points top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Place the asparagus at the center of the table with its tip facing the top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Set the asparagus on the center of the table, with the tip pointing to the top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Position the asparagus in the middle of the table so its tip faces top right.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Using the right hand, place the asparagus at the center of the table.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Have the right hand set the asparagus in the table's center.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "With the right hand, position the asparagus on the center of the table.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Put the asparagus on the center of the table.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Set the asparagus in the middle of the table.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Place the asparagus at the center of the table.", + "start_idx": 8073, + "end_idx": 8112 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Have the right arm pick up the beige bowl from the table with a bottom diagonal lip grasp.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "The beige bowl from the table should be grasped with the right hand using a diagonal lip hold at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "The beige bowl from the table should be picked up using a diagonal lip hold at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "With the right hand, pick up the beige bowl from the table.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Use the right hand to take the beige bowl from the table.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Have the right arm grasp the beige bowl from the table.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 8111, + "end_idx": 8156 + }, + { + "text": "Dump the corn to the front right of the asparagus with the right hand.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Using the right hand, dump the corn to the front right of the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Have the right arm place the corn at the asparagus's front-right side.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "With the right hand, deposit the corn in front of and to the right of the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Dump the corn to the front right of the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Place the corn at the asparagus's front-right side.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Set the corn in front of and to the right of the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Position the corn by the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Put down the corn near the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Move the corn beside the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Using the right hand, position the corn by the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Have the right arm put down the corn near the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "With the right hand, move the corn beside the asparagus.", + "start_idx": 8156, + "end_idx": 8217 + }, + { + "text": "Place the beige bowl to the left of the carrot with the right hand.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Using the right hand, set the beige bowl to the carrot's left, right side up.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Have the right arm place the beige bowl left of the carrot, keeping it upright.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "With the right hand, position the beige bowl on the left side of the carrot, upright.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Place the beige bowl to the left of the carrot.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Set the beige bowl on the carrot's left side.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Position the beige bowl left of the carrot.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Using the right hand, set the beige bowl to the carrot's left.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Have the right arm place the beige bowl on the left side of the carrot.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Place the beige bowl left of the carrot, right side up.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Set the beige bowl to the left of the carrot, upright.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Position the beige bowl on the carrot's left side, keeping it upright.", + "start_idx": 8217, + "end_idx": 8274 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Have the right arm pick the corn off the table diagonally by the middle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "With the right hand, grasp the middle of the corn on the table and remove it at a diagonal angle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Take the corn off the table diagonally by the middle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Grasp the corn at its middle from the table at a diagonal angle.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Have the right arm take the corn off the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "With the right hand, remove the corn from the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Take the corn off the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Put the corn to the left of the asparagus with the right hand with its tip facing bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Using the right hand, place the corn to the left of the asparagus with its tip pointing bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "With the right hand, set the corn left of the asparagus, tip aimed toward the bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Have the right hand position the corn to the asparagus's left with the tip facing bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Place the corn to the left of the asparagus with its tip pointing bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Set the corn left of the asparagus, with the tip aimed bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Position the corn to the left of the asparagus, tip facing the bottom left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Using the right hand, place the corn to the left of the asparagus.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "With the right hand, set the corn left of the asparagus.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Have the right hand position the corn to the asparagus's left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Place the corn to the left of the asparagus.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Set the corn left of the asparagus.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Position the corn to the asparagus's left.", + "start_idx": 8622, + "end_idx": 8673 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the bottom.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Have the right arm pick up the silver bowl from the table by the bottom edge with a diagonal lip grip.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "With the right hand, grasp the silver bowl from the table at the bottom using a diagonal lip hold.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Grasp the silver bowl from the table by the bottom with a diagonal lip hold.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Using the right hand, take the silver bowl from the table.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Have the right arm grasp the silver bowl from the table.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 8766, + "end_idx": 8802 + }, + { + "text": "Put the silver bowl to the top right side of the table with the right hand.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Using the right hand, place the silver bowl on the table's top right side, right side up with the front forward.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Have the right hand set the silver bowl at the table's upper-right area, keeping it upright and the front aligned.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "With the right hand, position the silver bowl on the top right of the table, upright with the front facing forward.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Place the silver bowl on the table's top right side.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Set the silver bowl at the upper-right side of the table.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Position the silver bowl on the top right area of the table.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Put the silver bowl on the table's top right side, keeping it upright.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Set the silver bowl at the upper-right of the table with the front facing forward.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Position the silver bowl on the top right area of the table, right side up.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Using the right hand, place the silver bowl on the table's top right side.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "With the right hand, set the silver bowl at the upper-right area of the table.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Have the right hand position the silver bowl on the top right of the table.", + "start_idx": 8802, + "end_idx": 8850 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Have the right arm pick the corn up from the table with a diagonal approach at its middle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "With the right hand, retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "From the table, retrieve the corn at a diagonal angle by its middle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Use the right hand to take the corn from the table.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Have the right arm retrieve the corn from the table.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 9000, + "end_idx": 9042 + }, + { + "text": "Put the corn inside the silver bowl with the right hand facing bottom left.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Using the right hand, place the corn in the silver bowl with its tip facing bottom left.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Have the right arm put the corn inside the silver bowl, tip oriented toward the bottom left.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "With the right hand, set the corn into the silver bowl so the tip points bottom left.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Put the corn inside the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Place the corn into the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Set the corn in the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Get the corn into the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Move the corn into the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Using the right hand, place the corn in the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Have the right arm put the corn inside the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Put the corn in the silver bowl with the right hand.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "With the right hand, set the corn into the silver bowl.", + "start_idx": 9042, + "end_idx": 9090 + }, + { + "text": "Return both arms to home.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Have both arms return to home.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Bring both arms to the home position.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Return the arms to home.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Move the arms back to the home position.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Bring the arms to home.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Have the arms return to the home position.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Send the arms back home.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Put the arms in the home position.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Guide the arms to home.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Reset the arms to the home position.", + "start_idx": 9165, + "end_idx": 9195 + }, + { + "text": "Set the arms back to home.", + "start_idx": 9165, + "end_idx": 9195 + } + ] + }, + "2026-03-16-19-22-17-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 1 aria data", + "total_frames": 9016, + "num_annotations": 2805, + "annotations": [ + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Have the left arm grasp the corn from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp at its bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom from a diagonal approach.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Grasp the corn from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip at the bottom.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Have the left arm take the corn from the table with a side grasp at the bottom.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Using the left hand, grasp the corn from the table with a side hold at the bottom.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "With the left hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Have the left arm take the corn from the table on a diagonal approach.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Pick up the corn from the table at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 51 + }, + { + "text": "Put the corn inside the pink bowl with the left hand facing top left by the tip.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Using the left hand, place the corn in the pink bowl with the tip facing the top left.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Have the left arm set the corn inside the pink bowl so its tip points to the upper left.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "With the left hand, deposit the corn into the pink bowl, tip oriented toward the top left.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Place the corn inside the pink bowl with the tip facing the top left.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Set the corn in the pink bowl so the tip points to the upper left.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Put the corn into the pink bowl with its tip toward the top left.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "With the left hand, place the corn inside the pink bowl.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Using the left hand, put the corn into the pink bowl.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Have the left arm set the corn in the pink bowl.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Place the corn inside the pink bowl.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Set the corn into the pink bowl.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Have the corn placed in the pink bowl.", + "start_idx": 51, + "end_idx": 90 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding its middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup at its middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "From the table, retrieve the cabbage diagonally while holding the middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Grasp the cabbage from the table with the left hand.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Use the left hand to take the cabbage from the table.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Have the left arm pick the cabbage up from the table.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Take the cabbage from the table by the middle.", + "start_idx": 90, + "end_idx": 120 + }, + { + "text": "Put the cabbage to the left of the white coffee cup with the left hand facing forwards.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white coffee cup with its front facing forward.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Have the left arm set the cabbage left of the white coffee cup, oriented so the front points forward.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "With the left hand, position the cabbage to the left of the white coffee cup, front facing forward.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Place the cabbage to the left of the white coffee cup with its front facing forward.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Set the cabbage left of the white coffee cup, keeping the front pointed forward.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Position the cabbage to the left of the white coffee cup so its front faces forward.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white coffee cup.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Have the left arm set the cabbage left of the white coffee cup.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "With the left hand, position the cabbage beside the white coffee cup on its left side.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Place the cabbage to the left of the white coffee cup.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Set the cabbage on the left side of the white coffee cup.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Put the cabbage beside the white coffee cup on its left.", + "start_idx": 120, + "end_idx": 156 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Have the left arm grasp the white cup from the table by the top with a lip grip at a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp on the top from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Grasp the white cup from the table by the top with a lip grip at a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "The white cup from the table should be picked up using a lip grasp on the top from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the top.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "With the left hand, collect the white cup from the table using a lip grasp on the top.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Have the left arm take the white cup from the table with a lip grip.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "With the left hand, pick up the white cup from the table from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Pick up the white cup from the table with the left hand from a diagonal angle.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Using the left hand, take the white cup from the table by the top.", + "start_idx": 216, + "end_idx": 243 + }, + { + "text": "Put the white cup in front of the pink bowl right side up with the front as the orientation reference using the left hand.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Using the left hand, place the white cup in front of the pink bowl right side up, with the front as the orientation reference.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Have the left arm set the white cup in front of the pink bowl upright, using the front as the reference point.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "With the left hand, position the white cup before the pink bowl so it is right side up, referenced from the front.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Place the white cup in front of the pink bowl right side up, with the front as the orientation reference.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Set the white cup before the pink bowl upright, using the front as the reference point.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Position the white cup in front of the pink bowl so it is right side up, based on the front.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Using the left hand, put the white cup in front of the pink bowl.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Have the left arm place the white cup before the pink bowl.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "With the left hand, set the white cup in front of the pink bowl.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Put the white cup in front of the pink bowl.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Place the white cup before the pink bowl.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Set the white cup in front of the pink bowl.", + "start_idx": 243, + "end_idx": 285 + }, + { + "text": "Pick up the pink stuffed from toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the pink stuffed from toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Have the left arm take the pink stuffed from toy off the table diagonally with a whole-object grasp.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "With the left hand, retrieve the pink stuffed from toy from the table at a diagonal angle using an entire-object hold.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Pick up the pink stuffed from toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Take the pink stuffed from toy off the table diagonally with a whole-object grasp.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Retrieve the pink stuffed from toy from the table at a diagonal angle using an entire-object hold.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the pink stuffed from toy from the table.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Have the left arm take the pink stuffed from toy off the table.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "With the left hand, retrieve the pink stuffed from toy from the table.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Pick up the pink stuffed from toy from the table at a diagonal angle.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Take the pink stuffed from toy off the table diagonally.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Retrieve the pink stuffed from toy from the table.", + "start_idx": 285, + "end_idx": 309 + }, + { + "text": "Put the pink stuffed toy between the cabbage and white coffee cup with the left hand facing backwards.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the pink stuffed toy between the cabbage and the white coffee cup with its front facing backward.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Have the left arm set the pink stuffed toy between the cabbage and white coffee cup, oriented so the front points backward.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "With the left hand, position the pink stuffed toy between the cabbage and the white coffee cup facing backwards.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Place the pink stuffed toy between the cabbage and the white coffee cup with its front facing backward.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Set the pink stuffed toy between the cabbage and white coffee cup, facing backwards.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Position the pink stuffed toy between the cabbage and the white coffee cup with the front turned backward.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the pink stuffed toy between the cabbage and the white coffee cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Have the left arm set the pink stuffed toy between the cabbage and white coffee cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "With the left hand, position the pink stuffed toy between the cabbage and the white coffee cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Put the pink stuffed toy between the cabbage and the white coffee cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Set the pink stuffed toy between the cabbage and white coffee cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Position the pink stuffed toy between the cabbage and the white coffee cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Have the left arm pick up the pink stuffed toy from the table on a diagonal, enclosing the whole toy.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table at a diagonal angle using a whole-object grasp.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Take the pink stuffed toy from the table on a diagonal while holding the whole toy.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Retrieve the pink stuffed toy from the table at a diagonal angle with a full-object hold.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a whole-object grasp.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table by holding the entire object.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Retrieve the pink stuffed toy from the table by grasping the entire object.", + "start_idx": 522, + "end_idx": 552 + }, + { + "text": "Put the pink stuffed toy behind the cabbage with the left hand facing backwards.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Using the left hand, place the pink stuffed toy behind the cabbage with it facing backwards.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Have the left arm set the pink stuffed toy behind the cabbage, oriented backward.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "With the left hand, position the pink stuffed toy behind the cabbage so its front faces backwards.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Place the pink stuffed toy behind the cabbage with it facing backwards.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Set the pink stuffed toy behind the cabbage, oriented backward.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Position the pink stuffed toy behind the cabbage so its front faces backwards.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Using the left hand, put the pink stuffed toy behind the cabbage.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "With the left hand, place the pink stuffed toy behind the cabbage.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Have the left arm set the pink stuffed toy behind the cabbage.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Put the pink stuffed toy behind the cabbage.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Position the pink stuffed toy behind the cabbage.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Set the pink stuffed toy behind the cabbage.", + "start_idx": 552, + "end_idx": 579 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grip at the top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Have the left arm grasp the white cup from the table with a diagonal lip hold at its top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "With the left hand, secure the white cup from the table in a diagonal grip on the rim at the top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grip at the top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold at the top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Grasp the white cup from the table in a diagonal rim grip at the top.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 579, + "end_idx": 630 + }, + { + "text": "Put the white cup to the right of the cabbage with the left hand right side up with the front as the reference point.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Using the left hand, place the white cup to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Have the left arm set the white cup to the right of the cabbage, keeping it right side up relative to the front.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "With the left hand, position the white cup to the right of the cabbage so it is right side up using the front as reference.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Place the white cup to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Set the white cup to the right of the cabbage, keeping it right side up relative to the front.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Position the white cup to the right of the cabbage with its front as the reference, right side up.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Using the left hand, put the white cup to the right of the cabbage.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Have the left arm place the white cup to the right of the cabbage.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "With the left hand, set the white cup to the right of the cabbage.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Place the white cup to the right of the cabbage.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Set the white cup to the right of the cabbage.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Position the white cup to the right of the cabbage.", + "start_idx": 630, + "end_idx": 672 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach, gripping the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup at the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Take the cabbage from the table, grasping the middle.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 672, + "end_idx": 705 + }, + { + "text": "Put the cabbage in front of the pink bowl with the left hand facing forwards.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Using the left hand, place the cabbage in front of the pink bowl facing forwards.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Have the left arm set the cabbage in front of the pink bowl with its front facing forward.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "With the left hand, position the cabbage before the pink bowl so it faces forwards.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Place the cabbage in front of the pink bowl facing forwards.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Set the cabbage before the pink bowl with its front facing forward.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Position the cabbage in front of the pink bowl so it faces forwards.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Using the left hand, put the cabbage in front of the pink bowl.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Have the left arm place the cabbage before the pink bowl.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "With the left hand, set the cabbage in front of the pink bowl.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Put the cabbage in front of the pink bowl.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Place the cabbage before the pink bowl.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Set the cabbage in front of the pink bowl.", + "start_idx": 705, + "end_idx": 747 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top with a diagonal pick angle.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "With the left hand, pick up the white cup from the table using a lip grip at the top with a diagonal pick angle.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Using a top lip grip and a diagonal approach, have the left hand take the white cup from the table.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "The left hand should grasp the white cup from the table with a lip hold at the top at a diagonal angle.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top with a diagonal pick angle.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Take the white cup from the table with a top lip grip and a diagonal approach.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Using a diagonal pick angle and a lip grasp at the top, collect the white cup from the table.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "With the left hand, pick up the white cup from the table using a lip grip at the top.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Use the left hand to take the white cup from the table with a lip grip at the top.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "With the left hand, grasp the white cup from the table using a lip hold at the top.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal pick angle.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Take the white cup from the table using a lip grip at the top.", + "start_idx": 843, + "end_idx": 888 + }, + { + "text": "Put the white cup to the right of the cabbage with the left hand right side up with the front as the reference point.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Using the left hand, place the white cup to the right of the cabbage right side up, with the front as the reference point.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Have the left arm set the white cup to the cabbage's right, keeping it right side up relative to the front.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "With the left hand, position the white cup on the right side of the cabbage, oriented right side up from the front.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Place the white cup to the right of the cabbage.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Set the white cup on the cabbage's right side.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Position the white cup to the right of the cabbage.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Using the left hand, put the white cup to the right of the cabbage.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Have the left arm place the white cup on the right side of the cabbage.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "With the left hand, set the white cup beside the cabbage on its right.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Place the white cup to the right of the cabbage right side up.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Set the white cup on the cabbage's right side, with the front as the reference point.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Put the white cup to the right of the cabbage with the left hand.", + "start_idx": 888, + "end_idx": 933 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Have the left arm collect the pink stuffed toy from the table with a diagonal approach, enclosing the whole toy.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "With the left hand, pick the pink stuffed toy off the table diagonally while holding the entire object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach, holding the whole toy.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "The pink stuffed toy should be picked from the table at a diagonal angle with the full object grasped.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table while holding the whole object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Have the left arm collect the pink stuffed toy from the table by enclosing the entire toy.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table diagonally.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 1013, + "end_idx": 1053 + }, + { + "text": "Put the pink stuffed toy on the bottom left side of the table with the left hand facing bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Using the left hand, place the pink stuffed toy on the bottom left side of the table with its front facing bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Have the left arm set the pink stuffed toy on the table's bottom-left side, front pointed toward the bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "With the left hand, position the pink stuffed toy on the bottom left side of the table so the front faces bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Place the pink stuffed toy on the bottom left side of the table with its front facing bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Set the pink stuffed toy on the bottom left side of the table, front toward the bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Position the pink stuffed toy on the bottom left side of the table so it faces bottom right.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Using the left hand, put the pink stuffed toy on the bottom left side of the table.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "With the left hand, place the pink stuffed toy on the table's bottom-left side.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Have the left arm set the pink stuffed toy on the bottom left side of the table.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Put the pink stuffed toy on the bottom left side of the table.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Using the left hand, position the pink stuffed toy on the bottom left side of the table.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Set the pink stuffed toy on the table's bottom-left side.", + "start_idx": 1053, + "end_idx": 1089 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Have the left hand grasp the white cup from the table by the top lip at a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp on the top from a diagonal approach.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Take the white cup from the table with a lip grasp on the top from a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "From the table, grasp the white cup by the top lip at a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the top.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Have the left hand take the white cup from the table using a lip grasp on the top.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "With the left hand, grasp the white cup from the table by the top lip.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Pick up the white cup from the table with the left hand from a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Using the left hand, take the white cup from the table at the top from a diagonal angle.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "From the table, grasp the white cup by the top with the left hand.", + "start_idx": 1089, + "end_idx": 1122 + }, + { + "text": "Put the white cup on the center of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Using the left hand, place the white cup at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Have the left arm set the white cup in the table's center, right side up relative to its front.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "With the left hand, position the white cup on the center of the table upright, using the front as the reference point.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Place the white cup at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Set the white cup on the center of the table upright relative to its front.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Position the white cup in the middle of the table with its front as the orientation reference point.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Using the left hand, place the white cup at the center of the table.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Have the left arm set the white cup in the middle of the table.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "With the left hand, position the white cup on the center of the table.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Place the white cup at the center of the table.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Set the white cup on the middle of the table.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Position the white cup in the table's center.", + "start_idx": 1122, + "end_idx": 1161 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "With the left hand, take hold of the white coffee cup from the table by the handle, keeping a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand by the handle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Using the left hand, take hold of the white coffee cup from the table by the handle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table by the handle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Take the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1290 + }, + { + "text": "Put the white coffee cup to the left of the pink bowl with the handle facing backwards right side up using the left arm.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Using the left arm, place the white coffee cup to the left of the pink bowl with its handle facing backward, right side up.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Have the left arm set the white coffee cup left of the pink bowl, upright with the handle pointing backward.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "With the left arm, position the white coffee cup to the left of the pink bowl, keeping it right side up and the handle facing backward.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Place the white coffee cup to the left of the pink bowl with its handle facing backward, right side up.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Set the white coffee cup left of the pink bowl, upright with the handle pointing backward.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Position the white coffee cup to the left of the pink bowl with the handle facing backward and the cup right side up.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Using the left arm, place the white coffee cup to the left of the pink bowl.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Have the left arm set the white coffee cup left of the pink bowl.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "With the left arm, position the white coffee cup to the left of the pink bowl.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Put the white coffee cup with the handle facing backward, right side up.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Set the white coffee cup upright with the handle pointing backward.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Position the white coffee cup to the left of the pink bowl.", + "start_idx": 1290, + "end_idx": 1347 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grip at the top.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "With the left hand, grasp the white cup from the table by the top using a diagonal lip hold.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Have the left arm pick the white cup up from the table with a diagonal top lip grasp.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grip at the top.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Grasp the white cup from the table by the top with a diagonal lip hold.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp at the top.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "With the left hand, take the white cup from the table.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1347, + "end_idx": 1389 + }, + { + "text": "Put the white cup to the right of the cabbage with the left hand right side up with the front as the reference point.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Using the left hand, place the white cup to the right of the cabbage right side up, with the front as the reference point.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Have the left arm set the white cup to the right of the cabbage upright, using the front as the reference point.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "With the left hand, position the white cup to the cabbage's right right side up, referenced to the front.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Place the white cup to the right of the cabbage right side up, with the front as the reference point.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Set the white cup on the right side of the cabbage upright, using the front as the reference point.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Position the white cup to the cabbage's right right side up, based on the front reference point.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Using the left hand, put the white cup to the right of the cabbage.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Have the left arm place the white cup on the right side of the cabbage.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "With the left hand, set the white cup to the cabbage's right.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Place the white cup to the right of the cabbage.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Set the white cup on the right side of the cabbage.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Position the white cup to the cabbage's right.", + "start_idx": 1389, + "end_idx": 1428 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Have the left arm take the pink bowl from the table using a diagonal lip grip at the bowl's bottom-left edge.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grip at the bottom-left lip.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Grasp the pink bowl from the table by its bottom-left lip with a diagonal hold.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "With the left arm, take the pink bowl from the table.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Have the left hand grasp the pink bowl from the table.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 1428, + "end_idx": 1458 + }, + { + "text": "Put the pink bowl on the center of the table with the left hand.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Using the left hand, place the pink bowl at the center of the table upright.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Have the left arm set the pink bowl in the table's center, right side up.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "With the left hand, position the pink bowl on the center of the table, keeping it upright.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Place the pink bowl at the center of the table upright.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Set the pink bowl down in the middle of the table, right side up.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Position the pink bowl on the table's center, upright.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Set the pink bowl at the center of the table using the left hand.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Using the left hand, place the pink bowl in the middle of the table.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Have the left arm put the pink bowl on the table's center.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Place the pink bowl at the center of the table.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Set the pink bowl down in the middle of the table.", + "start_idx": 1458, + "end_idx": 1515 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by gripping its middle at a diagonal angle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Retrieve the cabbage from the table by gripping the middle at a diagonal angle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 1515, + "end_idx": 1548 + }, + { + "text": "Put the cabbage inside the pink bowl with the left hand facing top right from the front.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Using the left hand, place the cabbage in the pink bowl facing the top right from the front.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Have the left arm put the cabbage into the pink bowl with its orientation top right from the front.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "With the left hand, set the cabbage inside the pink bowl so it faces top right from the front.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Place the cabbage into the pink bowl facing top right from the front.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Set the cabbage inside the pink bowl with the top oriented to the right from the front.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Put the cabbage in the pink bowl as viewed from the front, facing top right.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Using the left hand, place the cabbage inside the pink bowl.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Have the left arm put the cabbage into the pink bowl.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "With the left hand, set the cabbage in the pink bowl.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Place the cabbage into the pink bowl.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Put the cabbage in the pink bowl.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Set the cabbage inside the pink bowl.", + "start_idx": 1548, + "end_idx": 1578 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Have the left arm pick up the pink stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally while grasping the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table grasping the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table while holding the whole object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Have the left arm retrieve the pink stuffed toy from the table by enclosing the entire object.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table diagonally.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 1578, + "end_idx": 1626 + }, + { + "text": "Put the pink stuffed toy inside the stainless bowl with the left hand facing backwards.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the stainless bowl with its front facing backwards.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Have the left arm put the pink stuffed toy into the stainless bowl, front facing backward.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "With the left hand, deposit the pink stuffed toy inside the stainless bowl so the front faces backwards.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Place the pink stuffed toy inside the stainless bowl with its front facing backwards.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Put the pink stuffed toy into the stainless bowl, front facing backward.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Set the pink stuffed toy inside the stainless bowl so it faces backwards.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the stainless bowl.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Have the left arm put the pink stuffed toy into the stainless bowl.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "With the left hand, set the pink stuffed toy in the stainless bowl.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Place the pink stuffed toy inside the stainless bowl.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Put the pink stuffed toy into the stainless bowl.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Set the pink stuffed toy in the stainless bowl.", + "start_idx": 1626, + "end_idx": 1656 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Have the left arm take the white coffee cup from the table, approaching diagonally and grasping the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Grasp the white coffee cup from the table by the handle, approaching diagonally.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "With the left hand, take the white coffee cup from the table by the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the handle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "With the left hand, take the white coffee cup from the table diagonally.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1656, + "end_idx": 1701 + }, + { + "text": "Put the white coffee cup between the white cup and stainless bowl with the left hand right side up with the front facing backwards.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Using the left hand, place the white coffee cup between the white cup and the stainless bowl, right side up with the front facing backward.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Have the left arm set the white coffee cup between the white cup and stainless bowl, keeping it upright and the front toward the back.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "With the left hand, position the white coffee cup between the white cup and the stainless bowl so it stays right side up and faces backward.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Place the white coffee cup between the white cup and the stainless bowl, right side up with the front facing backward.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Set the white coffee cup between the white cup and stainless bowl, upright with the front facing backward.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Position the white coffee cup between the white cup and the stainless bowl, with its front facing backward and right side up.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Using the left hand, place the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Set the white coffee cup between the white cup and stainless bowl with the left hand.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "With the left hand, position the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Put the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Place the white coffee cup between the white cup and stainless bowl.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Have the white coffee cup set between the white cup and the stainless bowl.", + "start_idx": 1701, + "end_idx": 1761 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grip at the top.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Have the left arm grasp the white cup from the table with a diagonal lip hold at its top edge.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "With the left hand, secure the white cup from the table by its top using a diagonal lip grasp.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grip at the top.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold at the top.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Grasp the white cup from the table by the top with a diagonal lip grasp.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Put the white cup to the left of the pink bowl with the left hand right side up.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink bowl right side up.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Have the left arm set the white cup to the left of the pink bowl in an upright orientation.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "With the left hand, position the white cup left of the pink bowl so it stays right side up.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Place the white cup to the left of the pink bowl.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Set the white cup left of the pink bowl.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Position the white cup to the left of the pink bowl.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Using the left hand, put the white cup to the left of the pink bowl.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Have the left arm place the white cup to the left of the pink bowl.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Arrange the white cup to the left of the pink bowl with the left hand.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Place the white cup to the left of the pink bowl right side up.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Set the white cup left of the pink bowl upright.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Position the white cup left of the pink bowl in an upright orientation.", + "start_idx": 1854, + "end_idx": 1890 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Have the left hand take the stainless bowl from the table, grasping the bottom-left lip at a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table by the bottom-left lip on a diagonal.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Pick up the stainless bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Grasp the stainless bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Take the stainless bowl from the table using a lip grip on the bottom left from a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "With the left hand, pick up the stainless bowl from the table using a lip grip.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Have the left hand take the stainless bowl from the table by the bottom-left lip.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Using the left hand, grasp the stainless bowl from the table with a lip grip.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Pick up the stainless bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Take the stainless bowl from the table with the left hand from a diagonal angle.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Grasp the stainless bowl from the table at the bottom left.", + "start_idx": 1967, + "end_idx": 2003 + }, + { + "text": "Dump the pink stuffed toy in front of the white cup with the left hand.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Using the left hand, dump the pink stuffed toy in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Have the left arm place the pink stuffed toy in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "With the left hand, deposit the pink stuffed toy before the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Dump the pink stuffed toy in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Place the pink stuffed toy in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Set the pink stuffed toy down in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Position the pink stuffed toy in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Move the pink stuffed toy to the spot in front of the white cup.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Using the left hand, dump the pink stuffed toy.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Have the left arm place the pink stuffed toy.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "With the left hand, set down the pink stuffed toy.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Deposit the pink stuffed toy.", + "start_idx": 2004, + "end_idx": 2076 + }, + { + "text": "Put the stainless bowl to the left of the white cup with the left hand.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Using the left hand, place the stainless bowl to the left of the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Have the left arm set the stainless bowl on the white cup's left side.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "With the left hand, position the stainless bowl left of the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Place the stainless bowl to the left of the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Set the stainless bowl on the left side of the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Position the stainless bowl left of the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Move the stainless bowl to the white cup's left.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Have the stainless bowl placed to the left of the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Using the left hand, place the stainless bowl by the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "With the left hand, set the stainless bowl next to the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Place the stainless bowl beside the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Have the stainless bowl set by the white cup.", + "start_idx": 2076, + "end_idx": 2142 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold on the bottom-left side at a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "With the left hand, secure the pink bowl from the table by the bottom left using a lip grip at a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom left in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Grasp the pink bowl from the table at the bottom left with a lip grip in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using the lip grip.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Take the pink bowl from the table with the left hand in a diagonal angle at the bottom left.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Pick up the pink bowl from the table at the bottom left in a diagonal angle.", + "start_idx": 2220, + "end_idx": 2247 + }, + { + "text": "Dump the corn and cabbage to the right of the white cup with the left hand.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Using the left hand, dump the corn and cabbage to the right of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Have the left arm dump the corn and cabbage just right of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "With the left hand, pour out the corn and cabbage on the right side of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Dump the corn and cabbage to the right of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Pour out the corn and cabbage on the right side of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "The corn and cabbage go to the right of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Place the corn and cabbage just right of the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Dump the corn and cabbage beside the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Pour out the corn and cabbage next to the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Set down the corn and cabbage by the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Using the left hand, dump the corn and cabbage by the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Have the left arm pour out the corn and cabbage beside the white cup.", + "start_idx": 2247, + "end_idx": 2289 + }, + { + "text": "Put the pink bowl in front of the stainless bowl with the left hand.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Using the left hand, place the pink bowl in front of the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "With the left hand, set the pink bowl before the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Have the left arm position the pink bowl in front of the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Place the pink bowl in front of the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Set the pink bowl before the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Position the pink bowl in front of the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "The pink bowl goes in front of the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Put the pink bowl by the stainless bowl with the left hand.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Using the left hand, place the pink bowl near the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Set the pink bowl next to the stainless bowl with the left hand.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Place the pink bowl by the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "The pink bowl should be placed near the stainless bowl.", + "start_idx": 2289, + "end_idx": 2346 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grasp at the bottom at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Have the left arm pick the corn up from the table with a bottom side grasp at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Pick up the corn from the table using a side grasp at the bottom at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Take the corn from the table with a side hold at the bottom at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Grasp the corn from the table at the bottom with a side grip at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Using a side grasp, pick up the corn from the table with the left hand.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Have the left arm take the corn from the table with a side grip.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "With the left hand, grasp the corn from the table using a side hold.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom at a diagonal angle.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "At a diagonal angle, take the corn from the table with the left hand at the bottom.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "From the table, grasp the corn at the bottom with a side grip.", + "start_idx": 2346, + "end_idx": 2382 + }, + { + "text": "Put the corn between the pink stuffed toy and the white coffee cup with the left hand facing top left by the tip.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Using the left hand, place the corn between the pink stuffed toy and the white coffee cup with its tip facing the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Have the left arm set the corn between the pink stuffed toy and the white coffee cup, tip oriented toward the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "With the left hand, position the corn between the pink stuffed toy and the white coffee cup so the tip points top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Place the corn between the pink stuffed toy and the white coffee cup with its tip facing the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Set the corn between the pink stuffed toy and the white coffee cup, with the tip pointing toward the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Position the corn between the pink stuffed toy and the white coffee cup so its tip faces the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Using the left hand, put the corn between the pink stuffed toy and the white coffee cup.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "With the left hand, place the corn between the pink stuffed toy and the white coffee cup.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Have the left arm set the corn between the pink stuffed toy and the white coffee cup.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Put the corn between the pink stuffed toy and the white coffee cup.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Place the corn between the pink stuffed toy and the white coffee cup.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Set the corn between the pink stuffed toy and the white coffee cup.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Have the left arm pick the pink stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table at a diagonal angle using an all-over hold.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Take the pink stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "From the table, collect the pink stuffed toy at a diagonal angle using an all-over hold.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Take the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Put the pink stuffed toy to the left side of the stainless bowl with the left hand facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Using the left hand, place the pink stuffed toy on the left side of the stainless bowl, facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the stainless bowl with its front facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "With the left hand, position the pink stuffed toy beside the stainless bowl on its left side, front facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Place the pink stuffed toy to the left of the stainless bowl, facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Set the pink stuffed toy on the left side of the stainless bowl with its front facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Position the pink stuffed toy beside the stainless bowl on the left, facing backwards.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the stainless bowl.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Have the left arm set the pink stuffed toy beside the stainless bowl on its left side.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "With the left hand, position the pink stuffed toy on the left side of the stainless bowl.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Put the pink stuffed toy next to the stainless bowl on its left side.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Set the pink stuffed toy to the left of the stainless bowl.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Position the pink stuffed toy beside the stainless bowl.", + "start_idx": 2541, + "end_idx": 2577 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at a diagonal angle gripping the bottom left using a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Using the left hand, take the pink bowl from the table at a diagonal angle, gripping the bottom left with a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Have the left arm grasp the pink bowl from the table diagonally at the bottom left using a lip grip.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "With the left hand, collect the pink bowl from the table, holding the bottom left at a diagonal angle with a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Pick up the pink bowl from the table at a diagonal angle, gripping the bottom left with a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Take the pink bowl from the table diagonally, holding the bottom left with a lip grip.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Grasp the pink bowl from the table at a diagonal angle by the bottom left using a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grip.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Have the left arm collect the pink bowl from the table with a lip grasp.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at a diagonal angle, gripping the bottom left.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "With the left hand, grasp the pink bowl from the table diagonally by the bottom left.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2577, + "end_idx": 2607 + }, + { + "text": "Put the pink bowl to the right of the white cup with the left hand.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Using the left hand, place the pink bowl to the right of the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Have the left arm set the pink bowl down to the right of the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "With the left hand, position the pink bowl on the right side of the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Place the pink bowl to the right of the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Set the pink bowl down to the right of the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Position the pink bowl on the right side of the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Move the pink bowl beside the white cup on its right side.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Put the pink bowl next to the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Set the pink bowl beside the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Using the left hand, place the pink bowl next to the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Have the left arm set the pink bowl beside the white cup.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Position the pink bowl by the white cup with the left hand.", + "start_idx": 2607, + "end_idx": 2652 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "With the left hand, grasp the corn at its middle and remove it from the table on a diagonal.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Grasp the corn at its middle and remove it from the table at a diagonal angle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "With the left hand, grasp the corn and remove it from the table.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Grasp the middle of the corn and remove it from the table.", + "start_idx": 2652, + "end_idx": 2688 + }, + { + "text": "Put the corn in front of the stainless bowl with the left hand facing bottom right by the tip.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Using the left hand, place the corn in front of the stainless bowl with the tip facing bottom right.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Have the left arm set the corn in front of the stainless bowl, oriented bottom right at the tip.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "With the left hand, position the corn before the stainless bowl so the tip points bottom right.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Place the corn in front of the stainless bowl with the tip facing bottom right.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Set the corn before the stainless bowl with the tip oriented toward the bottom right.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Position the corn in front of the stainless bowl so its tip faces bottom right.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Using the left hand, put the corn in front of the stainless bowl.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "With the left hand, set the corn before the stainless bowl.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Have the left arm place the corn in front of the stainless bowl.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Put the corn in front of the stainless bowl.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Set the corn before the stainless bowl.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Position the corn in front of the stainless bowl.", + "start_idx": 2688, + "end_idx": 2730 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Using the left hand, retrieve the pink stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table while holding the whole object.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Have the left arm retrieve the pink stuffed toy from the table with a full-object grasp.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table diagonally.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Have the left arm retrieve the pink stuffed toy from the table with a diagonal approach.", + "start_idx": 2808, + "end_idx": 2841 + }, + { + "text": "Put the pink stuffed toy in front of the pink bowl with the left hand facing backwards.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the pink bowl facing backwards.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the pink bowl with its back facing outward.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "With the left hand, position the pink stuffed toy before the pink bowl, oriented backwards.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Place the pink stuffed toy in front of the pink bowl facing backwards.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Set the pink stuffed toy before the pink bowl with its back facing outward.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Position the pink stuffed toy in front of the pink bowl, oriented backwards.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the pink bowl.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "With the left hand, place the pink stuffed toy before the pink bowl.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the pink bowl.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Put the pink stuffed toy in front of the pink bowl.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Set the pink stuffed toy before the pink bowl.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Position the pink stuffed toy in front of the pink bowl.", + "start_idx": 2841, + "end_idx": 2877 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal grasp at the middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "With the left hand, grasp the corn from the table diagonally at its middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Take the corn from the table with a diagonal grasp from the middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Grasp the corn from the table diagonally from its middle.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 2877, + "end_idx": 2919 + }, + { + "text": "Put the corn inside the stainless bowl with the left hand facing top left.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Using the left hand, place the corn into the stainless bowl with the tip facing top left.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Have the left arm set the corn inside the stainless bowl so its tip points to the top left.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "With the left hand, position the corn in the stainless bowl, tip oriented toward the top left.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Put the corn into the stainless bowl.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Place the corn inside the stainless bowl.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Set the corn in the stainless bowl.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Using the left hand, put the corn into the stainless bowl.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Have the left arm place the corn inside the stainless bowl.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Place the corn into the stainless bowl with the left hand.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Using the left hand, place the corn in the stainless bowl.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Set the corn inside the stainless bowl with the tip facing top left.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Position the corn in the stainless bowl so the tip faces top left.", + "start_idx": 2919, + "end_idx": 2958 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally using an all-around hold.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Take the pink stuffed toy from the table diagonally with an all-over grasp.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Have the left arm retrieve the pink stuffed toy from the table.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal approach.", + "start_idx": 3021, + "end_idx": 3063 + }, + { + "text": "Put the pink stuffed toy in front of the stainless bowl with the left hand facing bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the stainless bowl facing bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the stainless bowl, oriented toward the bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "With the left hand, position the pink stuffed toy in front of the stainless bowl so it faces bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Place the pink stuffed toy in front of the stainless bowl facing bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Set the pink stuffed toy in front of the stainless bowl with its front toward the bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Position the pink stuffed toy in front of the stainless bowl, facing the bottom right.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the stainless bowl.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "With the left hand, place the pink stuffed toy in front of the stainless bowl.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the stainless bowl.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Put the pink stuffed toy in front of the stainless bowl.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Set the pink stuffed toy in front of the stainless bowl.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Position the pink stuffed toy in front of the stainless bowl.", + "start_idx": 3063, + "end_idx": 3099 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Have the left arm pick the pink stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table in a diagonal orientation using a full-body grasp.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Take the pink stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "From the table, collect the pink stuffed toy at a diagonal angle using a full-object hold.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand, grasping the entire object.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a full-object grasp.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Have the left arm collect the pink stuffed toy from the table while grasping the entire object.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table diagonally.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "From the table, collect the pink stuffed toy at a diagonal angle.", + "start_idx": 3180, + "end_idx": 3216 + }, + { + "text": "Put the pink stuffed toy in front of the pink bowl with the left hand facing bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the pink bowl facing bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the pink bowl with its front toward the bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "With the left hand, position the pink stuffed toy before the pink bowl so the front points bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Place the pink stuffed toy in front of the pink bowl facing bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Set the pink stuffed toy before the pink bowl with its front toward the bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Position the pink stuffed toy in front of the pink bowl so it faces bottom left.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the pink bowl.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "With the left hand, place the pink stuffed toy before the pink bowl.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the pink bowl.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Put the pink stuffed toy in front of the pink bowl.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Set the pink stuffed toy before the pink bowl.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Position the pink stuffed toy in front of the pink bowl.", + "start_idx": 3216, + "end_idx": 3249 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle from the top using a lip grip.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle from the top with a lip grip.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Have the left arm take the white cup from the table with a lip grasp, approaching diagonally from above.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "With the left hand, grasp the white cup from the table from the top at a diagonal angle using a lip hold.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle from the top using a lip grip.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "From the table, take the white cup diagonally from the top with a lip grasp.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Grasp the white cup from the table from above at a diagonal angle using a lip hold.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grasp.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle from the top.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "From the table, take the white cup diagonally from above with the left hand.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3249, + "end_idx": 3285 + }, + { + "text": "Put the white cup in front of the stainless bowl with the left hand right side up.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "With the left hand, place the white cup in front of the stainless bowl right side up.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Have the left arm set the white cup in front of the stainless bowl upright.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Using the left hand, position the white cup upright in front of the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Place the white cup in front of the stainless bowl right side up.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Set the white cup in front of the stainless bowl upright.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Position the white cup upright in front of the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "With the left hand, put the white cup in front of the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Using the left hand, place the white cup by the front of the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Have the left arm set the white cup before the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Put the white cup in front of the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Set the white cup before the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Position the white cup by the front of the stainless bowl.", + "start_idx": 3285, + "end_idx": 3330 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Have the left arm pick up the pink bowl from the table using a bottom-left diagonal lip grasp.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Take the pink bowl from the table with a bottom-left diagonal lip grasp.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-left lip on a diagonal.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Using a diagonal lip grasp at the bottom left, pick up the pink bowl from the table.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "With the left hand, pick up the pink bowl from the table.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "The pink bowl should be picked up from the table.", + "start_idx": 3387, + "end_idx": 3432 + }, + { + "text": "Dump the cabbage to the center of the table with the left hand.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Using the left hand, dump the cabbage at the center of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Have the left arm place the cabbage in the middle of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "With the left hand, deposit the cabbage onto the table's center.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Dump the cabbage at the center of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Place the cabbage in the middle of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Set the cabbage down at the table center.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "The cabbage goes to the center of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Move the cabbage to the middle of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Position the cabbage at the center of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Put the cabbage in the table's center.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Transfer the cabbage to the center of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Arrange the cabbage in the middle of the table.", + "start_idx": 3432, + "end_idx": 3492 + }, + { + "text": "Put the pink bowl to the right side of the table with the left hand.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Using the left hand, place the pink bowl on the table's right side, right side up from the front.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Have the left arm set the pink bowl on the right side of the table, upright when viewed from the front.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "With the left hand, position the pink bowl on the table's right side so it is right side up relative to the front.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Place the pink bowl on the right side of the table, right side up from the front.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Set the pink bowl to the table's right side, upright relative to the front.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Position the pink bowl on the right side of the table with its right side up facing the front.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Using the left hand, put the pink bowl on the right side of the table.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "With the left hand, set the pink bowl to the right side of the table.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Have the left arm place the pink bowl on the table's right side.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Put the pink bowl to the right side of the table.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Set the pink bowl on the table's right side.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Position the pink bowl on the right side of the table.", + "start_idx": 3492, + "end_idx": 3552 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal angle by gripping the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle by grasping its middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle.", + "start_idx": 3771, + "end_idx": 3816 + }, + { + "text": "Put the cabbage inside the pink bowl with the left hand facing top left relative to the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Using the left hand, place the cabbage in the pink bowl facing top left relative to the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Have the left arm put the cabbage inside the pink bowl with its orientation top left from the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "With the left hand, set the cabbage into the pink bowl so it faces the top left relative to the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Place the cabbage inside the pink bowl facing top left relative to the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Set the cabbage in the pink bowl with its top pointing top left from the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Put the cabbage into the pink bowl oriented top left relative to the front.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Using the left hand, place the cabbage inside the pink bowl.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Have the left arm put the cabbage in the pink bowl.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "With the left hand, set the cabbage into the pink bowl.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Place the cabbage inside the pink bowl.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Set the cabbage in the pink bowl.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Put the cabbage into the pink bowl.", + "start_idx": 3816, + "end_idx": 3858 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top with a diagonal angle.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Have the left arm grasp the white cup from the table by its top edge with a diagonal lip grip.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp on the top at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top with a diagonal angle.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Take the white cup from the table with a lip grasp on the top at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Grasp the white cup from the table by the top edge using a diagonal lip grip.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Grasp the white cup from the table by the top edge.", + "start_idx": 3930, + "end_idx": 3963 + }, + { + "text": "Put the white cup to the right of the pink bowl with the left hand right side up front.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Using the left hand, place the white cup to the right of the pink bowl, right side up with the front facing forward.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Have the left arm set the white cup to the right of the pink bowl in a right-side-up position, front forward.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "With the left hand, position the white cup to the right of the pink bowl, keeping it right side up and the front facing front.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Place the white cup to the right of the pink bowl, right side up with the front facing forward.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Set the white cup to the right of the pink bowl in a right-side-up orientation, front forward.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Position the white cup to the right of the pink bowl with its front facing front and right side up.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Using the left hand, place the white cup to the right of the pink bowl.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Have the left arm set the white cup to the right of the pink bowl.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "With the left hand, position the white cup to the right of the pink bowl.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Place the white cup to the right of the pink bowl.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Set the white cup to the right of the pink bowl.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Position the white cup to the right of the pink bowl.", + "start_idx": 3963, + "end_idx": 3996 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Have the left arm pick the pink stuffed toy up from the table with a diagonal approach at the middle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table by gripping its middle at a diagonal angle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "From the table, retrieve the pink stuffed toy at a diagonal angle by grasping the middle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "From the table, take the pink stuffed toy at a diagonal angle.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Grasp the middle of the pink stuffed toy and pick it up from the table.", + "start_idx": 3995, + "end_idx": 4034 + }, + { + "text": "Put the pink stuffed toy inside the white cup with the left hand facing top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Using the left hand, place the pink stuffed toy into the white cup with its front facing the top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Have the left arm put the pink stuffed toy inside the white cup, front oriented toward the top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "With the left hand, deposit the pink stuffed toy in the white cup so the front points top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Place the pink stuffed toy into the white cup with its front facing the top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Set the pink stuffed toy inside the white cup, front toward the top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Put the pink stuffed toy in the white cup so its front faces the top right.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Using the left hand, place the pink stuffed toy into the white cup.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Have the left arm put the pink stuffed toy inside the white cup.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "With the left hand, deposit the pink stuffed toy in the white cup.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Put the pink stuffed toy into the white cup.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Set the pink stuffed toy inside the white cup.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Have the pink stuffed toy placed in the white cup.", + "start_idx": 4035, + "end_idx": 4056 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "With the left hand, take the stainless bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Using the left arm, grasp the stainless bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Have the left hand pick the stainless bowl off the table with a diagonal lip hold at the bottom left.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Using a diagonal lip grip at the bottom left, take the stainless bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "The stainless bowl should be picked up from the table with a bottom-left diagonal lip grasp.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "With the left hand, pick up the stainless bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Using the left arm, take the stainless bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Have the left hand grasp the stainless bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Using the left hand, take the stainless bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Dump the corn behind the pink bowl with the left hand.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Using the left hand, dump the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Have the left arm empty the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "With the left hand, pour out the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Dump the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Pour the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Empty the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Place the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Deposit the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Get the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Set the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Move the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Transfer the corn behind the pink bowl.", + "start_idx": 4098, + "end_idx": 4143 + }, + { + "text": "Put the stainless bowl to the left of the pink bowl with the left hand.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Using the left hand, place the stainless bowl to the left of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Have the left arm set the stainless bowl down left of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "With the left hand, position the stainless bowl on the left side of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Place the stainless bowl to the left of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Set the stainless bowl left of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Position the stainless bowl on the left side of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Move the stainless bowl to the left of the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Put the stainless bowl beside the pink bowl on its left side.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Arrange the stainless bowl to the pink bowl's left.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Using the left hand, place the stainless bowl beside the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "With the left hand, set the stainless bowl on the pink bowl's left side.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Have the left arm position the stainless bowl beside the pink bowl.", + "start_idx": 4143, + "end_idx": 4200 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "With the left hand, collect the corn from the table diagonally by the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Take the corn from the table diagonally while holding the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Collect the corn from the table with a diagonal pickup at the middle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "With the left hand, collect the corn from the table.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Take the corn from the table.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Have the left arm pick up the corn from the table at a diagonal angle.", + "start_idx": 4278, + "end_idx": 4308 + }, + { + "text": "Put the corn to the right of the pink bowl with the left hand facing backwards relative to the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Using the left hand, place the corn to the right of the pink bowl with it facing backward relative to the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Have the left arm set the corn to the right of the pink bowl, oriented backward from the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "With the left hand, position the corn to the right of the pink bowl so it faces backwards relative to the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Place the corn to the right of the pink bowl with it facing backward relative to the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Set the corn to the right of the pink bowl, oriented backward from the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Position the corn to the right of the pink bowl so it faces backwards relative to the front.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Using the left hand, put the corn to the right of the pink bowl.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Have the left arm place the corn to the right of the pink bowl.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "With the left hand, set the corn to the right of the pink bowl.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Place the corn to the right of the pink bowl.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Set the corn to the right of the pink bowl.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Position the corn to the right of the pink bowl.", + "start_idx": 4308, + "end_idx": 4356 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Take the pink bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Grasp the pink bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Grasp the pink bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 4428, + "end_idx": 4446 + }, + { + "text": "Dump the cabbage to the left of the corn with the left hand.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Using the left hand, dump the cabbage to the left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Have the left arm place the cabbage on the corn's left side.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "With the left hand, deposit the cabbage just left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Dump the cabbage to the left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Place the cabbage on the left side of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Set the cabbage just left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Position the cabbage to the corn's left.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Move the cabbage to the left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Put the cabbage beside the corn on its left side.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Transfer the cabbage to a spot left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Leave the cabbage to the left of the corn.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Arrange the cabbage on the corn's left.", + "start_idx": 4446, + "end_idx": 4506 + }, + { + "text": "Put the pink bowl behind the stainless bowl with the left hand.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Using the left hand, place the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Have the left arm set the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "With your left hand, position the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Place the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Set the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Position the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Move the pink bowl behind the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Put the pink bowl by the stainless bowl with the left hand.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Using the left hand, place the pink bowl near the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Have the left arm set the pink bowl by the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Place the pink bowl by the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Set the pink bowl near the stainless bowl.", + "start_idx": 4506, + "end_idx": 4551 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Have the left arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "With the left hand, collect the cabbage from the table diagonally by gripping the middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "From the table, retrieve the cabbage at a diagonal angle by grasping its middle.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Have the left arm retrieve the cabbage from the table.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "From the table, collect the cabbage.", + "start_idx": 4551, + "end_idx": 4587 + }, + { + "text": "Put the cabbage to the left of the corn with the left hand facing right with the front as the reference point.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Using the left hand, place the cabbage to the left of the corn, facing right relative to its front.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Have the left arm set the cabbage left of the corn with its front pointing right.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "With the left hand, position the cabbage to the left of the corn so the front faces right.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Place the cabbage to the left of the corn, with its front facing right.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Set the cabbage left of the corn, oriented so the front points right.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Position the cabbage to the left of the corn with the front directed right.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Using the left hand, put the cabbage to the left of the corn.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "With the left hand, place the cabbage left of the corn.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Have the left arm set the cabbage to the left of the corn.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Put the cabbage to the left of the corn.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Place the cabbage left of the corn.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Set the cabbage to the left of the corn.", + "start_idx": 4587, + "end_idx": 4626 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Have the left arm pick the white cup off the table with a diagonal approach, holding it at the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "With the left hand, retrieve the white cup from the table diagonally by the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Take the white cup off the table with a diagonal approach, holding the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Retrieve the white cup from the table diagonally by the middle.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Have the left arm take the white cup off the table.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "With the left hand, retrieve the white cup from the table.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Take the white cup off the table.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Retrieve the white cup from the table.", + "start_idx": 4626, + "end_idx": 4650 + }, + { + "text": "Dump the pink stuffed toy to the left of the corn with the left hand.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Using the left hand, dump the pink stuffed toy to the left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Have the left arm place the pink stuffed toy on the corn's left side.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "With the left hand, deposit the pink stuffed toy to the left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Dump the pink stuffed toy to the left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Place the pink stuffed toy on the left side of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Set the pink stuffed toy down to the left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Position the pink stuffed toy left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "The pink stuffed toy goes to the left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Move the pink stuffed toy to the corn's left side.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Put the pink stuffed toy beside the corn on its left.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Set the pink stuffed toy down left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Have the pink stuffed toy placed to the left of the corn.", + "start_idx": 4650, + "end_idx": 4707 + }, + { + "text": "Put the white cup to the right of the pink bowl with the left hand right side up.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Using the left hand, place the white cup to the right of the pink bowl right side up.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Have the left arm set the white cup right side up to the right of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "With the left hand, position the white cup to the right of the pink bowl in an upright orientation.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Place the white cup to the right of the pink bowl right side up.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Set the white cup right side up to the right of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Position the white cup to the right of the pink bowl in an upright orientation.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Using the left hand, place the white cup to the right of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Have the left arm set the white cup to the right of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "With the left hand, position the white cup to the right of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Put the white cup to the right of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Set the white cup beside the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Position the white cup on the right side of the pink bowl.", + "start_idx": 4707, + "end_idx": 4758 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Have the left arm grasp the pink stuffed toy from the table from a diagonal angle, using a side hold at the bottom.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "With the left hand, secure the pink stuffed toy from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Pick up the pink stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "From the table, collect the pink stuffed toy by the bottom with a side grasp from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Take the pink stuffed toy from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "From the table, take the pink stuffed toy with the left hand at the bottom.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Using a side grip at the bottom, pick up the pink stuffed toy from the table.", + "start_idx": 4758, + "end_idx": 4782 + }, + { + "text": "Place the pink stuffed toy to the left side of the stainless bowl with the left hand facing top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the stainless bowl with its front facing the top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Have the left hand set the pink stuffed toy on the left side of the stainless bowl, front oriented toward the top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "With the left hand, position the pink stuffed toy to the left side of the stainless bowl so its front points top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Place the pink stuffed toy to the left of the stainless bowl with its front facing the top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Set the pink stuffed toy on the left side of the stainless bowl, with the front turned toward the top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Position the pink stuffed toy to the left of the stainless bowl, front pointing top left.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the stainless bowl.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "With the left hand, set the pink stuffed toy on the left side of the stainless bowl.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Have the left hand position the pink stuffed toy to the left of the stainless bowl.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Put the pink stuffed toy to the left of the stainless bowl.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Using the left hand, place the pink stuffed toy on the left side of the stainless bowl.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Set the pink stuffed toy beside the stainless bowl.", + "start_idx": 4782, + "end_idx": 4821 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Have the left arm pick the stainless bowl up from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table by the bottom lip using a diagonal approach.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Pick up the stainless bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Take the stainless bowl from the table by the bottom lip with a diagonal approach.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Grasp the stainless bowl from the table at the bottom using a lip hold and a diagonal pick angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table with a lip grip at the bottom.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "With the left hand, take the stainless bowl from the table by the bottom lip.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Have the left arm grasp the stainless bowl from the table using a diagonal pick angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table with a diagonal pick angle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Put the stainless bowl to the left of the corn with the left hand.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Using the left hand, place the stainless bowl to the left of the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Have the left arm set the stainless bowl on the corn's left side.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "With the left hand, position the stainless bowl left of the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Place the stainless bowl to the left of the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Set the stainless bowl on the left side of the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Position the stainless bowl left of the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Leave the stainless bowl beside the corn on its left.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Using the left hand, place the stainless bowl by the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "With the left hand, set the stainless bowl beside the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Have the left arm position the stainless bowl next to the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Place the stainless bowl beside the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Set the stainless bowl next to the corn.", + "start_idx": 4863, + "end_idx": 4920 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Have the left arm pick the corn off the table with a diagonal approach at its middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "With the left hand, collect the corn from the table, gripping the middle at a diagonal angle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Take the corn off the table, gripping the middle at a diagonal angle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "The corn from the table should be picked up at a diagonal angle with a grasp on the middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the corn from the table by grasping the middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "With the left hand, remove the corn from the table at a diagonal angle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Have the left arm take the corn off the table by grasping the middle.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Take the corn off the table.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "The corn from the table should be picked up.", + "start_idx": 4920, + "end_idx": 4953 + }, + { + "text": "Put the corn in front of the pink bowl with the left hand facing backwards.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Using the left hand, place the corn in front of the pink bowl with its tip facing backwards.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Have the left arm set the corn in front of the pink bowl, tip oriented backward.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "With the left hand, position the corn before the pink bowl so the tip points backward.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Place the corn in front of the pink bowl with its tip facing backwards.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Set the corn before the pink bowl with the tip pointing backward.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Position the corn in front of the pink bowl so its tip faces backward.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Using the left hand, put the corn in front of the pink bowl.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Have the left arm place the corn before the pink bowl.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "With the left hand, set the corn in front of the pink bowl.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Put the corn in front of the pink bowl.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Place the corn before the pink bowl.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Set the corn in front of the pink bowl.", + "start_idx": 4953, + "end_idx": 5001 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Have the left arm retrieve the stainless bowl from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Pick up the stainless bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "From the table, collect the stainless bowl with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Take the stainless bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table with a lip grip at the bottom left.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "With the left hand, take the stainless bowl from the table using a lip grasp.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Have the left arm pick up the stainless bowl from the table.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Retrieve the stainless bowl from the table with the left hand at a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "From the table, grasp the stainless bowl at the bottom left with a diagonal angle.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 5097, + "end_idx": 5145 + }, + { + "text": "Put the stainless bowl in front of the white coffee cup with the left hand right side up.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Using the left hand, place the stainless bowl in front of the white coffee cup right side up.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Have the left arm set the stainless bowl down in front of the white coffee cup, keeping it right side up.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "With the left hand, position the stainless bowl right side up in front of the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Place the stainless bowl right side up in front of the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Set the stainless bowl in front of the white coffee cup right side up.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Position the stainless bowl in front of the white coffee cup with its open side up.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Using the left hand, put the stainless bowl in front of the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "With the left hand, place the stainless bowl before the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Have the left arm set the stainless bowl down in front of the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Put the stainless bowl in front of the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Set the stainless bowl down before the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Position the stainless bowl in front of the white coffee cup.", + "start_idx": 5145, + "end_idx": 5196 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Take the cabbage from the table diagonally at its middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Using the left hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Have the left arm take the cabbage from the table at a diagonal angle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by the middle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 5196, + "end_idx": 5232 + }, + { + "text": "Put the cabbage to the left of the stainless bowl with the left hand facing backwards from the front.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "With the left hand, place the cabbage to the left of the stainless bowl, facing backwards from the front.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Have the left arm set the cabbage to the left of the stainless bowl with its front facing backward.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Using the left hand, position the cabbage left of the stainless bowl so it faces backward from the front.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Place the cabbage to the left of the stainless bowl, facing backwards from the front.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Set the cabbage left of the stainless bowl with its front facing backward.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Position the cabbage to the left of the stainless bowl so it faces backward from the front.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "With the left hand, place the cabbage to the left of the stainless bowl.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Using the left hand, set the cabbage left of the stainless bowl.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Have the left arm position the cabbage to the left of the stainless bowl.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Place the cabbage to the left of the stainless bowl.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Set the cabbage left of the stainless bowl.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Position the cabbage to the left of the stainless bowl.", + "start_idx": 5232, + "end_idx": 5286 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Have the left hand grasp the corn from the table from the bottom with a side hold at a diagonal angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp at the bottom on a diagonal approach.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom and a diagonal angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Grasp the corn from the table from the bottom with a side hold on a diagonal.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp at the bottom.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Have the left hand secure the corn from the table from the bottom with a side hold.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Using the left hand, pick up the corn from the table with a diagonal pick angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Take the corn from the table with the left hand at the bottom on a diagonal.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Pick up the corn from the table from the bottom with a diagonal angle.", + "start_idx": 5286, + "end_idx": 5325 + }, + { + "text": "Put the corn to the left of the cabbage with the left hand with its tip facing bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Using the left hand, place the corn to the left of the cabbage with its tip pointing to the bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Have the left arm set the corn left of the cabbage, keeping the tip directed toward the bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "With the left hand, position the corn on the cabbage's left side so its tip faces bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Place the corn to the left of the cabbage with its tip facing bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Set the corn on the left side of the cabbage, with the tip pointing bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Position the corn left of the cabbage so the tip is directed toward the bottom left.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Using the left hand, put the corn to the left of the cabbage.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "With the left hand, place the corn on the cabbage's left side.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Have the left arm set the corn left of the cabbage.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Put the corn to the left of the cabbage.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Position the corn on the left side of the cabbage.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Set the corn left of the cabbage.", + "start_idx": 5325, + "end_idx": 5376 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grasp at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Have the left arm pick the pink stuffed toy up from the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table using a side hold at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Take the pink stuffed toy from the table with a side grasp on the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "The pink stuffed toy should be picked up from the table with a side hold at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table with a side grip.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table using a side grasp.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table using a side hold.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at the bottom diagonally.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "The pink stuffed toy should be picked up from the table with the left hand.", + "start_idx": 5376, + "end_idx": 5424 + }, + { + "text": "Put the pink stuffed toy to the left of the corn with the left hand facing forwards.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the corn with its front facing forward.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the corn, front facing forward.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "With the left hand, position the pink stuffed toy left of the corn so the front faces forward.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Place the pink stuffed toy to the left of the corn with its front facing forward.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Set the pink stuffed toy left of the corn with the front forward.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Position the pink stuffed toy to the corn's left, front facing forward.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the corn.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Have the left arm set the pink stuffed toy left of the corn.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "With the left hand, position the pink stuffed toy to the corn's left.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Put the pink stuffed toy to the left of the corn.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Set the pink stuffed toy beside the corn on its left.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Position the pink stuffed toy on the left side of the corn.", + "start_idx": 5424, + "end_idx": 5469 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Have the left arm pick up the pink bowl from the table using a bottom-left diagonal lip grip.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "With the left hand, grasp the pink bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Take the pink bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Take the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 5469, + "end_idx": 5493 + }, + { + "text": "Place the pink bowl between the white cup and the white coffee cup with the left hand.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Using the left hand, set the pink bowl between the white cup and the white coffee cup, right side up.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Have the left arm place the pink bowl between the white cup and the white coffee cup with its front oriented forward.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "With the left hand, position the pink bowl between the white cup and the white coffee cup in an upright orientation.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Place the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Set the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Position the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Arrange the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Using the left hand, place the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Have the left arm set the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "With the left hand, position the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Put the pink bowl between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Have the bowl placed between the white cup and the white coffee cup.", + "start_idx": 5493, + "end_idx": 5553 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "From a diagonal angle, have the left hand grasp the pink stuffed toy on the table with a side hold at its bottom.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "With the left hand, secure the pink stuffed toy from the table by its bottom using a side grasp from a diagonal approach.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Take the pink stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "From a diagonal angle, grasp the pink stuffed toy on the table with a side hold at its bottom.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "The pink stuffed toy from the table should be picked up with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Have the left hand grasp the pink stuffed toy on the table.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Pick up the pink stuffed toy from the table with a side grip at the bottom.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 5553, + "end_idx": 5595 + }, + { + "text": "Put the pink stuffed toy inside the pink bowl with the left hand facing top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the pink bowl with its front facing top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Have the left arm set the pink stuffed toy into the pink bowl, front oriented toward the top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "With the left hand, position the pink stuffed toy in the pink bowl so the front points top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Place the pink stuffed toy inside the pink bowl with its front facing top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Set the pink stuffed toy into the pink bowl, front toward the top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Put the pink stuffed toy in the pink bowl with the front oriented top left.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the pink bowl.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "With the left hand, set the pink stuffed toy into the pink bowl.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Have the left arm put the pink stuffed toy in the pink bowl.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Put the pink stuffed toy inside the pink bowl.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Place the pink stuffed toy into the pink bowl.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Set the pink stuffed toy in the pink bowl.", + "start_idx": 5595, + "end_idx": 5625 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn on the table with a side hold at the bottom.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "With the left hand, secure the corn from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "From a diagonal angle, grasp the corn on the table with a side hold at the bottom.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Take the corn from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Using the left hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "With the left hand, grasp the corn on the table using a side grip.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Have the left hand take the corn from the table at the bottom.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "From a diagonal angle, take the corn from the table with the left hand.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "With the left hand, grasp the corn on the table at the bottom.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Put the corn to the left of the white cup with the left hand facing left with the tip as the reference point.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Using the left hand, place the corn to the left of the white cup with its tip facing left.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Have the left hand set the corn left of the white cup, oriented leftward from the tip.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "With the left hand, position the corn to the left of the white cup so the tip points left.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Place the corn to the left of the white cup with its tip facing left.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Set the corn left of the white cup, with the tip oriented to the left.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Position the corn to the left of the white cup so the tip points left.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Using the left hand, put the corn to the left of the white cup.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Have the left hand place the corn left of the white cup.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "With the left hand, set the corn to the left of the white cup.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Place the corn to the left of the white cup.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Set the corn left of the white cup.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Position the corn to the left of the white cup.", + "start_idx": 5658, + "end_idx": 5712 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Have the left arm take the cabbage from the table, approaching diagonally and holding its middle.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal and grip it at the center.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Take the cabbage from the table on a diagonal, holding the middle.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach and a middle hold.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Get the cabbage off the table.", + "start_idx": 5712, + "end_idx": 5745 + }, + { + "text": "Place the cabbage on the center of the table with the left hand facing backwards with the front as the reference point.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Using the left hand, set the cabbage at the center of the table with its front facing backward.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Have the left arm place the cabbage in the table's center, oriented backward relative to its front.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "With the left hand, position the cabbage on the center of the table so the front faces backward.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Place the cabbage at the center of the table with its front facing backward.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Set the cabbage in the center of the table, front facing backward.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Position the cabbage on the table's center with the front oriented backward.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Using the left hand, place the cabbage at the center of the table.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Have the left arm set the cabbage in the center of the table.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "With the left hand, position the cabbage on the center of the table.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Put the cabbage on the center of the table.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Set the cabbage at the center of the table.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Place the cabbage in the middle of the table.", + "start_idx": 5745, + "end_idx": 5799 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Have the left arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Retrieve the cabbage from the table, contacting the middle at a diagonal angle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Grasp the cabbage from the table at the middle.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Put the cabbage in front of the corn with the left hand facing bottom left from the front.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Using the left hand, place the cabbage in front of the corn with its front facing bottom left.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Have the left arm set the cabbage in front of the corn, oriented bottom-left from the front.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "With the left hand, position the cabbage before the corn so the front points bottom left.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Place the cabbage in front of the corn with its front facing bottom left.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Set the cabbage before the corn with the front oriented bottom left.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Position the cabbage in front of the corn so its front faces bottom left.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Using the left hand, put the cabbage in front of the corn.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Have the left arm place the cabbage before the corn.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "With the left hand, set the cabbage in front of the corn.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Place the cabbage in front of the corn.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Set the cabbage before the corn.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Position the cabbage in front of the corn.", + "start_idx": 5919, + "end_idx": 5958 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Have the left arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "With the left hand, collect the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "From the table, grasp the cabbage at its middle on a diagonal angle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Use the left hand to pick up the cabbage from the table.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Grasp the cabbage from the table at its middle.", + "start_idx": 6051, + "end_idx": 6108 + }, + { + "text": "Put the cabbage in front of the pink bowl with the left hand facing backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Using the left hand, place the cabbage in front of the pink bowl with it facing backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Have the left arm set the cabbage down in front of the pink bowl, oriented backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "With the left hand, position the cabbage before the pink bowl so it faces backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Place the cabbage in front of the pink bowl with it facing backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Set the cabbage down before the pink bowl, facing backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Position the cabbage in front of the pink bowl so it is oriented backwards.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Put the cabbage in front of the pink bowl with the left hand.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Using the left hand, place the cabbage before the pink bowl.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Have the left arm set the cabbage down in front of the pink bowl.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Place the cabbage in front of the pink bowl.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Set the cabbage down before the pink bowl.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Put the cabbage before the pink bowl.", + "start_idx": 6108, + "end_idx": 6153 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "With the left hand, collect the corn from the table at a diagonal angle by grasping its middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Take the corn from the table at a diagonal angle while holding the middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Grab the corn from the table with a diagonal pickup at its middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "From the table, pick up the corn with the left hand.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Use the left hand to take the corn from the table.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Have the left hand collect the corn from the table.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Grab the corn from the table by the middle.", + "start_idx": 6153, + "end_idx": 6192 + }, + { + "text": "Put the corn to the left of the cabbage with the left hand facing left with the front as the reference point.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Using the left hand, place the corn to the left of the cabbage, facing left relative to its front.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Have the left arm set the corn to the cabbage's left side, with the front pointing left.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "With the left hand, position the corn left of the cabbage so its front faces left.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Place the corn to the left of the cabbage so its front faces left.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Set the corn on the left side of the cabbage, with the front oriented left.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Position the corn left of the cabbage, facing left from the front reference point.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Using the left hand, put the corn to the left of the cabbage.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "With the left hand, place the corn on the cabbage's left side.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Have the left arm set the corn left of the cabbage.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Put the corn to the left of the cabbage.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Set the corn on the left side of the cabbage.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Position the corn left of the cabbage.", + "start_idx": 6192, + "end_idx": 6237 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach, holding it at the center.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "With the left hand, grasp the corn from the table at the middle on a diagonal pickup.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Grasp the corn from the table at the center with a diagonal pickup.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Grasp the middle of the corn from the table.", + "start_idx": 6333, + "end_idx": 6372 + }, + { + "text": "Put the corn behind the stainless bowl with the left hand facing bottom right by the tip.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Using the left hand, place the corn behind the stainless bowl with the tip facing bottom right.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Have the left arm set the corn behind the stainless bowl, oriented bottom right at the tip.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "With the left hand, position the corn behind the stainless bowl so the tip points toward the bottom right.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Place the corn behind the stainless bowl with the tip facing bottom right.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Set the corn behind the stainless bowl, oriented bottom right at the tip.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Position the corn behind the stainless bowl so its tip points to the bottom right.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "With the left hand, put the corn behind the stainless bowl.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Using the left hand, place the corn behind the stainless bowl.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Have the left arm set the corn behind the stainless bowl.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Put the corn behind the stainless bowl.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Position the corn behind the stainless bowl.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Set the corn behind the stainless bowl.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "With the left hand, collect the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Take the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle, holding the middle.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "The cabbage from the table should be picked up.", + "start_idx": 6414, + "end_idx": 6456 + }, + { + "text": "Place the cabbage to the right of the stainless bowl with the left hand facing backwards with the front as the reference point.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Using the left hand, set the cabbage to the right of the stainless bowl with its front facing backward.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "With the left arm, position the cabbage right of the stainless bowl, oriented backward relative to its front.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Have the left hand place the cabbage to the stainless bowl's right, with the front facing backward.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Place the cabbage to the right of the stainless bowl with its front facing backward.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Set the cabbage right of the stainless bowl, oriented backward from the front.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Position the cabbage to the right of the stainless bowl so its front faces backward.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Using the left hand, place the cabbage to the right of the stainless bowl.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "With the left arm, set the cabbage to the stainless bowl's right.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Have the left hand position the cabbage right of the stainless bowl.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Place the cabbage to the right of the stainless bowl.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Set the cabbage to the stainless bowl's right.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Position the cabbage right of the stainless bowl.", + "start_idx": 6456, + "end_idx": 6498 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Have the left arm grasp the stainless bowl from the table by the bottom edge with a diagonal lip hold.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "With the left hand, secure the stainless bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Take the stainless bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Grasp the stainless bowl from the table by the bottom edge in a diagonal lip grip.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "With the left hand, pick up the stainless bowl from the table.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Have the left arm take the stainless bowl from the table.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Using the left hand, grasp the stainless bowl from the table.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Grasp the stainless bowl from the table.", + "start_idx": 6498, + "end_idx": 6525 + }, + { + "text": "Put the stainless bowl in front of the pink bowl with the left hand.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Using the left hand, place the stainless bowl in front of the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Have the left arm set the stainless bowl down in front of the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "With the left hand, position the stainless bowl before the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Place the stainless bowl in front of the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Set the stainless bowl down before the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Position the stainless bowl in front of the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Using the left hand, put the stainless bowl by the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Have the left arm place the stainless bowl near the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Set the stainless bowl next to the pink bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Using the left hand, place the stainless bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Put the stainless bowl with the left hand.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Place the stainless bowl.", + "start_idx": 6525, + "end_idx": 6573 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "At a diagonal angle, have the left hand take the cabbage from the table by its middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "With the left hand, retrieve the cabbage from the table in a diagonal orientation, holding the middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Take the cabbage from the table at a diagonal angle by the middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "From the table, retrieve the cabbage at a diagonal angle, holding its middle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Using the left hand, take the cabbage from the table.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Have the left hand retrieve the cabbage from the table.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "With the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 6573, + "end_idx": 6594 + }, + { + "text": "Put the cabbage inside the stainless bowl with the left hand facing bottom left from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Using the left hand, place the cabbage in the stainless bowl with it facing bottom left from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Have the left arm set the cabbage inside the stainless bowl, oriented bottom-left when viewed from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "With the left hand, deposit the cabbage into the stainless bowl so it faces bottom left from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Place the cabbage in the stainless bowl facing bottom left from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Set the cabbage inside the stainless bowl with its front facing bottom left.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Put the cabbage into the stainless bowl oriented bottom left from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Using the left hand, place the cabbage in the stainless bowl.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Have the left arm put the cabbage inside the stainless bowl.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "With the left hand, deposit the cabbage into the stainless bowl.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Set the cabbage inside the stainless bowl.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Place the cabbage in the stainless bowl from the front.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Using the left hand, put the cabbage into the stainless bowl.", + "start_idx": 6594, + "end_idx": 6627 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Have the left hand grasp the corn from the table from the bottom using a side hold at a diagonal angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "With the left hand, secure the corn from the table at the bottom in a side grasp with a diagonal approach.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Take the corn from the table with a side hold at the bottom and a diagonal approach.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Grasp the corn from the table from the bottom using a side grip at a diagonal angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "With the left hand, take the corn from the table using a side hold at the bottom.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Have the left hand grasp the corn from the table at the bottom with a diagonal pick angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Using the left hand, pick up the corn from the table with a diagonal pick angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Pick up the corn from the table at the bottom with a diagonal pick angle.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Take the corn from the table from the bottom.", + "start_idx": 6627, + "end_idx": 6660 + }, + { + "text": "Put the corn inside the pink bowl with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Using the left hand, place the corn in the pink bowl with its tip facing bottom left.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Have the left arm put the corn into the pink bowl, oriented bottom left from the tip.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "With the left hand, deposit the corn inside the pink bowl so the tip points bottom left.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Place the corn into the pink bowl with its tip facing bottom left.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Put the corn inside the pink bowl, with the tip oriented toward the bottom left.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Set the corn in the pink bowl so its tip faces bottom left.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Place the corn into the pink bowl.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Put the corn inside the pink bowl.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Set the corn in the pink bowl.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Using the left hand, place the corn in the pink bowl.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Have the left arm put the corn into the pink bowl.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Set the corn in the pink bowl with the left hand.", + "start_idx": 6660, + "end_idx": 6699 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal lip grip at the top.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Have the left hand take the white cup from the table by the top with a diagonal lip grasp.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "With the left arm, grasp the white cup from the table at the top using a diagonal lip hold.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Pick up the white cup from the table with a diagonal lip grip at the top.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Take the white cup from the table by the top using a diagonal lip grasp.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Grasp the white cup from the table at the top with a diagonal lip hold.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Have the left hand take the white cup from the table.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "With the left arm, grasp the white cup from the table.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Using the left hand, pick up the white cup from the table at the top.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 6699, + "end_idx": 6750 + }, + { + "text": "Put the white cup to the left of the stainless bowl with the left hand right side up.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Using the left hand, place the white cup to the left of the stainless bowl, right side up.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Have the left arm set the white cup left of the stainless bowl with its open end up.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "With the left hand, position the white cup on the stainless bowl's left side, upright.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Place the white cup to the left of the stainless bowl, right side up.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Set the white cup on the left side of the stainless bowl with its top facing upward.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Position the white cup left of the stainless bowl in an upright orientation.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Using the left hand, put the white cup to the left of the stainless bowl.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Have the left arm place the white cup on the stainless bowl's left side.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "With the left hand, set the white cup left of the stainless bowl.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Put the white cup to the left of the stainless bowl.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Place the white cup on the left side of the stainless bowl.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Have the white cup positioned left of the stainless bowl.", + "start_idx": 6750, + "end_idx": 6789 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Have the left hand take the stainless bowl from the table, grasping the bottom left rim with a diagonal lip grip.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "With the left hand, collect the stainless bowl from the table by applying a diagonal lip grasp at the bottom left.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Pick up the stainless bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Take the stainless bowl from the table, using a diagonal lip grasp at the bottom left.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Grasp the stainless bowl from the table at the bottom left with a lip grip, angled diagonally.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a lip grip.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a lip grasp.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Have the left hand collect the stainless bowl from the table using the rim grip.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table at the bottom left diagonally.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 6873, + "end_idx": 6906 + }, + { + "text": "Dump the cabbage to the left of the pink bowl with the left hand.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Using the left hand, dump the cabbage to the left of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Have the left arm place the cabbage on the left side of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "With the left hand, deposit the cabbage beside the pink bowl on its left.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Dump the cabbage to the left of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Place the cabbage on the left side of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Set the cabbage beside the pink bowl, to its left.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Position the cabbage left of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Move the cabbage to the left of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "The cabbage goes on the left side of the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Place the cabbage beside the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Set the cabbage on the pink bowl's left side.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Put the cabbage by the pink bowl.", + "start_idx": 6906, + "end_idx": 6954 + }, + { + "text": "Put the stainless bowl to the left of the cabbage with the left hand.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Using the left hand, place the stainless bowl to the left of the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Have the left arm set the stainless bowl down to the cabbage's left.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "With the left hand, position the stainless bowl on the left side of the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Place the stainless bowl to the left of the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Set the stainless bowl on the cabbage's left side.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Position the stainless bowl left of the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Put the stainless bowl by the cabbage with the left hand.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Using the left hand, place the stainless bowl next to the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Have the left arm set the stainless bowl beside the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Put the stainless bowl by the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Set the stainless bowl beside the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Position the stainless bowl next to the cabbage.", + "start_idx": 6954, + "end_idx": 7026 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Put the cabbage in front of the stainless bowl with the left hand facing forwards from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Using the left hand, place the cabbage in front of the stainless bowl facing forwards from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "With the left arm, set the cabbage in front of the stainless bowl so it faces forward from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Have the left hand position the cabbage before the stainless bowl, oriented forwards from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Place the cabbage in front of the stainless bowl facing forwards from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Set the cabbage before the stainless bowl facing forwards from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Position the cabbage in front of the stainless bowl facing forwards from the front.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Using the left hand, put the cabbage in front of the stainless bowl.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "With the left arm, place the cabbage before the stainless bowl.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Have the left hand set the cabbage in front of the stainless bowl.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Put the cabbage in front of the stainless bowl.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Place the cabbage before the stainless bowl.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Set the cabbage in front of the stainless bowl.", + "start_idx": 7053, + "end_idx": 7092 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Have the left hand take the white cup from the table with a diagonal approach at its middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "With the left hand, grasp the middle of the white cup on the table and raise it at a diagonal angle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Take the white cup from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Grasp the middle of the white cup from the table and pick it up at a diagonal angle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Pick up the white cup from the table with the left hand, grasping the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Using the left hand, take the white cup from the table by the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Have the left hand pick up the white cup from the table, holding its middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "With the left hand, take the white cup from the table diagonally.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Pick up the white cup from the table, grasping the middle.", + "start_idx": 7092, + "end_idx": 7119 + }, + { + "text": "Put the white cup between the stainless bowl and pink bowl with the left hand right side up front.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Using the left hand, place the white cup between the stainless bowl and pink bowl right side up with the front facing forward.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Have the left arm set the white cup between the pink bowl and the stainless bowl, upright and front-facing.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "With the left hand, position the white cup between the stainless bowl and pink bowl so it is right side up and front-facing.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Place the white cup between the stainless bowl and pink bowl right side up with the front facing forward.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Set the white cup between the pink bowl and stainless bowl, upright with the front forward.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Position the white cup between the stainless bowl and pink bowl so its front faces forward and it stays right side up.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Using the left hand, put the white cup between the stainless bowl and pink bowl.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "With the left hand, place the white cup between the pink bowl and stainless bowl.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Have the left arm position the white cup between the stainless bowl and pink bowl.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Put the white cup between the stainless bowl and pink bowl.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Set the white cup between the stainless bowl and pink bowl.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Using the left hand, set the white cup between the stainless bowl and pink bowl upright.", + "start_idx": 7119, + "end_idx": 7164 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "From a diagonal angle, have the left hand grasp the cabbage from the table with a side hold at the bottom.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "With the left hand, secure the cabbage from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "From a diagonal angle, grasp the cabbage from the table at the bottom with a side hold.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Take the cabbage from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "With the left hand, pick up the cabbage from the table using a side grip at the bottom.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Have the left hand take the cabbage from the table with a side grasp at the bottom.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Using the left hand, grasp the cabbage from the table with a side hold at the bottom.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Pick up the cabbage from the table with the left hand from a diagonal angle.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "From a diagonal angle, take the cabbage from the table with the left hand.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Have the left hand pick up the cabbage from the table.", + "start_idx": 7266, + "end_idx": 7311 + }, + { + "text": "Put the cabbage in front of the white cup with the left hand facing top right from the front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Using the left hand, place the cabbage in front of the white cup facing the top right from the front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Have the left arm set the cabbage in front of the white cup with its orientation top right from the front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "With the left hand, position the cabbage before the white cup so it faces top right from the front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Place the cabbage in front of the white cup facing the top right from the front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Set the cabbage before the white cup with the top-right side facing front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Position the cabbage in front of the white cup, oriented top right from the front.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Using the left hand, put the cabbage in front of the white cup.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "With the left hand, place the cabbage before the white cup.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Have the left arm set the cabbage in front of the white cup.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Put the cabbage in front of the white cup.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Set the cabbage before the white cup.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Position the cabbage in front of the white cup.", + "start_idx": 7311, + "end_idx": 7359 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Have the left hand pick the stainless bowl up from the table using a bottom-left diagonal lip grip.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "With the left hand, secure the stainless bowl from the table via a diagonal lip hold at the bottom left.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Take the stainless bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Grasp the stainless bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "With the left hand, take the stainless bowl from the table.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Have the left hand grasp the stainless bowl from the table.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 7359, + "end_idx": 7416 + }, + { + "text": "Put the stainless bowl to the right of the white coffee cup with the left hand.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "With the left hand, place the stainless bowl to the right of the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Have the left arm set the stainless bowl on the right side of the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Using the left hand, position the stainless bowl just right of the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Place the stainless bowl to the right of the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Set the stainless bowl on the right side of the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Position the stainless bowl just to the right of the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Move the stainless bowl next to the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Put the stainless bowl beside the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "With the left hand, place the stainless bowl beside the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Using the left hand, set the stainless bowl next to the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Have the left arm position the stainless bowl beside the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Place the stainless bowl beside the white coffee cup.", + "start_idx": 7416, + "end_idx": 7479 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Have the left arm pick the cabbage off the table diagonally by its middle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, holding it at a diagonal angle around the middle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Take the cabbage off the table diagonally by the middle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal hold at its center.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Have the left arm take the cabbage off the table.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Have the left arm pick up the cabbage from the table at a diagonal angle.", + "start_idx": 7587, + "end_idx": 7629 + }, + { + "text": "Put the cabbage on the bottom left side of the table with the left hand facing top left from the front.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Using the left hand, place the cabbage on the bottom left side of the table, facing top left from the front.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Have the left arm set the cabbage on the table's bottom-left area with its front facing top left.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "With the left hand, position the cabbage at the bottom left side of the table, oriented top left from the front.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Place the cabbage on the bottom left side of the table, facing top left from the front.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Set the cabbage on the bottom-left part of the table with its front toward the top left.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Position the cabbage on the bottom left side of the table so the front faces top left.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Put the cabbage on the bottom left side of the table with the left hand.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Using the left hand, place the cabbage on the table's bottom-left area.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Have the left arm set the cabbage on the bottom left side of the table.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Place the cabbage on the bottom left side of the table.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Set the cabbage on the table's bottom-left area.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Position the cabbage at the bottom left side of the table.", + "start_idx": 7629, + "end_idx": 7674 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and raise it at a diagonal angle.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Grasp the cabbage from the table at the middle with a diagonal pickup.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Have the left arm grasp the cabbage from the table.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 7755, + "end_idx": 7794 + }, + { + "text": "Place the cabbage on the top side of the table with the left hand facing forwards from the front.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Using the left hand, set the cabbage on the top side of the table facing forwards from the front.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Have the left arm place the cabbage on the table's top side with its front facing forwards.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "With the left hand, position the cabbage on the top side of the table so it faces forwards from the front.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Place the cabbage on the top side of the table facing forwards from the front.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Set the cabbage on the table's top side with its front facing forwards.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Position the cabbage on the top side of the table so it faces forwards from the front.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Using the left hand, place the cabbage on the top side of the table.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "With the left hand, set the cabbage on the table's top side.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Have the left arm position the cabbage on the top side of the table.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Place the cabbage on the top side of the table.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Set the cabbage on the table's top side.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Position the cabbage on the top side of the table.", + "start_idx": 7794, + "end_idx": 7833 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle, grasping its middle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Have the left arm pick the white cup off the table with a diagonal approach at the middle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "With the left hand, collect the white cup from the table by gripping the middle at a diagonal angle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Take the white cup off the table with a diagonal approach at its middle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "From the table, retrieve the white cup while holding the middle at a diagonal angle.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Use the left hand to pick up the white cup from the table.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Have the left arm take the white cup off the table.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "With the left hand, retrieve the white cup from the table.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Take the white cup off the table.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "From the table, collect the white cup.", + "start_idx": 7833, + "end_idx": 7881 + }, + { + "text": "Put the white cup on the bottom side of the table right side up with the front as the orientation reference using the left arm.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Using the left arm, place the white cup on the bottom side of the table right side up, with the front as the orientation reference.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Have the left arm set the white cup on the bottom side of the table in an upright orientation, referencing the front.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "With the left arm, position the white cup on the bottom side of the table so it is right side up relative to the front.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Place the white cup on the bottom side of the table right side up, with the front as the orientation reference.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Set the white cup on the bottom side of the table in an upright orientation, using the front as the reference point.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Position the white cup on the bottom side of the table so it is right side up relative to the front.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Using the left arm, place the white cup on the bottom side of the table.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Have the left arm set the white cup on the bottom side of the table.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "With the left arm, position the white cup on the bottom side of the table.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Put the white cup on the bottom side of the table.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Set the white cup on the bottom side of the table.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Position the white cup on the bottom side of the table.", + "start_idx": 7881, + "end_idx": 7962 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "From a diagonal angle, have the left hand grasp the white cup from the table by the top with a lip grip.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "With the left hand, secure the white cup from the table at the top using a lip grip from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "From a diagonal angle, grasp the white cup from the table by the top with a lip grip.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Take the white cup from the table at the top using a lip grip from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Using the left hand, grasp the white cup from the table with a lip grip at the top.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Have the left hand take the white cup from the table using a lip grip by the top.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "With the left hand, pick up the white cup from the table from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Pick up the white cup from the table with the left hand at the top from a diagonal angle.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "From a diagonal angle, take the white cup from the table with the left hand.", + "start_idx": 8043, + "end_idx": 8082 + }, + { + "text": "Put the white cup to the right of the white coffee cup right side up with the front as the reference point using the left arm.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Using the left arm, place the white cup to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Have the left arm set the white cup to the right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "The white cup goes to the right of the white coffee cup, placed right side up with the front as the reference point by the left arm.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Place the white cup to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Set the white cup to the right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Position the white cup to the right of the white coffee cup, right side up using the front as the reference point.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Using the left arm, place the white cup to the right of the white coffee cup.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Have the left arm set the white cup to the right of the white coffee cup.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "The white cup should be positioned to the right of the white coffee cup by the left arm.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Put the white cup to the right of the white coffee cup.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Arrange the white cup to the right of the white coffee cup.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Place the white cup to the right of the white coffee cup with the left arm.", + "start_idx": 8081, + "end_idx": 8123 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "From a diagonal angle, have the left hand grasp the cabbage on the table with a side hold at the bottom.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "With the left hand, secure the cabbage from the table using a side grasp at the bottom from a diagonal approach.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "From a diagonal angle, grasp the cabbage from the table with a side hold at the bottom.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Take the cabbage from the table with a side grasp at the bottom from a diagonal approach.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "With the left hand, pick up the cabbage from the table using a side grip.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Have the left hand take the cabbage from the table with a side hold.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Using the left hand, grasp the cabbage from the table with a side grasp.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "With the left hand, pick up the cabbage from the table from a diagonal angle.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Pick up the cabbage from the table with a side grip.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "From a diagonal angle, take the cabbage from the table.", + "start_idx": 8235, + "end_idx": 8277 + }, + { + "text": "Put the cabbage to the left of the stainless bowl with the left hand facing forwards.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Using the left hand, place the cabbage to the left of the stainless bowl with its front facing forwards.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "With the left arm, set the cabbage to the left of the stainless bowl, front facing forward.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Have the left hand position the cabbage left of the stainless bowl with the front pointed forwards.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Place the cabbage to the left of the stainless bowl with its front facing forwards.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Set the cabbage left of the stainless bowl, front facing forward.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Position the cabbage to the left of the stainless bowl with the front facing forwards.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Using the left hand, put the cabbage to the left of the stainless bowl.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "With the left arm, place the cabbage left of the stainless bowl.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Have the left hand set the cabbage to the left of the stainless bowl.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Put the cabbage to the left of the stainless bowl.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Place the cabbage left of the stainless bowl.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Set the cabbage to the left of the stainless bowl.", + "start_idx": 8277, + "end_idx": 8319 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the top with a diagonal pick angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the top and a diagonal pick angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a top lip grip, approaching at a diagonal angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "With the left hand, take the pink bowl off the table using a lip grasp on the top at a diagonal angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the top and a diagonal pick angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Take the pink bowl from the table using a lip grasp on the top with a diagonal approach.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Grasp the pink bowl off the table with a top lip grip at a diagonal angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the top.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Have the left hand grasp the pink bowl off the table.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the top and with a diagonal pick angle.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "With the left hand, take the pink bowl from the table at the top.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 8400, + "end_idx": 8448 + }, + { + "text": "Dump the pink stuffed toy and corn on the center of the table with the left hand.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Using the left hand, dump the pink stuffed toy and corn onto the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Have the left arm dump the pink stuffed toy and corn at the table's center.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "With the left hand, empty the pink stuffed toy and corn onto the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Dump the pink stuffed toy and corn onto the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Place the pink stuffed toy and corn at the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Set the pink stuffed toy and corn down in the middle of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Move the pink stuffed toy and corn to the table's center.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "The pink stuffed toy and corn should go onto the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Put the pink stuffed toy and corn in the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Deposit the pink stuffed toy and corn on the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "At the table's center, dump the pink stuffed toy and corn.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "The pink stuffed toy and corn need to be placed on the center of the table.", + "start_idx": 8448, + "end_idx": 8523 + }, + { + "text": "Put the pink bowl behind the cabbage with the left hand.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Using the left hand, place the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Have the left arm set the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "With the left hand, position the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Place the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Set the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Position the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Move the pink bowl behind the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Using the left hand, place the pink bowl by the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Have the left arm set the pink bowl near the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "With the left hand, position the pink bowl next to the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Place the pink bowl by the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Set the pink bowl near the cabbage.", + "start_idx": 8523, + "end_idx": 8577 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "From a diagonal angle, have the left hand grasp the pink stuffed toy from the table with a side hold at the top.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table by securing its top with a side grip from a diagonal angle.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Pick up the pink stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Take the pink stuffed toy from the table, approaching from a diagonal angle and gripping the top from the side.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "From the table, grasp the pink stuffed toy at the top with a side hold from a diagonal angle.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "With the left hand, pick up the pink stuffed toy from the table using a side grip.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a side grasp.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Using the left hand, secure the pink stuffed toy from the table with a side hold.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Take the pink stuffed toy from the table from a diagonal angle.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Grasp the pink stuffed toy from the table.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Place the pink stuffed toy inside the white cup with the left hand facing top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the white cup with its front facing the top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Have the left arm put the pink stuffed toy into the white cup, front oriented toward the top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "With the left hand, set the pink stuffed toy in the white cup so the front points top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Place the pink stuffed toy inside the white cup with its front facing the top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Set the pink stuffed toy into the white cup with the front directed to the top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Put the pink stuffed toy in the white cup so its front faces the top right.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the white cup.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Have the left arm put the pink stuffed toy into the white cup.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "With the left hand, set the pink stuffed toy in the white cup.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Place the pink stuffed toy inside the white cup.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Put the pink stuffed toy into the white cup.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Have the pink stuffed toy deposited in the white cup.", + "start_idx": 8622, + "end_idx": 8667 + }, + { + "text": "Pick up the stainless bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Using the left hand, take the stainless bowl from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Have the left arm grasp the stainless bowl from the table with a lip hold at the bottom left at a diagonal.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "With the left hand, secure the stainless bowl from the table using the lip at the bottom left diagonally.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Pick up the stainless bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Take the stainless bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Grasp the stainless bowl from the table using the lip at the bottom left diagonally.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table with a lip grip.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Have the left arm take the stainless bowl from the table using a lip hold.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "With the left hand, grasp the stainless bowl from the table using the lip.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Using the left hand, pick up the stainless bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Pick up the stainless bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Put the stainless bowl on the center of the table with the left hand right side up.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Using the left hand, place the stainless bowl at the center of the table right side up.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Have the left arm set the stainless bowl on the table's center with its right side up.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "With the left hand, position the stainless bowl in the center of the table, right side up.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Place the stainless bowl at the center of the table.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Set the stainless bowl on the center of the table.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "The stainless bowl goes in the center of the table.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Position the stainless bowl at the center of the table with the left hand.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Using the left hand, place the stainless bowl at the center of the table.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Set the stainless bowl on the center of the table with the left hand.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Place the stainless bowl on the table's center right side up.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Right side up, set the stainless bowl at the center of the table.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Have the stainless bowl placed in the table's center.", + "start_idx": 8775, + "end_idx": 8820 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping its middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach, gripping its middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, gripping its middle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Have the left arm pick up the cabbage from the table at a diagonal angle.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Put the cabbage on the bottom side of the table with the left hand facing forwards.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "With the left hand, place the cabbage on the bottom side of the table facing forwards.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Set the cabbage on the bottom side of the table with your left hand, oriented forwards.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Have the left arm position the cabbage on the bottom side of the table so it faces forwards.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Place the cabbage on the bottom side of the table facing forwards.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Set the cabbage on the bottom side of the table with its front forward.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Position the cabbage on the bottom side of the table, front facing forward.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Using the left hand, place the cabbage on the bottom side of the table.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Set the cabbage on the bottom side of the table with the left hand.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Have the left arm put the cabbage on the bottom side of the table.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Put the cabbage on the bottom side of the table.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Place the cabbage on the bottom side of the table.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Have the cabbage placed on the bottom side of the table.", + "start_idx": 8859, + "end_idx": 8901 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by its bottom edge with a diagonal lip hold.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a diagonal grip on the bottom lip.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold on the bottom.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Grasp the pink bowl from the table by the bottom lip in a diagonal hold.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "The pink bowl from the table should be picked up with the left hand.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Have the left arm grasp the pink bowl from the table.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "The pink bowl from the table should be picked up.", + "start_idx": 8901, + "end_idx": 8949 + }, + { + "text": "Put the pink bowl to the left of the stainless bowl with the left hand.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Have the left arm set the pink bowl on the left side of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "With the left hand, position the pink bowl left of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Place the pink bowl to the left of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Set the pink bowl on the left side of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Position the pink bowl left of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Move the pink bowl to the left of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Put the pink bowl beside the stainless bowl on its left side.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Arrange the pink bowl to the stainless bowl's left.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Using the left hand, place the pink bowl beside the stainless bowl on its left side.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Have the left arm position the pink bowl to the stainless bowl's left.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "With the left hand, set the pink bowl on the left side of the stainless bowl.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Take the white coffee cup from the table by the handle using a diagonal grasp.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Take the white coffee cup from the table at the handle.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 156, + "end_idx": 177 + }, + { + "text": "Put the white coffee cup in front of the stainless bowl with the handle facing backwards using the right hand.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the stainless bowl with the handle facing backwards.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Have the right arm set the white coffee cup before the stainless bowl, handle pointing backward.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "With the right hand, position the white coffee cup in front of the stainless bowl so its handle faces backward.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Place the white coffee cup in front of the stainless bowl with the handle facing backwards.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Set the white coffee cup before the stainless bowl, handle pointing backward.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Position the white coffee cup in front of the stainless bowl so the handle faces the rear.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the stainless bowl.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "With the right hand, set the white coffee cup before the stainless bowl.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Have the right arm position the white coffee cup in front of the stainless bowl.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Put the white coffee cup in front of the stainless bowl.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Set the white coffee cup before the stainless bowl.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "With the right hand, put the white coffee cup in front of the stainless bowl.", + "start_idx": 177, + "end_idx": 216 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Using the right hand, take the stainless bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Have the right arm grasp the stainless bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "With the right hand, secure the stainless bowl from the table using a bottom-right diagonal lip grasp.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Take the stainless bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Grasp the stainless bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Retrieve the stainless bowl from the table.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Have the right arm take the stainless bowl from the table.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table.", + "start_idx": 342, + "end_idx": 381 + }, + { + "text": "Put the stainless bowl to the right of the white coffee cup with the right hand right side up front.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Using the right hand, place the stainless bowl to the right of the white coffee cup, right side up with the front facing forward.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Have the right arm set the stainless bowl to the right of the white coffee cup, keeping it right side up and front-facing.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "With the right hand, position the stainless bowl to the right of the white coffee cup in a right-side-up orientation, front forward.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Place the stainless bowl to the right of the white coffee cup, keeping it right side up with the front facing forward.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Set the stainless bowl to the right of the white coffee cup, right side up and front-facing.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Position the stainless bowl to the right of the white coffee cup with its front forward and right side up.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Using the right hand, place the stainless bowl to the right of the white coffee cup.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "With the right hand, set the stainless bowl to the right of the white coffee cup.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Have the right arm position the stainless bowl to the right of the white coffee cup.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Put the stainless bowl to the right of the white coffee cup.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Arrange the stainless bowl to the right of the white coffee cup.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Have the stainless bowl placed to the right of the white coffee cup.", + "start_idx": 381, + "end_idx": 441 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Retrieve the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Have the right arm take the white coffee cup from the table by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Take the white coffee cup from the table at a diagonal angle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Retrieve the white coffee cup from the table by the handle.", + "start_idx": 441, + "end_idx": 468 + }, + { + "text": "Put the white coffee cup on the right side of the table with the right hand right side up with the front facing bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table, right side up, with the front facing bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Have the right arm set the white coffee cup on the table's right side, keeping it upright and the front pointed bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "With the right hand, position the white coffee cup on the right side of the table so it stays right side up and faces bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Place the white coffee cup on the right side of the table, right side up, with the front facing bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Set the white coffee cup on the table's right side, upright, with the front oriented toward the bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Position the white coffee cup on the right side of the table with the front facing bottom right.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Using the right hand, put the white coffee cup on the right side of the table.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Have the right arm place the white coffee cup on the table's right side.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "With the right hand, set the white coffee cup on the right side of the table.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Put the white coffee cup on the right side of the table.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Set the white coffee cup on the table's right side.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "The white coffee cup goes on the right side of the table.", + "start_idx": 468, + "end_idx": 522 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the left side.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Have the right arm take the white coffee cup from the table using a diagonal grasp on its left lip.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the left side with a diagonal lip hold.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp on the left lip.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Grasp the white coffee cup from the table at the left side with a diagonal lip hold.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Take the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 747, + "end_idx": 792 + }, + { + "text": "Put the white coffee cup between the white cup and the stainless bowl with the handle facing bottom right right side up using the right hand.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Using the right hand, place the white coffee cup between the white cup and the stainless bowl, right side up with the handle facing bottom right.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Have the right hand set the white coffee cup between the white cup and the stainless bowl, keeping it upright and the handle pointed bottom right.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "With the right hand, position the white coffee cup between the white cup and the stainless bowl so the handle faces bottom right and it remains right side up.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Place the white coffee cup between the white cup and the stainless bowl, right side up with the handle facing bottom right.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Set the white coffee cup between the white cup and the stainless bowl, keeping the handle toward bottom right and the cup upright.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Position the white coffee cup between the white cup and the stainless bowl with the handle pointed bottom right, right side up.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Using the right hand, place the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "With the right hand, set the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Have the right hand position the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Put the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Arrange the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Place the white coffee cup between the white cup and the stainless bowl.", + "start_idx": 792, + "end_idx": 843 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table, approaching diagonally by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Retrieve the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Grab the white coffee cup from the table with the right hand by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Have the right hand take the white coffee cup from the table by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Retrieve the white coffee cup from the table by the handle.", + "start_idx": 933, + "end_idx": 966 + }, + { + "text": "Place the white coffee cup to the right of the white cup with the handle facing backwards with the right hand.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Using the right hand, set the white coffee cup to the right of the white cup with its handle facing backward.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Have the right arm place the white coffee cup to the right of the white cup, handle pointed backward.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the white cup so the handle faces backward.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Place the white coffee cup to the right of the white cup with the handle facing backward.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Set the white coffee cup to the right of the white cup, with its handle pointed backward.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Position the white coffee cup to the right of the white cup so the handle faces backward.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the white cup.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the white cup.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the white cup.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Put the white coffee cup to the right of the white cup.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Set the white coffee cup to the right of the white cup.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Position the white coffee cup to the right of the white cup.", + "start_idx": 966, + "end_idx": 1014 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Using the right hand, take the stainless bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Have the right arm grasp the stainless bowl from the table by the bottom rim in a diagonal lip hold.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "With the right hand, secure the stainless bowl from the table using a diagonal grip on the bottom lip.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Grasp the stainless bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Take the stainless bowl from the table by the bottom rim with a diagonal lip grasp.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Have the right arm take the stainless bowl from the table.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Take the stainless bowl from the table with the right hand.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Grasp the stainless bowl from the table using a bottom lip grip.", + "start_idx": 1161, + "end_idx": 1206 + }, + { + "text": "Put the stainless bowl to the right of the white coffee cup right side up with the front as the reference using the right hand.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Using the right hand, place the stainless bowl to the right of the white coffee cup right side up, with the front as the reference.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Have the right hand set the stainless bowl to the right of the white coffee cup in an upright orientation, using the front as reference.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "With the right hand, position the stainless bowl to the right of the white coffee cup right side up, referenced to the front.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Place the stainless bowl to the right of the white coffee cup right side up, with the front as the reference.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Set the stainless bowl to the right of the white coffee cup upright, using the front as reference.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Position the stainless bowl to the right of the white coffee cup in a right-side-up orientation, based on the front.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Using the right hand, place the stainless bowl to the right of the white coffee cup.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "With the right hand, set the stainless bowl to the right of the white coffee cup.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Have the right hand position the stainless bowl to the right of the white coffee cup.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Place the stainless bowl to the right of the white coffee cup.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Set the stainless bowl to the right of the white coffee cup.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Position the stainless bowl to the right of the white coffee cup.", + "start_idx": 1206, + "end_idx": 1248 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table by the top using a diagonal lip grasp.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand in a diagonal lip hold at the top.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip at the top.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp at the top.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "The white coffee cup should be picked up from the table in a diagonal lip hold at the top.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "The white coffee cup should be taken from the table.", + "start_idx": 1761, + "end_idx": 1788 + }, + { + "text": "Put the white coffee cup to the right of the stainless bowl with the handle facing bottom right using the right arm.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the stainless bowl with its handle pointing bottom right.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the stainless bowl, handle oriented toward the bottom right.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the stainless bowl so the handle faces bottom right.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Place the white coffee cup to the right of the stainless bowl with the handle pointing bottom right.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Set the white coffee cup to the right of the stainless bowl, with its handle facing bottom right.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Position the white coffee cup to the right of the stainless bowl so the handle points bottom right.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Using the right arm, put the white coffee cup to the right of the stainless bowl.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "With the right arm, place the white coffee cup to the right of the stainless bowl.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Have the right arm position the white coffee cup to the right of the stainless bowl.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Put the white coffee cup to the right of the stainless bowl.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Set the white coffee cup to the right of the stainless bowl.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Position the white coffee cup to the right of the stainless bowl.", + "start_idx": 1788, + "end_idx": 1827 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Using the right hand, take the stainless bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Have the right arm grasp the stainless bowl from the table with a lip hold at the lower-right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "With the right hand, secure the stainless bowl from the table using the lip grasp at the bottom-right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Pick up the stainless bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Take the stainless bowl from the table with a lip hold at the lower-right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "From the table, grasp the stainless bowl using a lip grasp at the bottom right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Use the right hand to pick up the stainless bowl from the table.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Have the right arm take the stainless bowl from the table.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Pick up the stainless bowl from the table at the bottom right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "From the table, take the stainless bowl at the lower-right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Use the right hand to pick up the stainless bowl from the table at the bottom right diagonal.", + "start_idx": 1890, + "end_idx": 1920 + }, + { + "text": "Put the stainless bowl in front of the white cup with the right hand right side up.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Using the right hand, place the stainless bowl in front of the white cup right side up.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Have the right arm set the stainless bowl in front of the white cup with its right side up.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "With the right hand, position the stainless bowl right side up in front of the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Place the stainless bowl in front of the white cup right side up.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Set the stainless bowl right side up in front of the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Position the stainless bowl in front of the white cup with its top facing up.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Using the right hand, put the stainless bowl in front of the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "With the right hand, place the stainless bowl before the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Have the right arm set the stainless bowl in front of the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Put the stainless bowl in front of the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Set the stainless bowl before the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Position the stainless bowl by the white cup.", + "start_idx": 1920, + "end_idx": 1968 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Have the right hand take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Take the white coffee cup from the table with the right hand by the handle.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 2142, + "end_idx": 2184 + }, + { + "text": "Put the white coffee cup on the bottom side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom side of the table, right side up with the front facing backwards.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Have the right arm set the white coffee cup on the bottom side of the table, keeping it upright and the front pointed backward.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "With the right hand, position the white coffee cup on the bottom side of the table so it is right side up and front-facing backward.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Place the white coffee cup on the bottom side of the table, right side up with the front facing backwards.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Set the white coffee cup on the bottom side of the table, keeping it upright with the front directed backward.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Position the white coffee cup on the bottom side of the table so it stays right side up and the front points backwards.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Have the right arm set the white coffee cup on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "With the right hand, position the white coffee cup on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Put the white coffee cup on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Set the white coffee cup on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Position the white coffee cup on the bottom side of the table.", + "start_idx": 2184, + "end_idx": 2220 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle gripping the middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, gripping the middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach and grasp its middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "With the right hand, retrieve the cabbage from the table at a diagonal angle by holding the middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, gripping the middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, grasping the middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle while holding the middle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Have the right arm collect the cabbage from the table at a diagonal angle.", + "start_idx": 2418, + "end_idx": 2454 + }, + { + "text": "Put the cabbage to the right of the white coffee cup with the right hand facing backwards relative to the front.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Using the right hand, place the cabbage to the right of the white coffee cup, facing backward relative to the front.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Have the right arm set the cabbage to the right of the white coffee cup with its front facing backward.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "With the right hand, position the cabbage right of the white coffee cup so it faces backward relative to the front.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Place the cabbage to the right of the white coffee cup, facing backward relative to the front.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Set the cabbage right of the white coffee cup with its front facing backward.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Position the cabbage to the right of the white coffee cup so it faces backward.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Put the cabbage to the right of the white coffee cup.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Set the cabbage right of the white coffee cup.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Position the cabbage to the right of the white coffee cup.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Using the right hand, place the cabbage to the right of the white coffee cup.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "With the right hand, set the cabbage right of the white coffee cup.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Have the right arm position the cabbage to the right of the white coffee cup.", + "start_idx": 2454, + "end_idx": 2502 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle, keeping it at a diagonal angle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Retrieve the white coffee cup from the table at a diagonal angle, holding the handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Grasp the white coffee cup from the table with the right hand by the handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Have the right arm take the white coffee cup from the table by its handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Take the white coffee cup from the table by the handle.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Using the right hand, retrieve the white coffee cup from the table.", + "start_idx": 2730, + "end_idx": 2760 + }, + { + "text": "Put the white coffee cup in front of the white cup with the right hand right side up with the front facing backwards.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the white cup, right side up, with its front facing backward.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Have the right arm set the white coffee cup in front of the white cup, keeping it upright and its front facing backward.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "With the right hand, position the white coffee cup before the white cup so it stays right side up and faces backward.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Place the white coffee cup in front of the white cup, right side up, with its front facing backward.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Set the white coffee cup in front of the white cup, upright, with the front facing backward.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Position the white coffee cup before the white cup, keeping it right side up and facing backward.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Using the right hand, put the white coffee cup in front of the white cup.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "With the right hand, place the white coffee cup before the white cup.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Have the right arm set the white coffee cup in front of the white cup.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Put the white coffee cup in front of the white cup.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Using the right hand, position the white coffee cup before the white cup.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Set the white coffee cup in front of the white cup, upright.", + "start_idx": 2760, + "end_idx": 2808 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Have the right arm pick the cabbage up from the table on a diagonal, holding the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "The cabbage should be retrieved from the table with the right hand at a diagonal angle by grasping the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle, holding its middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Pick up the cabbage from the table with the right hand, grasping the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "With the right hand, collect the cabbage from the table by its middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Have the right arm take the cabbage from the table, holding the middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Using the right hand, take the cabbage from the table diagonally.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "The cabbage should be picked up from the table by its middle.", + "start_idx": 2958, + "end_idx": 2988 + }, + { + "text": "Put the cabbage inside the pink bowl with the right hand facing bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Using the right hand, place the cabbage in the pink bowl with it facing bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Have the right arm set the cabbage inside the pink bowl, oriented toward the bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "With the right hand, deposit the cabbage into the pink bowl so it faces bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Place the cabbage into the pink bowl with it facing bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Set the cabbage inside the pink bowl, oriented bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Put the cabbage in the pink bowl so it faces the bottom right from the front.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Using the right hand, place the cabbage inside the pink bowl.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "With the right hand, set the cabbage into the pink bowl.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Have the right arm put the cabbage in the pink bowl.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Put the cabbage into the pink bowl.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Place the cabbage in the pink bowl from the right hand.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Set the cabbage inside the pink bowl with the right hand.", + "start_idx": 2988, + "end_idx": 3021 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "With the right hand, seize the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Remove the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Have the right hand take the white coffee cup from the table by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Take the white coffee cup from the table at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3138 + }, + { + "text": "Place the white coffee cup on the bottom right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Using the right hand, set the white coffee cup on the bottom right side of the table right side up, with the front facing backwards.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Have the right arm place the white coffee cup on the table's bottom right side, keeping it upright and the front pointed backward.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "With the right hand, position the white coffee cup on the bottom right area of the table, right side up and front facing backwards.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Place the white coffee cup on the bottom right side of the table right side up, with the front facing backwards.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Set the white coffee cup on the table's bottom right side, keeping it upright and the front facing backward.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Position the white coffee cup on the bottom right area of the table right side up with its front pointed backward.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom right side of the table.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Have the right arm set the white coffee cup on the table's bottom right side.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "With the right hand, position the white coffee cup on the bottom right area of the table.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Put the white coffee cup on the bottom right side of the table.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Set the white coffee cup on the table's bottom right side.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Position the white coffee cup on the bottom right area of the table.", + "start_idx": 3138, + "end_idx": 3180 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Have the right arm pick the pink stuffed toy up from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table, grasping the entire object.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table with a whole-object grasp.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table using a full-object hold.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table with a diagonal approach.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Put the pink stuffed toy into the white coffee cup with the right hand facing top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Using the right hand, place the pink stuffed toy into the white coffee cup with its front facing the top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Have the right arm put the pink stuffed toy into the white coffee cup, front oriented toward the top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "With the right hand, insert the pink stuffed toy into the white coffee cup so the front points top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Place the pink stuffed toy into the white coffee cup with its front facing the top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Put the pink stuffed toy into the white coffee cup, front toward the top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Insert the pink stuffed toy into the white coffee cup so it faces top right.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Using the right hand, place the pink stuffed toy into the white coffee cup.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "With the right hand, put the pink stuffed toy into the white coffee cup.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Have the right arm insert the pink stuffed toy into the white coffee cup.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Place the pink stuffed toy into the white coffee cup.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Set the pink stuffed toy into the white coffee cup.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Get the pink stuffed toy into the white coffee cup.", + "start_idx": 3363, + "end_idx": 3387 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the center.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "With the right hand, retrieve the cabbage from the table on a diagonal, gripping the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Take the cabbage from the table on a diagonal, holding the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, gripping its center.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Using the right hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Have the right arm take the cabbage from the table, holding it at the center.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "With the right hand, retrieve the cabbage from the table, gripping the middle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Using the right hand, take the cabbage from the table on a diagonal.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Have the cabbage picked up from the table with the right hand.", + "start_idx": 3552, + "end_idx": 3585 + }, + { + "text": "Put the cabbage to the right of the pink bowl with the right hand facing forwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Using the right hand, place the cabbage to the right of the pink bowl with its front facing forward.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Have the right arm set the cabbage to the right of the pink bowl, oriented so the front faces forward.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "With the right hand, position the cabbage to the right of the pink bowl, front facing forwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Place the cabbage to the right of the pink bowl with its front facing forward.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Set the cabbage to the right of the pink bowl, with the front facing forward.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Position the cabbage to the right of the pink bowl, oriented forward.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Using the right hand, put the cabbage to the right of the pink bowl.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "With the right hand, set the cabbage to the right of the pink bowl.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Have the right arm place the cabbage to the right of the pink bowl.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Put the cabbage to the right of the pink bowl.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Set the cabbage to the right of the pink bowl.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Position the cabbage to the right of the pink bowl.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grip at the handle.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Have the right arm take the white coffee cup from the table, grasping the handle diagonally.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "With the right hand, collect the white coffee cup from the table using a diagonal handle grasp.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grip at the handle.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp on the handle.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Collect the white coffee cup from the table using a diagonal handle grip.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at the handle.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "With the right hand, collect the white coffee cup from the table.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Take the white coffee cup from the table at the handle.", + "start_idx": 3630, + "end_idx": 3675 + }, + { + "text": "Dump the pink stuffed toy to the right of the cabbage with the right hand.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Using the right hand, dump the pink stuffed toy to the cabbage's right side.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Have the right arm place the pink stuffed toy on the right side of the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "With the right hand, set down the pink stuffed toy to the right of the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Dump the pink stuffed toy to the right of the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Place the pink stuffed toy on the cabbage's right side.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Set the pink stuffed toy down to the right of the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Move the pink stuffed toy to the right of the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Position the pink stuffed toy to the right of the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Put the pink stuffed toy beside the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Using the right hand, place the pink stuffed toy by the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Have the right arm move the pink stuffed toy beside the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "With the right hand, set the pink stuffed toy next to the cabbage.", + "start_idx": 3675, + "end_idx": 3723 + }, + { + "text": "Put the white coffee cup behind the pink stuffed toy with the right hand right side up with the front facing backwards.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Using the right hand, place the white coffee cup behind the pink stuffed toy, right side up with the front facing backwards.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Have the right arm set the white coffee cup behind the pink stuffed toy, keeping it upright and its front facing backwards.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "With the right hand, position the white coffee cup behind the pink stuffed toy so it stays right side up and the front points backwards.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Place the white coffee cup behind the pink stuffed toy, right side up with the front facing backwards.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Set the white coffee cup behind the pink stuffed toy, keeping it upright with the front facing backwards.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Position the white coffee cup behind the pink stuffed toy so the front faces backwards while it remains right side up.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Behind the pink stuffed toy, place the white coffee cup.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Set the white coffee cup behind the pink stuffed toy.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Have the white coffee cup placed behind the pink stuffed toy.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Put the white coffee cup behind the pink stuffed toy with the right hand.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Using the right hand, set the white coffee cup behind the pink stuffed toy.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "With the right hand, place the white coffee cup behind the pink stuffed toy.", + "start_idx": 3723, + "end_idx": 3771 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "With the right hand, collect the pink stuffed toy from the table on a diagonal approach, gripping the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "From the table, collect the pink stuffed toy at a diagonal angle by the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "With the right hand, collect the pink stuffed toy from the table.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Take the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "From the table, grasp the pink stuffed toy at the middle.", + "start_idx": 3858, + "end_idx": 3897 + }, + { + "text": "Put the pink stuffed toy behind the pink bowl with the right hand facing right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Using the right hand, place the pink stuffed toy behind the pink bowl with its front facing right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Have the right arm set the pink stuffed toy behind the pink bowl, front oriented to the right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "With the right hand, position the pink stuffed toy behind the pink bowl so the front points right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Place the pink stuffed toy behind the pink bowl with its front facing right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Set the pink stuffed toy behind the pink bowl, front pointing to the right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Position the pink stuffed toy behind the pink bowl so it faces right.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Using the right hand, put the pink stuffed toy behind the pink bowl.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Have the right arm place the pink stuffed toy behind the pink bowl.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "With the right hand, set the pink stuffed toy behind the pink bowl.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Put the pink stuffed toy behind the pink bowl.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Place the pink stuffed toy behind the pink bowl.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Set the pink stuffed toy behind the pink bowl.", + "start_idx": 3897, + "end_idx": 3930 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle, grasping its middle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Have the right hand pick the white cup off the table with a diagonal approach at the middle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "With the right hand, collect the white cup from the table by gripping the middle at a diagonal angle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Take the white cup off the table with a diagonal approach, holding the middle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "The white cup should be picked up from the table at a diagonal angle by the middle.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "With the right hand, take the white cup off the table.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Have the right hand collect the white cup from the table.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Take the white cup off the table.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "The white cup should be picked up from the table.", + "start_idx": 4200, + "end_idx": 4239 + }, + { + "text": "Put the white cup on the bottom right side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Using the right hand, place the white cup on the bottom right side of the table right side up, with the front as the reference point.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Have the right arm set the white cup on the table's bottom right side, right side up relative to the front.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "With the right hand, position the white cup on the bottom right area of the table, keeping it right side up with the front as reference.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Place the white cup on the bottom right side of the table, keeping it right side up with the front as the reference point.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Set the white cup on the table's bottom right side right side up relative to the front.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Position the white cup on the bottom right area of the table with the front as the orientation reference, right side up.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Using the right hand, put the white cup on the bottom right side of the table.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Have the right arm set the white cup on the table's bottom right side.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "With the right hand, position the white cup on the bottom right area of the table.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Place the white cup on the bottom right side of the table.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "On the bottom right side of the table, put the white cup.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "The white cup goes on the table's bottom right side.", + "start_idx": 4239, + "end_idx": 4278 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle, grasping its middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Have the right arm pick the white cup up from the table with a diagonal approach, holding the middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "With the right hand, retrieve the white cup from the table diagonally by the middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Take the white cup from the table with a diagonal approach, holding its middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Retrieve the white cup from the table diagonally by the middle.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "With the right hand, retrieve the white cup from the table.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Using the right hand, grasp the middle of the white cup from the table.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Take the white cup from the table with the right hand.", + "start_idx": 4356, + "end_idx": 4386 + }, + { + "text": "Place the white cup behind the corn with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Using the right hand, set the white cup behind the corn right side up, with the front as the reference point.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Have the right hand place the white cup behind the corn in an upright orientation, referenced to the front.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "With the right hand, position the white cup behind the corn so it stays right side up, using the front as the orientation reference.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Place the white cup behind the corn right side up, with the front as the orientation reference point.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Set the white cup behind the corn in an upright position relative to the front.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Position the white cup behind the corn so it remains right side up, using the front as the reference.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Put the white cup behind the corn.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Set the white cup behind the corn.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Position the white cup behind the corn.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Using the right hand, place the white cup behind the corn.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Have the right hand set the white cup behind the corn.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "With the right hand, position the white cup behind the corn.", + "start_idx": 4386, + "end_idx": 4428 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "The cabbage should be picked from the table by the right hand at a diagonal angle, with the grasp centered.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "The cabbage from the table should be picked at a diagonal angle with the middle grasped.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "With the right hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Have the right arm take the cabbage from the table at a diagonal angle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "The cabbage from the table should be picked by the right hand.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 5001, + "end_idx": 5046 + }, + { + "text": "Put the cabbage between the corn and stainless bowl with the right hand facing backwards with the front as the reference point.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Using the right hand, place the cabbage between the corn and the stainless bowl, facing backwards relative to the front.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Have the right arm set the cabbage between the corn and stainless bowl with its front facing backwards.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "With the right hand, position the cabbage between the corn and the stainless bowl so the front faces backward.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Place the cabbage between the corn and the stainless bowl, with its front facing backwards.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Set the cabbage between the corn and stainless bowl so the front points backward.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Position the cabbage between the corn and the stainless bowl with the front oriented backwards.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Using the right hand, place the cabbage between the corn and the stainless bowl.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "With the right hand, set the cabbage between the corn and stainless bowl.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Have the right arm position the cabbage between the corn and the stainless bowl.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Put the cabbage between the corn and the stainless bowl.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Set the cabbage between the corn and stainless bowl.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Position the cabbage between the corn and the stainless bowl.", + "start_idx": 5046, + "end_idx": 5097 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Have the right arm take the stainless bowl from the table, gripping the bottom edge diagonally with a lip grasp.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table by the bottom lip at a diagonal angle.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Pick up the stainless bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Take the stainless bowl from the table, gripping the bottom lip diagonally.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Grasp the stainless bowl from the table by the bottom edge with a diagonal lip hold.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "With the right hand, pick up the stainless bowl from the table.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Have the right arm take the stainless bowl from the table.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Using the right hand, grasp the stainless bowl from the table.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Take the stainless bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "From the table, grasp the stainless bowl with a diagonal lip hold at the bottom.", + "start_idx": 5799, + "end_idx": 5835 + }, + { + "text": "Put the stainless bowl in front of the pink bowl with the right hand.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Using the right hand, place the stainless bowl in front of the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Have the right arm set the stainless bowl before the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "With your right hand, position the stainless bowl ahead of the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Place the stainless bowl in front of the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Set the stainless bowl before the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Position the stainless bowl ahead of the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Move the stainless bowl to a spot in front of the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Using the right hand, place the stainless bowl by the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Have the right arm set the stainless bowl near the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "With your right hand, position the stainless bowl next to the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Place the stainless bowl by the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Set the stainless bowl near the pink bowl.", + "start_idx": 5835, + "end_idx": 5886 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a lip grasp at the right side from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table with a lip grasp at the right side from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Have the right arm take the stainless bowl off the table by grasping its right side with a lip grasp from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "With the right hand, grasp the stainless bowl on the table using a lip hold on the right side at a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Pick up the stainless bowl from the table using a lip grasp at the right side from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Take the stainless bowl off the table with a lip grasp on its right side from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Grasp the stainless bowl from the table at the right side using a lip hold from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table with a lip grasp.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Have the right arm take the stainless bowl off the table using a lip grasp.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "With the right hand, grasp the stainless bowl on the table with a lip hold.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand at the right side from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the right hand, take the stainless bowl off the table with a lip grasp.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Grasp the stainless bowl from the table at the right side from a diagonal angle.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Put the stainless bowl on the bottom left side of the table with the right hand right side up.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Using the right hand, place the stainless bowl on the bottom left side of the table right side up.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Have the right arm set the stainless bowl on the table's bottom-left side with its right side up.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "With the right hand, position the stainless bowl at the bottom left of the table, right side up.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Place the stainless bowl on the bottom left side of the table.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Set the stainless bowl on the table's bottom-left side.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Position the stainless bowl at the bottom left of the table.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Put the stainless bowl on the bottom left side of the table with the right hand.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Using the right hand, set the stainless bowl on the bottom left side of the table.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Have the right arm place the stainless bowl on the table's bottom-left side.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Put the stainless bowl on the bottom left side of the table right side up.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Set the stainless bowl at the table's bottom-left area right side up.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Position the stainless bowl right side up on the bottom left side of the table.", + "start_idx": 6000, + "end_idx": 6051 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Using the right hand, take the stainless bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Have the right arm grasp the stainless bowl from the table by the bottom with a diagonal lip hold.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "With the right hand, retrieve the stainless bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Pick up the stainless bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Grasp the stainless bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Retrieve the stainless bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Have the right arm take the stainless bowl from the table.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Using the right hand, retrieve the stainless bowl from the table.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Take the stainless bowl from the table.", + "start_idx": 6237, + "end_idx": 6279 + }, + { + "text": "Put the stainless bowl to the left of the corn with the right hand.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Using the right hand, place the stainless bowl to the left of the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Have the right arm set the stainless bowl down left of the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "With the right hand, position the stainless bowl on the corn's left side.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Place the stainless bowl to the left of the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Set the stainless bowl down left of the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Position the stainless bowl on the left side of the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "The stainless bowl goes to the left of the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Using the right hand, place the stainless bowl by the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "With the right hand, set the stainless bowl down near the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Have the right arm position the stainless bowl beside the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Place the stainless bowl by the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Set the stainless bowl beside the corn.", + "start_idx": 6279, + "end_idx": 6333 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "With the right hand, collect the white coffee cup from the table using a diagonal approach by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Using the right hand, take the white coffee cup from the table by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Have the right hand collect the white coffee cup from the table by the handle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6789, + "end_idx": 6825 + }, + { + "text": "Put the white coffee cup to the right side of the stainless bowl with the right hand right side up with the front facing backwards.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the stainless bowl, right side up, with the front facing backward.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Have the right arm set the white coffee cup to the stainless bowl's right, upright and with the front oriented backward.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the stainless bowl, right side up and front facing backwards.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Place the white coffee cup on the right side of the stainless bowl, right side up, with the front facing backward.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Set the white coffee cup to the right of the stainless bowl, upright, with its front oriented backward.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Position the white coffee cup at the stainless bowl's right side, right side up and facing backward at the front.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Put the white coffee cup to the right of the stainless bowl.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Set the white coffee cup on the right side of the stainless bowl.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Position the white coffee cup beside the stainless bowl on its right side.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Place the white coffee cup to the right of the stainless bowl, right side up.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "With the right hand, place the white coffee cup to the right of the stainless bowl.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Have the right arm put the white coffee cup on the stainless bowl's right side.", + "start_idx": 6825, + "end_idx": 6873 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table, approaching diagonally at the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Retrieve the white coffee cup from the table at a diagonal angle, gripping the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "With the right hand, take the white coffee cup from the table at the handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Have the right arm retrieve the white coffee cup from the table by its handle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Take the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 7164, + "end_idx": 7221 + }, + { + "text": "Place the white coffee cup in front of the pink bowl with the handle facing backwards using the right arm.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Using the right arm, set the white coffee cup in front of the pink bowl with its handle facing backward.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Have the right arm place the white coffee cup before the pink bowl, handle pointing backward.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "With the right arm, position the white coffee cup in front of the pink bowl so the handle faces backward.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Place the white coffee cup in front of the pink bowl with the handle facing backward.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Set the white coffee cup before the pink bowl, with its handle pointing backward.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Position the white coffee cup in front of the pink bowl, handle directed backward.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Using the right arm, place the white coffee cup in front of the pink bowl.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Have the right arm set the white coffee cup before the pink bowl.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "With the right arm, position the white coffee cup in front of the pink bowl.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Place the white coffee cup before the pink bowl.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Set the white coffee cup in front of the pink bowl.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Position the white coffee cup before the pink bowl.", + "start_idx": 7221, + "end_idx": 7266 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Have the right hand take the stainless bowl from the table by the bottom-right edge with a diagonal lip grasp.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table using a diagonal grip on the bottom-right lip.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Pick up the stainless bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Take the stainless bowl from the table by the bottom-right lip with a diagonal grasp.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Grasp the stainless bowl from the table at the bottom right using a diagonal lip hold.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Have the right hand take the stainless bowl from the table.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "With the right hand, grasp the stainless bowl from the table.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Using the right hand, take the stainless bowl from the table.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Grasp the stainless bowl from the table.", + "start_idx": 7479, + "end_idx": 7521 + }, + { + "text": "Put the stainless bowl on the top right side of the table with the right hand.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Using the right hand, place the stainless bowl on the table's top right side.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Have the right arm set the stainless bowl at the top right area of the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "With the right hand, position the stainless bowl on the upper-right side of the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Place the stainless bowl on the top right side of the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Set the stainless bowl on the table's top right side.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Position the stainless bowl at the upper-right area of the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "The stainless bowl goes on the top right side of the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Move the stainless bowl to the top right side of the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Using the right hand, place the stainless bowl on the top right side.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Have the right arm set the stainless bowl on the table.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Place the stainless bowl on the table with the right hand.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Set the stainless bowl on the table's top right area with the right hand.", + "start_idx": 7521, + "end_idx": 7587 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Using the right hand, take hold of the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table by the handle at a diagonal angle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Have the right hand take the white coffee cup from the table by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "With the right hand, take the white coffee cup from the table at a diagonal angle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 7674, + "end_idx": 7707 + }, + { + "text": "Put the white coffee cup to the right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Using the right hand, place the white coffee cup on the table's right side, right side up, with its front facing backward.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the table, keeping it upright and the front pointed backward.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "With the right hand, position the white coffee cup at the table's right side, right side up and facing backward at the front.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Place the white coffee cup on the right side of the table.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Set the white coffee cup to the right of the table.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Position the white coffee cup at the table's right side.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Put the white coffee cup on the right side of the table, right side up.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Arrange the white coffee cup to the table's right with its front facing backward.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Set the white coffee cup down on the table's right side with the front facing backward.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Have the right arm set the white coffee cup to the table's right.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the table.", + "start_idx": 7706, + "end_idx": 7754 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle from the top of the object.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table diagonally from the top of the object.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "With the right hand, secure the white coffee cup from the table using a diagonal top-of-object approach.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle from the top of the object.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Take the white coffee cup from the table diagonally from the top of the object.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Grasp the white coffee cup from the table from the top of the object at a diagonal angle.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Take the white coffee cup with the right hand.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "From the table, grasp the white coffee cup.", + "start_idx": 7961, + "end_idx": 8003 + }, + { + "text": "Put the white coffee cup in front of the pink bowl with the right hand right side up front.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the pink bowl, right side up with the front facing forward.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Have the right hand set the white coffee cup before the pink bowl, keeping it upright and oriented to the front.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "With the right hand, position the white coffee cup in front of the pink bowl, upright with its front forward.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Place the white coffee cup in front of the pink bowl, right side up with the front facing forward.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Set the white coffee cup before the pink bowl, keeping it upright and front-facing.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Position the white coffee cup in front of the pink bowl, upright with its front toward the front.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the pink bowl.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "With the right hand, set the white coffee cup before the pink bowl.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Have the right hand position the white coffee cup in front of the pink bowl.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Put the white coffee cup in front of the pink bowl.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Set the white coffee cup before the pink bowl.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Position the white coffee cup in front of the pink bowl.", + "start_idx": 8004, + "end_idx": 8043 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Using the right hand, take the stainless bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "With the right arm, grasp the stainless bowl from the table by the bottom-right edge using a diagonal lip hold.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Have the right hand pick the stainless bowl up from the table with a diagonal grasp on the bottom-right lip.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Pick up the stainless bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Grasp the stainless bowl from the table by the bottom-right lip with a diagonal hold.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Take the stainless bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Using a diagonal lip grasp at the bottom right, pick up the stainless bowl from the table.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Pick up the stainless bowl from the table with the right hand.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "With the right hand, take the stainless bowl from the table.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Have the right arm grasp the stainless bowl from the table.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Pick up the stainless bowl from the table.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Using the right hand, pick up the stainless bowl from the table.", + "start_idx": 8124, + "end_idx": 8175 + }, + { + "text": "Put the stainless bowl to the left side of the white coffee cup with the right hand.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Using the right hand, place the stainless bowl to the left of the white coffee cup, right side up with the front oriented forward.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Have the right arm set the stainless bowl on the left side of the white coffee cup, keeping it right side up and front-forward.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "With the right hand, position the stainless bowl to the left of the white coffee cup, maintaining a right-side-up placement with the front ahead.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Place the stainless bowl to the left of the white coffee cup, keeping it right side up with the front forward.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Set the stainless bowl on the left side of the white coffee cup, with the bowl right side up and the front facing forward.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Position the stainless bowl to the left of the white coffee cup in a right-side-up, front-forward orientation.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Using the right hand, place the stainless bowl to the left of the white coffee cup.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "With the right hand, set the stainless bowl on the left side of the white coffee cup.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Have the right arm position the stainless bowl to the left of the white coffee cup.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Place the stainless bowl to the left of the white coffee cup.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Set the stainless bowl on the left side of the white coffee cup.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Position the stainless bowl to the left of the white coffee cup.", + "start_idx": 8175, + "end_idx": 8235 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Using the right hand, take hold of the white coffee cup on the table by its handle at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table, grasping the handle diagonally.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "With the right hand, seize the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Grasp the white coffee cup on the table by its handle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Take the white coffee cup from the table, holding the handle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "With the right hand, take the white coffee cup from the table at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "From the table, take the white coffee cup with the right hand.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Put the white coffee cup on the bottom right side of the table with the right hand facing forwards relative to the front.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom right side of the table facing forwards relative to the front.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Have the right arm set the white coffee cup on the table's bottom right side, oriented forwards relative to the front.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "With the right hand, position the white coffee cup on the bottom right area of the table, facing forward relative to the front.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Place the white coffee cup on the bottom right side of the table facing forwards relative to the front.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Set the white coffee cup on the table's bottom right side, facing forward relative to the front.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Position the white coffee cup on the bottom right area of the table with its front-facing orientation.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom right side of the table.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "With the right hand, set the white coffee cup on the table's bottom right side.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Have the right arm position the white coffee cup on the bottom right area of the table.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Place the white coffee cup on the bottom right side of the table.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Set the white coffee cup on the table's bottom right side.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "On the bottom right side of the table, position the white coffee cup.", + "start_idx": 8352, + "end_idx": 8400 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom and a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Using the right hand, take the corn from the table with a side grasp at the bottom and at a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Have the right arm pick the corn up from the table with a bottom side grip, held diagonally.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "With the right hand, grasp the corn from the table using a side hold at the bottom on a diagonal.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom and a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Grasp the corn from the table with a side hold at the bottom, diagonally oriented.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Take the corn from the table with a bottom side grasp at a diagonal.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "With the right hand, take the corn from the table using a side grasp at the bottom.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Have the right arm grasp the corn from the table with a side hold at the bottom.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "With the right hand, take the corn from the table diagonally.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Have the right arm grasp the corn from the table.", + "start_idx": 8667, + "end_idx": 8706 + }, + { + "text": "Put the corn in front of the white cup with the right hand facing forwards.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Using the right hand, place the corn in front of the white cup with its tip facing forwards.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Have the right arm set the corn in front of the white cup, tip pointed forward.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "With the right hand, position the corn before the white cup so the tip faces forwards.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Place the corn in front of the white cup with its tip facing forwards.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Set the corn before the white cup, with the tip pointed forward.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Position the corn in front of the white cup, tip facing forwards.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Using the right hand, put the corn in front of the white cup.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Have the right arm place the corn before the white cup.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "With the right hand, set the corn in front of the white cup.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Put the corn in front of the white cup.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Set the corn before the white cup.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Position the corn in front of the white cup.", + "start_idx": 8706, + "end_idx": 8745 + }, + { + "text": "Return both arms to home.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Have both arms return to home.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Bring both arms to their home position.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Return the arms to home.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Move the arms back to the home position.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Bring the arms to home.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Have the arms return to the home position.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Send the arms back home.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Place the arms in the home position.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Move back to home with the arms.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Return to the home position with the arms.", + "start_idx": 8994, + "end_idx": 9018 + }, + { + "text": "Bring the manipulators back to home.", + "start_idx": 8994, + "end_idx": 9018 + } + ] + }, + "2026-03-16-22-50-08-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 1 aria data", + "total_frames": 9017, + "num_annotations": 3091, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, take the croissant from the table with a side grasp at the bottom on a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm pick the croissant up from the table with a bottom side hold at a diagonal.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, grasp the croissant from the table by the bottom using a side grip at a diagonal.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the croissant from the table using a side grip at the bottom with a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the croissant from the table with a bottom side grasp at a diagonal.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Grasp the croissant from the table by the bottom in a side hold at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm grasp the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, take the croissant from the table by the bottom.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Dump the croissant into the pink plate with the left hand.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Using the left hand, dump the croissant into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Have the left arm tip the croissant into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "With the left hand, drop the croissant onto the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Dump the croissant into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Place the croissant into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Put the croissant onto the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Transfer the croissant to the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Get the croissant into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Move the croissant onto the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Set the croissant in the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Using the left hand, place the croissant into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Have the croissant deposited into the pink plate.", + "start_idx": 105, + "end_idx": 132 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping its top.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Have the left hand pick up the blue stuffed toy from the table with a diagonal approach, holding the top.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table by grasping the top at a diagonal angle.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the top.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach, holding its top.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Retrieve the blue stuffed toy from the table by grasping the top at a diagonal angle.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Have the left hand take the blue stuffed toy from the table.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Take the blue stuffed toy from the table, grasping the top.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Get the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 132, + "end_idx": 159 + }, + { + "text": "Put the blue stuffed in front of the pink plate with the left hand facing forwards.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Using the left hand, place the blue stuffed in front of the pink plate facing forwards.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Have the left arm set the blue stuffed before the pink plate with its front facing forward.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "With the left hand, position the blue stuffed in front of the pink plate so it faces forwards.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Place the blue stuffed in front of the pink plate facing forwards.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Set the blue stuffed before the pink plate with its front facing forward.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Position the blue stuffed in front of the pink plate facing forward.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Using the left hand, put the blue stuffed in front of the pink plate.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "With the left hand, place the blue stuffed before the pink plate.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Have the left arm position the blue stuffed in front of the pink plate.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Put the blue stuffed in front of the pink plate.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Set the blue stuffed before the pink plate.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Position the blue stuffed in front of the pink plate.", + "start_idx": 159, + "end_idx": 183 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Have the left hand take the yellow stuffed toy from the table with a diagonal approach, holding the top of the object.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table at a diagonal angle by grasping its top.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach while holding the top of the object.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "The yellow stuffed toy should be picked up from the table at a diagonal angle, with the top grasped.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "From the table, collect the yellow stuffed toy by taking hold of the top.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Have the left hand take the yellow stuffed toy from the table.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "From the table, collect the yellow stuffed toy.", + "start_idx": 183, + "end_idx": 210 + }, + { + "text": "Put the yellow stuffed toy to the left of the blue stuffed toy with the left hand facing backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the blue stuffed toy with its front facing backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the left of the blue stuffed toy, oriented with the front facing backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "With the left hand, position the yellow stuffed toy left of the blue stuffed toy so the front faces backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Place the yellow stuffed toy to the left of the blue stuffed toy with its front facing backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Set the yellow stuffed toy left of the blue stuffed toy, keeping the front facing backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Position the yellow stuffed toy to the left of the blue stuffed toy with the front facing backwards.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the blue stuffed toy.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Have the left arm set the yellow stuffed toy left of the blue stuffed toy.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "With the left hand, position the yellow stuffed toy beside the blue stuffed toy on its left side.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Put the yellow stuffed toy to the left of the blue stuffed toy.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Set the yellow stuffed toy beside the blue stuffed toy on its left side.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Position the yellow stuffed toy on the left side of the blue stuffed toy.", + "start_idx": 210, + "end_idx": 252 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle, grasping its top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Have the left arm take the blue soda can from the table with a diagonal approach, holding the top of the object.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table diagonally by grasping the top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Take the blue soda can from the table with a diagonal approach, holding the top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Retrieve the blue soda can from the table diagonally by grasping its top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table, grasping the top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "With the left hand, take the blue soda can from the table by the top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table while holding the top.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "With the left hand, take the blue soda can from the table diagonally.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 390, + "end_idx": 432 + }, + { + "text": "Put the blue soda can to the left of the yellow stuffed toy with the left hand.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Have the left arm set the blue soda can on the left side of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "With the left hand, position the blue soda can left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Place the blue soda can to the left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Set the blue soda can on the left side of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Position the blue soda can left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Put the blue soda can beside the yellow stuffed toy on its left side.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Arrange the blue soda can on the toy's left side.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Move the blue soda can so it ends up left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "The blue soda can should go to the left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Set the blue soda can next to the yellow stuffed toy, on the left side.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Place the blue soda can on the left of the yellow stuffed toy.", + "start_idx": 432, + "end_idx": 477 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold at the bottom left on a diagonal angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "With the left hand, collect the pink plate from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Take the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left and a diagonal angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "The pink plate from the table should be picked up with a lip grasp at the bottom left on a diagonal.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip hold.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip grasp.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the bottom left with a diagonal pick angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "With the left hand, take the pink plate from the table from the bottom-left area on a diagonal.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Pick up the pink plate from the table at the bottom left with a diagonal pick angle.", + "start_idx": 477, + "end_idx": 519 + }, + { + "text": "Put the pink plate to the right of the yellow stuffed toy with the left hand right side up with the front as the orientation reference point.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Using the left hand, place the pink plate to the right of the yellow stuffed toy, right side up with the front as the reference point.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Have the left arm set the pink plate to the right of the yellow stuffed toy, keeping it right side up relative to the front.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "With the left hand, position the pink plate to the right of the yellow stuffed toy so it is right side up using the front as the orientation reference.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed toy, right side up with the front as the orientation reference point.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Set the pink plate to the right of the yellow stuffed toy, keeping it right side up relative to the front.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Position the pink plate to the right of the yellow stuffed toy so the front serves as the orientation reference and it remains right side up.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Using the left hand, place the pink plate to the right of the yellow stuffed toy.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "With the left hand, set the pink plate to the right of the yellow stuffed toy.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Have the left arm position the pink plate to the right of the yellow stuffed toy.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed toy.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Set the pink plate to the right of the yellow stuffed toy.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Position the pink plate to the right of the yellow stuffed toy.", + "start_idx": 519, + "end_idx": 564 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a diagonal approach, holding the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "With the left hand, grasp the top of the white canned goods on the table and retrieve it at a diagonal angle.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Take the white canned goods off the table with a diagonal approach, holding the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Grasp the top of the white canned goods on the table and remove it at a diagonal angle.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table, grasping the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "With the left hand, take the white canned goods off the table by the top.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Have the left arm retrieve the white canned goods from the table while holding the top.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Pick up the white canned goods from the table, grasping the top of the object.", + "start_idx": 624, + "end_idx": 660 + }, + { + "text": "Put the white canned goods behind the blue soda can with the left hand.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Using the left hand, place the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Have the left arm set the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "With the left hand, position the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Place the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Set the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Position the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Move the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "The white canned goods go behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Arrange the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Put the white canned goods behind the blue soda can.", + "start_idx": 660, + "end_idx": 705 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally using an around-the-object hold.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Collect the yellow stuffed toy from the table diagonally using an around-the-object hold.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Take the yellow stuffed toy from the table with the left hand.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Collect the yellow stuffed toy from the table diagonally.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Put the yellow stuffed toy at the center of the table with the left hand facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Using the left hand, place the yellow stuffed toy at the center of the table facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Have the left arm set the yellow stuffed toy at the table's center with its front facing backward.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "With the left hand, position the yellow stuffed toy in the center of the table so the front faces backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Place the yellow stuffed toy at the center of the table facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Set the yellow stuffed toy in the middle of the table with its front facing backward.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Position the yellow stuffed toy at the table's center facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Using the left hand, put the yellow stuffed toy at the center of the table.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Have the left arm place the yellow stuffed toy in the middle of the table.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "With the left hand, set the yellow stuffed toy at the table's center.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Put the yellow stuffed toy at the center of the table.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Place the yellow stuffed toy in the middle of the table.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Set the yellow stuffed toy at the table's center.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Pick up the croissant from the pink plate with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Using the left hand, take the croissant from the pink plate with a side grip at the bottom at a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Have the left hand grasp the croissant from the pink plate from the bottom with a side hold at a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "With the left hand, pick the croissant off the pink plate using a side grasp at the bottom on a diagonal.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Pick up the croissant from the pink plate using a side grip at the bottom with a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Take the croissant off the pink plate with a side grasp at the bottom at a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Grasp the croissant from the pink plate with a side hold at the bottom on a diagonal.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Using the left hand, pick up the croissant from the pink plate with a side grip at the bottom.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Have the left hand take the croissant from the pink plate using a side grasp at the bottom.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "With the left hand, grasp the croissant off the pink plate in a side hold at the bottom.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Using the left hand, pick up the croissant from the pink plate at a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Pick up the croissant from the pink plate with the left hand at a diagonal angle.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Take the croissant off the pink plate with a side grip at the bottom.", + "start_idx": 777, + "end_idx": 816 + }, + { + "text": "Put the croissant behind the pink plate with the left hand.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "With the left hand, place the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Have the left arm set the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Using the left hand, position the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Put the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Place the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Set the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Position the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Move the croissant behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Have the croissant placed behind the pink plate.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Set the croissant behind the pink plate with the left hand omitted.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Place the croissant behind the pink plate without specifying an arm.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Position the croissant behind the pink plate, leaving out which hand to use.", + "start_idx": 816, + "end_idx": 849 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Have the left arm grasp the pink plate off the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grasp at the bottom left from a diagonal approach.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "From the table, grasp the pink plate with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Take the pink plate off the table with a lip grasp at the bottom left from a diagonal approach.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Have the left arm take the pink plate from the table using a lip grasp.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "With the left hand, grasp the pink plate off the table with a lip hold.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the bottom left from a diagonal angle.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Have the left arm take the pink plate off the table from a diagonal angle at the bottom left.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "From the table, grasp the pink plate at the bottom-left area from a diagonal approach.", + "start_idx": 849, + "end_idx": 885 + }, + { + "text": "Put the pink plate right side up with the front in between the white canned goods and croissant using the left hand.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Using the left hand, place the pink plate right side up with its front facing between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Have the left hand set the pink plate upright, front positioned between the white canned goods and croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "With the left hand, position the pink plate right side up so the front sits between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Place the pink plate right side up with its front between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Set the pink plate upright, front facing between the white canned goods and croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Position the pink plate right side up so its front is between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Arrange the pink plate upright with the front between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Using the left hand, put the pink plate between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "With the left hand, place the pink plate in between the white canned goods and croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Have the left hand position the pink plate between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Put the pink plate between the white canned goods and the croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Set the pink plate in place between the white canned goods and croissant.", + "start_idx": 885, + "end_idx": 927 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Have the left hand grasp the blue soda can from the table diagonally from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table by approaching diagonally from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Take the blue soda can from the table diagonally from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Retrieve the blue soda can from the table by approaching at a diagonal from the top of the object.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "With the left hand, pick up the blue soda can from the table.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Use the left hand to take the blue soda can from the table.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Have the left hand retrieve the blue soda can from the table.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "The blue soda can from the table should be taken.", + "start_idx": 927, + "end_idx": 963 + }, + { + "text": "Put the soda can in front of the croissant with the left hand.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Using the left hand, place the soda can in front of the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Have the left arm set the soda can down in front of the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "With the left hand, position the soda can before the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Place the soda can in front of the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Set the soda can down in front of the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Position the soda can before the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Leave the soda can in front of the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Put the soda can by the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Set the soda can near the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Using the left hand, place the soda can by the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Have the left arm set the soda can near the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Put the soda can before the croissant.", + "start_idx": 963, + "end_idx": 1008 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a bottom-left lip grip at a diagonal angle.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "With the left hand, secure the pink plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Take the pink plate from the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Grasp the pink plate from the table using a diagonal lip grip at the bottom left.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Grasp the pink plate from the table.", + "start_idx": 1008, + "end_idx": 1044 + }, + { + "text": "Put the pink plate in front of the white canned goods with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Using the left hand, place the pink plate in front of the white canned goods, right side up with the front as the reference point.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Have the left arm set the pink plate in front of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "With the left hand, position the pink plate before the white canned goods, right side up using the front as the orientation reference.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Place the pink plate in front of the white canned goods, right side up with the front as the reference point.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Set the pink plate before the white canned goods, keeping it right side up relative to the front.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Position the pink plate in front of the white canned goods, right side up using the front as the orientation reference.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Using the left hand, put the pink plate in front of the white canned goods.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Have the left arm place the pink plate before the white canned goods.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "With the left hand, set the pink plate in front of the white canned goods.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Place the pink plate in front of the white canned goods.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Set the pink plate before the white canned goods.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Position the pink plate in front of the white canned goods.", + "start_idx": 1044, + "end_idx": 1086 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Collect the yellow stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Take the yellow stuffed toy from the table with the left hand using a full-object grasp.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 1086, + "end_idx": 1116 + }, + { + "text": "Put the yellow stuffed toy in between the pink plate and blue soda can with the left hand facing bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Using the left hand, place the yellow stuffed toy between the pink plate and the blue soda can with its front facing bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Have the left arm set the yellow stuffed toy in between the pink plate and blue soda can, front pointed bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "With the left hand, position the yellow stuffed toy between the pink plate and blue soda can so the front faces bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Place the yellow stuffed toy between the pink plate and the blue soda can with its front facing bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Set the yellow stuffed toy in between the pink plate and blue soda can, front facing bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Position the yellow stuffed toy between the pink plate and the blue soda can with the front pointed bottom left.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Using the left hand, put the yellow stuffed toy between the pink plate and blue soda can.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Have the left arm place the yellow stuffed toy in between the pink plate and the blue soda can.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "With the left hand, set the yellow stuffed toy between the pink plate and blue soda can.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Put the yellow stuffed toy between the pink plate and blue soda can.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Place the yellow stuffed toy in between the pink plate and the blue soda can.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Set the yellow stuffed toy between the pink plate and blue soda can.", + "start_idx": 1116, + "end_idx": 1152 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Have the left hand grasp the blue soda can from the table diagonally from the top of the object.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table using a diagonal top-of-object approach.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Take the blue soda can from the table diagonally from the top of the object.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Retrieve the blue soda can from the table with a diagonal approach from the top of the object.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Have the left hand retrieve the blue soda can from the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Dump the soda can into the pink plate with the left hand.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Using the left hand, tip the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Have the left arm dump the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "With the left hand, pour the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Dump the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Pour the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Tip the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "The soda can goes into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Place the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Transfer the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Move the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Put the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Send the soda can into the pink plate.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand diagonally by grasping the entire object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a diagonal grasp around the whole object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table diagonally, grasping the entire object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table using a diagonal whole-object grasp.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Pick up the yellow stuffed toy from the table diagonally by grasping the entire object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal grasp around the whole object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Collect the yellow stuffed toy from the table using a diagonal whole-object grasp.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "With the left hand, pick up the yellow stuffed toy from the table by grasping the entire object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table by grasping the whole object.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Using the left hand, collect the yellow stuffed toy from the table with a full-object grasp.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Take the yellow stuffed toy from the table with the left hand.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Place the yellow stuffed toy on the top left side of the table with the left hand facing backwards.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Using the left hand, place the yellow stuffed toy on the table's top left side facing backwards.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the upper-left area of the table with its front facing backward.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the top-left side of the table, front facing backwards.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Place the yellow stuffed toy on the top left side of the table facing backwards.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Set the yellow stuffed toy on the upper-left part of the table with its front facing backward.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Position the yellow stuffed toy on the table's top left side facing backwards.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Place the yellow stuffed toy on the top left side of the table with the left hand.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Using the left hand, set the yellow stuffed toy on the upper-left area of the table.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Have the left arm place the yellow stuffed toy on the table's top left side.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Place the yellow stuffed toy on the top left side of the table.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Set the yellow stuffed toy on the upper-left part of the table.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Position the yellow stuffed toy on the table's top left side.", + "start_idx": 1317, + "end_idx": 1344 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Have the left arm take the white canned goods from the table with a diagonal top-of-object grasp.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "With the left hand, grasp the white canned goods from the table diagonally from the top.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Grasp the white canned goods from the table diagonally from the top.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Take the white canned goods from the table with a diagonal top-of-object grasp.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Take the white canned goods from the table.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Get the white canned goods from the table.", + "start_idx": 1344, + "end_idx": 1380 + }, + { + "text": "Put the white can goods to the right of the pink plate with the left hand.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Using the left hand, place the white can goods to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Have the left arm set the white can goods down to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "With the left hand, position the white can goods to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Place the white can goods to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Set the white can goods down to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Position the white can goods to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Move the white can goods to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Have the robot place the white can goods to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "The white can goods go to the right of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Put the white can goods beside the pink plate on its right side.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Arrange the white can goods on the right side of the pink plate.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Set the white can goods next to the pink plate on the right.", + "start_idx": 1380, + "end_idx": 1422 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Have the left arm take the white canned goods from the table with a diagonal approach, holding the top of the object.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table by grasping the top at a diagonal angle.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Retrieve the white canned goods from the table with a diagonal approach while holding the top of the object.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "The white canned goods should be taken from the table at a diagonal angle by grasping the top.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "The white canned goods should be taken from the table.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 1542, + "end_idx": 1584 + }, + { + "text": "Put the white canned goods in front of the croissant with the left hand.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Using the left hand, place the white canned goods in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Have the left arm set the white canned goods down in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "With the left hand, position the white canned goods before the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Place the white canned goods in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Set the white canned goods down in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Position the white canned goods before the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "The white canned goods should go in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Move the white canned goods to a spot in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Arrange the white canned goods in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Put the white canned goods before the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "The white canned goods belong in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Transfer the white canned goods to the area in front of the croissant.", + "start_idx": 1584, + "end_idx": 1623 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Have the left hand grasp the white canned goods from the table diagonally from the top.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table using a diagonal top approach.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Take the white canned goods from the table diagonally from the top.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Retrieve the white canned goods from the table with a diagonal top approach.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Have the left hand take the white canned goods from the table.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Take the white canned goods from the table.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Retrieve the white canned goods from the table.", + "start_idx": 1686, + "end_idx": 1719 + }, + { + "text": "Put the white canned goods to the right of the pink plate with the left hand.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Have the left arm set the white canned goods down to the right of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Place the white canned goods to the right of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Set the white canned goods down to the right of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Position the white canned goods on the right side of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "The white canned goods go to the right of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Move the white canned goods beside the pink plate on its right side.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Put the white canned goods next to the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Set the white canned goods by the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Have the white canned goods placed to the right of the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "The white canned goods should be positioned next to the pink plate.", + "start_idx": 1719, + "end_idx": 1761 + }, + { + "text": "Pick up the blue soda can from the pink plate with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Using the left hand, take the blue soda can from the pink plate at a diagonal angle, grasping its top.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Have the left arm pick the blue soda can off the pink plate with a diagonal approach at the top.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "With the left hand, grasp the top of the blue soda can on the pink plate and remove it diagonally.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Pick up the blue soda can from the pink plate at a diagonal angle, grasping the top.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Take the blue soda can off the pink plate with a diagonal approach, holding the top.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Grasp the top of the blue soda can from the pink plate at a diagonal angle.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Using the left hand, pick up the blue soda can from the pink plate.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Have the left arm take the blue soda can off the pink plate.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "With the left hand, remove the blue soda can from the pink plate.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Pick up the blue soda can from the pink plate.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Take the blue soda can off the pink plate.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Grasp the blue soda can from the pink plate.", + "start_idx": 1761, + "end_idx": 1794 + }, + { + "text": "Put the blue soda can in front of the croissant with the left hand.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Using the left hand, place the blue soda can in front of the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Have the left arm set the blue soda can down in front of the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "With the left hand, position the blue soda can before the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Place the blue soda can in front of the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Set the blue soda can down in front of the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Position the blue soda can before the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "The blue soda can goes in front of the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Put the blue soda can by the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Set the blue soda can next to the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Place the blue soda can near the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Have the blue soda can placed in front of the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Position the blue soda can beside the croissant.", + "start_idx": 1794, + "end_idx": 1836 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Have the left arm pick up the pink plate from the table with a lip grasp on the bottom-left edge at a diagonal angle.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip hold at the bottom left from a diagonal approach.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the bottom-left edge at a diagonal angle.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left from a diagonal approach.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Have the left arm take the pink plate from the table using a lip grasp.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "With the left hand, grasp the pink plate from the table with a lip hold.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Using the left hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Have the left arm take the pink plate from the table at the bottom left from a diagonal approach.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 1836, + "end_idx": 1878 + }, + { + "text": "Put the pink plate in between the yellow stuffed toy and white canned goods with the left hand right side up front.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Using the left hand, place the pink plate between the yellow stuffed toy and the white canned goods, right side up with the front facing forward.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Have the left arm set the pink plate in between the yellow stuffed toy and white canned goods, keeping it right side up and front-facing.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "With the left hand, position the pink plate between the yellow stuffed toy and the white canned goods, right side up with the front to the front.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Place the pink plate between the yellow stuffed toy and the white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Set the pink plate in between the yellow stuffed toy and white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Position the pink plate between the yellow stuffed toy and the white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Put the pink plate with the left hand between the yellow stuffed toy and the white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Using the left hand, set the pink plate in between the yellow stuffed toy and white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Have the left arm place the pink plate between the yellow stuffed toy and white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Put the pink plate between the yellow stuffed toy and the white canned goods with the left hand.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "With the left hand, place the pink plate between the yellow stuffed toy and white canned goods.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Set the pink plate in between the yellow stuffed toy and white canned goods, right side up.", + "start_idx": 1878, + "end_idx": 1923 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a diagonal approach at the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table by gripping the top at a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Take the white canned goods off the table with a diagonal approach, holding the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Retrieve the white canned goods from the table by grasping the top at a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "From the table, collect the white canned goods at a diagonal angle from the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Use the left hand to take the white canned goods from the table.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Have the left arm retrieve the white canned goods from the table.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "From the table, take the white canned goods.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Put the white canned goods to the left of the yellow stuffed toy with the left hand.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "With the left hand, position the white canned goods left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Set the white canned goods down left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Position the white canned goods to the yellow stuffed toy's left.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "The white canned goods should go to the left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Move the white canned goods left of the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Put the white canned goods beside the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Arrange the white canned goods on the toy's left side.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Place the white canned goods next to the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Set down the white canned goods by the yellow stuffed toy.", + "start_idx": 2046, + "end_idx": 2085 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Have the left hand grasp the blue soda can off the table diagonally from the top of the object.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table by approaching diagonally at the top of the object.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Take the blue soda can off the table diagonally from the top of the object.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Grasp the blue soda can from the table by contacting the top at a diagonal angle.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Have the left hand take the blue soda can off the table.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 2085, + "end_idx": 2121 + }, + { + "text": "Put the blue soda can behind the croissant with the left hand.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Using the left hand, place the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Have the left arm set the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "With the left hand, position the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Place the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Set the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Position the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Move the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Arrange the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Put the blue soda can behind the croissant.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Place the blue soda can with the left hand.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Set the blue soda can down with the left hand.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Have the left arm move the blue soda can.", + "start_idx": 2121, + "end_idx": 2160 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Using the left hand, take the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the pink plate with a diagonal approach at the middle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "With the left hand, grasp the middle of the blue screwdriver on the pink plate at a diagonal angle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Pick up the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Take the blue screwdriver from the pink plate with a diagonal approach, holding it at the middle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Grasp the middle of the blue screwdriver from the pink plate at a diagonal angle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the pink plate.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "With the left hand, take the blue screwdriver from the pink plate.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the pink plate.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the left hand.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Take the blue screwdriver from the pink plate, grasping the middle.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Grasp the middle of the blue screwdriver from the pink plate.", + "start_idx": 2160, + "end_idx": 2205 + }, + { + "text": "Put the blue screwdriver in front of the pink plate with the left hand with its tip facing forwards.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink plate with its tip pointing forward.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Have the left arm set the blue screwdriver before the pink plate, tip directed forwards.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "With the left hand, position the blue screwdriver in front of the pink plate so the tip faces forward.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Place the blue screwdriver in front of the pink plate with its tip pointing forward.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Set the blue screwdriver before the pink plate with the tip facing forwards.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Position the blue screwdriver in front of the pink plate so its tip faces forward.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Using the left hand, put the blue screwdriver in front of the pink plate.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Have the left arm place the blue screwdriver before the pink plate.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "With the left hand, set the blue screwdriver in front of the pink plate.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Put the blue screwdriver in front of the pink plate.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Place the blue screwdriver before the pink plate.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Set the blue screwdriver in front of the pink plate.", + "start_idx": 2205, + "end_idx": 2241 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Grasp the pink plate from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip hold.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Pick up the pink plate from the table at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "From the table, take the pink plate at the bottom left from a diagonal angle.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Grasp the pink plate from the table at the bottom left.", + "start_idx": 2241, + "end_idx": 2265 + }, + { + "text": "Put the pink plate in front of the croissant with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Using the left hand, place the pink plate in front of the croissant right side up, with the front as the orientation reference point.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Have the left arm set the pink plate in front of the croissant, keeping it right side up relative to the front.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "With the left hand, position the pink plate before the croissant right side up, using the front as the reference point.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Place the pink plate in front of the croissant right side up, with the front as the orientation reference point.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Set the pink plate before the croissant right side up, using the front as the reference point.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Position the pink plate in front of the croissant, keeping it right side up relative to the front.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Using the left hand, place the pink plate in front of the croissant.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Have the left arm set the pink plate before the croissant.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "With the left hand, position the pink plate in front of the croissant.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Put the pink plate in front of the croissant.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Set the pink plate before the croissant.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Position the pink plate in front of the croissant.", + "start_idx": 2265, + "end_idx": 2307 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a diagonal approach, holding the top.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table by the top at a diagonal angle.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Take the white canned goods off the table by the top with a diagonal approach.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Retrieve the white canned goods from the table, contacting the top at a diagonal angle.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "With the left arm, take the white canned goods off the table.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Have the left hand retrieve the white canned goods from the table.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Take the white canned goods from the table by the top.", + "start_idx": 2307, + "end_idx": 2349 + }, + { + "text": "Put the white canned goods to the left of the blue screwdriver with the left hand.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Have the left arm set the white canned goods to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Place the white canned goods to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Set the white canned goods on the left side of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Position the white canned goods to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Put the white canned goods by the left side of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Arrange the white canned goods to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "The white canned goods should go to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Move the white canned goods to the left of the blue screwdriver.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Put the white canned goods on the blue screwdriver's left side.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Place the white canned goods beside the blue screwdriver on its left side.", + "start_idx": 2349, + "end_idx": 2391 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "At a diagonal angle, have the left hand take the croissant from the table with a whole-object grasp.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Take the croissant from the table diagonally with a whole-object hold.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "At a diagonal angle, retrieve the croissant from the table by grasping the entire object.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Take the croissant from the table with the entire object grasp.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2391, + "end_idx": 2427 + }, + { + "text": "Put the croissant to the right of the pink plate with the left hand.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Using the left hand, place the croissant to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Have the left arm set the croissant down to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "With the left hand, position the croissant on the right side of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Place the croissant to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Set the croissant down to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Position the croissant on the right side of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "The croissant goes to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Move the croissant to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Arrange the croissant to the right of the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Put the croissant beside the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Set the croissant on the plate's right side.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Place the croissant next to the pink plate.", + "start_idx": 2427, + "end_idx": 2463 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Have the left arm pick the blue stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Take the blue stuffed toy off the table diagonally, holding the entire object.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "From the table, take the blue stuffed toy at a diagonal angle.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Get the blue stuffed toy off the table with the entire object grasp.", + "start_idx": 2463, + "end_idx": 2508 + }, + { + "text": "Put the blue stuffed toy in front of the yellow stuffed toy with the left hand facing forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the yellow stuffed toy with it facing forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Have the left arm set the blue stuffed toy before the yellow stuffed toy, oriented forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "With the left hand, position the blue stuffed toy ahead of the yellow stuffed toy so it faces forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Place the blue stuffed toy in front of the yellow stuffed toy facing forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Set the blue stuffed toy before the yellow stuffed toy with it facing forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Position the blue stuffed toy ahead of the yellow stuffed toy so it faces forwards.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Using the left hand, put the blue stuffed toy in front of the yellow stuffed toy.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "With the left hand, place the blue stuffed toy before the yellow stuffed toy.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Have the left arm position the blue stuffed toy ahead of the yellow stuffed toy.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Put the blue stuffed toy in front of the yellow stuffed toy.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Set the blue stuffed toy before the yellow stuffed toy.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Position the blue stuffed toy ahead of the yellow stuffed toy.", + "start_idx": 2508, + "end_idx": 2550 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "With the left hand, secure the blue screwdriver from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Take the blue screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Grasp the blue screwdriver from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "The blue screwdriver from the table should be picked up using a side grasp at the top from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table using a side grip.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Use the left hand to take the blue screwdriver from the table at the top.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Have the left arm collect the blue screwdriver from the table.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Take the blue screwdriver from the table at the top from a diagonal angle.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "The blue screwdriver from the table should be grasped with the left hand.", + "start_idx": 2550, + "end_idx": 2589 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy with the left hand with its tip facing right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Using the left hand, set the blue screwdriver to the right of the blue stuffed toy with its tip pointing right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Have the left arm place the blue screwdriver right of the blue stuffed toy, tip facing right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "With the left hand, position the blue screwdriver on the toy's right side, keeping the tip directed right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Set the blue screwdriver on the right side of the blue stuffed toy.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Position the blue screwdriver right of the blue stuffed toy.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Have the left arm set the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "With the left hand, position the blue screwdriver right of the blue stuffed toy.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy with its tip pointing right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Set the blue screwdriver beside the blue stuffed toy on its right, with the tip facing right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Position the blue screwdriver on the right side of the blue stuffed toy, tip directed right.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Put the blue soda can in between the white canned goods and pink plate with the left hand.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Using the left hand, place the blue soda can between the white canned goods and the pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Have the left arm set the blue soda can in between the white canned goods and pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "With the left hand, position the blue soda can between the white canned goods and the pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Place the blue soda can between the white canned goods and the pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Set the blue soda can in between the white canned goods and pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "The blue soda can goes between the white canned goods and the pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Position the blue soda can between the white canned goods and pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Put the blue soda can in between the white canned goods and the pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Arrange the blue soda can between the white canned goods and pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Place the blue soda can between the white canned goods and pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Set the blue soda can between the white canned goods and the pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "The blue soda can should be placed between the white canned goods and pink plate.", + "start_idx": 2670, + "end_idx": 2715 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold at the bottom left, diagonally angled.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Take the pink plate from the table using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Grasp the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "The pink plate should be picked up from the table using a lip grasp at the bottom left with a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip hold.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Using the left hand, grasp the pink plate from the table with a lip grasp.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Grasp the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 2715, + "end_idx": 2751 + }, + { + "text": "Put the pink plate to the left of the blue stuffed toy with the left hand right side up with the front as the reference point.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue stuffed toy, right side up with the front as the reference point.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Have the left arm set the pink plate left of the blue stuffed toy in a right-side-up orientation, using the front as reference.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue stuffed toy so it is right side up relative to the front.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Place the pink plate to the left of the blue stuffed toy right side up with the front as the reference point.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Set the pink plate left of the blue stuffed toy in a right-side-up orientation, using the front as reference.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Position the pink plate to the left of the blue stuffed toy so it is right side up relative to the front.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue stuffed toy.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Have the left arm set the pink plate left of the blue stuffed toy.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue stuffed toy.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Put the pink plate to the left of the blue stuffed toy.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Place the pink plate left of the blue stuffed toy.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Set the pink plate to the left of the blue stuffed toy.", + "start_idx": 2751, + "end_idx": 2793 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "With the left hand, secure the blue screwdriver from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "With the blue screwdriver on the table, grasp it with a side grip at the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Take the blue screwdriver from the table using a side hold at the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "From the table, secure the blue screwdriver with a side grasp on the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "With the left hand, secure the blue screwdriver from the table.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Using the left hand, grasp the blue screwdriver from the table at the top from a diagonal angle.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Take the blue screwdriver from the table with a side grip at the top.", + "start_idx": 2793, + "end_idx": 2838 + }, + { + "text": "Put the blue screwdriver in between the blue soda can and croissant with the left hand with the tip facing bottom right.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Using the left hand, place the blue screwdriver between the blue soda can and the croissant, with its tip facing bottom right.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Have the left arm set the blue screwdriver in between the blue soda can and croissant, tip pointed to the bottom right.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "With the left hand, position the blue screwdriver between the blue soda can and the croissant so the tip faces bottom right.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Place the blue screwdriver between the blue soda can and the croissant.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Set the blue screwdriver in between the blue soda can and croissant.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "The blue screwdriver goes between the blue soda can and the croissant.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Put the blue screwdriver between the blue soda can and the croissant with the tip facing bottom right.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Position the blue screwdriver in between the blue soda can and croissant, tip facing bottom right.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Using the left hand, place the blue screwdriver between the blue soda can and the croissant.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "With the left hand, set the blue screwdriver in between the blue soda can and croissant.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Have the left arm put the blue screwdriver between the blue soda can and the croissant.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Position the blue screwdriver between the blue soda can and croissant with the left hand.", + "start_idx": 2838, + "end_idx": 2877 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top of the object at a diagonal angle.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Using the left hand, take the blue soda can from the table by grasping its top at a diagonal angle.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table, contacting the top at a diagonal angle.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at its top using a diagonal approach.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Pick up the blue soda can from the table at the top with a diagonal approach.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Grasp the blue soda can from the table by the top at a diagonal angle.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Take the blue soda can from the table, contacting the top diagonally.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Have the blue soda can taken from the table.", + "start_idx": 2877, + "end_idx": 2907 + }, + { + "text": "Put the blue soda can on the center of the table with the left hand.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Using the left hand, place the blue soda can at the center of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Have the left arm set the blue soda can down in the middle of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "With the left hand, position the blue soda can on the table's center.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Place the blue soda can at the center of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Set the blue soda can down in the middle of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "The blue soda can goes on the center of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Position the blue soda can in the table's middle.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Have the blue soda can placed at the center of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Set the blue soda can on the center of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Place the blue soda can in the middle of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Put the blue soda can at the table's center.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "The blue soda can should be placed in the center of the table.", + "start_idx": 2907, + "end_idx": 2955 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a diagonal approach at the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table, contacting the top at a diagonal angle.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Take the white canned goods off the table with a diagonal approach, holding the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Retrieve the white canned goods from the table by the top at a diagonal angle.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table, grasping the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "With the left hand, remove the white canned goods from the table by the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Have the left arm take the white canned goods off the table, holding the top.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Take the white canned goods off the table using the left arm.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Retrieve the white canned goods from the table.", + "start_idx": 2955, + "end_idx": 3000 + }, + { + "text": "Put the white canned goods to the left of the blue screwdriver with the left hand.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "With the left hand, position the white canned goods left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Place the white canned goods to the left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Set the white canned goods down left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Position the white canned goods to the blue screwdriver's left side.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Move the white canned goods so they end up left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Arrange the white canned goods on the left side of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "The white canned goods should go to the left of the blue screwdriver.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Using the left hand, place the white canned goods.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "With the left hand, set down the white canned goods.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Have the left arm position the white canned goods.", + "start_idx": 3000, + "end_idx": 3042 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table diagonally, holding it at the middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table in a diagonal orientation by grasping its middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally, holding the middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Take the blue screwdriver off the table in a diagonal position by the middle.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Using the left hand, take the blue screwdriver off the table.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Have the blue screwdriver picked up from the table.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Put the blue screwdriver in front of the pink plate with the left hand with its tip facing bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink plate with its tip pointing to the bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Have the left arm set the blue screwdriver before the pink plate, tip directed bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "With the left hand, position the blue screwdriver in front of the pink plate so its tip faces the bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Place the blue screwdriver in front of the pink plate with its tip pointing to the bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Set the blue screwdriver before the pink plate, with the tip directed bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Position the blue screwdriver in front of the pink plate so the tip faces bottom left.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Using the left hand, put the blue screwdriver in front of the pink plate.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Have the left arm place the blue screwdriver before the pink plate.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "With the left hand, set the blue screwdriver in front of the pink plate.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Put the blue screwdriver in front of the pink plate.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Place the blue screwdriver before the pink plate.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Set the blue screwdriver in front of the pink plate.", + "start_idx": 3075, + "end_idx": 3111 + }, + { + "text": "Pick up the white can goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Using the left hand, pick up the white can goods from the table at a diagonal from the top of the object.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Have the left hand take the white can goods from the table with a diagonal top-of-object grasp.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "With the left hand, grasp the white can goods from the table diagonally from the top of the object.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Pick up the white can goods from the table at a diagonal from the top of the object.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Take the white can goods from the table using a diagonal grasp from the top of the object.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Grasp the white can goods from the table diagonally from the top of the object.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Using the left hand, pick up the white can goods from the table.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Have the left hand take the white can goods from the table.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "With the left hand, grasp the white can goods from the table.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Pick up the white can goods from the table.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Take the white can goods from the table.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Grasp the white can goods from the table.", + "start_idx": 3180, + "end_idx": 3219 + }, + { + "text": "Put the white canned goods in front of the blue soda can with the left hand.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Using the left hand, place the white canned goods in front of the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Have the left arm set the white canned goods down in front of the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "With the left hand, position the white canned goods before the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Place the white canned goods in front of the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Set the white canned goods down in front of the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Position the white canned goods before the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "The white canned goods should go in front of the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Put the white canned goods before the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Have the white canned goods placed in front of the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "In front of the blue soda can, put the white canned goods.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Set the white canned goods before the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Place the white canned goods before the blue soda can.", + "start_idx": 3219, + "end_idx": 3264 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Grasp the pink plate from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Have the left hand take the pink plate from the table using a lip hold.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "With the left hand, secure the pink plate from the table with a lip grasp.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Pick up the pink plate from the table with the left hand at a diagonal angle.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Using the left hand, take the pink plate from the table at the bottom left.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 3264, + "end_idx": 3294 + }, + { + "text": "Put the pink plate in front of the blue stuffed toy with the left hand right side up.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Using the left hand, place the pink plate in front of the blue stuffed toy right side up.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Have the left arm set the pink plate down in front of the blue stuffed toy, keeping it right side up.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "With the left hand, position the pink plate right side up in front of the blue stuffed toy.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Place the pink plate right side up in front of the blue stuffed toy.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Set the pink plate down in front of the blue stuffed toy, keeping it right side up.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Position the pink plate in front of the blue stuffed toy with its right side up.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Put the pink plate in front of the blue stuffed toy with the left hand.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Using the left hand, place the pink plate in front of the blue stuffed toy.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Have the left arm set the pink plate in front of the blue stuffed toy.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Place the pink plate in front of the blue stuffed toy.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Set the pink plate down in front of the blue stuffed toy.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Position the pink plate with the left hand.", + "start_idx": 3294, + "end_idx": 3333 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, gripping the top.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a diagonal approach, holding the top.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "With the left hand, grasp the top of the white canned goods and remove it from the table at a diagonal angle.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Take the white canned goods from the table at a diagonal angle, gripping the top.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Grasp the top of the white canned goods and pick it up from the table at a diagonal angle.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Remove the white canned goods from the table with a diagonal approach, holding the top.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Have the left arm take the white canned goods off the table.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "With the left hand, remove the white canned goods from the table.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Pick up the white canned goods from the table, gripping the top.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "From the table, take the white canned goods by the top.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 3396, + "end_idx": 3429 + }, + { + "text": "Dump the white canned goods into the pink plate with the left hand.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Using the left hand, dump the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Have the left arm empty the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "With the left hand, pour the white canned goods onto the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Dump the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Empty the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Pour the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Transfer the white canned goods onto the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "The white canned goods should go into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Move the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Place the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Get the white canned goods into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Have the white canned goods emptied into the pink plate.", + "start_idx": 3429, + "end_idx": 3465 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle, gripping its top.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Have the left arm grasp the top of the blue soda can from the table at a diagonal angle and pick it up.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "With the left hand, collect the blue soda can from the table by its top at a diagonal angle.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, gripping the top.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Grasp the top of the blue soda can from the table at a diagonal angle and take it.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "The blue soda can should be picked up from the table at a diagonal angle by the top.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Retrieve the blue soda can from the table.", + "start_idx": 3465, + "end_idx": 3501 + }, + { + "text": "Put the blue soda can to the left of the blue stuffed toy with the left hand.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Have the left arm set the blue soda can to the left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Place the blue soda can to the left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Set the blue soda can on the left side of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Position the blue soda can left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "The blue soda can goes to the left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Put the blue soda can on the left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Move the blue soda can to the left side of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Arrange the blue soda can left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Place the blue soda can beside the blue stuffed toy on its left.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Set the blue soda can down to the left of the blue stuffed toy.", + "start_idx": 3501, + "end_idx": 3543 + }, + { + "text": "Pick up the white canned goods from the pink plate with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Using the left hand, pick up the white canned goods from the pink plate at a diagonal angle, grasping the top of the object.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Have the left arm take the white canned goods off the pink plate with a diagonal approach, holding the top of the object.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "With the left hand, remove the white canned goods from the pink plate by approaching diagonally and taking hold at the top.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Pick up the white canned goods from the pink plate at a diagonal angle, grasping the top of the object.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Remove the white canned goods from the pink plate with a diagonal approach, holding the top of the object.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Take the white canned goods off the pink plate at a diagonal angle, gripping the top.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "From the pink plate, pick up the white canned goods.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Take the white canned goods from the pink plate.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Remove the white canned goods from the pink plate.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Using the left hand, pick up the white canned goods from the pink plate.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Have the left arm take the white canned goods off the pink plate.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "With the left hand, remove the white canned goods from the pink plate.", + "start_idx": 3624, + "end_idx": 3663 + }, + { + "text": "Put the white canned goods to the right of the croissant with the left hand.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Have the left arm set the white canned goods down to the croissant's right.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Place the white canned goods to the right of the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Set the white canned goods down to the right of the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Position the white canned goods on the croissant's right side.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "The white canned goods go to the right of the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Move the white canned goods next to the croissant on its right side.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Arrange the white canned goods to the croissant's right.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Place the white canned goods beside the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Set the white canned goods down next to the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Move the white canned goods beside the croissant.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table with a diagonal approach to the top.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "With the left hand, collect the blue soda can from the table by contacting its top at a diagonal angle.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Take the blue soda can from the table with a diagonal approach to the top.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Retrieve the blue soda can from the table by grasping its top at a diagonal angle.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Retrieve the blue soda can from the table.", + "start_idx": 3783, + "end_idx": 3816 + }, + { + "text": "Put the blue soda can to the right of the blue screwdriver with the left hand.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Place the blue soda can to the right of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Set the blue soda can down to the right of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Position the blue soda can on the right side of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Move the blue soda can so it is to the right of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Arrange the blue soda can to the right of the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Put the blue soda can beside the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Place the blue soda can next to the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Set the blue soda can beside the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Position the blue soda can next to the blue screwdriver.", + "start_idx": 3816, + "end_idx": 3852 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally, enclosing the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Take the croissant from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Using the left hand, take the croissant from the table, grasping the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3852, + "end_idx": 3891 + }, + { + "text": "Place the croissant to the right of the blue soda can with the left hand.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Using the left hand, set the croissant to the right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Have the left arm place the croissant on the right side of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "With the left hand, position the croissant right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Place the croissant to the right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Set the croissant on the right side of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Position the croissant right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Move the croissant to the blue soda can's right side.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "The croissant should go to the right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Put the croissant beside the blue soda can on its right.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Arrange the croissant to the right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Transfer the croissant to the area right of the blue soda can.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Leave the croissant on the blue soda can's right side.", + "start_idx": 3890, + "end_idx": 3923 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "With the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table on a diagonal approach while holding the whole object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Using the left hand, retrieve the blue stuffed toy from the table with a diagonal pickup, enclosing the entire object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Take the blue stuffed toy from the table on a diagonal approach while holding the whole object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal pickup, enclosing the entire object.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "With the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Using the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 3924, + "end_idx": 3957 + }, + { + "text": "Put the blue stuffed toy behind the croissant with the left hand facing forwards.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the croissant with its front facing forwards.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Have the left arm set the blue stuffed toy behind the croissant, front facing forward.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "With the left hand, position the blue stuffed toy behind the croissant so the front faces forwards.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Place the blue stuffed toy behind the croissant with its front facing forwards.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Set the blue stuffed toy behind the croissant, front facing forward.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Position the blue stuffed toy behind the croissant so it faces forwards.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the croissant.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "With the left hand, set the blue stuffed toy behind the croissant.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Have the left arm position the blue stuffed toy behind the croissant.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Place the blue stuffed toy behind the croissant.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Set the blue stuffed toy behind the croissant.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Position the blue stuffed toy behind the croissant.", + "start_idx": 3957, + "end_idx": 3987 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "From the table, collect the yellow stuffed toy diagonally while grasping the whole object.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Take the yellow stuffed toy from the table.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "From the table, collect the yellow stuffed toy.", + "start_idx": 3987, + "end_idx": 4017 + }, + { + "text": "Put the yellow stuffed toy on the bottom side of the table with the left hand facing backwards.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Using the left hand, place the yellow stuffed toy on the bottom side of the table facing backwards.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the bottom side of the table with its front facing backward.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the bottom side of the table so it faces backwards.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Place the yellow stuffed toy on the bottom side of the table facing backwards.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Set the yellow stuffed toy on the bottom side of the table with its front facing backward.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Position the yellow stuffed toy on the bottom side of the table so it faces backwards.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Using the left hand, place the yellow stuffed toy on the bottom side of the table.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the bottom side of the table.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the bottom side of the table.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Put the yellow stuffed toy on the bottom side of the table.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Place the yellow stuffed toy on the bottom side of the table with the left hand.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Set the yellow stuffed toy on the bottom side of the table facing backwards.", + "start_idx": 4017, + "end_idx": 4050 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Have the left arm take the blue screwdriver off the table diagonally by its middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Retrieve the blue screwdriver from the table at a diagonal angle, holding its middle.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand.", + "start_idx": 4050, + "end_idx": 4083 + }, + { + "text": "Put the blue screwdriver behind the white canned goods with the left hand with the tip facing forwards.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the white canned goods with the tip pointing forward.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Have the left arm set the blue screwdriver behind the white canned goods, tip facing forwards.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "With the left hand, position the blue screwdriver behind the white canned goods so its tip faces forward.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Place the blue screwdriver behind the white canned goods with the tip facing forwards.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Set the blue screwdriver behind the white canned goods with the tip pointing forward.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Position the blue screwdriver behind the white canned goods, keeping the tip directed forwards.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Using the left hand, put the blue screwdriver behind the white canned goods.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "With the left hand, place the blue screwdriver behind the white canned goods.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Have the left arm set the blue screwdriver behind the white canned goods.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Put the blue screwdriver behind the white canned goods.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Position the blue screwdriver behind the white canned goods.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Set the blue screwdriver behind the white canned goods.", + "start_idx": 4083, + "end_idx": 4119 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Have the left arm grasp the blue soda can off the table diagonally from the top of the object.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table by approaching diagonally from the top.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Take the blue soda can off the table diagonally from the top of the object.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Retrieve the blue soda can from the table by coming in at a diagonal from the top.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "With the left hand, take the blue soda can off the table.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Have the left arm pick up the blue soda can from the table.", + "start_idx": 4266, + "end_idx": 4305 + }, + { + "text": "Place the blue soda can on the top side of the table with the left hand.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Using the left hand, set the blue soda can on the top side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Have the left arm place the blue soda can onto the table's top side.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "With the left hand, position the blue soda can on the upper side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Set the blue soda can on the top side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Place the blue soda can onto the table's top side.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Position the blue soda can on the upper side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Put the blue soda can on the top side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "The blue soda can goes on the top side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Transfer the blue soda can to the top side of the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Set the blue soda can on the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Place the blue soda can onto the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Put the blue soda can on the table.", + "start_idx": 4305, + "end_idx": 4338 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a whole-object hold.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Retrieve the croissant from the table diagonally while grasping the entire object.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Take the croissant from the table using the left hand.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Retrieve the croissant from the table diagonally.", + "start_idx": 4338, + "end_idx": 4389 + }, + { + "text": "Place the croissant on the center of the table with the left hand.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Using the left hand, set the croissant at the center of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Have the left arm place the croissant in the middle of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "With the left hand, position the croissant on the table's center.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Place the croissant at the center of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Set the croissant down in the middle of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Have the croissant placed on the center of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "The croissant should go on the table's center.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Position the croissant in the center of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Put the croissant on the middle of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Set the croissant in the table center.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Have the croissant set at the center of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "The croissant belongs in the middle of the table.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Have the left hand take the blue screwdriver from the table with a diagonal pickup angle at its middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal pickup angle at its middle.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Have the left hand take the blue screwdriver from the table.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 4419, + "end_idx": 4458 + }, + { + "text": "Put the blue screwdriver on the bottom side of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Using the left hand, place the blue screwdriver on the bottom side of the table with the tip facing forwards.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Have the left arm set the blue screwdriver on the bottom side of the table, oriented forward by its tip.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "With the left hand, position the blue screwdriver on the bottom side of the table so the tip points forwards.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Place the blue screwdriver on the bottom side of the table with the tip facing forwards.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Set the blue screwdriver on the bottom side of the table with the tip oriented forwards.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Position the blue screwdriver on the bottom side of the table so the tip points forward.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Using the left hand, place the blue screwdriver on the bottom side of the table.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "With the left hand, set the blue screwdriver on the bottom side of the table.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Have the left arm put the blue screwdriver on the bottom side of the table.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Put the blue screwdriver on the bottom side of the table.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Set the blue screwdriver on the bottom side of the table.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "On the bottom side of the table, place the blue screwdriver.", + "start_idx": 4458, + "end_idx": 4503 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by its middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally by its middle.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Using the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 4662, + "end_idx": 4698 + }, + { + "text": "Put the blue screwdriver on the left side of the table with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Using the left hand, place the blue screwdriver on the left side of the table with the tip facing forwards.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Have the left arm set the blue screwdriver on the table's left side, oriented forward from the tip.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "With the left hand, position the blue screwdriver on the left side of the table so the tip points forwards.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Place the blue screwdriver on the left side of the table with the tip facing forwards.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Set the blue screwdriver on the table's left side, with the tip oriented forwards.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Position the blue screwdriver on the left side of the table so its tip points forward.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Using the left hand, put the blue screwdriver on the left side of the table.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "With the left hand, set the blue screwdriver on the table's left side.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Have the left arm place the blue screwdriver on the left side of the table.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Place the blue screwdriver on the left side of the table.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Set the blue screwdriver on the table's left side.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Put the blue screwdriver on the table's left side.", + "start_idx": 4698, + "end_idx": 4734 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle by grasping the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Have the left hand pick the blue soda can off the table with a diagonal approach, holding the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table, angled diagonally and gripped at the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle by grasping the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Take the blue soda can off the table with a diagonal approach, holding the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Retrieve the blue soda can from the table, angled diagonally and gripped at the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "With the left hand, pick up the blue soda can from the table.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Using the left hand, take the blue soda can off the table.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Have the left hand retrieve the blue soda can from the table.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Take the blue soda can off the table while grasping the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Retrieve the blue soda can from the table with the left hand, grasping the top.", + "start_idx": 4734, + "end_idx": 4797 + }, + { + "text": "Put the blue soda can behind the blue screwdriver with the left hand.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Using the left hand, place the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Have the left arm set the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "With the left hand, position the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Put the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Place the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Set the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Position the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Move the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Have the blue soda can placed behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Arrange the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Transfer the blue soda can behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "The blue soda can goes behind the blue screwdriver.", + "start_idx": 4797, + "end_idx": 4839 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Have the left hand take the blue screwdriver from the table on a diagonal, holding it at the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Take the blue screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand, grasping the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table by the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Have the left hand retrieve the blue screwdriver from the table, holding the middle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "With the left hand, take the blue screwdriver from the table on a diagonal.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 4839, + "end_idx": 4875 + }, + { + "text": "Put the blue screwdriver on the bottom side of the table with the left hand with its tip facing bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Using the left hand, place the blue screwdriver on the bottom side of the table with its tip pointing toward the bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Have the left arm set the blue screwdriver on the table's bottom side, tip oriented to the bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "With the left hand, position the blue screwdriver on the bottom side of the table so its tip faces bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Place the blue screwdriver on the bottom side of the table with its tip facing bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Set the blue screwdriver on the bottom side of the table, keeping its tip pointed bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Position the blue screwdriver on the table's bottom side with the tip directed toward the bottom right.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Using the left hand, put the blue screwdriver on the bottom side of the table.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Have the left arm place the blue screwdriver on the table's bottom side.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "With the left hand, set the blue screwdriver on the bottom side of the table.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Put the blue screwdriver on the bottom side of the table.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Set the blue screwdriver on the table's bottom side.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Position the blue screwdriver on the bottom side of the table.", + "start_idx": 4875, + "end_idx": 4908 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Have the left arm take the blue soda can from the table with a diagonal approach at the top.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table by taking hold of its top at an angle.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Take the blue soda can from the table with a diagonal approach at the top.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Retrieve the blue soda can from the table by grasping the top at a diagonal angle.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "From the table, collect the blue soda can while holding its top at an angle.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "From the table, take the blue soda can.", + "start_idx": 5049, + "end_idx": 5094 + }, + { + "text": "Put the blue soda can to the left of the blue screwdriver with the left hand.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Have the left arm set the blue soda can on the left side of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "With the left hand, position the blue soda can left of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Place the blue soda can to the left of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Set the blue soda can on the left side of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Position the blue soda can left of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Move the blue soda can beside the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "The blue soda can should go to the left of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Put the blue soda can next to the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Have the blue soda can placed on the left side of the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Set the blue soda can beside the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Position the blue soda can near the blue screwdriver.", + "start_idx": 5094, + "end_idx": 5142 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Have the left arm pick the blue stuffed toy up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table while holding the whole object.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a full-object hold.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Put the blue stuffed toy behind the blue soda can with the left hand facing forwards.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the blue soda can with its front facing forwards.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Have the left arm set the blue stuffed toy behind the blue soda can, oriented to face forwards.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "With the left hand, position the blue stuffed toy behind the blue soda can so the front faces forward.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Place the blue stuffed toy behind the blue soda can with its front facing forwards.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Set the blue stuffed toy behind the blue soda can, facing forwards.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Position the blue stuffed toy behind the blue soda can so it faces forward.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the blue soda can.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "With the left hand, set the blue stuffed toy behind the blue soda can.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Have the left arm position the blue stuffed toy behind the blue soda can.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Put the blue stuffed toy behind the blue soda can.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Set the blue stuffed toy behind the blue soda can.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table diagonally by the middle.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table in a diagonal orientation, holding the center.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Retrieve the blue screwdriver from the table while holding its center at a diagonal angle.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 5289, + "end_idx": 5328 + }, + { + "text": "Put the blue screwdriver on the top left side of the table with the left hand facing left with the tip as the reference point.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Using the left hand, place the blue screwdriver on the top left side of the table with the tip facing left.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Have the left arm set the blue screwdriver on the table's top left side, oriented leftward from the tip.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "With the left hand, position the blue screwdriver on the top left area of the table so the tip points left.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Place the blue screwdriver on the top left side of the table with the tip facing left.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Set the blue screwdriver on the table's top left side, with the tip oriented to the left.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Position the blue screwdriver on the top left area of the table so the tip points left.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Using the left hand, put the blue screwdriver on the top left side of the table.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Have the left arm place the blue screwdriver on the table's top left side.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "With the left hand, set the blue screwdriver on the top left area of the table.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Place the blue screwdriver on the top left side of the table.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Set the blue screwdriver on the table's top left side.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Put the blue screwdriver on the top left area of the table.", + "start_idx": 5328, + "end_idx": 5367 + }, + { + "text": "Pick up the blue can from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Using the left hand, pick up the blue can from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Have the left arm take the blue can from the table with a diagonal approach, holding the top of the object.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "With the left hand, retrieve the blue can from the table at a diagonal angle by grasping the top.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Pick up the blue can from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Retrieve the blue can from the table with a diagonal approach, holding the top.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Take the blue can from the table at a diagonal angle by grasping the top.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Using the left hand, pick up the blue can from the table.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "With the left hand, take the blue can from the table.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Have the left arm retrieve the blue can from the table.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Pick up the blue can from the table with the left hand at a diagonal angle.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Take the blue can from the table with the left hand.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Pick up the blue can from the table, grasping the top.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Put the blue soda can on the left side of the table with the left hand.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Using the left hand, place the blue soda can on the table's left side.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Have the left arm set the blue soda can on the left side of the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Place the blue soda can on the left side of the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Set the blue soda can on the table's left side.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Put the blue soda can on the table's left side.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Position the blue soda can on the left side of the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Leave the blue soda can on the left side of the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Using the left hand, place the blue soda can on the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Have the left arm set the blue soda can down on the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "With the left hand, put the blue soda can on the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Set the blue soda can on the table.", + "start_idx": 5406, + "end_idx": 5445 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "With the left hand, secure the croissant from the table diagonally using an all-around hold.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "The croissant from the table should be picked up diagonally with a full-object hold.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Using the left hand, pick up the croissant from the table grasping the entire object.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "With the left hand, collect the croissant from the table at a diagonal angle.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "The croissant from the table should be picked up by grasping the entire object.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 5445, + "end_idx": 5481 + }, + { + "text": "Put the croissant on the bottom side of the table with the left hand.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Using the left hand, place the croissant on the bottom side of the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Have the left arm set the croissant onto the table's bottom side.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "With the left hand, position the croissant on the underside of the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Place the croissant on the bottom side of the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Set the croissant onto the bottom side of the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Position the croissant on the underside of the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Move the croissant to the table's bottom side.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Have the croissant placed on the bottom side of the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Using the left hand, put the croissant on the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "With the left hand, set the croissant on the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Have the left arm place the croissant there on the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Put the croissant on the table.", + "start_idx": 5481, + "end_idx": 5514 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally using an all-over grasp.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach, grasping the entire object.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Take the croissant from the table at a diagonal angle with a whole-object grasp.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Take the croissant from the table with the left hand.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 5658, + "end_idx": 5691 + }, + { + "text": "Put the croissant on the bottom right side of the table with the left hand.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Using the left hand, place the croissant on the bottom right side of the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Have the left arm set the croissant down on the table's bottom right side.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "With the left hand, position the croissant at the bottom right area of the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Place the croissant on the bottom right side of the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Set the croissant down on the table's bottom right side.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Position the croissant at the bottom right area of the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Leave the croissant on the bottom right side of the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Move the croissant onto the bottom right part of the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Put the croissant on the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Set the croissant down on the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Have the left arm place the croissant on the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Using the left hand, put the croissant on the table.", + "start_idx": 5691, + "end_idx": 5727 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a diagonal approach at the entire object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a diagonal approach at the entire object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Have the left arm grasp the yellow stuffed toy from the table by approaching diagonally at the whole object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table through a diagonal approach at the entire object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Pick up the yellow stuffed toy from the table with a diagonal approach at the entire object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Take the yellow stuffed toy from the table by approaching diagonally at the whole object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Retrieve the yellow stuffed toy from the table through a diagonal approach at the entire object.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Have the left arm retrieve the yellow stuffed toy from the table.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Take the yellow stuffed toy from the table.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Get the yellow stuffed toy from the table.", + "start_idx": 5889, + "end_idx": 5925 + }, + { + "text": "Place the yellow stuffed toy in front of the blue stuffed toy with the left hand facing backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Using the left hand, place the yellow stuffed toy in front of the blue stuffed toy, facing backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Have the left arm set the yellow stuffed toy in front of the blue stuffed toy with its front facing backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "With the left hand, position the yellow stuffed toy before the blue stuffed toy so it faces backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Place the yellow stuffed toy in front of the blue stuffed toy facing backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Set the yellow stuffed toy before the blue stuffed toy with its front facing backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Position the yellow stuffed toy in front of the blue stuffed toy so it is facing backwards.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Using the left hand, place the yellow stuffed toy in front of the blue stuffed toy.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "With the left hand, set the yellow stuffed toy before the blue stuffed toy.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Have the left arm position the yellow stuffed toy in front of the blue stuffed toy.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Place the yellow stuffed toy in front of the blue stuffed toy.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Set the yellow stuffed toy before the blue stuffed toy.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Position the yellow stuffed toy in front of the blue stuffed toy.", + "start_idx": 5925, + "end_idx": 5964 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a diagonal top grasp.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Have the left arm pick the blue soda can off the table at a diagonal angle from the top.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "With the left hand, grasp the blue soda can from the table diagonally from its top.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle from the top.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Take the blue soda can off the table with a diagonal top approach.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Grasp the blue soda can from the table diagonally from its top side.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Have the left arm take the blue soda can off the table.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Have the arm grasp the blue soda can from the table.", + "start_idx": 5964, + "end_idx": 6006 + }, + { + "text": "Put the blue soda can to the right of the yellow stuffed toy with the left hand.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Place the blue soda can to the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Set the blue soda can down to the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Position the blue soda can on the right side of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "The blue soda can goes to the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Move the blue soda can to the yellow stuffed toy's right side.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Put the blue soda can beside the yellow stuffed toy on its right.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Set the blue soda can on the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Place the blue soda can at the yellow stuffed toy's right side.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "The task is to put the blue soda can to the right of the yellow stuffed toy.", + "start_idx": 6006, + "end_idx": 6039 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Retrieve the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally with a full-object hold.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Take the yellow stuffed toy from the table with the left hand.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Retrieve the yellow stuffed toy from the table.", + "start_idx": 6039, + "end_idx": 6072 + }, + { + "text": "Put the yellow stuffed toy to the right of the blue screwdriver with the left hand facing backwards.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the blue screwdriver with its front facing backwards.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the right of the blue screwdriver, front facing backward.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the right of the blue screwdriver so the front faces backward.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Place the yellow stuffed toy to the right of the blue screwdriver with its front facing backward.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Set the yellow stuffed toy to the right of the blue screwdriver with the front facing backwards.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Position the yellow stuffed toy to the right of the blue screwdriver so it faces backward.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the blue screwdriver.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the right of the blue screwdriver.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the right of the blue screwdriver.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Put the yellow stuffed toy to the right of the blue screwdriver.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Set the yellow stuffed toy beside the blue screwdriver on its right.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Place the yellow stuffed toy on the right side of the blue screwdriver.", + "start_idx": 6072, + "end_idx": 6102 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table with a diagonal approach at its middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal approach at its middle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Take the blue screwdriver off the table at a diagonal angle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle.", + "start_idx": 6102, + "end_idx": 6123 + }, + { + "text": "Place the blue screwdriver behind the blue soda can with the left hand with its tip facing top right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Using the left hand, position the blue screwdriver behind the blue soda can with its tip pointing to the top right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Have the left arm place the blue screwdriver behind the blue soda can so the tip faces the upper right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "With the left hand, set the blue screwdriver behind the blue soda can, tip oriented toward the top right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Place the blue screwdriver behind the blue soda can with its tip facing the top right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Set the blue screwdriver behind the blue soda can so its tip points upper right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Position the blue screwdriver behind the blue soda can, leaving the tip directed to the top right.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the blue soda can.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Have the left arm set the blue screwdriver behind the blue soda can.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "With the left hand, position the blue screwdriver behind the blue soda can.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Put the blue screwdriver behind the blue soda can.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Arrange the blue screwdriver behind the blue soda can.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Place the blue screwdriver behind the blue soda can behind the blue soda can.", + "start_idx": 6123, + "end_idx": 6159 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Have the left hand take the blue screwdriver off the table, keeping it diagonal and holding the middle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "With the left hand, grasp the middle of the blue screwdriver on the table and raise it at a diagonal angle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Take the blue screwdriver off the table, keeping it diagonal and holding the middle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Grasp the middle of the blue screwdriver from the table at a diagonal angle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table by the middle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Have the left hand take the blue screwdriver off the table at a diagonal angle.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the table.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Grasp the blue screwdriver from the table.", + "start_idx": 6522, + "end_idx": 6564 + }, + { + "text": "Put the blue screwdriver with the left hand to the left of the white canned goods with its tip facing right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the white canned goods with its tip pointing right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Have the left arm set the blue screwdriver left of the white canned goods, tip facing right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "With the left hand, position the blue screwdriver on the left side of the white canned goods so its tip faces right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Place the blue screwdriver to the left of the white canned goods with its tip facing right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Set the blue screwdriver left of the white canned goods, with the tip pointing right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Position the blue screwdriver on the left side of the white canned goods so the tip faces right.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Put the blue screwdriver with the left hand to the left of the white canned goods.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Using the left hand, place the blue screwdriver left of the white canned goods.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Have the left arm set the blue screwdriver on the left side of the white canned goods.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Place the blue screwdriver to the left of the white canned goods.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Set the blue screwdriver on the left side of the white canned goods.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Position the blue screwdriver left of the white canned goods.", + "start_idx": 6564, + "end_idx": 6609 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal pickup, enclosing the whole toy.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Take the blue stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal pickup, enclosing the entire toy.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Take the blue stuffed toy from the table with the left hand.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 6609, + "end_idx": 6645 + }, + { + "text": "Dump the blue stuffed toy into the pink plate with the left hand.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Using the left hand, empty the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Have the left arm dump the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "With the left hand, tip the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Dump the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Place the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Transfer the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Put the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Send the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Move the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Get the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "The blue stuffed toy goes into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Deposit the blue stuffed toy into the pink plate.", + "start_idx": 6645, + "end_idx": 6678 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Retrieve the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 6678, + "end_idx": 6711 + }, + { + "text": "Put the yellow stuffed toy to the left side of the pink plate with the left hand facing backwards.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the pink plate with it facing backwards.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the pink plate's left side, oriented backwards.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "With the left hand, position the yellow stuffed toy at the left side of the pink plate, facing backwards.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Place the yellow stuffed toy to the left of the pink plate facing backwards.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Set the yellow stuffed toy on the left side of the pink plate with its back toward the front reference.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Position the yellow stuffed toy at the pink plate's left side, facing backwards.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Using the left hand, put the yellow stuffed toy to the left of the pink plate.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "With the left hand, place the yellow stuffed toy on the pink plate's left side.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Have the left arm position the yellow stuffed toy to the left of the pink plate.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Put the yellow stuffed toy to the left of the pink plate.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Set the yellow stuffed toy on the pink plate's left side.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Place the yellow stuffed toy at the left side of the pink plate.", + "start_idx": 6711, + "end_idx": 6738 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "From the table, collect the yellow stuffed toy diagonally with a full-body grasp.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Take the yellow stuffed toy from the table.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "From the table, collect the yellow stuffed toy.", + "start_idx": 6810, + "end_idx": 6849 + }, + { + "text": "Put the yellow stuffed toy to the left side of the croissant with the left hand facing backwards.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the croissant with its front facing backward.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the croissant's left side, front facing backwards.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "With the left hand, position the yellow stuffed toy left of the croissant so the front faces backward.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Place the yellow stuffed toy to the left of the croissant with its front facing backward.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Set the yellow stuffed toy on the left side of the croissant, front facing backwards.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Position the yellow stuffed toy left of the croissant with the front facing backward.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the croissant.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the croissant's left side.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "With the left hand, position the yellow stuffed toy left of the croissant.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Put the yellow stuffed toy to the left of the croissant.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Set the yellow stuffed toy on the croissant's left side.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Position the yellow stuffed toy left of the croissant.", + "start_idx": 6849, + "end_idx": 6885 + }, + { + "text": "Pick up the blue stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Have the left arm take the blue stuffed toy from the pink plate with a diagonal approach and a whole-object grasp.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the pink plate diagonally while holding the entire object.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Pick up the blue stuffed toy from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Take the blue stuffed toy from the pink plate with a diagonal approach and a whole-object grasp.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Retrieve the blue stuffed toy from the pink plate diagonally while holding the entire object.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the pink plate.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Have the left arm take the blue stuffed toy from the pink plate.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the pink plate.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Pick up the blue stuffed toy from the pink plate.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Take the blue stuffed toy from the pink plate.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Retrieve the blue stuffed toy from the pink plate.", + "start_idx": 6885, + "end_idx": 6936 + }, + { + "text": "Put the blue stuffed toy in between the yellow stuffed toy and the pink plate with the left hand facing top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Using the left hand, place the blue stuffed toy between the yellow stuffed toy and the pink plate with its front facing the top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Have the left arm set the blue stuffed toy in between the yellow stuffed toy and the pink plate, front oriented to the top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "With the left hand, position the blue stuffed toy between the yellow stuffed toy and the pink plate so the front faces top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Place the blue stuffed toy between the yellow stuffed toy and the pink plate with its front facing the top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Set the blue stuffed toy in between the yellow stuffed toy and the pink plate, front toward the top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Position the blue stuffed toy between the yellow stuffed toy and the pink plate with the front pointed top right.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Put the blue stuffed toy between the yellow stuffed toy and the pink plate.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Arrange the blue stuffed toy in between the yellow stuffed toy and the pink plate.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Leave the blue stuffed toy between the yellow stuffed toy and the pink plate.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Using the left hand, put the blue stuffed toy between the yellow stuffed toy and the pink plate.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "With the left hand, place the blue stuffed toy in between the yellow stuffed toy and the pink plate.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Have the left arm position the blue stuffed toy between the yellow stuffed toy and the pink plate.", + "start_idx": 6936, + "end_idx": 6969 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle by grasping the top.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Have the left arm pick up the white canned goods from the table with a diagonal approach, holding the top.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "With the left hand, collect the white canned goods from the table by taking hold of the top at a diagonal angle.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle by grasping the top.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Take the white canned goods from the table with a diagonal approach, holding the top.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "From the table, collect the white canned goods by gripping the top at a diagonal angle.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Using the left hand, take the white canned goods from the table.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Have the left arm collect the white canned goods from the table.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Take the white canned goods from the table with the left hand.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "From the table, collect the white canned goods.", + "start_idx": 7053, + "end_idx": 7089 + }, + { + "text": "Put the white soda can to the left of the pink plate with the left hand.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Using the left hand, place the white soda can to the left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Have the left arm set the white soda can down to the left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "With the left hand, position the white soda can left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Place the white soda can to the left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Set the white soda can down left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "The white soda can goes to the left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Position the white soda can to the left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Leave the white soda can left of the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Put the white soda can beside the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Set the white soda can next to the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Have the white soda can placed beside the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Position the white soda can by the pink plate.", + "start_idx": 7089, + "end_idx": 7146 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Have the left arm grasp the white canned goods from the table diagonally from the top.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table using a diagonal top approach.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Take the white canned goods from the table diagonally from the top.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Retrieve the white canned goods from the table with a diagonal top grasp.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Take the white canned goods from the table.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Retrieve the white canned goods from the table.", + "start_idx": 7224, + "end_idx": 7260 + }, + { + "text": "Put the white canned goods to the left of the yellow stuffed toy with the left hand.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Have the left arm set the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Set the white canned goods on the left side of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Position the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Leave the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Using the left hand, place the white canned goods by the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "With the left hand, set the white canned goods next to the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Have the left arm position the white canned goods beside the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Place the white canned goods by the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Set the white canned goods beside the yellow stuffed toy.", + "start_idx": 7260, + "end_idx": 7293 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Take the blue stuffed toy from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Grasp the blue stuffed toy from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "With the left hand, pick up the blue stuffed toy from the table using a side grip at the bottom.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a side grasp at the bottom.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Using the left hand, grasp the blue stuffed toy from the table by the bottom.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Take the blue stuffed toy from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table.", + "start_idx": 7293, + "end_idx": 7332 + }, + { + "text": "Put the blue stuffed toy in front of the white canned goods with the left hand facing right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the white canned goods with it facing right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Have the left arm set the blue stuffed toy in front of the white canned goods, oriented to the right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "With the left hand, position the blue stuffed toy before the white canned goods so it faces right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Place the blue stuffed toy in front of the white canned goods with it facing right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Set the blue stuffed toy before the white canned goods, facing right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Position the blue stuffed toy in front of the white canned goods so it is oriented right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Using the left hand, put the blue stuffed toy in front of the white canned goods.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Have the left arm place the blue stuffed toy before the white canned goods.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "With the left hand, position the blue stuffed toy in front of the white canned goods.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Put the blue stuffed toy in front of the white canned goods.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Set the blue stuffed toy before the white canned goods.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Have the left arm place the blue stuffed toy in front of the white canned goods, facing right.", + "start_idx": 7332, + "end_idx": 7362 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a diagonal approach at the entire object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a diagonal approach at the entire object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Have the left arm grasp the yellow stuffed toy from the table by approaching diagonally and taking hold of the whole object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table via a diagonal approach on the entire object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Pick up the yellow stuffed toy from the table with a diagonal approach at the entire object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Take the yellow stuffed toy from the table by approaching diagonally and grasping the whole object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Grab the yellow stuffed toy from the table with a diagonal approach at the entire object.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Have the left arm collect the yellow stuffed toy from the table.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Take the yellow stuffed toy from the table.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Get the yellow stuffed toy from the table.", + "start_idx": 7362, + "end_idx": 7407 + }, + { + "text": "Put the yellow stuffed toy to the bottom side of the table with the left hand facing backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Using the left hand, place the yellow stuffed toy on the bottom side of the table facing backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Have the left arm set the yellow stuffed toy at the bottom side of the table with its front facing backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the bottom side of the table so the front faces backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Place the yellow stuffed toy on the bottom side of the table facing backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Set the yellow stuffed toy at the bottom side of the table with its front facing backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Position the yellow stuffed toy on the bottom side of the table so it faces backwards.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Using the left hand, put the yellow stuffed toy on the bottom side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "With the left hand, place the yellow stuffed toy at the bottom side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the bottom side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Put the yellow stuffed toy on the bottom side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Place the yellow stuffed toy at the bottom side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Set the yellow stuffed toy on the bottom side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "From a diagonal angle, have the left hand grasp the yellow stuffed toy on the table with a side hold at the bottom.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "With the left hand, secure the yellow stuffed toy from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Pick up the yellow stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "From a diagonal angle, grasp the yellow stuffed toy on the table with a side hold at the bottom.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Take the yellow stuffed toy from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table with a side grip at the bottom.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table using a side grasp at the bottom.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Have the left hand grasp the yellow stuffed toy from the table by the bottom with a side hold.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table at the bottom from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Grasp the yellow stuffed toy from the table at the bottom from a diagonal angle.", + "start_idx": 7536, + "end_idx": 7575 + }, + { + "text": "Put the yellow stuffed toy to the left of the pink plate with the left hand facing backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the pink plate with its front facing backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Have the left arm set the yellow stuffed toy left of the pink plate, front oriented backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the pink plate's left side facing backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Place the yellow stuffed toy to the left of the pink plate.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Set the yellow stuffed toy on the left side of the pink plate.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Position the yellow stuffed toy left of the pink plate.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the pink plate.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "With the left hand, set the yellow stuffed toy on the pink plate's left side.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Have the left arm position the yellow stuffed toy left of the pink plate.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Put the yellow stuffed toy to the left of the pink plate facing backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Set the yellow stuffed toy on the pink plate's left side with its front facing backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Position the yellow stuffed toy left of the pink plate, front facing backwards.", + "start_idx": 7575, + "end_idx": 7605 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Take the blue stuffed toy from the table diagonally, holding the full object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table using a whole-object grasp.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Have the left arm retrieve the blue stuffed toy from the table while holding the entire object.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 7605, + "end_idx": 7650 + }, + { + "text": "Put the blue stuffed toy on the bottom side of the table with the left hand facing right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Using the left hand, place the blue stuffed toy on the bottom side of the table with its front facing right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Have the left arm set the blue stuffed toy on the bottom side of the table, front pointed right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "With the left hand, position the blue stuffed toy on the bottom side of the table so its front faces right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Place the blue stuffed toy on the bottom side of the table with its front facing right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Set the blue stuffed toy on the bottom side of the table, facing right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Position the blue stuffed toy on the bottom side of the table so the front points right.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Using the left hand, put the blue stuffed toy on the bottom side of the table.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "With the left hand, place the blue stuffed toy on the bottom side of the table.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Have the left arm set the blue stuffed toy on the bottom side of the table.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Put the blue stuffed toy on the bottom side of the table.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Set the blue stuffed toy on the bottom side of the table.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Place the blue stuffed toy on the bottom side of the table.", + "start_idx": 7650, + "end_idx": 7683 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a diagonal top grasp.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Have the left arm pick up the white canned goods from the table by approaching diagonally from above.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "With the left hand, secure the white canned goods from the table at the top using a diagonal approach.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Pick up the white canned goods from the table with a diagonal top grasp.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Take the white canned goods from the table by approaching diagonally from above.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Grab the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Take the white canned goods from the table.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Grab the white canned goods from the table.", + "start_idx": 7683, + "end_idx": 7725 + }, + { + "text": "Put the white canned goods to the left of the yellow stuffed toy with the left hand.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "With the left hand, position the white canned goods left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Set the white canned goods down left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Position the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "The white canned goods should go to the left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Put the white canned goods left of the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Using the left hand, place the white canned goods by the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "With the left hand, set the white canned goods beside the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Have the left arm put the white canned goods next to the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Place the white canned goods beside the yellow stuffed toy.", + "start_idx": 7725, + "end_idx": 7767 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "With the left arm, collect the white canned goods from the table on a diagonal approach by holding the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Have the left hand pick the white canned goods up from the table diagonally, contacting the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Take the white canned goods from the table diagonally by the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Grasp the white canned goods from the table at a diagonal angle from the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Using the left hand, take the white canned goods from the table.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Have the left arm collect the white canned goods from the table.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Take the white canned goods from the table by the top.", + "start_idx": 7931, + "end_idx": 7964 + }, + { + "text": "Put the white canned goods to the left of the blue stuffed toy with the left hand.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Have the left arm set the white canned goods to the left of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Place the white canned goods to the left of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Set the white canned goods on the left side of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Position the white canned goods left of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Move the white canned goods to the left of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Arrange the white canned goods to the left of the blue stuffed toy.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Using the left hand, place the white canned goods.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "With the left hand, set down the white canned goods.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Have the left arm position the white canned goods.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Place the white canned goods.", + "start_idx": 7965, + "end_idx": 8010 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Have the left arm take the white canned goods off the table with a diagonal top grasp.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "With the left hand, grasp the white canned goods from the table diagonally from the top of the object.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal from the top of the object.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Take the white canned goods off the table using a diagonal top approach.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Grasp the white canned goods from the table from the top at a diagonal.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "The white canned goods should be picked up from the table.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Using the left hand, take the white canned goods off the table.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Have the left arm grasp the white canned goods from the table.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Remove the white canned goods from the table.", + "start_idx": 8079, + "end_idx": 8118 + }, + { + "text": "Put the white canned goods on the top side of the table with the left hand.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Using the left hand, place the white canned goods on the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Have the left arm set the white canned goods on the table's top side.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "With the left hand, position the white canned goods on the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Place the white canned goods on the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Set the white canned goods on the table's top side.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Position the white canned goods on the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Move the white canned goods onto the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Arrange the white canned goods on the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "The white canned goods should go on the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Put the white canned goods on the table's top side.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Set the white canned goods onto the top side of the table.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Position the white canned goods on the table's top side.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Take the blue stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally with a full-object hold.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Take the blue stuffed toy off the table.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 8151, + "end_idx": 8187 + }, + { + "text": "Put the blue stuffed toy on the bottom side of the table with the left hand facing forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Using the left hand, place the blue stuffed toy on the bottom side of the table facing forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Have the left arm set the blue stuffed toy on the bottom side of the table with its front facing forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "With the left hand, position the blue stuffed toy on the bottom side of the table so it faces forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Place the blue stuffed toy on the bottom side of the table facing forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Set the blue stuffed toy on the bottom side of the table with its front facing forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Position the blue stuffed toy on the bottom side of the table so it faces forwards.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Using the left hand, put the blue stuffed toy on the bottom side of the table.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "With the left hand, place the blue stuffed toy on the bottom side of the table.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Have the left arm set the blue stuffed toy on the bottom side of the table.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Put the blue stuffed toy on the bottom side of the table.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Place the blue stuffed toy on the bottom side of the table.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Set the blue stuffed toy on the bottom side of the table.", + "start_idx": 8186, + "end_idx": 8217 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "From a diagonal angle, have the left hand grasp the yellow stuffed toy on the table with a side hold at the bottom.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "With the left hand, secure the yellow stuffed toy from the table using a side grasp at the bottom from a diagonal approach.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Pick up the yellow stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "From a diagonal angle, grasp the yellow stuffed toy on the table with a side hold at the bottom.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Take the yellow stuffed toy from the table with a side grasp at the bottom from a diagonal approach.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table with a side grip at the bottom.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table using a side hold at the bottom.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Have the left hand grasp the yellow stuffed toy from the table with a side grip at the bottom.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table from a diagonal angle.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "From a diagonal angle, take the yellow stuffed toy from the table with the left hand.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Pick up the yellow stuffed toy from the table at the bottom from a diagonal angle.", + "start_idx": 8217, + "end_idx": 8250 + }, + { + "text": "Put the yellow stuffed toy to the left of the blue screwdriver with the left hand facing right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the blue screwdriver facing right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the left of the blue screwdriver with its front facing right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "With the left hand, position the yellow stuffed toy left of the blue screwdriver, front pointing right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Place the yellow stuffed toy to the left of the blue screwdriver facing right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Set the yellow stuffed toy left of the blue screwdriver with its front facing right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Position the yellow stuffed toy to the left of the blue screwdriver, oriented right.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the blue screwdriver.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the left arm set the yellow stuffed toy left of the blue screwdriver.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the left of the blue screwdriver.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Place the yellow stuffed toy to the left of the blue screwdriver.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Set the yellow stuffed toy left of the blue screwdriver.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the left arm place the yellow stuffed toy to the left of the blue screwdriver.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, gripping the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Have the left arm take the blue screwdriver from the table, keeping it diagonal and holding the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, gripping the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Grasp the blue screwdriver from the table diagonally by the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table, gripping the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "With the left hand, take the blue screwdriver from the table by the middle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the table at a diagonal angle.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Take the blue screwdriver from the table diagonally.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 8358, + "end_idx": 8391 + }, + { + "text": "Put the blue screwdriver to the left of the blue stuffed toy with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the blue stuffed toy, facing bottom right with the tip as the reference point.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Have the left arm set the blue screwdriver left of the blue stuffed toy, oriented bottom right from the tip.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "With the left hand, position the blue screwdriver to the left of the blue stuffed toy so its tip points bottom right.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Place the blue screwdriver to the left of the blue stuffed toy, facing bottom right with the tip as the reference point.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Set the blue screwdriver left of the blue stuffed toy with the tip oriented bottom right.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Position the blue screwdriver to the left of the blue stuffed toy so the tip faces bottom right.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Using the left hand, put the blue screwdriver to the left of the blue stuffed toy.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "With the left hand, set the blue screwdriver left of the blue stuffed toy.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Have the left arm position the blue screwdriver to the left of the blue stuffed toy.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Place the blue screwdriver to the left of the blue stuffed toy.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Set the blue screwdriver left of the blue stuffed toy.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Position the blue screwdriver to the left of the blue stuffed toy.", + "start_idx": 8391, + "end_idx": 8427 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "With the left hand, grasp the entire croissant and remove it from the table at a diagonal angle.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Take the croissant from the table with a diagonal approach while holding the whole object.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "From the table, retrieve the croissant at a diagonal angle with a full-object hold.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "With the left hand, remove the croissant from the table.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "From the table, retrieve the croissant.", + "start_idx": 8499, + "end_idx": 8544 + }, + { + "text": "Put the croissant in between the white canned goods and blue stuffed toy with the left hand.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Using the left hand, place the croissant between the white canned goods and the blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Have the left arm set the croissant in the space between the white canned goods and blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "With the left hand, position the croissant between the white canned goods and the blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Place the croissant between the white canned goods and the blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Set the croissant in between the white canned goods and blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "The croissant goes between the white canned goods and the blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Position the croissant between the white canned goods and blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Put the croissant in the gap between the white canned goods and the blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Arrange the croissant between the white canned goods and blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Between the white canned goods and the blue stuffed toy, place the croissant.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Have the croissant placed between the white canned goods and blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "The croissant should be set between the white canned goods and the blue stuffed toy.", + "start_idx": 8544, + "end_idx": 8571 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Have the left arm pick the blue stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table on a diagonal, holding the entire object.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Take the blue stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Collect the blue stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Take the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Grasp the blue stuffed toy from the table.", + "start_idx": 8571, + "end_idx": 8607 + }, + { + "text": "Put the blue stuffed toy to the left of the pink plate with the left hand facing forwards.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the pink plate facing forwards.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the pink plate with its front facing forward.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the pink plate so it faces forward.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Place the blue stuffed toy to the left of the pink plate facing forwards.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Set the blue stuffed toy to the left of the pink plate with its front facing forward.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Position the blue stuffed toy to the left of the pink plate so it faces forward.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the pink plate.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the pink plate.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the pink plate.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Put the blue stuffed toy to the left of the pink plate.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Set the blue stuffed toy facing forward.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Using the left hand, place the blue stuffed toy facing forwards.", + "start_idx": 8607, + "end_idx": 8637 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup angle, holding it at the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 8637, + "end_idx": 8676 + }, + { + "text": "Put the blue screwdriver in between the croissant and the blue stuffed toy with the left hand facing right with the tip as the reference point.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Using the left hand, place the blue screwdriver between the croissant and the blue stuffed toy, facing right with the tip as the reference point.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Have the left arm set the blue screwdriver in between the croissant and the blue stuffed toy so the tip points right.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "With the left hand, position the blue screwdriver between the croissant and the blue stuffed toy, oriented rightward from the tip.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Place the blue screwdriver between the croissant and the blue stuffed toy.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Set the blue screwdriver in between the croissant and the blue stuffed toy.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "The blue screwdriver goes between the croissant and the blue stuffed toy.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Put the blue screwdriver between the croissant and the blue stuffed toy with the left hand.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Using the left hand, place the blue screwdriver between the croissant and the blue stuffed toy.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Have the left arm set the blue screwdriver in between the croissant and the blue stuffed toy.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Position the blue screwdriver between the croissant and the blue stuffed toy, facing right with the tip as the reference point.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Place the blue screwdriver between the croissant and the blue stuffed toy so the tip faces right.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Set the blue screwdriver in between the croissant and the blue stuffed toy with the tip pointing right.", + "start_idx": 8676, + "end_idx": 8721 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Have the left arm pick the yellow stuffed toy off the table with a diagonal approach and a full-object grasp.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally, enclosing the whole object.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Take the yellow stuffed toy off the table diagonally while holding the entire object.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Gather the yellow stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Take the yellow stuffed toy off the table.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Collect the yellow stuffed toy from the table.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Have the left arm take the yellow stuffed toy off the table.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 8721, + "end_idx": 8757 + }, + { + "text": "Put the yellow stuffed toy in front of the blue screwdriver with the left hand facing backwards.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Using the left hand, place the yellow stuffed toy in front of the blue screwdriver facing backwards.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Have the left arm set the yellow stuffed toy in front of the blue screwdriver with its back facing forward.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "With the left hand, position the yellow stuffed toy before the blue screwdriver, oriented backwards.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Place the yellow stuffed toy in front of the blue screwdriver facing backwards.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Set the yellow stuffed toy before the blue screwdriver with its back turned.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Position the yellow stuffed toy in front of the blue screwdriver, facing away.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Using the left hand, put the yellow stuffed toy in front of the blue screwdriver.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "With the left hand, set the yellow stuffed toy before the blue screwdriver.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Have the left arm place the yellow stuffed toy in front of the blue screwdriver.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Put the yellow stuffed toy in front of the blue screwdriver.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Set the yellow stuffed toy before the blue screwdriver.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Have the toy placed in front of the blue screwdriver.", + "start_idx": 8757, + "end_idx": 8787 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Have the left hand pick the croissant up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "The croissant should be collected from the table by the left hand at a diagonal angle with the whole object grasped.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Take the croissant from the table with a diagonal approach while grasping the whole object.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "From the table, collect the croissant at a diagonal angle using a full-object hold.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "The croissant should be picked up from the table with the left hand.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Using the left hand, collect the croissant from the table while grasping the entire object.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 8787, + "end_idx": 8820 + }, + { + "text": "Put the croissant on the top left side of the table with the left hand.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Using the left hand, place the croissant on the table's top left side.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Have the left arm set the croissant down on the upper-left area of the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "With the left hand, position the croissant at the top-left side of the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Place the croissant on the top left side of the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Set the croissant on the table's top left side.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "The croissant goes on the upper-left area of the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Put the croissant on the left side of the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Place the croissant on the upper area of the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Set the croissant down on the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Put the croissant on the top left side of the table with the left.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Using the left hand, place the croissant on the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Have the left arm set the croissant down on the table.", + "start_idx": 8820, + "end_idx": 8859 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at the top of the object using a diagonal angle.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Using the left hand, take the white canned goods from the table by grasping the top at a diagonal angle.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Have the left hand retrieve the white canned goods from the table from the top of the object on a diagonal.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "With the left hand, secure the white canned goods from the table at the top using a diagonal approach.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Pick up the white canned goods from the table at the top of the object using a diagonal angle.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "From the table, grasp the white canned goods at the top with a diagonal angle.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Take the white canned goods from the table by the top of the object on a diagonal.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "The white canned goods from the table should be picked up from the top at a diagonal angle.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Using the left hand, take the white canned goods from the table.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Have the left hand pick up the white canned goods from the table.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "The white canned goods from the table should be picked up.", + "start_idx": 8859, + "end_idx": 8892 + }, + { + "text": "Put the white canned goods to the left of the yellow stuffed toy with the left hand.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Have the left arm set the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Place the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Set the white canned goods on the left side of the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Position the white canned goods to the left of the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Move the white canned goods next to the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Put the white canned goods by the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Set the white canned goods beside the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Using the left hand, move the white canned goods next to the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Have the left arm put the white canned goods by the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "With the left hand, set the white canned goods beside the yellow stuffed toy.", + "start_idx": 8892, + "end_idx": 8934 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "With the left hand, go to the home position.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Return to the home position.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Move back to home.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Go to the home pose.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Reset to the home position.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Move to home.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Return home.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Head back to the home position.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Reposition to home.", + "start_idx": 8934, + "end_idx": 8946 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Collect the blue stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Take the blue stuffed toy from the table with the right hand.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Collect the blue stuffed toy from the table.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Put the blue stuffed toy to the right of the blue screwdriver with the right hand facing forwards.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the blue screwdriver facing forwards.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Have the right arm set the blue stuffed toy to the right of the blue screwdriver with its front facing forward.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "With the right hand, position the blue stuffed toy to the right of the blue screwdriver, front facing forward.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Place the blue stuffed toy to the right of the blue screwdriver facing forwards.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Set the blue stuffed toy to the right of the blue screwdriver with its front forward.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Position the blue stuffed toy to the right of the blue screwdriver so it faces forward.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Using the right hand, put the blue stuffed toy to the right of the blue screwdriver.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "With the right hand, place the blue stuffed toy to the right of the blue screwdriver.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Have the right arm position the blue stuffed toy to the right of the blue screwdriver.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Put the blue stuffed toy to the right of the blue screwdriver.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Arrange the blue stuffed toy to the right of the blue screwdriver.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "The blue stuffed toy goes to the right of the blue screwdriver.", + "start_idx": 291, + "end_idx": 318 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the top in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grip at the top in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Have the right hand grasp the blue screwdriver from the table with a side hold on the top in a diagonal pickup.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table using a top side grasp in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the top in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp at the top in a diagonal pickup.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Retrieve the blue screwdriver from the table with a side hold on the top in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the top.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "From the table, take the blue screwdriver with the right hand using a side grasp on the top.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Have the right hand collect the blue screwdriver from the table with a side hold at the top.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand in a diagonal pickup.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "From the table, grasp the blue screwdriver at the top in a diagonal pick.", + "start_idx": 318, + "end_idx": 354 + }, + { + "text": "Put the blue screwdriver to the right of the white canned goods with the right hand facing forwards with the tip as the reference point.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the white canned goods, facing forwards with the tip as the reference point.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Have the right arm set the blue screwdriver to the right of the white canned goods with the tip facing forwards as the reference point.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "With the right hand, position the blue screwdriver to the right of the white canned goods, oriented forwards using the tip as the reference point.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Place the blue screwdriver to the right of the white canned goods, facing forwards with the tip as the reference point.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Set the blue screwdriver to the right of the white canned goods with the tip as the reference point, facing forwards.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Position the blue screwdriver to the right of the white canned goods so it faces forwards, using the tip as the reference point.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Using the right hand, put the blue screwdriver to the right of the white canned goods.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Have the right arm place the blue screwdriver to the right of the white canned goods.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the white canned goods.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Put the blue screwdriver to the right of the white canned goods.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the white canned goods.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Set the blue screwdriver to the right of the white canned goods.", + "start_idx": 354, + "end_idx": 390 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Have the right arm pick the blue stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table at a diagonal angle using an all-over hold.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Take the blue stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Retrieve the blue stuffed toy from the table at a diagonal angle using an all-over hold.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Grab the blue stuffed toy from the table diagonally.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Put the blue stuffed toy in front of the blue screwdriver with the right hand facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Using the right hand, place the blue stuffed toy in front of the blue screwdriver, facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Have the right hand set the blue stuffed toy before the blue screwdriver with its front facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "With the right hand, position the blue stuffed toy in front of the blue screwdriver so it faces forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Place the blue stuffed toy in front of the blue screwdriver, facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Set the blue stuffed toy before the blue screwdriver with its front facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Position the blue stuffed toy in front of the blue screwdriver so it faces forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Using the right hand, put the blue stuffed toy in front of the blue screwdriver.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Have the right hand place the blue stuffed toy before the blue screwdriver.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "With the right hand, set the blue stuffed toy in front of the blue screwdriver.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Put the blue stuffed toy in front of the blue screwdriver.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Set the blue stuffed toy before the blue screwdriver.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Position the blue stuffed toy in front of the blue screwdriver.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table diagonally using an entire-object hold.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "From the table, collect the blue stuffed toy diagonally using an entire-object hold.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Take the blue stuffed toy from the table with the right hand.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "From the table, collect the blue stuffed toy.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Put the blue stuffed toy to the left of the screwdriver with the right hand facing forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the left of the screwdriver with its front facing forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Have the right arm set the blue stuffed toy to the left of the screwdriver, front facing forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "With the right hand, position the blue stuffed toy left of the screwdriver so the front faces forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Place the blue stuffed toy to the left of the screwdriver with its front facing forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Set the blue stuffed toy left of the screwdriver, front facing forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Position the blue stuffed toy to the left of the screwdriver so it faces forwards.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the left of the screwdriver.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "With the right hand, set the blue stuffed toy left of the screwdriver.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Have the right arm position the blue stuffed toy to the left of the screwdriver.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Put the blue stuffed toy to the left of the screwdriver.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Set the blue stuffed toy left of the screwdriver.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Have the blue stuffed toy placed to the left of the screwdriver.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Have the right arm pick up the blue stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table at a diagonal orientation using an all-over grasp.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Take the blue stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Retrieve the blue stuffed toy from the table at a diagonal orientation using an all-over grasp.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table diagonally.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Using the right hand, get the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "At a diagonal angle, pick up the blue stuffed toy from the table.", + "start_idx": 1422, + "end_idx": 1449 + }, + { + "text": "Put the blue stuffed toy to the right of the croissant with the right hand facing forwards.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "With the right hand, place the blue stuffed toy to the right of the croissant, facing forwards.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Have the right arm set the blue stuffed toy to the croissant's right with its front facing forward.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Using the right hand, position the blue stuffed toy on the right side of the croissant, facing forwards.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Place the blue stuffed toy to the right of the croissant.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Set the blue stuffed toy on the right side of the croissant.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "The blue stuffed toy goes to the right of the croissant.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "With the right hand, put the blue stuffed toy to the right of the croissant.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Using the right hand, position the blue stuffed toy on the croissant's right side.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Have the right arm place the blue stuffed toy to the right of the croissant.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Put the blue stuffed toy to the right of the croissant, facing forwards.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Set the blue stuffed toy on the right side of the croissant with its front facing forward.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "The blue stuffed toy should be placed to the croissant's right, facing forwards.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "From a diagonal approach, have the right hand grasp the blue screwdriver on the table with a side hold at the top.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "The right hand should seize the blue screwdriver from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "From a diagonal angle, grasp the blue screwdriver on the table with a side hold at the top.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "With the right hand, pick up the blue screwdriver from the table using a side grip.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Have the right hand take the blue screwdriver from the table with a side hold.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Using the right hand, grasp the blue screwdriver from the table with a side grasp.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Pick up the blue screwdriver from the table from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Take the blue screwdriver from the table with the right hand.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Grasp the blue screwdriver from the table using a side grip.", + "start_idx": 1479, + "end_idx": 1509 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy with the right hand facing forwards with the tip forwards.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Using the right hand, position the blue screwdriver to the right of the blue stuffed toy with the tip facing forwards.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Have the right arm place the blue screwdriver to the right of the blue stuffed toy, oriented forwards at the tip.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the blue stuffed toy so its tip points forwards.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy with the tip facing forwards.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Set the blue screwdriver to the right of the blue stuffed toy, with the tip oriented forwards.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Position the blue screwdriver to the right of the blue stuffed toy so the tip points forwards.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Have the right arm position the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Set the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Position the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1509, + "end_idx": 1542 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Have the right arm pick the blue screwdriver up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Grasp the blue screwdriver from the table with a side hold on the top from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Take the blue screwdriver off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "From the table, take the blue screwdriver with the right hand at the top.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip.", + "start_idx": 1623, + "end_idx": 1647 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy with the right hand with its tip facing left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Using the right hand, set the blue screwdriver to the right of the blue stuffed toy with its tip pointing left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Have the right hand place the blue screwdriver to the right of the blue stuffed toy, tip facing left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "With the right hand, position the blue screwdriver to the right of the blue stuffed toy so its tip faces left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy with its tip facing left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Set the blue screwdriver to the right of the blue stuffed toy, with the tip pointing left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Position the blue screwdriver to the right of the blue stuffed toy so the tip faces left.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Have the right hand position the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Place the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Set the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Position the blue screwdriver to the right of the blue stuffed toy.", + "start_idx": 1647, + "end_idx": 1686 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Have the right arm take the blue screwdriver from the table, grasping it diagonally at the middle.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table at the middle using a diagonal grasp.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal middle grasp.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Retrieve the blue screwdriver from the table, grasping it diagonally from the middle.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 1922, + "end_idx": 1964 + }, + { + "text": "Dump the blue screwdriver into the pink bowl with the right hand.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Using the right hand, tip the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Have the right arm dump the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "With the right hand, drop the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Place the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Put the blue screwdriver in the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Send the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Move the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Deposit the blue screwdriver in the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Let the blue screwdriver fall into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Transfer the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Get the blue screwdriver into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "The blue screwdriver goes into the pink bowl.", + "start_idx": 1965, + "end_idx": 2004 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Have the right hand take the croissant off the table diagonally with a whole-object grasp.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "With the right hand, collect the croissant from the table at a diagonal angle using a full-object hold.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Take the croissant off the table diagonally with a whole-object grasp.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "From the table, collect the croissant at a diagonal angle using a full-object hold.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "With the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Have the right hand take the croissant off the table with a whole-object grasp.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Using the right hand, collect the croissant from the table with a full-object hold.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "With the right hand, take the croissant off the table diagonally.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "From the table, collect the croissant at a diagonal angle.", + "start_idx": 3111, + "end_idx": 3144 + }, + { + "text": "Put the croissant to the right of the blue soda with the right hand.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Using the right hand, place the croissant to the right of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Have the right hand set the croissant down to the right of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "With the right hand, position the croissant on the right side of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Place the croissant to the right of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Set the croissant down to the right of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Position the croissant on the right side of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "The croissant goes to the right of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Put the croissant beside the blue soda on its right side.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Arrange the croissant to the blue soda's right.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Set the croissant next to the blue soda, on the right.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Place the croissant on the right side of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "The croissant should be placed to the right of the blue soda.", + "start_idx": 3144, + "end_idx": 3180 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Have the right arm pick the croissant up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "With the right hand, collect the croissant from the table diagonally while holding the entire object.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a full-object hold.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "From the table, retrieve the croissant diagonally while grasping the whole item.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "With the right hand, take the croissant from the table using a full-object grasp.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Have the right arm retrieve the croissant from the table.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "From the table, grasp the croissant.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Take the croissant from the table with the right hand.", + "start_idx": 3333, + "end_idx": 3366 + }, + { + "text": "Put the croissant to the right of the white canned goods with the right hand.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Using the right hand, place the croissant to the right of the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Have the right arm set the croissant down to the right of the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "With the right hand, position the croissant on the right side of the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Place the croissant to the right of the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Set the croissant on the right side of the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Put the croissant beside the white canned goods on the right.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Position the croissant to the right of the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Place the croissant next to the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Set the croissant beside the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Using the right hand, place the croissant next to the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "With the right hand, set the croissant beside the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Have the right arm place the croissant next to the white canned goods.", + "start_idx": 3366, + "end_idx": 3396 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "At a diagonal angle, have the right hand take the croissant from the table with a whole-object grasp.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "With the right hand, retrieve the croissant from the table diagonally while enclosing the full item.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "At a diagonal angle, take the croissant from the table with a whole-object grasp.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Retrieve the croissant from the table diagonally while enclosing the full item.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "With the right hand, take the croissant from the table using a full-object hold.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Have the right hand retrieve the croissant from the table with the entire object enclosed.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "At a diagonal angle, have the right hand take the croissant from the table.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3543, + "end_idx": 3585 + }, + { + "text": "Place the croissant on the center of the table with the right hand.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Using the right hand, set the croissant at the center of the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Have the right arm place the croissant in the middle of the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "With the right hand, position the croissant on the table's center.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Place the croissant at the center of the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Set the croissant in the middle of the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Position the croissant on the center of the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Put the croissant at the table's center.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "The croissant goes in the center of the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Using the right hand, place the croissant on the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "With the right hand, set the croissant down on the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Have the right arm put the croissant on the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Place the croissant on the table.", + "start_idx": 3585, + "end_idx": 3624 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold on the bottom-right edge at a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "With the right hand, seize the pink plate from the table using a lip grasp at the bottom right on a diagonal.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Take the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Grasp the pink plate from the table using a lip hold on the bottom-right area at a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "The pink plate from the table should be picked up with a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "With the right hand, grasp the pink plate from the table using a lip hold.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Pick up the pink plate from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Using the right hand, take the pink plate from the table at the bottom-right area from a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Have the right arm grasp the pink plate from the table on the bottom right at a diagonal angle.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Put the pink plate to the right of the white canned goods with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Using the right hand, place the pink plate to the right of the white canned goods, right side up with the front as the reference point.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Have the right hand set the pink plate to the right of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "With the right arm, position the pink plate to the right of the white canned goods, oriented right side up using the front as the reference.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Place the pink plate to the right of the white canned goods, right side up with the front as the reference point.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Set the pink plate to the right of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Position the pink plate to the right of the white canned goods, oriented right side up using the front as the reference.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Using the right hand, place the pink plate to the right of the white canned goods.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Have the right hand set the pink plate to the right of the white canned goods.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "With the right arm, position the pink plate to the right of the white canned goods.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Place the pink plate to the right of the white canned goods.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Set the pink plate to the right of the white canned goods.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Position the pink plate to the right of the white canned goods.", + "start_idx": 3741, + "end_idx": 3783 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right diagonally.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp at the bottom right diagonally.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the bottom right diagonal using the lip grip.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom right diagonally.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Grasp the pink plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Take the pink plate from the table with the lip grip at the bottom right diagonal.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip grasp.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Have the right arm grasp the pink plate from the table.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Pick up the pink plate from the table at the bottom right diagonal.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Take the pink plate from the table with the right hand.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Grasp the pink plate from the table.", + "start_idx": 4119, + "end_idx": 4155 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Using the right hand, set the pink plate to the right of the yellow stuffed toy right side up, using the front as the reference point.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Have the right arm place the pink plate to the yellow stuffed toy's right, right side up with the front as the orientation reference.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "With the right hand, position the pink plate on the right side of the yellow stuffed toy, keeping it right side up relative to the front.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed toy right side up, using the front as the reference point.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Set the pink plate on the right side of the yellow stuffed toy, right side up with the front as the orientation reference.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Position the pink plate to the yellow stuffed toy's right, keeping it right side up relative to the front.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Using the right hand, place the pink plate to the right of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Have the right arm set the pink plate on the right side of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "With the right hand, position the pink plate to the yellow stuffed toy's right.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Set the pink plate on the right side of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Have the pink plate placed to the yellow stuffed toy's right.", + "start_idx": 4155, + "end_idx": 4200 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "With the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Have the right arm retrieve the yellow stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Retrieve the yellow stuffed toy from the table at a diagonal angle while holding the entire object.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Collect the yellow stuffed toy from the table with a full-object grasp at a diagonal angle.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "With the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Have the right arm retrieve the yellow stuffed toy from the table.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Pick up the yellow stuffed toy from the table diagonally.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Dump the yellow stuffed toy into the pink plate with the right hand.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Using the right hand, dump the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Have the right arm place the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "With the right hand, tip the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Dump the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Place the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Put the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Transfer the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "The yellow stuffed toy goes into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Move the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Set the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Guide the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Deposit the yellow stuffed toy into the pink plate.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Put the yellow stuffed toy on the top right side of the table with the right hand facing backwards.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on the table's top right side facing backwards.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Have the right arm set the yellow stuffed toy on the top right area of the table with its front facing backward.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "With the right hand, position the yellow stuffed toy at the upper-right side of the table, facing backwards.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Place the yellow stuffed toy on the top right side of the table.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Set the yellow stuffed toy on the table's top right area.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "The yellow stuffed toy goes on the upper-right side of the table.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Position the yellow stuffed toy at the top right side of the table.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Put the yellow stuffed toy on the top right side of the table with the right hand.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on the table's top right side.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Have the right arm set the yellow stuffed toy on the upper-right area of the table.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Put the yellow stuffed toy on the top right side of the table facing backwards.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "The yellow stuffed toy should be placed on the table's top right side, facing backwards.", + "start_idx": 4539, + "end_idx": 4578 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Have the right arm take the pink plate off the table with a lip grasp at the bottom-right edge from a diagonal approach.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "The pink plate should be retrieved from the table by the right hand using a lip hold at the bottom right on a diagonal.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Take the pink plate off the table with a lip grasp at the bottom-right area from a diagonal approach.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "The pink plate should be picked up from the table with a lip hold at the bottom right on the diagonal.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "With the right hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Use the right hand to take the pink plate from the table with a lip grasp.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Have the right arm retrieve the pink plate from the table with a lip hold.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Pick up the pink plate from the table with the right hand.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 4578, + "end_idx": 4623 + }, + { + "text": "Put the pink plate on the bottom right side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Using the right hand, place the pink plate on the bottom right side of the table, right side up with the front as the reference point.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Have the right arm set the pink plate on the table's bottom right side, keeping it right side up relative to the front.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "With the right hand, position the pink plate on the bottom right area of the table, oriented right side up using the front as the reference.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Place the pink plate on the bottom right side of the table, right side up with the front as the reference point.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Set the pink plate on the bottom right side of the table, keeping it right side up relative to the front.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "The pink plate goes on the bottom right side of the table, right side up with the front as the reference point.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Put the pink plate on the bottom right side of the table with the right hand.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Using the right hand, place the pink plate on the bottom right side of the table.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Have the right arm set the pink plate on the bottom right side of the table.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Put the pink plate on the bottom right side of the table.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Set the pink plate on the table's bottom right side.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "The pink plate goes on the bottom right side of the table.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right diagonally.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp at the bottom right diagonally.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the bottom-right diagonal edge using a lip hold.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the bottom right diagonally.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Grasp the pink plate from the table by the bottom-right diagonal edge with a lip hold.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "With the right hand, grasp the pink plate from the table using a lip hold.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Using the right hand, pick up the pink plate from the table at the bottom right diagonal.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Have the right arm take the pink plate from the table by the bottom-right diagonal edge.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 4908, + "end_idx": 4944 + }, + { + "text": "Place the pink plate on the right side of the table with the right hand right side up with the front as the reference point.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Using the right hand, set the pink plate on the right side of the table right side up, with the front as the reference point.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Have the right arm place the pink plate on the table's right side, keeping it right side up relative to the front.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "With the right hand, position the pink plate on the right side of the table so it is right side up using the front as the reference point.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Place the pink plate on the right side of the table right side up, with the front as the reference point.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Set the pink plate on the table's right side, keeping it right side up relative to the front.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Position the pink plate on the right side of the table with the front as the reference point, right side up.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Using the right hand, place the pink plate on the right side of the table.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Have the right arm set the pink plate on the table's right side.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "With the right hand, position the pink plate on the right side of the table.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Place the pink plate on the right side of the table.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Set the pink plate on the table's right side.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Have the pink plate placed on the right side of the table.", + "start_idx": 4944, + "end_idx": 4983 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Have the right arm collect the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "With the right hand, secure the yellow stuffed toy from the table diagonally around the full object.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Collect the yellow stuffed toy from the table with a diagonal approach using a whole-object grasp.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Grasp the yellow stuffed toy from the table diagonally around the entire object.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Retrieve the yellow stuffed toy from the table.", + "start_idx": 4983, + "end_idx": 5016 + }, + { + "text": "Put the stuffed toy on the bottom side of the table with the right hand facing backwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Using the right hand, place the stuffed toy on the bottom side of the table with its front facing backwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Have the right arm set the stuffed toy on the bottom side of the table, front oriented backward.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "With the right hand, position the stuffed toy on the bottom side of the table so the front faces backwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Place the stuffed toy on the bottom side of the table with its front facing backwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Set the stuffed toy on the bottom side of the table, front facing backward.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Position the stuffed toy on the bottom side of the table so it faces backwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Using the right hand, put the stuffed toy on the bottom side of the table.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Have the right arm place the stuffed toy on the bottom side of the table.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "With the right hand, set the stuffed toy on the bottom side of the table.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Put the stuffed toy on the bottom side of the table.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Place the stuffed toy on the bottom side of the table.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Set the stuffed toy on the bottom side of the table.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Using the right hand, take the white canned goods from the table at a diagonal angle from the top of the object.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Have the right hand grasp the white canned goods from the table diagonally from the top of the object.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table, approaching diagonally from the top of the object.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle from the top of the object.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Take the white canned goods from the table diagonally from the top of the object.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Retrieve the white canned goods from the table from the top of the object at a diagonal angle.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Have the right hand take the white canned goods from the table.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "With the right hand, collect the white canned goods from the table.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Get the white canned goods from the table.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "From the table, take the white canned goods.", + "start_idx": 5214, + "end_idx": 5244 + }, + { + "text": "Put the white canned goods on the right side of the table with the right hand.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Using the right hand, place the white canned goods on the table's right side.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Have the right arm set the white canned goods down on the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "With the right hand, position the white canned goods at the right edge of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Place the white canned goods on the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Set the white canned goods on the table's right side.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Put the white canned goods down on the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Position the white canned goods on the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "The white canned goods go on the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Arrange the white canned goods on the table's right side.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Move the white canned goods to the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "The white canned goods should be placed on the table's right side.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Set down the white canned goods at the right side of the table.", + "start_idx": 5244, + "end_idx": 5289 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Retrieve the yellow stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Get the yellow stuffed toy from the table using the right hand.", + "start_idx": 5514, + "end_idx": 5544 + }, + { + "text": "Put the yellow stuffed toy on the bottom side of the table with the right hand facing backwards.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on the bottom side of the table with its front facing backward.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Have the right arm set the yellow stuffed toy on the bottom side of the table, front oriented backward.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "The yellow stuffed toy goes on the bottom side of the table with the right hand, facing backward.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Set the yellow stuffed toy on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Place the yellow stuffed toy on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "The yellow stuffed toy should be put on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Using the right hand, put the yellow stuffed toy on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Have the right arm place the yellow stuffed toy on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "With the right hand, set the yellow stuffed toy on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Put the yellow stuffed toy on the bottom side of the table with its front facing backward.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "The yellow stuffed toy should be placed on the bottom side of the table, front facing backward.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on the bottom side of the table.", + "start_idx": 5544, + "end_idx": 5574 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Have the right arm pick up the pink plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the bottom right diagonal using the lip edge.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Grasp the pink plate from the table at the bottom right diagonal with a lip hold.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Take the pink plate from the table by the bottom right diagonal using the lip edge.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "With the right hand, grasp the pink plate from the table using the lip edge.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Pick up the pink plate from the table with the right hand at the bottom right diagonal.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Using the right hand, take the pink plate from the table.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "At the bottom right diagonal, pick up the pink plate from the table.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Place the pink plate right side up with the front to the right of the yellow stuffed toy using the right hand.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Using the right hand, set the pink plate right side up with its front facing the right of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Have the right arm place the pink plate upright, with the front toward the right side of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "With the right hand, position the pink plate right side up so its front is to the right of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Place the pink plate right side up with its front to the right of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Set the pink plate upright with the front facing right of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Position the pink plate right side up so the front is on the right side of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Put the pink plate to the right of the yellow stuffed toy using the right hand.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Using the right hand, place the pink plate beside the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Have the right arm set the pink plate to the right of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Place the pink plate beside the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Set the pink plate to the right of the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Position the pink plate next to the yellow stuffed toy.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "With the right hand, grasp the pink plate from the table in a lip hold at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Take the pink plate from the table in a lip grasp at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip grasp.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Using the right hand, pick up the pink plate from the table at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "With the right hand, take the pink plate from the table at the bottom right diagonal.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 5727, + "end_idx": 5775 + }, + { + "text": "Put the pink plate behind the croissant with the right hand right side up with the front as the reference point.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Using the right hand, place the pink plate behind the croissant right side up, using the front as the reference point.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Have the right arm set the pink plate behind the croissant in a right-side-up orientation with the front as the reference point.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "With the right hand, position the pink plate behind the croissant so it is right side up relative to the front.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Place the pink plate behind the croissant right side up, using the front as the reference point.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Set the pink plate behind the croissant in a right-side-up position with the front as the reference point.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "The pink plate goes behind the croissant, right side up relative to the front.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Using the right hand, put the pink plate behind the croissant.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "With the right arm, place the pink plate behind the croissant.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Have the right hand position the pink plate behind the croissant.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Put the pink plate behind the croissant.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Set the pink plate behind the croissant with the right hand.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Position the pink plate behind the croissant with the right arm.", + "start_idx": 5775, + "end_idx": 5817 + }, + { + "text": "Pick up the croissant from the table with the right hand using a diagonal approach at the entire object.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Using the right hand, pick up the croissant from the table with a diagonal approach at the entire object.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Have the right arm take the croissant from the table by approaching diagonally and grasping the whole object.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "With a diagonal approach, the right hand should grasp the entire croissant and remove it from the table.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Pick up the croissant from the table with a diagonal approach at the entire object.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Take the croissant from the table by approaching diagonally and grasping the whole object.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "The croissant from the table should be picked up with a diagonal approach at the entire object.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Have the right arm take the croissant from the table.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "With the right hand, remove the croissant from the table.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "The croissant from the table should be grasped.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Put the croissant right of the plate with the right hand.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Using the right hand, place the croissant to the right of the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Have the right arm set the croissant on the plate's right side.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "With your right hand, position the croissant just right of the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Place the croissant to the right of the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Set the croissant on the right side of the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Position the croissant right of the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Put the croissant beside the plate on its right side.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Arrange the croissant to the plate's right.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "The croissant goes to the right of the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Place the croissant next to the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Set the croissant beside the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Put the croissant by the plate.", + "start_idx": 5856, + "end_idx": 5889 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "With the right hand, secure the pink plate from the table using the plate lip at the bottom right on a diagonal.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Grasp the pink plate from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Take the pink plate from the table, using the lip at the bottom right on a diagonal.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip hold.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "With the right hand, grasp the pink plate from the table using the plate lip.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Using the right hand, pick up the pink plate from the table at the bottom right with a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Have the right arm grasp the pink plate from the table on the bottom right diagonally.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Take the pink plate from the table at the bottom right with a diagonal angle.", + "start_idx": 6159, + "end_idx": 6210 + }, + { + "text": "Put the pink plate to the right of the blue soda can with the right hand right side up with the front as the orientation reference point.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue soda can, right side up with the front as the reference point.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Have the right arm set the pink plate to the right of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "With the right hand, position the pink plate to the right of the blue soda can so the front is the orientation reference and it stays right side up.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Place the pink plate to the right of the blue soda can, right side up with the front as the orientation reference point.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Set the pink plate to the right of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Position the pink plate to the right of the blue soda can with the front as the reference point and the plate right side up.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Using the right hand, put the pink plate to the right of the blue soda can.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "The pink plate goes to the right of the blue soda can with the right hand.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Have the right arm place the pink plate to the right of the blue soda can.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Put the pink plate to the right of the blue soda can.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Set the pink plate to the right of the blue soda can.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Position the pink plate to the right of the blue soda can.", + "start_idx": 6210, + "end_idx": 6252 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Have the right arm take the white canned goods from the table with a diagonal approach, holding the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "The white canned goods should be retrieved from the table by the right hand at a diagonal angle from the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Take the white canned goods from the table with a diagonal approach, holding the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "The white canned goods should be picked up from the table at a diagonal angle from the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "With the right hand, pick up the white canned goods from the table, grasping the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Have the right arm take the white canned goods from the table by the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "The white canned goods should be retrieved from the table using the right hand, holding the top.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Approach the white canned goods on the table diagonally and pick them up with the right hand.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "With the right hand, take the white canned goods from the table.", + "start_idx": 6252, + "end_idx": 6294 + }, + { + "text": "Put the white canned goods on the center of the table with the right hand.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Using the right hand, place the white canned goods at the center of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Have the right arm set the white canned goods down in the middle of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "With the right hand, position the white canned goods on the table's center.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Place the white canned goods at the center of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Set the white canned goods in the middle of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Position the white canned goods on the center of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "The white canned goods should go at the center of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Put the white canned goods in the table's middle.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Arrange the white canned goods at the table center.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Place the white canned goods on the center of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Set the white canned goods at the table's center.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "The white canned goods belong in the center of the table.", + "start_idx": 6294, + "end_idx": 6345 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Have the right arm pick the croissant up from the table diagonally with a whole-object grasp.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "With the right hand, retrieve the croissant from the table using a diagonal approach and a full-object hold.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Take the croissant from the table diagonally with a whole-object grasp.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Retrieve the croissant from the table using a diagonal approach and a full-object hold.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "With the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Using the right hand, take the croissant from the table with a full-object grasp.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Have the right arm retrieve the croissant from the table by grasping the whole item.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Using the right hand, take the croissant from the table diagonally.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Have the right arm retrieve the croissant from the table.", + "start_idx": 6345, + "end_idx": 6384 + }, + { + "text": "Put the croissant behind the white canned goods with the right hand.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Using the right hand, place the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Have the right arm set the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "With your right hand, position the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Place the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Set the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Put the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Position the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "The croissant goes behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Move the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Arrange the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Transfer the croissant behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Have the croissant placed behind the white canned goods.", + "start_idx": 6384, + "end_idx": 6426 + }, + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Using the right hand, take the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Have the right arm grasp the blue soda can from the table diagonally from the top of the object.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table, approaching diagonally from the top.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle from the top of the object.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Take the blue soda can from the table diagonally from the top of the object.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Retrieve the blue soda can from the table with a diagonal top approach.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "With the right hand, take the blue soda can from the table.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Have the right arm retrieve the blue soda can from the table.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Retrieve the blue soda can from the table.", + "start_idx": 6426, + "end_idx": 6471 + }, + { + "text": "Put the blue soda can to the right of the croissant with the right hand.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "With the right hand, position the blue soda can on the croissant's right side.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Place the blue soda can to the right of the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Set the blue soda can on the right side of the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Position the blue soda can to the croissant's right.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Move the blue soda can so it ends up right of the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Put the blue soda can beside the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Using the right hand, place the blue soda can beside the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Have the right arm set the blue soda can next to the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "With the right hand, move the blue soda can beside the croissant.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Arrange the blue soda can at the croissant's side.", + "start_idx": 6471, + "end_idx": 6522 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grasp at the bottom diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Have the right arm pick the blue screwdriver off the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table in a side hold at the bottom diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the bottom diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Take the blue screwdriver off the table with a side grasp on the bottom diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Grasp the blue screwdriver from the table with a side hold at the bottom diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "With the right hand, take the blue screwdriver off the table.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Have the right arm grasp the blue screwdriver from the table.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table diagonally.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Grasp the blue screwdriver from the table using a side grip.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Put the blue screwdriver to the bottom right side of the table with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Using the right hand, place the blue screwdriver on the table's bottom-right side, with the tip facing bottom right.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Have the right hand set the blue screwdriver at the bottom-right area of the table, oriented bottom right by its tip.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "The blue screwdriver goes to the table's bottom-right side with the right hand, tip directed toward the bottom right.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Place the blue screwdriver on the bottom-right side of the table.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Set the blue screwdriver at the table's bottom-right area.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "The blue screwdriver should go on the bottom-right side of the table.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Put the blue screwdriver on the table's bottom-right side.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Using the right hand, place the blue screwdriver on the bottom-right side of the table.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "With the right hand, set the blue screwdriver at the table's bottom-right area.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Have the right hand put the blue screwdriver on the table's bottom-right side.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Place the blue screwdriver on the table's bottom-right side, with the tip as the reference point.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Set the blue screwdriver at the bottom-right area of the table, tip oriented bottom right.", + "start_idx": 6771, + "end_idx": 6810 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "With the right hand, take the blue screwdriver from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Using the right hand, grasp the blue screwdriver off the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Have the right arm retrieve the blue screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Take the blue screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "The blue screwdriver should be picked up from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Grasp the blue screwdriver off the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "The right hand should take the blue screwdriver from the table using a side grasp at the bottom.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Using the right hand, retrieve the blue screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Pick up the blue screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 6969, + "end_idx": 7011 + }, + { + "text": "Put the blue screwdriver in front of the blue soda can with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Using the right hand, place the blue screwdriver in front of the blue soda can with the tip facing backwards.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Have the right arm set the blue screwdriver in front of the blue soda can, oriented backward relative to its tip.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "With the right hand, position the blue screwdriver before the blue soda can so the tip points backwards.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Place the blue screwdriver in front of the blue soda can with the tip facing backwards.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Set the blue screwdriver before the blue soda can, with the tip oriented backward.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Position the blue screwdriver in front of the blue soda can so its tip faces backwards.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Using the right hand, put the blue screwdriver in front of the blue soda can.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "With the right hand, set the blue screwdriver before the blue soda can.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Have the right arm place the blue screwdriver in front of the blue soda can.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Put the blue screwdriver in front of the blue soda can.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Place the blue screwdriver before the blue soda can.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Set the blue screwdriver in front of the blue soda can.", + "start_idx": 7011, + "end_idx": 7053 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Using the right hand, take the pink plate from the table with a side grip at the right in a diagonal angle.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a side hold on the right at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "With the right hand, secure the pink plate from the table using a side grasp on the right in a diagonal orientation.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Take the pink plate from the table using a side grip at the right in a diagonal angle.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Grasp the pink plate from the table with a side hold on the right at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "The pink plate should be picked up from the table using a side grasp on the right in a diagonal orientation.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a side grip.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Have the right arm take the pink plate from the table using a side grasp.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "With the right hand, grasp the pink plate from the table using a side hold.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Pick up the pink plate from the table with the right hand at the right in a diagonal angle.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "The pink plate should be taken from the table with the right hand in a diagonal orientation.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Using the right hand, pick up the pink plate from the table.", + "start_idx": 7146, + "end_idx": 7185 + }, + { + "text": "Put the pink plate in front of the blue screwdriver with the right hand right side up with the front as the orientation reference point.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Using the right hand, place the pink plate in front of the blue screwdriver, right side up with the front as the orientation reference point.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Have the right arm set the pink plate in front of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "With the right hand, position the pink plate in front of the blue screwdriver so it is right side up, using the front as the reference point.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Place the pink plate in front of the blue screwdriver, right side up with the front as the orientation reference point.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Set the pink plate in front of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Position the pink plate in front of the blue screwdriver so the front serves as the orientation reference point and it stays right side up.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Using the right hand, place the pink plate in front of the blue screwdriver.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "With the right hand, set the pink plate in front of the blue screwdriver.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Have the right arm position the pink plate in front of the blue screwdriver.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Place the pink plate in front of the blue screwdriver.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Set the pink plate in front of the blue screwdriver.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Have the pink plate placed in front of the blue screwdriver.", + "start_idx": 7185, + "end_idx": 7224 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grasp at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the lip at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Pick up the pink plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Grasp the pink plate from the table by the lip at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grasp.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Have the right arm take the pink plate from the table by the lip.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "With the right hand, grasp the pink plate from the table at the bottom right diagonal.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Using the right hand, pick up the pink plate from the table.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Take the pink plate from the table with the right hand.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 7443, + "end_idx": 7485 + }, + { + "text": "Put the pink plate in front of the croissant with the right hand right side up with the front as the reference point.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Using the right hand, place the pink plate in front of the croissant right side up, using the front as the reference point.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Have the right arm set the pink plate in front of the croissant, oriented right side up with the front as the reference.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "With the right hand, position the pink plate in front of the croissant so it is right side up relative to the front.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Place the pink plate in front of the croissant right side up, using the front as the reference point.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Set the pink plate in front of the croissant with the front as the reference, right side up.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Position the pink plate in front of the croissant so it is right side up relative to the front.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Using the right hand, place the pink plate in front of the croissant.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Have the right arm set the pink plate in front of the croissant.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "With the right hand, position the pink plate in front of the croissant.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Put the pink plate in front of the croissant.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Set the pink plate in front of the croissant.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Position the pink plate in front of the croissant.", + "start_idx": 7485, + "end_idx": 7536 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right, held at a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Have the right hand grasp the pink plate from the table with a lip hold on the bottom-right edge at a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "With the right hand, secure the pink plate from the table using a lip grasp at the bottom right in a diagonal orientation.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom-right side at a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Grasp the pink plate from the table with a lip grasp at the bottom right, keeping a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip hold.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Have the right hand grasp the pink plate from the table with a lip grasp.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Using the right hand, pick up the pink plate from the table at the bottom right with a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Pick up the pink plate from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Take the pink plate from the table at the bottom right with a diagonal angle.", + "start_idx": 7766, + "end_idx": 7805 + }, + { + "text": "Put the pink plate to the right side of the blue stuffed toy with the right hand right side up front.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue stuffed toy, right side up with the front oriented forward.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Have the right arm set the pink plate on the blue stuffed toy's right side, keeping it right side up and the front forward.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "With the right hand, position the pink plate to the right of the blue stuffed toy, maintaining a right-side-up placement with the front facing forward.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Place the pink plate to the right of the blue stuffed toy, right side up with the front forward.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Set the pink plate on the right side of the blue stuffed toy, keeping it right side up and the front forward.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Position the pink plate to the blue stuffed toy's right, with the plate right side up and the front facing forward.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue stuffed toy.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Have the right arm set the pink plate on the blue stuffed toy's right side.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "With the right hand, position the pink plate to the blue stuffed toy's right.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Place the pink plate to the right of the blue stuffed toy.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Set the pink plate on the blue stuffed toy's right side.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Position the pink plate beside the blue stuffed toy on its right side.", + "start_idx": 7806, + "end_idx": 7854 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Have the right arm grasp the blue screwdriver from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "With the right hand, pick the blue screwdriver up from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "From the table, grasp the blue screwdriver at the bottom with a side hold and a diagonal angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Have the right arm take the blue screwdriver from the table with a side grasp at the bottom.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table at the bottom using a side hold.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at the bottom with a diagonal pick angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Take the blue screwdriver from the table with the right hand at the bottom and a diagonal approach.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "From the table, grasp the blue screwdriver at the bottom with a diagonal angle.", + "start_idx": 7854, + "end_idx": 7890 + }, + { + "text": "Put the blue screwdriver to the right side of the pink plate with the right hand facing forwards with the tip forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the pink plate, with the tip facing forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Have the right hand set the blue screwdriver on the pink plate's right side, tip pointed forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "With the right hand, position the blue screwdriver to the right side of the pink plate, keeping the tip facing forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate, with the tip facing forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Set the blue screwdriver on the right side of the pink plate, tip pointed forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Position the blue screwdriver to the pink plate's right, with the tip directed forwards.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the pink plate.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Have the right hand set the blue screwdriver on the pink plate's right side.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "With the right hand, position the blue screwdriver to the pink plate's right.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Set the blue screwdriver on the pink plate's right side.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Position the blue screwdriver to the right side of the pink plate.", + "start_idx": 7890, + "end_idx": 7932 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Have the right arm take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table diagonally, holding its middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Have the right arm pick up the blue screwdriver from the table at a diagonal angle.", + "start_idx": 8010, + "end_idx": 8040 + }, + { + "text": "Put the blue screwdriver to the left of the yellow stuffed toy with the tip facing right using the right hand.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Using the right hand, place the blue screwdriver left of the yellow stuffed toy with its tip pointing right.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Have the right hand set the blue screwdriver to the left of the yellow stuffed toy, tip oriented to the right.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "With the right hand, position the blue screwdriver left of the yellow stuffed toy so the tip faces right.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Place the blue screwdriver to the left of the yellow stuffed toy with its tip pointing right.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Set the blue screwdriver left of the yellow stuffed toy, with the tip directed right.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Position the blue screwdriver to the left of the yellow stuffed toy so its tip faces right.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Using the right hand, place the blue screwdriver to the left of the yellow stuffed toy.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "With the right hand, set the blue screwdriver left of the yellow stuffed toy.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Have the right hand position the blue screwdriver to the left of the yellow stuffed toy.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Put the blue screwdriver to the left of the yellow stuffed toy.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Set the blue screwdriver to the left of the yellow stuffed toy.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Have the blue screwdriver placed left of the yellow stuffed toy.", + "start_idx": 8040, + "end_idx": 8079 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "With the right hand, grasp the pink plate from the table by its bottom-right edge using a lip grip at a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Have the right arm pick the pink plate off the table with a lip grasp on the bottom right from a diagonal approach.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Take the pink plate off the table with a lip grasp on the bottom right from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "The pink plate should be grasped from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "With the right hand, take the pink plate off the table using a lip grasp.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Using the right hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "From the table, take the pink plate with the right hand at the bottom right from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Have the right arm grasp the pink plate off the table at the bottom right.", + "start_idx": 8283, + "end_idx": 8319 + }, + { + "text": "Put the pink plate to the right of the blue screwdriver with the right hand right side up front.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue screwdriver, right side up with the front facing forward.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Have the right arm set the pink plate to the right of the blue screwdriver, keeping it right side up and front-facing.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "With the right hand, position the pink plate to the right of the blue screwdriver, oriented right side up with the front at the front.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Place the pink plate to the right of the blue screwdriver, right side up with the front facing forward.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Set the pink plate to the right of the blue screwdriver, keeping it right side up and front-facing.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Position the pink plate to the right of the blue screwdriver, oriented right side up with the front at the front.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue screwdriver.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Have the right arm set the pink plate to the right of the blue screwdriver.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "With the right hand, position the pink plate to the right of the blue screwdriver.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Put the pink plate to the right of the blue screwdriver.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Set the pink plate to the right of the blue screwdriver.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Position the pink plate to the right of the blue screwdriver.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip grasp on the bottom-right edge at a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "With the right hand, retrieve the pink plate from the table by the bottom right using a lip grip from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the bottom-right area from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Retrieve the pink plate from the table by the bottom right with a lip grip at a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "With the right hand, grasp the pink plate from the table with a lip grip.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Using the right hand, pick up the pink plate from the table at the bottom right from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Take the pink plate from the table with the right hand from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Grasp the pink plate from the table at the bottom right from a diagonal angle.", + "start_idx": 8427, + "end_idx": 8469 + }, + { + "text": "Put the pink plate in front of the blue soda can with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Using the right hand, place the pink plate in front of the blue soda can, right side up with the front as the reference point.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Have the right arm set the pink plate in front of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "With the right hand, position the pink plate before the blue soda can, right side up using the front as the orientation reference.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Place the pink plate in front of the blue soda can, right side up with the front as the reference point.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Set the pink plate before the blue soda can, right side up relative to the front.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Position the pink plate in front of the blue soda can, keeping it right side up with the front as the orientation reference.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Using the right hand, place the pink plate in front of the blue soda can.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Have the right arm set the pink plate before the blue soda can.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "With the right hand, position the pink plate in front of the blue soda can.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Put the pink plate in front of the blue soda can.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Place the pink plate before the blue soda can.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Set the pink plate in front of the blue soda can.", + "start_idx": 8469, + "end_idx": 8499 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally while grasping the whole object.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Take the blue stuffed toy from the table with the right hand.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Remove the blue stuffed toy from the table.", + "start_idx": 8949, + "end_idx": 8970 + }, + { + "text": "Put the blue stuffed toy in front of the pink plate with the right hand facing forwards.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Using the right hand, place the blue stuffed toy in front of the pink plate, facing forwards.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Have the right arm set the blue stuffed toy in front of the pink plate with its front facing forward.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "With the right hand, position the blue stuffed toy before the pink plate so it faces forwards.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Place the blue stuffed toy in front of the pink plate, facing forwards.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Set the blue stuffed toy before the pink plate with its front facing forward.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Position the blue stuffed toy in front of the pink plate so it faces forward.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Using the right hand, place the blue stuffed toy in front of the pink plate.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Have the right arm set the blue stuffed toy before the pink plate.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "With the right hand, position the blue stuffed toy in front of the pink plate.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Put the blue stuffed toy in front of the pink plate.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Place the blue stuffed toy before the pink plate.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Set the blue stuffed toy in front of the pink plate.", + "start_idx": 8970, + "end_idx": 8997 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "With the right hand, move back to the home position.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Have the right arm return to home.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Using the right hand, go to the home pose.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Return to the home position.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Move back to home.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Go to the home pose.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Head to the home position.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Resume the home position.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Move to home.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Return home.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Go back to the home position.", + "start_idx": 8997, + "end_idx": 9018 + }, + { + "text": "Adopt the home pose.", + "start_idx": 8997, + "end_idx": 9018 + } + ] + }, + "2026-03-16-22-56-21-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place diversity day 1 aria data", + "total_frames": 9473, + "num_annotations": 3080, + "annotations": [ + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Have the right hand take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Take the screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Have the right hand take the screwdriver from the table.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Take the screwdriver from the table, grasping the middle.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Retrieve the screwdriver from the table.", + "start_idx": 177, + "end_idx": 213 + }, + { + "text": "Put the screwdriver to the front right of the red marker with the right hand facing bottom right from the tip.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Using the right hand, place the screwdriver front-right of the red marker, with its tip facing bottom right.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Have the right hand set the screwdriver to the front right of the red marker, oriented bottom-right from the tip.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "With the right hand, position the screwdriver front right of the red marker so the tip points bottom right.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Place the screwdriver to the front right of the red marker with its tip facing bottom right.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Set the screwdriver front-right of the red marker, oriented bottom-right from the tip.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Position the screwdriver to the front right of the red marker so the tip faces bottom right.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Put the screwdriver to the front right of the red marker.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Place the screwdriver front-right of the red marker.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Set the screwdriver to the front right of the red marker.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Using the right hand, place the screwdriver to the front right of the red marker.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Have the right hand put the screwdriver front-right of the red marker.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "With the right hand, position the screwdriver to the front right of the red marker.", + "start_idx": 213, + "end_idx": 246 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Have the right arm take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "With the right hand, retrieve the red marker from the table on a diagonal, gripping its middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Take the red marker from the table on a diagonal while holding the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Retrieve the red marker from the table with a diagonal pickup by the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Have the right arm take the red marker from the table, holding its middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "With the right hand, retrieve the red marker from the table by the middle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Have the right arm take the red marker from the table on a diagonal.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 519, + "end_idx": 561 + }, + { + "text": "Put the red marker to the right of the screwdriver with the right hand facing forwards with the tip forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Using the right hand, place the red marker to the right of the screwdriver with the tip facing forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Have the right arm set the red marker to the screwdriver's right, keeping the tip pointed forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "With the right hand, position the red marker on the right side of the screwdriver, tip directed forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Place the red marker to the right of the screwdriver with the tip facing forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Set the red marker on the screwdriver's right side with the tip pointed forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Position the red marker to the right of the screwdriver, keeping the tip directed forwards.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Using the right hand, place the red marker to the right of the screwdriver.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Have the right arm set the red marker on the right side of the screwdriver.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "With the right hand, position the red marker to the screwdriver's right.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Put the red marker to the right of the screwdriver.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Place the red marker on the right side of the screwdriver.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Set the red marker to the screwdriver's right.", + "start_idx": 561, + "end_idx": 597 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Have the right arm take the eggplant from the table with a diagonal pickup, holding it at the center.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "With the right hand, retrieve the eggplant from the table on a diagonal, gripping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Take the eggplant from the table on a diagonal, holding the center.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup, gripping its middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Using the right hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "With the right hand, take the eggplant from the table, holding the center.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Have the right arm retrieve the eggplant from the table, gripping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Take the eggplant from the table at a diagonal angle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Retrieve the eggplant from the table, grasping the middle.", + "start_idx": 855, + "end_idx": 891 + }, + { + "text": "Put the eggplant behind the screwdriver with the right hand with its tip facing bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Using the right hand, place the eggplant behind the screwdriver with its tip pointing to the bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Have the right arm set the eggplant behind the screwdriver, tip oriented toward the bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "With the right hand, position the eggplant behind the screwdriver so its tip faces bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Place the eggplant behind the screwdriver with its tip pointing to the bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Set the eggplant behind the screwdriver so its tip faces bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Position the eggplant behind the screwdriver, with the tip oriented bottom left.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Using the right hand, put the eggplant behind the screwdriver.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "With the right hand, place the eggplant behind the screwdriver.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Have the right arm position the eggplant behind the screwdriver.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Put the eggplant behind the screwdriver.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Set the eggplant behind the screwdriver.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Position the eggplant behind the screwdriver.", + "start_idx": 891, + "end_idx": 930 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Have the right arm take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "With the right hand, retrieve the red marker from the table by gripping the middle at a diagonal angle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding its middle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Have the right arm take the red marker from the table.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Using the right hand, grasp the red marker from the table.", + "start_idx": 1013, + "end_idx": 1050 + }, + { + "text": "Put the red marker to the right of the eggplant with the right hand facing forwards with the tip as the reference point.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Using the right hand, place the red marker to the right of the eggplant, oriented forward with the tip as the reference point.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Have the right arm set the red marker to the eggplant's right, with the tip defining a forward-facing orientation.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "With the right hand, position the red marker on the right side of the eggplant so the tip points forward.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Place the red marker to the right of the eggplant, with the tip facing forward.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Set the red marker on the eggplant's right side, oriented forward from the tip.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Position the red marker to the right of the eggplant so its tip points forward.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Using the right hand, place the red marker to the right of the eggplant.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "With the right hand, set the red marker on the right side of the eggplant.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Have the right arm position the red marker to the eggplant's right.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Put the red marker to the right of the eggplant.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Place the red marker on the eggplant's right side.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Set the red marker beside the eggplant on its right.", + "start_idx": 1050, + "end_idx": 1086 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Have the right arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "With the right hand, collect the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Take the eggplant from the table with a diagonal grasp at the middle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "From the table, retrieve the eggplant at a diagonal angle by holding its middle.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "With the right hand, collect the eggplant from the table.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Take the eggplant from the table with the right hand.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "From the table, retrieve the eggplant with the right hand.", + "start_idx": 1266, + "end_idx": 1296 + }, + { + "text": "Put the eggplant to the right of the screwdriver with the right hand facing top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Using the right hand, place the eggplant to the right of the screwdriver with its tip facing the top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Have the right arm set the eggplant to the screwdriver's right, oriented with the tip toward the top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "With the right hand, position the eggplant on the right side of the screwdriver, tip pointing top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Place the eggplant to the right of the screwdriver with its tip facing the top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Set the eggplant on the screwdriver's right side, with the tip oriented toward the top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Position the eggplant to the right of the screwdriver, tip directed to the top left.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Using the right hand, place the eggplant to the right of the screwdriver.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "With the right hand, set the eggplant on the right side of the screwdriver.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Have the right arm position the eggplant to the screwdriver's right.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Place the eggplant to the right of the screwdriver.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Set the eggplant on the right side of the screwdriver.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Position the eggplant to the screwdriver's right.", + "start_idx": 1296, + "end_idx": 1335 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the right arm take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "With the right hand, retrieve the red marker from the table on a diagonal, contacting the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Retrieve the red marker from the table with a diagonal pickup at the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the right arm take the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Put the red marker to the right of the eggplant with the right hand facing forwards with the tip facing forwards.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Using the right hand, place the red marker to the right of the eggplant with its tip facing forwards.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Have the right arm set the red marker to the eggplant's right, oriented forwards with the tip pointing forwards.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "With the right hand, position the red marker on the right side of the eggplant, facing forwards at the tip.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Place the red marker to the right of the eggplant.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Set the red marker on the eggplant's right side.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Position the red marker to the right of the eggplant.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Put the red marker to the right of the eggplant with the right hand.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Have the right arm place the red marker to the eggplant's right.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "With the right hand, set the red marker on the right side of the eggplant.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Place the red marker to the right of the eggplant facing forwards with the tip facing forwards.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Set the red marker on the eggplant's right side with its tip facing forwards.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Position the red marker to the right of the eggplant, oriented forwards.", + "start_idx": 1371, + "end_idx": 1410 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle gripping the middle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, gripping its middle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Have the right arm take the red marker from the table diagonally by the middle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "With the right hand, grasp the middle of the red marker on the table at a diagonal angle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, gripping the middle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Take the red marker from the table diagonally by its middle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Grasp the red marker from the table at a diagonal angle by the middle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Have the right arm take the red marker from the table.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Using the right hand, pick up the red marker at a diagonal angle.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 1650, + "end_idx": 1683 + }, + { + "text": "Put the red marker to the right of the white cup with the right hand with the tip facing forwards.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Using the right hand, place the red marker to the right of the white cup with the tip facing forwards.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Have the right arm set the red marker to the right of the white cup, tip pointed forward.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "With the right hand, position the red marker to the right of the white cup so its tip faces forwards.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Place the red marker to the right of the white cup with the tip facing forwards.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Set the red marker to the right of the white cup, with its tip facing forwards.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Position the red marker to the right of the white cup so the tip points forward.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Using the right hand, place the red marker to the right of the white cup.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Have the right arm set the red marker to the right of the white cup.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "With the right hand, position the red marker to the right of the white cup.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Put the red marker to the right of the white cup.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Using the right hand, place the red marker with the tip facing forwards.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Set the red marker to the right of the white cup.", + "start_idx": 1683, + "end_idx": 1722 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal pickup by grasping the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Get the screwdriver from the table, taking it at a diagonal angle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Bring the screwdriver off the table, angled diagonally as you pick it up.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Take the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Get the screwdriver from the table with the right hand, grasping the middle.", + "start_idx": 2307, + "end_idx": 2340 + }, + { + "text": "Put the screwdriver to the right of the white cup with the right hand with its tip facing backwards.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the white cup with its tip facing backwards.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Have the right hand set the screwdriver to the white cup's right side, tip pointing backward.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "With the right hand, position the screwdriver right of the white cup, keeping the tip oriented backward.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Place the screwdriver to the right of the white cup with its tip facing backwards.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Set the screwdriver on the right side of the white cup with the tip facing backward.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Position the screwdriver to the white cup's right, with its tip pointed backward.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Using the right hand, put the screwdriver to the right of the white cup.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "With the right hand, set the screwdriver on the right side of the white cup.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Have the right hand position the screwdriver to the white cup's right.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Place the screwdriver to the right of the white cup.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Set the screwdriver on the white cup's right side.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Position the screwdriver to the right of the white cup.", + "start_idx": 2340, + "end_idx": 2376 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Have the right arm grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "With the right hand, collect the screwdriver from the table using a diagonal approach at the middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Take the screwdriver from the table diagonally from the middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle from its middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "From the table, retrieve the screwdriver at a diagonal angle from the middle.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Use the right hand to pick up the screwdriver from the table.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Have the right arm take the screwdriver from the table.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "With the right hand, grasp the screwdriver from the table.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "From the table, collect the screwdriver.", + "start_idx": 2682, + "end_idx": 2709 + }, + { + "text": "Put the screwdriver to the right of the red marker with the right hand facing right with the tip as the reference point.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the red marker, facing right with the tip as the reference point.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Have the right hand set the screwdriver to the red marker's right side, oriented rightward from the tip.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "With the right hand, position the screwdriver right of the red marker so the tip serves as the reference point and it faces right.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Place the screwdriver to the right of the red marker.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Set the screwdriver on the right side of the red marker.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Position the screwdriver to the red marker's right.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Arrange the screwdriver right of the red marker.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the red marker.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Have the right hand set the screwdriver on the red marker's right side.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "With the right hand, position the screwdriver to the right of the red marker.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Place the screwdriver to the right of the red marker with the right hand.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Set the screwdriver on the red marker's right side with the right hand.", + "start_idx": 2709, + "end_idx": 2754 + }, + { + "text": "Pick up the green mug from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a diagonal lip grasp at the right side.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Have the right hand take the green mug from the table using a diagonal grasp on the mug's right lip.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "With the right hand, grasp the green mug from the table at the right side with a diagonal lip hold.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Pick up the green mug from the table using a diagonal lip grasp at the right side.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Take the green mug from the table with a diagonal grasp on its right lip.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Grasp the green mug from the table at the right side with a diagonal lip hold.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Using the right hand, take the green mug from the table.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Have the right hand grasp the green mug from the table.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Have the green mug taken from the table.", + "start_idx": 2982, + "end_idx": 3015 + }, + { + "text": "Put the green mug to the right of screwdriver with the right hand right side up with the front facing backwards.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Using the right hand, place the green mug to the right of the screwdriver, right side up, with its front facing backward.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Have the right arm set the green mug to the screwdriver's right, upright, with the front oriented backward.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "With the right hand, position the green mug to the right of the screwdriver, keeping it right side up and its front facing backward.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Place the green mug to the right of the screwdriver, right side up, with its front facing backward.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Set the green mug to the screwdriver's right, upright, with the front oriented backward.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Position the green mug to the right of the screwdriver, keeping it right side up and facing backward.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Using the right hand, place the green mug to the right of the screwdriver.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Have the right arm set the green mug to the screwdriver's right.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "With the right hand, position the green mug to the right of the screwdriver.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Place the green mug to the right of the screwdriver.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Using the right hand, put the green mug to the right of the screwdriver.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Set the green mug to the screwdriver's right with the right hand.", + "start_idx": 3015, + "end_idx": 3054 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle from the middle.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Have the right hand take the eggplant from the table with a diagonal middle grasp.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "With the right hand, retrieve the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle from the middle.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Take the eggplant from the table using a diagonal grasp at the middle.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Retrieve the eggplant from the table, grasping it diagonally from the middle.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Using the right hand, take the eggplant from the table.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Have the right hand retrieve the eggplant from the table.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 3267, + "end_idx": 3300 + }, + { + "text": "Place the eggplant behind the red marker with the right hand facing top left with the tip as the reference point.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Using the right hand, position the eggplant behind the red marker with its tip facing the top left.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Have the right arm place the eggplant behind the red marker, oriented top left using the tip as the reference point.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "With the right hand, set the eggplant behind the red marker so the tip points toward the top left.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Place the eggplant behind the red marker with its tip facing the top left.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Set the eggplant behind the red marker with the tip oriented toward the top left.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Position the eggplant behind the red marker so its tip points to the top left.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Using the right hand, place the eggplant behind the red marker.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Have the right arm set the eggplant behind the red marker.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "With the right hand, position the eggplant behind the red marker.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Place the eggplant behind the red marker.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Set the eggplant behind the red marker.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Position the eggplant behind the red marker.", + "start_idx": 3300, + "end_idx": 3336 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Have the right arm grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table using a diagonal approach at the middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Take the screwdriver from the table diagonally from the middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal grasp at its middle.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Have the right arm take the screwdriver from the table.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "With the right hand, grasp the screwdriver from the table.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 3411, + "end_idx": 3453 + }, + { + "text": "Place the screwdriver to the right of the red marker with the right hand facing backwards by the tip.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Using the right hand, set the screwdriver to the right of the red marker with the tip facing backwards.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Have the right hand place the screwdriver to the right of the red marker, oriented backward at the tip.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "With the right hand, position the screwdriver to the right of the red marker so its tip faces backwards.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Place the screwdriver to the right of the red marker with the tip facing backwards.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Set the screwdriver to the right of the red marker with the tip oriented backwards.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Position the screwdriver to the right of the red marker, with its tip pointing backward.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the red marker.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "With the right hand, set the screwdriver to the right of the red marker.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Have the right hand position the screwdriver to the right of the red marker.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Place the screwdriver to the right of the red marker.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Set the screwdriver to the right of the red marker.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Position the screwdriver to the right of the red marker.", + "start_idx": 3453, + "end_idx": 3489 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "With the right arm, grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Have the right hand pick the green mug off the table by the handle at a diagonal angle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Take the green mug off the table by the handle on a diagonal.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Use the right hand to pick up the green mug from the table by the handle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "With the right arm, take the green mug off the table by the handle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Have the right hand grasp the green mug from the table by the handle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Using the right hand, take the green mug from the table on a diagonal.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 3576, + "end_idx": 3621 + }, + { + "text": "Put the green mug behind the screwdriver with the handle facing backwards right side up with the front facing backwards using the right arm.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Using the right arm, place the green mug behind the screwdriver, handle facing backwards, upright, with the front facing backwards.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Have the right arm set the green mug behind the screwdriver with its handle pointing backwards, right side up, and the front facing backwards.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "With the right arm, position the green mug behind the screwdriver so the handle faces backwards, it stays upright, and the front faces backwards.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Place the green mug behind the screwdriver with the handle facing backwards, right side up, and the front facing backwards.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Set the green mug behind the screwdriver, handle facing backwards, upright, with the front facing backwards.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Position the green mug behind the screwdriver so its handle points backwards, right side up, and the front faces backwards.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Using the right arm, put the green mug behind the screwdriver.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "With the right arm, place the green mug behind the screwdriver.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Have the right arm set the green mug behind the screwdriver.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Put the green mug behind the screwdriver.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Set the green mug behind the screwdriver.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Position the green mug behind the screwdriver.", + "start_idx": 3621, + "end_idx": 3669 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Have the right arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Retrieve the screwdriver from the table while holding its middle at a diagonal angle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "With the right hand, take the screwdriver from the table by the middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table, holding its middle.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 3759, + "end_idx": 3789 + }, + { + "text": "Put the screwdriver on the bottom side of the table with the right hand facing right with the tip as the reference point.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Using the right hand, place the screwdriver on the bottom side of the table with the tip facing right.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Have the right arm set the screwdriver on the table's bottom side, oriented rightward by its tip.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "With the right hand, position the screwdriver on the bottom side of the table so the tip points right.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Place the screwdriver on the bottom side of the table with the tip facing right.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Set the screwdriver on the table's bottom side, oriented rightward from the tip.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Position the screwdriver on the bottom side of the table so its tip points right.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Put the screwdriver on the bottom side of the table with the right hand.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Using the right hand, set the screwdriver on the bottom side of the table.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Have the right arm place the screwdriver on the table's bottom side.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Place the screwdriver on the bottom side of the table.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Set the screwdriver on the table's bottom side.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Position the screwdriver on the bottom side of the table.", + "start_idx": 3789, + "end_idx": 3831 + }, + { + "text": "Pick up the green mug from the table with the right hand using a diagonal grip on the handle.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Using the right hand, take hold of the green mug from the table with a diagonal grasp on the handle.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Have the right arm pick the green mug up from the table by its handle in a diagonal grip.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "With the right hand, collect the green mug from the table using the handle with a diagonal hold.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Retrieve the green mug from the table.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Using the right hand, pick up the green mug from the table.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Have the right arm take the green mug from the table.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "With the right hand, grasp the green mug from the table.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Take the green mug from the table using a diagonal handle grasp.", + "start_idx": 3995, + "end_idx": 4031 + }, + { + "text": "Put the green mug to the right of the red marker with the right hand.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Using the right hand, place the green mug to the right of the red marker with the handle facing bottom left.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Have the right arm set the green mug to the marker's right side, handle pointing bottom left.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "With the right hand, position the green mug right of the red marker, its handle oriented toward the bottom left.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Place the green mug to the right of the red marker with the handle facing bottom left.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Set the green mug on the right side of the red marker, with the handle pointing bottom left.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Position the green mug right of the red marker, handle directed toward the bottom left.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Using the right hand, put the green mug to the right of the red marker.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "With the right hand, place the green mug on the marker's right side.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Have the right arm position the green mug to the right of the red marker.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Put the green mug to the right of the red marker.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Set the green mug on the right side of the red marker.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Position the green mug beside the red marker on its right side.", + "start_idx": 4032, + "end_idx": 4089 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Have the right hand take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at a diagonal angle by gripping the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Pick up the screwdriver from the table with the right hand.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Using the right hand, take the screwdriver from the table.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Have the right hand retrieve the screwdriver from the table.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 4089, + "end_idx": 4122 + }, + { + "text": "Put the screwdriver in front of the green mug with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Using the right hand, place the screwdriver in front of the green mug with the tip facing bottom left.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Have the right arm set the screwdriver in front of the green mug, oriented bottom left from the tip.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "With the right hand, position the screwdriver before the green mug so its tip points bottom left.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Place the screwdriver in front of the green mug with the tip facing bottom left.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Set the screwdriver before the green mug, with the tip oriented toward the bottom left.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Position the screwdriver in front of the green mug so the tip points bottom left.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Using the right hand, put the screwdriver in front of the green mug.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Have the right arm place the screwdriver before the green mug.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "With the right hand, set the screwdriver in front of the green mug.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Put the screwdriver in front of the green mug.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Set the screwdriver before the green mug.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Position the screwdriver in front of the green mug.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Have the right arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "With the right hand, collect the green mug from the table via the handle at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "From the table, grasp the green mug by the handle at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Using the right hand, pick up the green mug from the table.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Have the right arm take the green mug from the table by the handle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "With the right hand, grasp the green mug from the table.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "From the table, take the green mug by the handle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Put the green mug to the right of the screwdriver with the handle facing backwards right side up using the right hand.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Using the right hand, place the green mug to the right of the screwdriver, upright, with its handle facing backward.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Have the right hand set the green mug upright to the screwdriver's right, with the handle pointing backward.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "With the right hand, position the green mug on the right side of the screwdriver, right side up and handle facing back.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Place the green mug to the right of the screwdriver, upright, with the handle facing backward.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Set the green mug on the screwdriver's right side with its handle pointing backward, right side up.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Position the green mug to the right of the screwdriver with the handle facing backward and upright.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Using the right hand, put the green mug to the right of the screwdriver.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Have the right hand place the green mug on the right side of the screwdriver.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "With the right hand, set the green mug beside the screwdriver on its right.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Put the green mug to the right of the screwdriver.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Using the right hand, place the green mug to the screwdriver's right.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Set the green mug on the right side of the screwdriver.", + "start_idx": 4461, + "end_idx": 4503 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Have the right arm take the green mug from the table by the handle, keeping a diagonal angle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "With the right hand, grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Have the right arm take the green mug from the table by its handle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "With the right hand, grasp the green mug from the table.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Using the right hand, take the green mug from the table.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Grasp the green mug from the table by its handle.", + "start_idx": 4647, + "end_idx": 4680 + }, + { + "text": "Put the green mug behind the screwdriver with the right hand right side up with the front facing backwards.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Using the right hand, place the green mug behind the screwdriver upright with its front facing backward.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Have the right hand set the green mug behind the screwdriver right side up, front facing backward.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "With the right hand, position the green mug behind the screwdriver so it stays upright and its front faces backward.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Place the green mug behind the screwdriver right side up with the front facing backward.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Set the green mug behind the screwdriver upright, with its front toward the back.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Position the green mug behind the screwdriver with its front facing backward.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Put the green mug behind the screwdriver upright.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Set the green mug behind the screwdriver right side up.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Place the green mug behind the screwdriver.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Behind the screwdriver, place the green mug.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Have the green mug placed behind the screwdriver.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Position the green mug behind the screwdriver with the front toward the back.", + "start_idx": 4680, + "end_idx": 4725 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Have the right arm take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "With the right hand, grasp the green mug from the table by the handle, keeping it at a diagonal angle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "With the right hand, take the green mug from the table by the handle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Have the right arm grasp the green mug from the table by its handle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "With the right hand, take the green mug from the table at a diagonal angle.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Have the right arm pick up the green mug from the table.", + "start_idx": 4791, + "end_idx": 4833 + }, + { + "text": "Put the green mug to the right of the screwdriver with the right hand right side up with the front facing backwards.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Using the right hand, place the green mug to the screwdriver's right, upright, with its front facing backward.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Have the right arm set the green mug down to the right of the screwdriver, right side up and facing backward.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "With the right hand, position the green mug on the screwdriver's right side, upright with the front pointed backward.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Place the green mug to the right of the screwdriver, right side up, with its front facing backward.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Set the green mug down to the screwdriver's right, upright and facing backward.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Position the green mug right of the screwdriver with the front directed backward, right side up.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Using the right hand, put the green mug to the right of the screwdriver.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Have the right arm place the green mug on the screwdriver's right side.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "With the right hand, set the green mug down to the right of the screwdriver.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Put the green mug to the right of the screwdriver.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Place the green mug on the right side of the screwdriver.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Set the green mug down to the screwdriver's right.", + "start_idx": 4833, + "end_idx": 4872 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle while holding the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "The screwdriver from the table should be picked up diagonally, grasping the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "With the right hand, take the screwdriver from the table by the middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table by grasping its middle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Pick up the screwdriver from the table with the right hand.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Grasp the middle of the screwdriver and pick it up from the table.", + "start_idx": 5007, + "end_idx": 5043 + }, + { + "text": "Put the screwdriver to the right of the white cup with the right hand facing right with the tip as the reference point.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the white cup with the tip facing right.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Have the right hand set the screwdriver to the right of the white cup, oriented rightward by its tip.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "With the right hand, position the screwdriver to the right of the white cup so the tip points right.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Place the screwdriver to the right of the white cup with the tip facing right.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Set the screwdriver to the right of the white cup with the tip oriented to the right.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Position the screwdriver to the right of the white cup so its tip points right.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "With the right hand, set the screwdriver to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Have the right hand position the screwdriver to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Place the screwdriver to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Set the screwdriver to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Position the screwdriver to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5076 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Have the right arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "With the right hand, retrieve the green mug from the table, approaching diagonally by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "With the right hand, collect the green mug from the table by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Have the right arm take the green mug from the table by the handle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Approach the green mug from the table diagonally and take it.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Put the green mug behind the screwdriver with the handle facing backwards right side up using the right hand.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Using the right hand, place the green mug behind the screwdriver with its handle facing backward, right side up.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Have the right hand set the green mug behind the screwdriver, keeping it upright with the handle pointing backward.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "With your right hand, position the green mug behind the screwdriver so the handle faces backward and the mug stays right side up.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Place the green mug behind the screwdriver with its handle facing backward and right side up.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Set the green mug behind the screwdriver, keeping the handle pointed backward and the mug upright.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Position the green mug behind the screwdriver so its handle points backward and it remains right side up.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Using the right hand, put the green mug behind the screwdriver.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "With the right hand, place the green mug behind the screwdriver.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Have the right hand set the green mug behind the screwdriver.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Put the green mug behind the screwdriver.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Using the right hand, position the green mug behind the screwdriver.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Set the green mug behind the screwdriver with the right hand.", + "start_idx": 5118, + "end_idx": 5166 + }, + { + "text": "Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a diagonal lip grasp on the right side.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Have the right hand take the green mug from the table using a diagonal grasp on its right side at the lip.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "With the right hand, grasp the green mug from the table by the lip on the right side at a diagonal angle.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Pick up the green mug from the table using a diagonal lip grasp on the right side.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Take the green mug from the table with a diagonal lip grasp on the right side.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Grasp the green mug from the table by the lip on the right side at a diagonal angle.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Using the right hand, pick up the green mug from the table.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Have the right hand take the green mug from the table.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "With the right hand, grasp the green mug from the table.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Using the right hand, pick up the green mug from the table on the right side.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Take the green mug from the table with the right hand.", + "start_idx": 5622, + "end_idx": 5655 + }, + { + "text": "Put the green mug to the right of the red marker with the handle facing backwards right side up with the front as reference using the right hand.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Using the right hand, place the green mug to the right of the red marker, right side up, with the handle facing backward using the front as reference.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Have the right hand set the green mug to the right of the red marker, keeping it upright and the handle pointed backward relative to the front.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "With the right hand, position the green mug to the right of the red marker, right side up with the handle facing backward from the front reference.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Place the green mug to the right of the red marker, right side up, with the handle facing backward using the front as reference.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Set the green mug to the right of the red marker, keeping it upright and the handle pointed backward relative to the front.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Position the green mug to the right of the red marker with the handle facing backward, right side up from the front reference.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Using the right hand, place the green mug to the right of the red marker.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Have the right hand set the green mug to the right of the red marker.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "With the right hand, position the green mug to the right of the red marker.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Place the green mug to the right of the red marker.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Set the green mug to the right of the red marker.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Position the green mug to the right of the red marker.", + "start_idx": 5655, + "end_idx": 5694 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "With the right arm, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Have the right hand pick the red marker off the table at a diagonal angle from its middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Retrieve the red marker from the table diagonally by its middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Pick the red marker up from the table with a diagonal approach at the middle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "With the right arm, take the red marker off the table.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Have the right hand retrieve the red marker from the table.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Using the right hand, pick up the red marker at a diagonal angle.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 5694, + "end_idx": 5724 + }, + { + "text": "Place the red marker to the right of the screwdriver with the right hand with its tip facing backwards.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Using the right hand, set the red marker to the screwdriver's right with its tip facing backwards.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Have the right arm place the red marker on the right side of the screwdriver, tip pointing backward.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "With the right hand, position the red marker to the right of the screwdriver so its tip faces backwards.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Place the red marker to the right of the screwdriver with its tip facing backwards.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Set the red marker on the screwdriver's right side with its tip pointing backward.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Position the red marker to the right of the screwdriver, keeping the tip facing backwards.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Using the right hand, place the red marker to the right of the screwdriver.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Have the right arm set the red marker on the right side of the screwdriver.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "With the right hand, position the red marker to the screwdriver's right.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Place the red marker to the right of the screwdriver.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Set the red marker on the screwdriver's right side.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Position the red marker beside the screwdriver on its right.", + "start_idx": 5724, + "end_idx": 5769 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Have the right hand take the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at a diagonal angle, gripping its middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle while holding the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "The screwdriver from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table by grasping the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "With the right hand, take the screwdriver from the table, holding the middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Have the right hand retrieve the screwdriver from the table by its middle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Take the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 5850, + "end_idx": 5889 + }, + { + "text": "Put the screwdriver to the right of the green mug with the right hand with the tip facing left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the green mug, with its tip pointing left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Have the right hand set the screwdriver on the right side of the green mug, tip facing left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "With the right hand, position the screwdriver to the right of the green mug so the tip faces left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Place the screwdriver to the right of the green mug.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Set the screwdriver on the right side of the green mug.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Position the screwdriver to the right of the green mug.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Using the right hand, put the screwdriver to the right of the green mug.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Have the right hand place the screwdriver on the right side of the green mug.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Move the screwdriver to the right of the green mug with the right hand.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Place the screwdriver to the right of the green mug, with its tip pointing left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Set the screwdriver on the right side of the green mug, tip facing left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Position the screwdriver to the right of the green mug so the tip faces left.", + "start_idx": 5889, + "end_idx": 5934 + }, + { + "text": "Pick up the green mug from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Using the right hand, take the green mug from the table with a diagonal lip grip at the bottom right.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Have the right arm pick up the green mug from the table with a bottom-right diagonal lip grasp.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "With the right hand, grasp the green mug from the table using a diagonal lip hold at the bottom right.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Pick up the green mug from the table using a diagonal lip grip at the bottom right.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Take the green mug from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Grasp the green mug from the table using a bottom-right diagonal lip hold.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Using the right hand, pick up the green mug from the table.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Have the right arm take the green mug from the table.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "With the right hand, grasp the green mug from the table.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Take the green mug from the table using a diagonal lip grip at the bottom right.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Using a diagonal lip grip at the bottom right, pick up the green mug from the table.", + "start_idx": 6021, + "end_idx": 6057 + }, + { + "text": "Put the green mug to the left of the white cup with the handle facing backwards using the right hand right side up from the front.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Using the right hand, place the green mug to the left of the white cup, right side up from the front, with the handle facing backwards.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Have the right arm set the green mug left of the white cup, keeping it upright from the front and the handle facing backwards.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "With the right hand, position the green mug to the left of the white cup so it is right side up from the front and the handle faces backwards.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Place the green mug to the left of the white cup, right side up from the front, with the handle facing backwards.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Set the green mug left of the white cup with the handle facing backwards, right side up from the front.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Position the green mug to the left of the white cup, keeping it upright from the front and the handle facing backwards.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Using the right hand, place the green mug to the left of the white cup.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Have the right arm set the green mug left of the white cup.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "With the right hand, position the green mug to the left of the white cup.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Put the green mug to the left of the white cup.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Place the green mug left of the white cup with the right hand.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Set the green mug to the left of the white cup using the right hand.", + "start_idx": 6057, + "end_idx": 6099 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Have the right arm grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table, approaching diagonally from the middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "From the table, collect the screwdriver diagonally from its middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Take the screwdriver from the table, contacting it at a diagonal angle from the middle.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Use the right hand to pick up the screwdriver from the table.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "The screwdriver from the table should be grasped with the right hand.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "With the right hand, collect the screwdriver from the table.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Take the screwdriver from the table with the right hand.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "From the table, grasp the screwdriver.", + "start_idx": 6174, + "end_idx": 6222 + }, + { + "text": "Place the screwdriver in front of the green mug with the right hand facing top right with the tip as the reference point.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Using the right hand, set the screwdriver in front of the green mug with the tip facing the top right.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Have the right arm place the screwdriver in front of the green mug, oriented top right from the tip.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "With the right hand, position the screwdriver in front of the green mug so its tip points to the top right.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Set the screwdriver in front of the green mug with the tip facing the top right.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Place the screwdriver in front of the green mug, with the tip oriented toward the top right.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Position the screwdriver in front of the green mug so the tip points top right.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Using the right hand, place the screwdriver in front of the green mug.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "With the right hand, set the screwdriver in front of the green mug.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Have the right arm position the screwdriver in front of the green mug.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Put the screwdriver in front of the green mug.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Set the screwdriver in front of the green mug.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Position the screwdriver in front of the green mug.", + "start_idx": 6222, + "end_idx": 6273 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Have the right arm grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "With the right hand, pick the white cup up from the table using the handle at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "The white cup should be picked up from the table by the handle at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Have the right arm take the white cup from the table by its handle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "The white cup should be picked up from the table at a diagonal angle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 6363, + "end_idx": 6411 + }, + { + "text": "Put the white cup to the right of the screwdriver with the right hand right side up with the front facing backwards.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Using the right hand, place the white cup to the screwdriver's right, upright, with the front facing backward.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Have the right arm set the white cup on the right side of the screwdriver, right side up, front oriented backward.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "With the right hand, position the white cup to the right of the screwdriver, keeping it upright and its front facing backwards.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Place the white cup to the right of the screwdriver, upright, with the front facing backward.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Set the white cup on the screwdriver's right side, right side up, with the front oriented backward.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Position the white cup to the right of the screwdriver, keeping it upright and the front facing backwards.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Using the right hand, place the white cup to the right of the screwdriver.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Have the right arm set the white cup on the right side of the screwdriver.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "With the right hand, position the white cup to the screwdriver's right.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Put the white cup to the right of the screwdriver.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Set the white cup on the right side of the screwdriver.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Position the white cup to the screwdriver's right.", + "start_idx": 6411, + "end_idx": 6456 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom in a diagonal pick angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom in a diagonal pick angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Have the right arm grasp the red marker from the table at its bottom with a side hold in a diagonal picking angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "With the right hand, secure the red marker from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom in a diagonal pick angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Take the red marker from the table with a side hold at the bottom in a diagonal picking angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Grasp the red marker from the table at its bottom with a side grip in a diagonal pick angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "With the right hand, collect the red marker from the table using a side grasp at the bottom.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Have the right arm take the red marker from the table with a side hold on the bottom.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Using the right hand, pick up the red marker from the table at the bottom in a diagonal pick angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "With the right hand, take the red marker from the table at its bottom in a diagonal angle.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Put the red marker behind the screwdriver with the right hand with its tip facing bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Using the right hand, place the red marker behind the screwdriver with its tip pointed to the bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Have the right hand set the red marker behind the screwdriver, keeping the tip facing bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "With the right hand, position the red marker behind the screwdriver so its tip faces the bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Place the red marker behind the screwdriver with its tip facing bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Set the red marker behind the screwdriver, with the tip oriented bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Position the red marker behind the screwdriver so the tip points bottom right.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Using the right hand, put the red marker behind the screwdriver.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "With the right hand, place the red marker behind the screwdriver.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Have the right hand position the red marker behind the screwdriver.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Put the red marker behind the screwdriver.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Using the right hand, set the red marker behind the screwdriver.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Place the red marker behind the screwdriver.", + "start_idx": 6495, + "end_idx": 6549 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Have the right hand grasp the white cup from the table using a lip grip on the right side at a diagonal angle.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "With a lip grip, the right hand should collect the white cup from the table from the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Take the white cup from the table with a lip grip on the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Grasp the white cup from the table with a lip grip from the right side at a diagonal.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Retrieve the white cup from the table with the right hand using a lip grip.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grasp.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "The white cup from the table should be taken with the right hand using a lip grip.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Pick up the white cup from the table with the right hand at the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Using the right hand, grasp the white cup from the table.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Take the white cup from the table at the right side diagonally.", + "start_idx": 6648, + "end_idx": 6687 + }, + { + "text": "Put the white cup to the right of the red marker with the handle facing backwards using the right arm.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Using the right arm, place the white cup to the right of the red marker with the handle facing backward.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Have the right arm set the white cup to the right of the red marker, handle facing backward.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "With the right hand, position the white cup to the right of the red marker so the handle points backward.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Place the white cup to the right of the red marker with the handle facing backward.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Set the white cup to the right of the red marker with its handle pointing backward.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Position the white cup to the right of the red marker, keeping the handle toward the back.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Using the right arm, place the white cup to the right of the red marker.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "With the right hand, set the white cup to the right of the red marker.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Have the right arm position the white cup to the right of the red marker.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Put the white cup to the right of the red marker.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Arrange the white cup to the right of the red marker.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "The white cup goes to the right of the red marker.", + "start_idx": 6687, + "end_idx": 6732 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Have the right arm pick the screwdriver up from the table, holding it at a diagonal angle around the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "With the right hand, grasp the screwdriver from the table at a diagonal angle at its middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle around the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle at its middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table by the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "With the right hand, take the screwdriver from the table, grasping its middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Have the right arm grasp the screwdriver from the table at the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the screwdriver from the table with the right hand.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Take the screwdriver from the table with the right hand.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Put the screwdriver to the rear right of the white cup with the right hand with its tip facing top left.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Using the right hand, place the screwdriver at the rear right of the white cup with its tip pointing to the top left.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Have the right arm set the screwdriver down rear-right of the white cup, tip directed top left.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "With the right hand, position the screwdriver to the white cup's rear right, keeping the tip facing top left.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Place the screwdriver to the rear right of the white cup.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Set the screwdriver down at the rear right of the white cup.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Position the screwdriver rear-right of the white cup.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Put the screwdriver to the rear right of the white cup with the right hand.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Using the right hand, place the screwdriver beside the white cup.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Set the screwdriver down by the white cup with the right hand.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Place the screwdriver near the white cup.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Put the screwdriver in place with its tip facing top left.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Position the screwdriver by the white cup with the tip directed top left.", + "start_idx": 6843, + "end_idx": 6888 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle by the middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Have the right hand grasp the middle of the red marker from the table at a diagonal angle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "With the right hand, collect the red marker from the table, approaching diagonally and holding its middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Grasp the middle of the red marker from the table at a diagonal angle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Using the right hand, pick up the red marker from the table grasping the middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "With the right hand, take the red marker from the table by the middle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Have the right hand collect the red marker from the table at a diagonal angle.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "With the right hand, pick up the red marker from the table.", + "start_idx": 6990, + "end_idx": 7029 + }, + { + "text": "Put the red marker to the front right of the white cup with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Using the right hand, place the red marker to the front right of the white cup, facing bottom right with the tip as the reference point.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Have the right hand set the red marker at the white cup's front-right, with the tip oriented toward the bottom right.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "With the right hand, position the red marker in front of and to the right of the white cup, using the tip as the reference point facing bottom right.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Place the red marker to the front right of the white cup, facing bottom right with the tip as the reference point.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Set the red marker at the front right of the white cup with the tip facing bottom right.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Position the red marker in front of and to the right of the white cup, using the tip as the reference point.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Using the right hand, put the red marker to the front right of the white cup.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "With the right hand, place the red marker at the white cup's front-right.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Have the right hand position the red marker in front of and to the right of the white cup.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Put the red marker to the front right of the white cup.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Set the red marker by the white cup's front-right.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Using the right hand, set the red marker by the white cup.", + "start_idx": 7029, + "end_idx": 7071 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Have the right arm grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "With the right hand, retrieve the white cup from the table, holding the handle at a diagonal angle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Take the white cup from the table at a diagonal angle by its handle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "With the right hand, take the white cup from the table by its handle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Have the right arm collect the white cup from the table by the handle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 7239, + "end_idx": 7278 + }, + { + "text": "Put the white cup to the right of the green mug with the right hand right side up with the front facing backwards.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Using the right hand, place the white cup to the right of the green mug, upright with its front facing backward.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Have the right arm set the white cup to the right of the green mug, right side up and front facing backward.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "With the right hand, position the white cup to the right of the green mug so it stays upright and its front points backward.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Place the white cup to the right of the green mug, upright with its front facing backward.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Set the white cup to the right of the green mug, right side up with the front toward the back.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Position the white cup to the right of the green mug so it is upright and facing backward at the front.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Using the right hand, put the white cup to the right of the green mug.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "With the right hand, place the white cup to the right of the green mug.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Have the right arm move the white cup to the right of the green mug.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Put the white cup to the right of the green mug.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Set the white cup upright to the right of the green mug.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Using the right hand, set the white cup upright to the right of the green mug.", + "start_idx": 7278, + "end_idx": 7326 + }, + { + "text": "Pick up the red marker from the table with the right hand at the middle using a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Using the right hand, take the red marker from the table at the middle using a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Have the right hand grasp the red marker from the table at its middle with a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "With the right hand, retrieve the red marker from the table by the middle at a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Pick up the red marker from the table at the middle using a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Take the red marker from the table at its middle with a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "From the table, grasp the red marker at the middle using a diagonal angle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Pick up the red marker from the table with the right hand at the middle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "With the right hand, take the red marker from the table by the middle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Have the right hand grasp the red marker from the table at its middle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Pick up the red marker from the table at the middle.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "From the table, retrieve the red marker.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Put the red marker to the front right of the white cup with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Using the right hand, place the red marker to the front right of the white cup, facing bottom right with the tip as the reference point.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Have the right hand set the red marker at the white cup's front-right side, with the tip oriented bottom right.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "With the right hand, position the red marker in front of and to the right of the white cup, tip facing bottom right.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Place the red marker to the front right of the white cup.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Set the red marker at the front-right of the white cup.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Position the red marker in front of and to the right of the white cup.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Arrange the red marker beside the white cup on its front-right side.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Using the right hand, place the red marker to the front right of the white cup.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Have the right hand set the red marker at the white cup's front-right side.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "With the right hand, position the red marker next to the white cup on the front-right side.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Put the red marker by the white cup's front-right side.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Set the red marker beside the white cup.", + "start_idx": 7365, + "end_idx": 7404 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Have the right hand pick the screwdriver up from the table diagonally by the middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at a diagonal angle, holding the center.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle while holding its center.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "With the right hand, take the screwdriver from the table by the middle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Have the right hand retrieve the screwdriver from the table, holding its center.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Using the right hand, take the screwdriver from the table diagonally.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle.", + "start_idx": 7404, + "end_idx": 7440 + }, + { + "text": "Place the screwdriver to the front right of the red marker with the right hand facing top right by the tip.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Using the right hand, set the screwdriver at the front right of the red marker, with the tip facing top right.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Have the right hand place the screwdriver to the red marker's front-right side, oriented with its tip toward the top right.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "With the right hand, position the screwdriver in front of and to the right of the red marker, tip facing top right.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Place the screwdriver at the front right of the red marker.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Set the screwdriver to the red marker's front-right side.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Position the screwdriver in front of and to the right of the red marker.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Put the screwdriver by the red marker with its tip facing top right.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Arrange the screwdriver at the front right of the red marker, oriented top right by the tip.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Place the screwdriver to the front right of the red marker with the tip facing top right.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Using the right hand, place the screwdriver at the front right of the red marker.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Have the right hand set the screwdriver beside the red marker on its front-right side.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "With the right hand, position the screwdriver near the red marker at the front right.", + "start_idx": 7440, + "end_idx": 7476 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Have the right hand pick the red marker up from the table, gripping its bottom from a diagonal angle with a side hold.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "From a diagonal angle, use the right hand to grasp the red marker on the table at the bottom with a side grip.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Take the red marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "From a diagonal angle, grasp the red marker on the table at the bottom with a side hold.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Pick the red marker up from the table, contacting the bottom from a diagonal angle with a side grasp.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Use the right hand to pick up the red marker from the table from a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "With the right hand, take the red marker from the table using a side grip at the bottom.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Have the right hand grasp the red marker from the table with a side hold.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Grasp the red marker on the table.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Put the red marker in front of the green mug with the right hand with the tip facing left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Using the right hand, place the red marker in front of the green mug with its tip pointing left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Have the right hand set the red marker in front of the green mug so the tip faces left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "With the right hand, position the red marker before the green mug, tip oriented to the left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Place the red marker in front of the green mug with its tip pointing left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Set the red marker before the green mug so the tip faces left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Position the red marker in front of the green mug, keeping the tip to the left.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Using the right hand, put the red marker in front of the green mug.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "With the right hand, set the red marker before the green mug.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Have the right hand position the red marker in front of the green mug.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Put the red marker in front of the green mug.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Set the red marker before the green mug.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Position the red marker in front of the green mug.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Have the right hand take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Take the screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "With the right hand, take the screwdriver from the table by the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Have the right hand retrieve the screwdriver from the table, holding its middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Take the screwdriver from the table diagonally with the right hand.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Retrieve the screwdriver from the table by the middle.", + "start_idx": 7704, + "end_idx": 7746 + }, + { + "text": "Place the screwdriver to the right of the white cup with the right hand facing top left with the tip as the reference point.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Using the right hand, set the screwdriver to the right of the white cup with the tip facing top left.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Have the right arm place the screwdriver to the right of the white cup, oriented top left by its tip.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "With the right hand, position the screwdriver to the right of the white cup so the tip points top left.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Place the screwdriver to the right of the white cup with the tip facing top left.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Set the screwdriver to the right of the white cup, with its tip oriented toward the top left.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Position the screwdriver to the right of the white cup so its tip points to the top left.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the white cup.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Have the right arm set the screwdriver to the right of the white cup.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "With the right hand, position the screwdriver to the right of the white cup.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Place the screwdriver to the right of the white cup.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Set the screwdriver to the right of the white cup.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Position the screwdriver to the right of the white cup.", + "start_idx": 7746, + "end_idx": 7788 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle with a diagonal pickup angle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "With the right hand, seize the white cup from the table at a diagonal angle, holding the handle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "From the table, grasp the white cup by the handle at a diagonal angle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "With the right hand, take the white cup from the table at a diagonal angle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Have the right arm pick up the white cup from the table.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "From the table, collect the white cup by the handle.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 7881, + "end_idx": 7920 + }, + { + "text": "Place the white cup to the right side of the red marker with the right hand right side up with the front facing backwards.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Using the right hand, set the white cup to the right of the red marker, right side up, with the front facing backward.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Have the right arm place the white cup on the marker's right side, upright, with its front facing backward.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "With the right hand, position the white cup to the right of the red marker, keeping it right side up and the front facing backward.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Place the white cup to the right of the red marker.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Set the white cup on the right side of the red marker.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Position the white cup just right of the red marker.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Put the white cup to the right of the red marker, right side up.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Keep the white cup upright and place it to the right of the red marker.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "To the right of the red marker, place the white cup with its front facing backward.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Place the white cup to the right of the red marker with the front facing backward.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Set the white cup upright on the right side of the red marker.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Have the white cup placed to the right of the red marker.", + "start_idx": 7920, + "end_idx": 7968 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Have the right arm pick the red marker up from the table with a diagonal approach at its middle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "With the right hand, retrieve the red marker from the table by grasping its middle at a diagonal angle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding the middle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Retrieve the red marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Have the right arm retrieve the red marker from the table.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 8046, + "end_idx": 8082 + }, + { + "text": "Put the red marker to the rear right of the white cup with the right hand with its tip facing top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Using the right hand, place the red marker rear-right of the white cup, with its tip oriented toward the top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Have the right hand set the red marker at the rear right of the white cup, tip pointing top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "With the right hand, position the red marker to the white cup's rear right, keeping the tip facing the top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Place the red marker to the rear right of the white cup, with its tip facing top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Set the red marker rear-right of the white cup, with the tip pointing top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Position the red marker at the rear right of the white cup, tip directed toward the top right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Using the right hand, place the red marker to the rear right of the white cup.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Have the right hand set the red marker at the white cup's rear right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "With the right hand, position the red marker behind and right of the white cup.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Place the red marker to the rear right of the white cup.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Set the red marker at the white cup's rear right.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Position the red marker behind and to the right of the white cup.", + "start_idx": 8081, + "end_idx": 8120 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal grip at the handle.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Using the right hand, grasp the white cup from the table with a diagonal grip at the handle.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Have the right hand take hold of the white cup from the table with a diagonal handle grip.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "With the right hand, secure the white cup from the table by its handle in a diagonal grasp.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Pick up the white cup from the table using a diagonal grip at the handle.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Take the white cup from the table with a diagonal handle grip.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Grasp the white cup from the table by the handle in a diagonal grip.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Retrieve the white cup from the table with a diagonal grasp on the handle.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 8202, + "end_idx": 8238 + }, + { + "text": "Put the white cup to the rear right of the red marker with the right hand right side up with the front facing backwards.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Using the right hand, place the white cup at the rear right of the red marker, right side up with the front facing backward.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Have the right arm set the white cup to the red marker's rear right, keeping it upright and the front facing backward.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "With the right hand, position the white cup behind and to the right of the red marker, right side up and front facing backward.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Place the white cup at the rear right of the red marker, right side up with the front facing backward.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Set the white cup behind and to the right of the red marker, upright with the front facing backward.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Position the white cup to the rear right of the red marker, keeping it right side up and the front facing backward.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Using the right hand, put the white cup to the rear right of the red marker.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "With the right hand, place the white cup behind and to the right of the red marker.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Have the right arm set the white cup at the red marker's rear right.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Put the white cup to the rear right of the red marker.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Set the white cup behind and to the right of the red marker.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Position the white cup at the red marker's rear right.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Have the right arm take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by grasping its middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Take the red marker from the table with a diagonal pickup at the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Retrieve the red marker from the table diagonally, holding the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "With the right hand, take the red marker from the table by its middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Have the right arm retrieve the red marker from the table, holding the middle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "With the right hand, take the red marker from the table diagonally.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 8355, + "end_idx": 8391 + }, + { + "text": "Place the red marker to the rear right of the eggplant with the right hand facing forwards with the tip as the reference point.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Using the right hand, set the red marker to the rear right of the eggplant, facing forwards with the tip as the reference point.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Have the right arm place the red marker rear-right of the eggplant, with the tip pointing forwards.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "With the right hand, position the red marker at the eggplant's rear right, oriented forwards by its tip.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Place the red marker to the rear right of the eggplant.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Set the red marker rear-right of the eggplant.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Position the red marker at the rear right side of the eggplant.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Place the red marker to the rear right of the eggplant with the right hand.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Using the right hand, set the red marker rear-right of the eggplant.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Have the right arm position the red marker at the eggplant's rear right.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "With the right hand, place the red marker facing forwards with the tip as the reference point.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Set the red marker facing forwards by its tip.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Position the red marker with the tip facing forwards.", + "start_idx": 8391, + "end_idx": 8433 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Have the right hand collect the red marker from the table with a diagonal approach at its middle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "With the right hand, secure the red marker from the table by the middle at a diagonal angle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Take the red marker from the table by the middle at a diagonal angle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Get the red marker from the table with a diagonal grasp at the middle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Have the right hand get the red marker from the table.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Have the right hand pick up the red marker from the table at a diagonal angle.", + "start_idx": 8517, + "end_idx": 8553 + }, + { + "text": "Put the red marker to the right of the eggplant with the tip facing forwards using the right hand.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Using the right hand, place the red marker to the right of the eggplant with its tip facing forwards.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Have the right hand set the red marker to the eggplant's right side, tip oriented forwards.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "With the right hand, position the red marker right of the eggplant so the tip points forwards.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Place the red marker to the right of the eggplant with its tip facing forwards.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Set the red marker on the right side of the eggplant, with the tip pointing forwards.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Position the red marker to the eggplant's right, tip facing forwards.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Using the right hand, place the red marker to the right of the eggplant.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Have the right hand set the red marker on the eggplant's right side.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "With the right hand, position the red marker to the eggplant's right.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Place the red marker to the right of the eggplant.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Set the red marker on the right side of the eggplant.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Position the red marker to the eggplant's right.", + "start_idx": 8553, + "end_idx": 8589 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Have the right arm take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "With the right hand, retrieve the red marker from the table on a diagonal approach, gripping the center.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Retrieve the red marker from the table on a diagonal approach, holding the middle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Take the red marker from the table with a diagonal pickup, gripping its center.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Have the right arm retrieve the red marker from the table.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8823, + "end_idx": 8856 + }, + { + "text": "Put the red marker to the right of the screwdriver with the right hand facing forwards with the tip as the reference point.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Using the right hand, place the red marker to the right of the screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Have the right hand set the red marker to the screwdriver's right, oriented forward using the tip as the reference point.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "With the right hand, position the red marker on the right side of the screwdriver, facing forward relative to its tip.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Place the red marker to the right of the screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Set the red marker on the right side of the screwdriver, oriented forward using the tip as the reference point.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Position the red marker to the screwdriver's right, with the tip as the reference point and facing forward.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Using the right hand, place the red marker to the right of the screwdriver.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Have the right hand set the red marker on the right side of the screwdriver.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "With the right hand, position the red marker to the screwdriver's right.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Put the red marker to the right of the screwdriver.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Place the red marker on the right side of the screwdriver with the right hand.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Set the red marker to the screwdriver's right, facing forwards with the tip as the reference point.", + "start_idx": 8856, + "end_idx": 8898 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Have the right arm pick the white cup off the table, grasping the handle at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "With the right hand, retrieve the white cup from the table by its handle at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Take the white cup off the table by its handle at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Retrieve the white cup from the table, gripping the handle at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "With the right hand, take the white cup off the table by its handle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Have the right arm retrieve the white cup from the table by the handle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 8898, + "end_idx": 8937 + }, + { + "text": "Put the white cup to the right of the red marker with the right hand right side up with the front facing backwards.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Using the right hand, place the white cup to the right of the red marker, right side up, with the front facing backward.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Have the right hand set the white cup to the red marker's right, upright, with its front directed backward.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "With the right hand, position the white cup to the right of the red marker so it stays right side up and faces backward.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Place the white cup to the right of the red marker, right side up, with the front facing backward.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Set the white cup to the red marker's right, upright, with its front toward the back.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Position the white cup to the right of the red marker so it is right side up and facing backward.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Put the white cup to the right of the red marker.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Set the white cup to the red marker's right.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Position the white cup to the right of the red marker.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Using the right hand, place the white cup to the right of the red marker.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Have the right hand set the white cup to the red marker's right.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "With the right hand, position the white cup to the right of the red marker.", + "start_idx": 8937, + "end_idx": 8979 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal grip at the handle.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal grip on the handle.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle in a diagonal hold.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "With the right hand, collect the white cup from the table using a diagonal handle grasp.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Pick up the white cup from the table using a diagonal grip at the handle.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Take the white cup from the table with a diagonal grasp on the handle.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Have the robot grasp the white cup from the table by the handle in a diagonal hold.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Have the right arm collect the white cup from the table.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Take the white cup from the table using a diagonal grip at the handle.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 9213, + "end_idx": 9252 + }, + { + "text": "Put the white cup to the right of the eggplant with the right hand right side up with the front facing bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Using the right hand, place the white cup to the right of the eggplant upright with the front facing bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Have the right arm set the white cup to the eggplant's right, right side up, with the front pointed bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "With the right hand, position the white cup right of the eggplant in an upright orientation, front toward the bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Place the white cup to the right of the eggplant upright with the front facing bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Set the white cup on the eggplant's right side, right side up, with the front toward the bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Position the white cup to the right of the eggplant with its front directed bottom right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Put the white cup to the right of the eggplant.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Set the white cup on the right side of the eggplant.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Place the white cup beside the eggplant on its right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Using the right hand, place the white cup to the right of the eggplant.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Have the right arm set the white cup on the eggplant's right side.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "With the right hand, position the white cup beside the eggplant on its right.", + "start_idx": 9252, + "end_idx": 9309 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the top using a side grip.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, gripping the top with a side grasp.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Have the left arm take the eggplant from the table diagonally, holding it at the top with a side grip.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "With the left hand, retrieve the eggplant from the table on a diagonal, grasping the top in a side hold.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Retrieve the eggplant from the table diagonally, holding the top with a side grasp.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Take the eggplant from the table on a diagonal angle, using a side grip on the top.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the top with a side grip.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "With the left hand, take the eggplant from the table using a side grasp on the top.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Have the left arm collect the eggplant from the table with a side grip at the top.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the top.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "At a diagonal angle, take the eggplant from the table with the left hand.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Pick up the eggplant from the table, grasping the top.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Put the eggplant to the left of the white cup with the left hand facing forwards.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Using the left hand, place the eggplant to the left of the white cup with its front facing forward.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Have the left arm set the eggplant beside the white cup on its left, front facing forward.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "With the left hand, position the eggplant left of the white cup so the front points forward.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Place the eggplant to the left of the white cup with its front facing forward.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Set the eggplant beside the white cup on its left, front facing forward.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Position the eggplant left of the white cup so it faces forward.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Using the left hand, place the eggplant to the left of the white cup.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "With the left hand, set the eggplant beside the white cup on its left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Have the left arm position the eggplant left of the white cup.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Place the eggplant to the left of the white cup.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Set the eggplant beside the white cup on its left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Position the eggplant left of the white cup.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp at the top.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "With the left hand, take the white cup from the table using a diagonal lip grasp at the top.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Using a diagonal lip grasp at the top, have the left hand pick up the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "The white cup from the table should be grasped with the left hand by the top using a diagonal lip hold.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the top.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold at the top.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Using a diagonal lip grip at the top, grasp the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Have the left hand take the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "The white cup from the table should be picked up with the left hand.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 114, + "end_idx": 147 + }, + { + "text": "Put the white cup to the left of the green mug with the handle facing backwards right side up using the left hand.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Using the left hand, place the white cup to the left of the green mug with its handle facing backward and upright.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Have the left hand set the white cup left of the green mug, right side up, with the handle pointing backward.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "With the left hand, position the white cup to the left of the green mug, keeping it upright and the handle facing back.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Place the white cup to the left of the green mug with its handle facing backward and upright.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Set the white cup left of the green mug, right side up with the handle pointing backward.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Position the white cup to the left of the green mug, keeping the handle facing back and the cup upright.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Using the left hand, put the white cup to the left of the green mug.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "With the left hand, place the white cup left of the green mug.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Have the left hand set the white cup to the left of the green mug.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Put the white cup to the left of the green mug.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Set the white cup left of the green mug.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Position the white cup next to the green mug on its left side.", + "start_idx": 147, + "end_idx": 177 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Using the left hand, take the green mug from the table with a diagonal lip grip at the bottom.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Have the left arm grasp the green mug from the table with a diagonal lip hold at its bottom.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "With the left hand, collect the green mug from the table using a bottom diagonal lip grasp.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Pick up the green mug from the table using a diagonal lip grip at the bottom.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Take the green mug from the table with a diagonal lip hold at the bottom.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Grasp the green mug from the table with a diagonal lip grasp at its bottom.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Take the green mug from the table using the left hand.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Place the green mug to the right side of the screwdriver with the handle facing forward using the left hand.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Using the left hand, set the green mug to the right of the screwdriver with its handle facing forward.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Have the left arm place the green mug on the screwdriver's right side, handle pointed forward.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "With the left hand, position the green mug to the right of the screwdriver, keeping the handle facing forward.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Place the green mug to the right of the screwdriver with the handle facing forward.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Set the green mug on the right side of the screwdriver, with its handle facing forward.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Position the green mug to the screwdriver's right, handle facing forward.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Using the left hand, place the green mug to the right of the screwdriver.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Have the left arm set the green mug on the screwdriver's right side.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "With the left hand, position the green mug to the screwdriver's right.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Place the green mug to the right of the screwdriver.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Set the green mug on the screwdriver's right side.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Position the green mug to the screwdriver's right.", + "start_idx": 282, + "end_idx": 330 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle, holding the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "With the left hand, take the white cup from the table via the handle at a diagonal angle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Take the white cup from the table using the handle at a diagonal angle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Retrieve the white cup from the table by the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Pick up the white cup from the table using the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Have the left arm take the white cup from the table using the handle.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 330, + "end_idx": 372 + }, + { + "text": "Put the white cup to the left of the eggplant with the handle facing backwards right side up using the left hand.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Using the left hand, place the white cup to the left of the eggplant with the handle facing backward, right side up.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Have the left arm set the white cup left of the eggplant, keeping it upright with the handle pointing backward.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "With the left hand, position the white cup to the eggplant's left, upright and with its handle facing back.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Place the white cup to the left of the eggplant with the handle facing backward, right side up.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Set the white cup left of the eggplant, keeping it upright with the handle pointing backward.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Position the white cup to the eggplant's left, upright and with its handle facing back.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Using the left hand, put the white cup to the left of the eggplant.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "With the left hand, place the white cup left of the eggplant.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Have the left arm set the white cup to the eggplant's left.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Put the white cup to the left of the eggplant.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Place the white cup left of the eggplant, keeping it upright.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Set the white cup to the eggplant's left with the handle facing backward.", + "start_idx": 372, + "end_idx": 414 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "With the left hand, retrieve the green mug from the table, approaching diagonally at the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Retrieve the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Grab the green mug from the table using the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "With the left hand, take the green mug from the table at a diagonal angle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Have the left arm retrieve the green mug from the table by the handle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 414, + "end_idx": 462 + }, + { + "text": "Put the green mug behind the white cup with the handle facing left right side up with the front as the reference using the left hand.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Using the left hand, place the green mug behind the white cup, right side up, with the handle facing left from the front reference.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Have the left hand set the green mug behind the white cup with its handle pointed left, right side up, using the front as reference.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "With the left hand, position the green mug behind the white cup so the handle faces left relative to the front, keeping it right side up.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Place the green mug behind the white cup, right side up, with the handle facing left from the front reference.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Set the green mug behind the white cup so its handle points left relative to the front, right side up.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Position the green mug behind the white cup with the handle facing left using the front as reference, keeping it upright.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Put the green mug behind the white cup.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Set the green mug behind the white cup.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Position the green mug behind the white cup.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Using the left hand, put the green mug behind the white cup.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "With the left hand, set the green mug behind the white cup.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Have the left hand position the green mug behind the white cup.", + "start_idx": 462, + "end_idx": 519 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "From the table, take the eggplant with the left hand.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 597, + "end_idx": 636 + }, + { + "text": "Put the eggplant to the left of the screwdriver with the left hand with its tip facing top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Using the left hand, place the eggplant to the left of the screwdriver with its tip pointing to the top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Have the left arm set the eggplant left of the screwdriver, tip oriented toward the top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "With the left hand, position the eggplant to the screwdriver's left, keeping its tip directed top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Place the eggplant to the left of the screwdriver with its tip facing top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Set the eggplant left of the screwdriver, with the tip pointing top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Position the eggplant to the screwdriver's left, tip directed toward the top left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "With the left hand, put the eggplant to the left of the screwdriver.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Using the left hand, place the eggplant left of the screwdriver.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Have the left arm set the eggplant to the screwdriver's left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Put the eggplant to the left of the screwdriver.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Set the eggplant left of the screwdriver.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Position the eggplant to the screwdriver's left.", + "start_idx": 636, + "end_idx": 669 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "With the left arm, grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Have the left hand pick up the white cup from the table, approaching diagonally at the handle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Grasp the white cup from the table by the handle, keeping a diagonal angle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Using the left arm, take the white cup from the table at the handle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Have the left hand grasp the white cup from the table.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Using the left hand, take the white cup from the table diagonally.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 669, + "end_idx": 723 + }, + { + "text": "Put the white cup to the left of the eggplant with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Using the left hand, place the white cup to the left of the eggplant, handle facing backward, right side up from the front reference.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Have the left arm set the white cup left of the eggplant with its handle pointing backward, right side up relative to the front.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "With the left hand, position the white cup to the eggplant's left, keeping it right side up and the handle facing backward from the front.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Place the white cup to the left of the eggplant with the handle facing backward, right side up from the front reference.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Set the white cup left of the eggplant, with its handle pointing backward and the cup right side up relative to the front.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Position the white cup to the eggplant's left, handle facing backward, right side up with the front as reference.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Using the left hand, put the white cup to the left of the eggplant.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Have the left arm place the white cup on the eggplant's left side.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "With the left hand, set the white cup left of the eggplant.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Put the white cup to the left of the eggplant.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Place the white cup left of the eggplant with the handle facing backward and the cup right side up.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Set the white cup to the left of the eggplant, keeping it right side up with the handle facing backward.", + "start_idx": 723, + "end_idx": 765 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Have the left arm grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "With the left hand, secure the green mug from the table via the handle at a diagonal angle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Grasp the green mug from the table via the handle at a diagonal angle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Retrieve the green mug from the table using the handle at a diagonal angle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Have the left arm take the green mug from the table by its handle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "With the left hand, grasp the green mug from the table via the handle.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 765, + "end_idx": 807 + }, + { + "text": "Put the green mug behind the white cup with the handle facing left right side up using the left hand.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Using the left hand, place the green mug behind the white cup, handle facing left and right side up.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Have the left arm set the green mug behind the white cup with its handle to the left, upright.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "With the left hand, position the green mug behind the white cup so the handle points left, right side up.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Place the green mug behind the white cup with the handle facing left and right side up.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Set the green mug behind the white cup, handle to the left and upright.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Position the green mug behind the white cup with its handle pointing left, right side up.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Using the left hand, put the green mug behind the white cup.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Have the left arm place the green mug behind the white cup.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "With the left hand, set the green mug behind the white cup.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Put the green mug behind the white cup.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Set the green mug behind the white cup.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Position the green mug behind the white cup.", + "start_idx": 807, + "end_idx": 855 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Have the left arm pick the white cup up from the table by the handle with a diagonal grip.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "With the left hand, grasp the white cup on the table diagonally at the handle.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Take the white cup from the table by the handle with a diagonal grip.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Grasp the white cup from the table diagonally at the handle.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Have the left arm pick up the white cup from the table.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 930, + "end_idx": 969 + }, + { + "text": "Put the white cup to the left of the green mug with the handle facing to left right side up with the front as reference using the left hand.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Using the left hand, place the white cup to the left of the green mug, right side up, with the handle pointing left using the front as reference.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Have the left arm set the white cup left of the green mug, keeping it upright and the handle facing left from the front reference.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "With the left hand, position the white cup to the green mug's left, oriented right side up with the handle directed left relative to the front.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Place the white cup to the left of the green mug, right side up, with the handle facing left from the front reference.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Set the white cup left of the green mug, keeping it upright and the handle pointing left using the front as reference.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Position the white cup to the green mug's left, with the handle directed left and the cup right side up relative to the front.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Using the left hand, place the white cup to the left of the green mug.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Have the left arm set the white cup left of the green mug.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "With the left hand, position the white cup to the green mug's left.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Put the white cup to the left of the green mug.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Set the white cup left of the green mug.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Place the white cup to the green mug's left.", + "start_idx": 968, + "end_idx": 1013 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Have the left arm take the screwdriver from the table diagonally, holding it at the middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "With the left hand, collect the screwdriver from the table at a diagonal angle, gripping the middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "From the table, take the screwdriver diagonally, holding its middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Grasp the middle of the screwdriver and pick it up from the table at a diagonal angle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "With the left hand, collect the screwdriver from the table.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "From the table, take the screwdriver by grasping the middle.", + "start_idx": 1086, + "end_idx": 1122 + }, + { + "text": "Put the screwdriver on the bottom side of the table with the left hand with the tip facing right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Using the left hand, place the screwdriver on the bottom side of the table with its tip pointing right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Have the left arm set the screwdriver on the bottom side of the table, tip directed to the right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "With the left hand, position the screwdriver on the table's bottom side so the tip faces right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Place the screwdriver on the bottom side of the table with its tip pointing right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Set the screwdriver on the table's bottom side with the tip directed right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Position the screwdriver on the bottom side of the table so its tip faces right.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Using the left hand, put the screwdriver on the bottom side of the table.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Have the left arm place the screwdriver on the bottom side of the table.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "With the left hand, set the screwdriver on the table's bottom side.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Put the screwdriver on the bottom side of the table.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Place the screwdriver on the table's bottom side.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Set the screwdriver on the bottom side of the table.", + "start_idx": 1122, + "end_idx": 1176 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Using the left hand, take hold of the white cup by its handle from the table at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Have the left arm pick the white cup up from the table via the handle at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "With the left hand, grasp the white cup's handle on the table and pick it up diagonally.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "From the table, collect the white cup by its handle at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "With the left hand, take the white cup from the table by its handle.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Have the left arm grasp the white cup by the handle from the table.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle with the left hand.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "From the table, take the white cup at a diagonal angle with the left hand.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1176, + "end_idx": 1218 + }, + { + "text": "Put the white cup to the left of the screwdriver with the left hand right side up with the front facing backwards.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Using the left hand, place the white cup to the left of the screwdriver, right side up, with the front facing backward.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Have the left arm set the white cup left of the screwdriver, keeping it upright and the front directed backward.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "With the left hand, position the white cup on the screwdriver's left side, right side up, front facing backward.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Place the white cup to the left of the screwdriver, right side up, with the front facing backward.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Set the white cup on the left side of the screwdriver, upright, with its front directed backward.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Position the white cup left of the screwdriver, keeping it right side up and the front backward.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Using the left hand, put the white cup to the left of the screwdriver.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Have the left arm place the white cup on the screwdriver's left side.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "With the left hand, set the white cup left of the screwdriver.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Place the white cup to the left of the screwdriver.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Set the white cup on the left side of the screwdriver.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Position the white cup left of the screwdriver.", + "start_idx": 1218, + "end_idx": 1266 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Have the left arm take hold of the green mug from the table by the handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle, keeping a diagonal angle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Have the left arm take the green mug from the table by the handle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "With the left hand, grasp the green mug from the table at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "At a diagonal angle, pick up the green mug from the table.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 1410, + "end_idx": 1443 + }, + { + "text": "Put the green mug to the rear left of the white cup with the handle facing backwards right side up with the left hand.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Using the left hand, place the green mug rear-left of the white cup, with its handle facing backward and the mug upright.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Have the left arm set the green mug to the back-left of the white cup, handle pointed backward and right side up.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "With the left hand, position the green mug at the rear left of the white cup, keeping the handle facing the back and the mug upright.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Place the green mug rear-left of the white cup, with the handle facing backward and the mug upright.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Set the green mug to the back-left of the white cup, handle pointing backward and right side up.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Position the green mug at the rear left of the white cup, with its handle toward the back and upright.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Using the left hand, put the green mug rear-left of the white cup.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Have the left arm place the green mug to the back-left of the white cup.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "With the left hand, set the green mug at the rear left of the white cup.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Put the green mug rear-left of the white cup.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Set the green mug to the back-left of the white cup.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Position the green mug at the rear left of the white cup.", + "start_idx": 1443, + "end_idx": 1491 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "The screwdriver from the table should be picked up at a diagonal angle from its middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table grasping the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "From the table, take the screwdriver with the left hand by the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Have the left arm collect the screwdriver from the table, holding the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "With the left hand, take the screwdriver from the table diagonally.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 1491, + "end_idx": 1524 + }, + { + "text": "Put the screwdriver to the rear left of the green mug with the left hand with its tip facing top right.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Using the left hand, place the screwdriver rear-left of the green mug with its tip pointing to the top right.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Have the left arm set the screwdriver to the green mug's rear left, keeping the tip oriented top right.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "With the left hand, position the screwdriver behind and left of the green mug, tip facing the top right.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Place the screwdriver to the rear left of the green mug.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Set the screwdriver behind and to the left of the green mug.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Position the screwdriver at the green mug's rear left.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Arrange the screwdriver rear-left of the green mug.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Using the left hand, put the screwdriver to the rear left of the green mug.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "With the left hand, set the screwdriver behind and left of the green mug.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Have the left arm place the screwdriver at the green mug's rear left.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Put the screwdriver to the rear left of the green mug with its tip facing top right.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Position the screwdriver behind and left of the green mug, with the tip pointing top right.", + "start_idx": 1524, + "end_idx": 1566 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Have the left arm pick the eggplant off the table diagonally by the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "With the left hand, collect the eggplant from the table, approaching diagonally and holding its middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Take the eggplant off the table diagonally by the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "The eggplant from the table should be picked up at a diagonal angle, holding the middle.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "With the left hand, take the eggplant off the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Have the left arm collect the eggplant from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Take the eggplant off the table.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "The eggplant from the table should be picked up.", + "start_idx": 1566, + "end_idx": 1608 + }, + { + "text": "Put the eggplant to the front left of the green mug with the left hand with the tip facing left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Using the left hand, place the eggplant at the green mug's front-left with its tip pointing left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Have the left arm set the eggplant in front-left of the green mug, tip directed left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "With the left hand, position the eggplant to the front left of the green mug so the tip faces left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Place the eggplant to the front left of the green mug with the tip facing left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Set the eggplant at the green mug's front-left, with its tip pointing left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Position the eggplant in front-left of the green mug, tip facing left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Using the left hand, place the eggplant to the front left of the green mug.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Have the left arm set the eggplant at the green mug's front-left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "With the left hand, position the eggplant in front-left of the green mug.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Place the eggplant to the front left of the green mug.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Set the eggplant at the green mug's front-left.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Position the eggplant in front-left of the green mug.", + "start_idx": 1608, + "end_idx": 1650 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "With the left hand, retrieve the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Take the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Take the eggplant from the table at a diagonal angle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Grasp the eggplant from the table at the middle.", + "start_idx": 1722, + "end_idx": 1761 + }, + { + "text": "Put the eggplant behind the red marker with the left hand with the tip facing top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Using the left hand, place the eggplant behind the red marker with its tip facing the top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the eggplant behind the red marker, tip oriented toward the top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "With the left hand, position the eggplant behind the red marker so the tip points top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Place the eggplant behind the red marker with its tip facing the top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Set the eggplant behind the red marker, with the tip pointing to the top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Position the eggplant behind the red marker so its tip faces top right.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Using the left hand, put the eggplant behind the red marker.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Have the left arm place the eggplant behind the red marker.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "With the left hand, set the eggplant behind the red marker.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Put the eggplant behind the red marker.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Position the eggplant behind the red marker.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Set the eggplant behind the red marker.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Using the left hand, take the green mug from the table with a diagonal grasp at the handle.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Have the left arm pick the green mug up from the table by the handle with a diagonal grip.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "With the left hand, grasp the green mug from the table at the handle in a diagonal hold.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Pick up the green mug from the table with a diagonal grasp at the handle.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Take the green mug from the table by the handle using a diagonal grip.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Grasp the green mug from the table at the handle with a diagonal hold.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 1803, + "end_idx": 1848 + }, + { + "text": "Put the green mug to the right of the red marker with the handle facing left right side up using the left hand.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Using the left hand, place the green mug to the right of the red marker, right side up, with the handle facing left.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Have the left hand set the green mug down to the right of the red marker, keeping it upright and the handle pointed left.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "With the left hand, position the green mug to the right of the red marker so it stays right side up and its handle faces left.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Place the green mug to the right of the red marker, right side up, with the handle facing left.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Set the green mug down to the right of the red marker, keeping it upright with the handle pointed left.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Position the green mug to the right of the red marker with the handle facing left, right side up.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Arrange the green mug to the right of the red marker.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Set the green mug down to the right of the red marker.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Place the green mug beside the red marker on its right side.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Put the green mug to the right of the red marker with the left hand.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Using the left hand, place the green mug to the right of the red marker.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Have the left hand set the green mug down beside the red marker on its right side.", + "start_idx": 1848, + "end_idx": 1896 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Have the left arm grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "With the left hand, secure the screwdriver from the table using a diagonal pickup from the middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Take the screwdriver from the table diagonally from the middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Grasp the screwdriver from the table.", + "start_idx": 1896, + "end_idx": 1941 + }, + { + "text": "Put the screwdriver behind the green mug with the left hand with its tip facing bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Using the left hand, place the screwdriver behind the green mug with its tip pointing to the bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Have the left arm set the screwdriver behind the green mug so the tip faces bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "With the left hand, position the screwdriver behind the green mug, tip directed toward the bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Place the screwdriver behind the green mug with its tip pointing to the bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Set the screwdriver behind the green mug so its tip faces bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Position the screwdriver behind the green mug, with the tip directed toward the bottom right.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Using the left hand, put the screwdriver behind the green mug.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "With the left hand, place the screwdriver behind the green mug.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Have the left arm position the screwdriver behind the green mug.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Put the screwdriver behind the green mug.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Set the screwdriver behind the green mug.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Position the screwdriver behind the green mug.", + "start_idx": 1941, + "end_idx": 1992 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Have the left arm grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "With the left hand, secure the white cup from the table via the handle at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Grasp the white cup from the table via the handle at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "The white cup from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "With the left hand, take the white cup from the table via the handle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Have the left arm collect the white cup from the table by its handle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "The white cup from the table should be grasped by the handle.", + "start_idx": 1992, + "end_idx": 2034 + }, + { + "text": "Put the white cup behind the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Using the left hand, place the white cup behind the eggplant, right side up, with the front facing backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Have the left arm set the white cup behind the eggplant upright, its front directed backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "With the left hand, position the white cup behind the eggplant so it stays right side up and faces backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Place the white cup behind the eggplant, right side up, with the front facing backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Set the white cup behind the eggplant upright, with its front directed backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Position the white cup behind the eggplant so it remains right side up and faces backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Using the left hand, put the white cup behind the eggplant.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Have the left arm place the white cup behind the eggplant.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "With the left hand, set the white cup behind the eggplant.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Put the white cup behind the eggplant.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Place the white cup behind the eggplant upright.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Behind the eggplant, position the white cup with its front facing backward.", + "start_idx": 2034, + "end_idx": 2079 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Using the left hand, take the green mug from the table with a diagonal handle grasp.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Have the left arm pick up the green mug from the table by the handle in a diagonal grasp.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "With the left hand, grasp the green mug from the table at the handle using a diagonal hold.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Pick up the green mug from the table with a diagonal grasp at the handle.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Take the green mug from the table by the handle in a diagonal grasp.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Grasp the green mug from the table at the handle with a diagonal hold.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 2079, + "end_idx": 2112 + }, + { + "text": "Put the green mug to the left of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant, right side up, with its front facing backward.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Have the left arm set the green mug left of the eggplant, keeping it upright and the front pointed backward.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "With the left hand, position the green mug to the eggplant's left, right side up and with the front facing backwards.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Place the green mug to the left of the eggplant, right side up, with the front facing backwards.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Set the green mug left of the eggplant, keeping it upright with the front pointed backward.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Position the green mug to the eggplant's left, right side up and facing backward at the front.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Using the left hand, put the green mug to the left of the eggplant.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Have the left arm place the green mug left of the eggplant.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "With the left hand, set the green mug to the eggplant's left.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Place the green mug to the left of the eggplant.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Set the green mug left of the eggplant.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Position the green mug to the eggplant's left.", + "start_idx": 2112, + "end_idx": 2157 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Have the left hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "With the left hand, collect the red marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding its middle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Grab the red marker from the table at a diagonal angle by the middle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "With the left hand, collect the red marker from the table.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 2157, + "end_idx": 2193 + }, + { + "text": "Place the red marker to the right of the screwdriver with the left hand with its tip facing right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Using the left hand, set the red marker to the right of the screwdriver with its tip pointing right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Have the left arm place the red marker to the screwdriver's right, tip facing right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "With the left hand, position the red marker right of the screwdriver so its tip faces right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Place the red marker to the right of the screwdriver with its tip facing right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Set the red marker to the screwdriver's right with its tip pointing right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Position the red marker right of the screwdriver, with the tip directed right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Using the left hand, place the red marker to the right of the screwdriver.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Have the left arm set the red marker to the screwdriver's right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "With the left hand, position the red marker right of the screwdriver.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Place the red marker to the right of the screwdriver.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Set the red marker to the screwdriver's right.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Position the red marker right of the screwdriver.", + "start_idx": 2193, + "end_idx": 2232 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Have the left arm take the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "With the left hand, collect the green mug from the table by its handle at a diagonal angle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Have the left arm take the green mug from the table by its handle.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "With the left hand, collect the green mug from the table.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 2232, + "end_idx": 2274 + }, + { + "text": "Put the green mug to the front left of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Using the left hand, place the green mug to the front left of the eggplant, right side up, with its front facing backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Have the left arm set the green mug at the eggplant's front-left, keeping it upright and its front pointed backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "With the left hand, position the green mug in front-left of the eggplant, right side up and front facing backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Place the green mug to the front left of the eggplant, right side up, with its front facing backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Set the green mug at the front-left of the eggplant, keeping it upright and its front pointed backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Position the green mug to the eggplant's front left, right side up, with the front facing backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Using the left hand, place the green mug to the front left of the eggplant.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Have the left arm set the green mug at the eggplant's front-left.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "With the left hand, position the green mug beside the eggplant at the front-left.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Put the green mug to the front left of the eggplant with the left hand.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Place the green mug at the eggplant's front-left, keeping it upright.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Set the green mug to the front left of the eggplant, with its front facing backward.", + "start_idx": 2274, + "end_idx": 2307 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Have the left arm take the red marker from the table on a diagonal, holding it at the center.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally, gripping the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Retrieve the red marker from the table diagonally by the center.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Using the left hand, pick up the red marker from the table by grasping the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Have the left arm take the red marker from the table, holding the center.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "With the left hand, retrieve the red marker from the table at the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Take the red marker from the table with the left hand.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Grasp the red marker from the table at the middle.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Put the red marker to the left of the white cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Using the left hand, place the red marker to the left of the white cup, facing forwards with the tip as the reference point.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Have the left arm set the red marker to the left of the white cup, oriented forward using the tip as the reference point.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "With the left hand, position the red marker left of the white cup so it faces forwards, taking the tip as the reference point.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Place the red marker to the left of the white cup, facing forwards with the tip as the reference point.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Set the red marker left of the white cup so it faces forwards, using the tip as the reference point.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Position the red marker to the left of the white cup with a forward-facing orientation, based on the tip.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Using the left hand, place the red marker to the left of the white cup.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "With the left hand, set the red marker left of the white cup.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Have the left arm position the red marker to the left of the white cup.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Place the red marker to the left of the white cup.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Set the red marker left of the white cup.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Position the red marker beside the white cup on its left side.", + "start_idx": 2412, + "end_idx": 2451 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Have the left arm grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "With the left hand, secure the green mug from the table via the handle on a diagonal.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Grasp the green mug from the table via the handle on a diagonal.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "With the left hand, take the green mug from the table at a diagonal angle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Have the left arm grasp the green mug from the table at a diagonal angle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "With the left hand, pick up the green mug from the table.", + "start_idx": 2451, + "end_idx": 2502 + }, + { + "text": "Put the green mug behind the red marker with the handle facing bakwards right side up with the left hand.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Using the left hand, place the green mug behind the red marker, upright, with the handle facing backward.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Have the left arm set the green mug behind the red marker with its handle pointing backward, right side up.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "With the left hand, position the green mug behind the red marker so the handle faces backward and the mug stays upright.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Place the green mug behind the red marker with the handle facing backward and right side up.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Set the green mug behind the red marker, upright, with the handle pointing backward.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Position the green mug behind the red marker so its handle points backward and it remains upright.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "With the left hand, put the green mug behind the red marker.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Using the left hand, place the green mug behind the red marker.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Have the left arm set the green mug behind the red marker.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Put the green mug behind the red marker.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Set the green mug behind the red marker.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Position the green mug behind the red marker.", + "start_idx": 2502, + "end_idx": 2541 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Have the left arm take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by holding the middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Retrieve the red marker from the table diagonally by holding the middle.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 2541, + "end_idx": 2559 + }, + { + "text": "Put the red marker in front of the eggplant with the left hand facing bottom right at the tip.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Using the left hand, place the red marker in front of the eggplant with its tip facing bottom right.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Have the left arm set the red marker in front of the eggplant, tip oriented toward the bottom right.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "With the left hand, position the red marker before the eggplant so the tip points bottom right.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Place the red marker in front of the eggplant with its tip facing bottom right.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Set the red marker in front of the eggplant, with the tip oriented toward the bottom right.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Position the red marker before the eggplant so the tip points to the bottom right.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Using the left hand, put the red marker in front of the eggplant.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "With the left hand, set the red marker before the eggplant.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Have the left arm position the red marker in front of the eggplant.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Place the red marker in front of the eggplant.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Set the red marker before the eggplant.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Position the red marker in front of the eggplant.", + "start_idx": 2559, + "end_idx": 2604 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle, grasping the middle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Have the left arm take the green mug from the table with a diagonal approach at its middle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "With the left hand, retrieve the green mug from the table by holding its middle at a diagonal angle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle, grasping the middle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Take the green mug from the table with a diagonal approach, holding the middle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Retrieve the green mug from the table by grasping its middle at a diagonal angle.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Retrieve the green mug from the table.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 2604, + "end_idx": 2640 + }, + { + "text": "Put the green mug to the left of the red marker with the handle facing backwards using the left hand.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Using the left hand, place the green mug to the left of the red marker with its handle facing backwards.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Have the left hand set the green mug left of the red marker, keeping the handle pointed backward.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "With the left hand, position the green mug to the left of the red marker so the handle faces the back.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Place the green mug to the left of the red marker with the handle facing backwards.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Set the green mug left of the red marker with its handle pointed backward.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Position the green mug to the left of the red marker so the handle faces back.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Using the left hand, place the green mug to the left of the red marker.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Have the left hand set the green mug left of the red marker.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "With the left hand, position the green mug to the left of the red marker.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Put the green mug to the left of the red marker.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Set the green mug left of the red marker.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Place the green mug beside the red marker on its left side.", + "start_idx": 2640, + "end_idx": 2682 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at the center.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "With the left hand, grasp the middle of the eggplant on the table and retrieve it at a diagonal angle.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding it at the center.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Grasp the eggplant from the table at its middle and pick it up diagonally.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Have the left arm take the eggplant from the table by its center.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "With the left hand, collect the eggplant from the table.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Grasp the eggplant from the table at the middle.", + "start_idx": 2754, + "end_idx": 2790 + }, + { + "text": "Put the eggplant behind the screwdriver with the left hand facing top left with the tip as the reference point.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Using the left hand, place the eggplant behind the screwdriver with its tip facing the top left.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Have the left arm set the eggplant behind the screwdriver, oriented top left by the tip.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "With the left hand, position the eggplant behind the screwdriver so the tip points to the top left.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Place the eggplant behind the screwdriver.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Set the eggplant behind the screwdriver.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Put the eggplant behind the screwdriver.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Using the left hand, place the eggplant behind the screwdriver.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Have the left arm put the eggplant behind the screwdriver.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Arrange the eggplant behind the screwdriver with the left hand.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Place the eggplant behind the screwdriver with its tip facing the top left.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Position the eggplant behind the screwdriver so the tip points top left.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Set the eggplant behind the screwdriver, oriented with the tip toward the top left.", + "start_idx": 2790, + "end_idx": 2823 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Have the left arm take the white cup from the table, holding it by the handle at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "With the left hand, grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Take the white cup from the table, keeping a diagonal angle and holding the handle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Pick up the white cup from the table with the left hand by the handle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle.", + "start_idx": 2823, + "end_idx": 2862 + }, + { + "text": "Put the white cup behind the green mug with the left hand right side up with the front facing backwards.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the white cup behind the green mug, right side up with the front facing backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Have the left arm set the white cup behind the green mug, keeping it upright and the front pointed backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "With the left hand, position the white cup behind the green mug so it stays right side up and its front faces backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Place the white cup behind the green mug, right side up with the front facing backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Set the white cup behind the green mug, keeping it upright and the front pointed backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Position the white cup behind the green mug so it remains right side up and its front faces backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Put the white cup behind the green mug.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Place the white cup behind the green mug.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Set the white cup behind the green mug with the left hand.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "With the left hand, put the white cup behind the green mug.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Have the left arm place the white cup behind the green mug.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Position the white cup behind the green mug with the front facing backward.", + "start_idx": 2862, + "end_idx": 2907 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Have the left arm grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "With the left hand, secure the green mug from the table via the handle on a diagonal.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Take the green mug from the table using the handle at a diagonal angle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "With the left hand, take the green mug from the table.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Have the left arm grasp the green mug from the table.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 2907, + "end_idx": 2943 + }, + { + "text": "Put the green mug in between the white cup and the eggplant with the handle facing backwards right side up using the left hand.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Using the left hand, place the green mug between the white cup and the eggplant, with its handle facing backward and the mug upright.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Have the left arm set the green mug in between the white cup and the eggplant, handle pointing backward, right side up.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "With the left hand, position the green mug between the white cup and the eggplant so the handle faces backward and it remains upright.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Place the green mug between the white cup and the eggplant, with the handle facing backward and right side up.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Set the green mug in between the white cup and the eggplant, handle pointing backward, upright.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Position the green mug between the white cup and the eggplant so its handle faces backward and the mug is right side up.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Using the left hand, put the green mug between the white cup and the eggplant.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Have the left arm place the green mug in between the white cup and the eggplant.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "With the left hand, set the green mug between the white cup and the eggplant.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Place the green mug between the white cup and the eggplant.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Set the green mug in between the white cup and the eggplant.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Position the green mug between the white cup and the eggplant.", + "start_idx": 2943, + "end_idx": 2982 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, gripping the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Have the left arm take the red marker from the table diagonally, grasping it at the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "With the left hand, collect the red marker from the table on a diagonal, holding the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, gripping the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Take the red marker from the table diagonally, grasping the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Grab the red marker from the table at a diagonal angle by the middle.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "With the left hand, pick up the red marker from the table.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Using the left hand, collect the red marker from the table.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Grab the red marker from the table.", + "start_idx": 3054, + "end_idx": 3087 + }, + { + "text": "Put the red marker in front of the white cup with the left hand with its tip facing top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Using the left hand, place the red marker in front of the white cup with its tip pointing to the top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Have the left arm set the red marker in front of the white cup, tip oriented top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "With the left hand, position the red marker before the white cup so its tip faces the top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Place the red marker in front of the white cup with its tip pointing to the top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Set the red marker before the white cup with the tip oriented top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Position the red marker in front of the white cup so the tip faces top left.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Using the left hand, put the red marker in front of the white cup.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "With the left hand, set the red marker before the white cup.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Have the left arm place the red marker in front of the white cup.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Put the red marker in front of the white cup.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Position the red marker before the white cup.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Set the red marker in front of the white cup.", + "start_idx": 3087, + "end_idx": 3126 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Have the left arm grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "With the left hand, secure the white cup from the table by the handle, keeping a diagonal approach.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Remove the white cup from the table using the handle at a diagonal angle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "With the left hand, take the white cup from the table at a diagonal angle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 3126, + "end_idx": 3159 + }, + { + "text": "Put the white cup in between the red marker and the screwdriver with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Using the left hand, place the white cup between the red marker and the screwdriver, right side up with the front as reference and the handle facing backward.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Have the left arm set the white cup between the red marker and the screwdriver, keeping it upright and oriented with the handle facing backward from the front reference.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "With the left hand, position the white cup in between the red marker and the screwdriver so it is right side up and the handle points backward relative to the front.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Place the white cup between the red marker and the screwdriver, right side up with the front as reference and the handle facing backward.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Set the white cup in between the red marker and the screwdriver, with the handle facing backward and the cup right side up from the front reference.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Position the white cup between the red marker and the screwdriver, keeping it upright with the handle toward the back based on the front.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Using the left hand, put the white cup between the red marker and the screwdriver.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Have the left arm place the white cup in between the red marker and the screwdriver.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "With the left hand, set the white cup between the red marker and the screwdriver.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Put the white cup between the red marker and the screwdriver.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Place the white cup between the red marker and the screwdriver, right side up.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Set the white cup in between the red marker and the screwdriver with the handle facing backward.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle from the middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Have the left arm grasp the red marker from the table diagonally at its middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "With the left hand, retrieve the red marker from the table, approaching diagonally at the middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Take the red marker from the table diagonally from its middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach at the middle.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 3198, + "end_idx": 3231 + }, + { + "text": "Put the red marker to the left of the eggplant with the left hand with its tip facing right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Using the left hand, place the red marker to the left of the eggplant with its tip pointing right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Have the left arm set the red marker left of the eggplant, tip facing right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "With the left hand, position the red marker on the eggplant's left side, keeping the tip directed right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Place the red marker to the left of the eggplant with its tip facing right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Set the red marker on the left side of the eggplant, with the tip pointing right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Position the red marker left of the eggplant, tip directed to the right.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Using the left hand, place the red marker to the left of the eggplant.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Have the left arm set the red marker on the eggplant's left side.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "With the left hand, position the red marker left of the eggplant.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Put the red marker to the left of the eggplant.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Place the red marker on the eggplant's left side.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Set the red marker left of the eggplant.", + "start_idx": 3231, + "end_idx": 3267 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grip at the top.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Have the left arm grasp the white cup from the table with a top diagonal lip hold.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "With the left hand, secure the white cup from the table using a diagonal lip grasp on its top.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grip at the top.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on the top.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Grasp the white cup from the table using a top diagonal lip grasp.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Take the white cup from the table using the left hand.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 3336, + "end_idx": 3375 + }, + { + "text": "Put the white cup to the left of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Using the left hand, place the white cup to the left of the eggplant, upright with its front facing backward.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Have the left arm set the white cup left of the eggplant, keeping it right side up and the front pointed backward.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "With the left hand, position the white cup to the eggplant's left, right side up with the front directed backward.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Place the white cup to the left of the eggplant, upright with its front facing backward.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Set the white cup left of the eggplant, keeping it right side up and the front pointed backward.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Position the white cup to the eggplant's left, with the front facing backward.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Arrange the white cup to the left of the eggplant in an upright position.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Put the white cup to the left of the eggplant.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Set the white cup on the eggplant's left side.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Have the white cup placed to the left of the eggplant.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Place the white cup left of the eggplant with the left hand.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "With the left hand, put the white cup to the left of the eggplant.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle with a diagonal grasp.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle on a diagonal approach.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Take the white cup from the table by the handle with a diagonal grasp.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Grasp the white cup from the table at the handle using a diagonal approach.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "With the left hand, take the white cup from the table.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Using the left hand, pick up the white cup from the table at the handle.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 3489, + "end_idx": 3531 + }, + { + "text": "Put the white cup in front of the red marker with the left hand right side up with the front facing backwards.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Using the left hand, place the white cup in front of the red marker upright with its front facing backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Have the left arm set the white cup in front of the red marker right side up, front oriented backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "With the left hand, position the white cup before the red marker, keeping it upright and its front facing backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Place the white cup in front of the red marker upright with its front facing backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Set the white cup before the red marker right side up, with the front pointing backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Position the white cup in front of the red marker, keeping it upright and front-facing backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Using the left hand, put the white cup in front of the red marker.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Have the left arm place the white cup before the red marker.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "With the left hand, set the white cup in front of the red marker.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Put the white cup in front of the red marker.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Place the white cup before the red marker upright.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Set the white cup in front of the red marker with its front facing backward.", + "start_idx": 3531, + "end_idx": 3576 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Have the left arm take hold of the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "With the left hand, grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Have the left arm take hold of the white cup from the table by the handle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Grasp the white cup from the table by the handle.", + "start_idx": 3669, + "end_idx": 3711 + }, + { + "text": "Put the white cup to the left of the red marker with the handle facing backwards using the left hand right side up.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Using the left hand, place the white cup left of the red marker, handle facing backwards, right side up.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Have the left arm set the white cup to the left of the red marker with its handle pointing backward, upright.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "With the left hand, position the white cup left of the red marker, keeping it upright and the handle facing backwards.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Place the white cup to the left of the red marker with the handle facing backwards, right side up.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Set the white cup left of the red marker, with its handle pointing backward and the cup upright.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Position the white cup to the left of the red marker, handle facing backwards, upright.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Using the left hand, put the white cup to the left of the red marker.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Have the left arm place the white cup left of the red marker.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "With the left hand, set the white cup to the left of the red marker.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Put the white cup to the left of the red marker.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Place the white cup left of the red marker.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Set the white cup to the left of the red marker.", + "start_idx": 3711, + "end_idx": 3759 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Have the left hand take the white cup from the table by the handle in a diagonal grasp.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle using a diagonal hold.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Take the white cup from the table by the handle in a diagonal grasp.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Grasp the white cup from the table at the handle with a diagonal hold.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Have the left hand take the white cup from the table.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Take the white cup from the table using the left hand.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 3831, + "end_idx": 3870 + }, + { + "text": "Put the white cup to the left of the screwdriver with the left hand right side up with the front facing backwards.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Using the left hand, place the white cup to the left of the screwdriver upright with its front facing backward.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Have the left arm set the white cup left of the screwdriver, right side up and with the front oriented backward.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "With the left hand, position the white cup to the screwdriver's left, keeping it upright and the front facing backward.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Place the white cup to the left of the screwdriver, upright with the front facing backward.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Set the white cup left of the screwdriver, right side up with its front toward the back.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Position the white cup to the screwdriver's left, keeping it upright and facing backward at the front.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Using the left hand, place the white cup to the left of the screwdriver.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Have the left arm set the white cup left of the screwdriver.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "With the left hand, position the white cup to the screwdriver's left.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Place the white cup to the left of the screwdriver.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Set the white cup left of the screwdriver.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Position the white cup to the screwdriver's left.", + "start_idx": 3870, + "end_idx": 3918 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "With the left hand, collect the eggplant from the table by gripping its middle at a diagonal angle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Get the eggplant from the table by gripping the middle at a diagonal angle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "With the left hand, collect the eggplant from the table.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 3918, + "end_idx": 3951 + }, + { + "text": "Put the eggplant behind the white cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Using the left hand, place the eggplant behind the white cup with the tip facing forwards.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Have the left arm set the eggplant behind the white cup, oriented forward from its tip.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "With the left hand, position the eggplant behind the white cup so its tip points forwards.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Place the eggplant behind the white cup with the tip facing forwards.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Set the eggplant behind the white cup, keeping its tip pointed forward.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Position the eggplant behind the white cup so the tip faces forwards.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Using the left hand, put the eggplant behind the white cup.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "With the left hand, place the eggplant behind the white cup.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Have the left arm set the eggplant behind the white cup.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Put the eggplant behind the white cup.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Set the eggplant behind the white cup.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Position the eggplant behind the white cup.", + "start_idx": 3950, + "end_idx": 3995 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the left hand, take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "With the left hand, secure the white cup from the table by the handle on a diagonal.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "The white cup from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Have the left arm take the white cup from the table by its handle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the left hand, grasp the white cup from the table by the handle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Grasp the white cup from the table by the handle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Put the white cup to the left of the screwdriver with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Using the left hand, place the white cup to the left of the screwdriver, right side up, with the handle facing backward using the front as reference.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Have the left arm set the white cup left of the screwdriver, keeping it right side up and the handle pointed backward relative to the front.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "With the left hand, position the white cup to the screwdriver's left, oriented right side up with its handle facing backward from the front.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Place the white cup to the left of the screwdriver, right side up, with the handle facing backward using the front as reference.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Set the white cup left of the screwdriver, keeping it upright and the handle pointed backward relative to the front.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Position the white cup to the screwdriver's left with the handle facing backward, right side up from the front reference.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Arrange the white cup left of the screwdriver with the handle toward the back.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Put the white cup to the left of the screwdriver.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Place the white cup to the screwdriver's left.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Set the white cup left of the screwdriver with the left hand.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Using the left hand, place the white cup to the left of the screwdriver.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Have the left arm position the white cup to the screwdriver's left.", + "start_idx": 4206, + "end_idx": 4254 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Have the left hand take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "With the left arm, grasp the eggplant at the middle from the table at a diagonal angle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Grasp the eggplant from the table at a diagonal angle by the middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Have the left hand take the eggplant from the table.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "With the left arm, grasp the eggplant from the table.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "From the table, take the eggplant by the middle.", + "start_idx": 4254, + "end_idx": 4293 + }, + { + "text": "Put the eggplant on the rear left of the red marker with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Using the left hand, place the eggplant at the rear left of the red marker, with its tip as the reference point and facing forwards.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Have the left arm set the eggplant on the rear-left side of the red marker, oriented forward using the tip as the reference point.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "With the left hand, position the eggplant to the rear left of the red marker so it faces forwards, taking the tip as the reference point.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Place the eggplant on the rear left of the red marker, with the tip as the reference point and facing forwards.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Set the eggplant at the rear-left side of the red marker, oriented forward with the tip as the reference point.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Position the eggplant to the rear left of the red marker, using the tip as the reference point and facing forwards.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Using the left hand, put the eggplant on the rear left of the red marker.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Have the left arm place the eggplant at the rear-left side of the red marker.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "With the left hand, set the eggplant to the rear left of the red marker.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Place the eggplant on the rear left of the red marker.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Set the eggplant at the rear-left side of the red marker.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Position the eggplant to the rear left of the red marker.", + "start_idx": 4293, + "end_idx": 4332 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Using the left hand, take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "With the left hand, retrieve the white cup from the table, holding its handle at a diagonal angle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Take the white cup from the table via the handle at a diagonal angle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Have the left arm take the white cup from the table by its handle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 4332, + "end_idx": 4377 + }, + { + "text": "Put the white cup to the left of the eggplant with the handle facing backwards right side up using the left hand.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Using the left hand, place the white cup to the left of the eggplant with its handle facing backward and upright.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Have the left arm set the white cup left of the eggplant, handle pointed backward, right side up.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "With the left hand, position the white cup to the eggplant's left, keeping the handle facing back and the cup upright.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Place the white cup to the left of the eggplant with its handle facing backward and upright.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Set the white cup left of the eggplant, with the handle pointed backward and right side up.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Position the white cup to the eggplant's left, keeping it upright with the handle facing back.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Using the left hand, put the white cup to the left of the eggplant.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Set the white cup to the left of the eggplant.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Place the white cup left of the eggplant.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "With the left hand, place the white cup to the eggplant's left.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Put the white cup to the left of the eggplant, keeping it upright.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Have the left arm set the white cup to the left of the eggplant.", + "start_idx": 4377, + "end_idx": 4422 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle from the middle.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "With the left hand, grasp the red marker from the table diagonally at its middle.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Have the left arm pick the red marker off the table with a diagonal middle grasp.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Take the red marker off the table diagonally from the middle.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Grasp the red marker from the table at a diagonal angle from its middle.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "With the left hand, take the red marker off the table.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Using the left hand, pick up the red marker from the table diagonally.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Take the red marker from the table with a diagonal grasp.", + "start_idx": 4503, + "end_idx": 4539 + }, + { + "text": "Put the red marker to the left of the screwdriver with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Using the left hand, place the red marker to the left of the screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Have the left arm set the red marker to the screwdriver's left, oriented forwards using the tip as the reference point.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "With the left hand, position the red marker on the left side of the screwdriver, pointing forwards with the tip as the reference point.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Place the red marker to the left of the screwdriver.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Set the red marker on the left side of the screwdriver.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Position the red marker to the screwdriver's left.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Using the left hand, put the red marker to the left of the screwdriver.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Have the left arm place the red marker on the left side of the screwdriver.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "With the left hand, set the red marker to the screwdriver's left.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Arrange the red marker to the left of the screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Place the red marker on the left side of the screwdriver, oriented forwards from the tip.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Position the red marker to the screwdriver's left, with the tip facing forwards.", + "start_idx": 4539, + "end_idx": 4572 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Have the left arm take the white cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "With the left hand, retrieve the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Retrieve the white cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Have the left arm take the white cup from the table by its handle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "With the left hand, retrieve the white cup from the table via the handle.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Retrieve the white cup from the table.", + "start_idx": 4572, + "end_idx": 4608 + }, + { + "text": "Put the white cup to the left of the red marker with the left hand right side up with the front facing backwards.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Using the left hand, place the white cup to the left of the red marker, right side up, with the front facing backward.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Have the left arm set the white cup left of the red marker, keeping it upright and the front pointed backward.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "With the left hand, position the white cup on the left side of the red marker, right side up and front facing backward.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Place the white cup to the left of the red marker, right side up, with the front facing backward.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Set the white cup on the left side of the red marker, upright, with its front pointed backward.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Position the white cup left of the red marker, keeping it right side up and the front toward the back.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Using the left hand, put the white cup to the left of the red marker.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Have the left arm place the white cup on the left side of the red marker.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "With the left hand, set the white cup left of the red marker.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Put the white cup to the left of the red marker.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Position the white cup on the left side of the red marker.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Set the white cup left of the red marker.", + "start_idx": 4608, + "end_idx": 4647 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle from the middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Have the left arm grasp the eggplant from the table diagonally at its middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "With the left hand, take the eggplant off the table using a diagonal middle grasp.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle from the middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Take the eggplant off the table diagonally from its middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Grasp the eggplant from the table at a diagonal angle at the middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "The eggplant should be picked up from the table from the middle.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Have the left arm take the eggplant off the table.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "With the left hand, grasp the eggplant from the table.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Take the eggplant off the table.", + "start_idx": 4725, + "end_idx": 4755 + }, + { + "text": "Put the eggplant to the left of the green mug with the left hand with its tip facing top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Using the left hand, place the eggplant to the left of the green mug with its tip pointing to the top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Have the left arm set the eggplant left of the green mug, tip oriented toward the top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "With the left hand, position the eggplant on the green mug's left side, keeping its tip aimed at the top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Place the eggplant to the left of the green mug with its tip pointing to the top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Set the eggplant on the left side of the green mug, with the tip aimed toward the top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Position the eggplant left of the green mug, tip directed to the top right.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Using the left hand, place the eggplant to the left of the green mug.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "With the left hand, set the eggplant on the green mug's left side.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Have the left arm position the eggplant left of the green mug.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Place the eggplant to the left of the green mug.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Set the eggplant on the left side of the green mug.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Have the eggplant placed left of the green mug.", + "start_idx": 4755, + "end_idx": 4791 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "With the left hand, grasp the eggplant at the middle and remove it from the table diagonally.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Take the eggplant from the table diagonally by its middle.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Grasp the middle of the eggplant and pick it up from the table at a diagonal angle.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "With the left hand, pick up the eggplant from the table.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Use the left arm to take the eggplant from the table.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Have the left hand grasp the eggplant and remove it from the table.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Grasp the eggplant from the table and pick it up.", + "start_idx": 4872, + "end_idx": 4899 + }, + { + "text": "Put the eggplant to the rear left of the white cup with the left hand facing top right by the tip.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Using the left hand, place the eggplant to the rear left of the white cup with its tip facing the top right.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Have the left arm set the eggplant rear-left of the white cup, oriented so the tip points top right.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "With the left hand, position the eggplant at the rear left of the white cup, tip directed toward the top right.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Place the eggplant to the rear left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Set the eggplant rear-left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Position the eggplant at the rear left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Move the eggplant to the rear left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Using the left hand, place the eggplant to the rear left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Have the left arm set the eggplant rear-left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "With the left hand, position the eggplant at the rear left of the white cup.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Place the eggplant rear-left of the white cup with its tip facing the top right.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Set the eggplant to the rear left of the white cup, with the tip oriented toward the top right.", + "start_idx": 4899, + "end_idx": 4941 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Have the left arm take the red marker from the table at a diagonal angle by its middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally, holding the middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle, holding its middle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "With the left hand, pick up the red marker from the table.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Using the left hand, retrieve the red marker from the table.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Grasp the middle of the red marker from the table.", + "start_idx": 4941, + "end_idx": 4974 + }, + { + "text": "Put the red marker in front of the eggplant with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Using the left hand, place the red marker in front of the eggplant with the tip facing forwards.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Have the left arm set the red marker in front of the eggplant, oriented forwards by its tip.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "With the left hand, position the red marker before the eggplant so the tip points forwards.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Place the red marker in front of the eggplant with the tip facing forwards.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Set the red marker before the eggplant with the tip oriented forwards.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Position the red marker in front of the eggplant so its tip points forwards.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Using the left hand, put the red marker in front of the eggplant.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Have the left arm place the red marker before the eggplant.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "With the left hand, set the red marker in front of the eggplant.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Place the red marker in front of the eggplant.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Set the red marker before the eggplant.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Position the red marker in front of the eggplant.", + "start_idx": 4974, + "end_idx": 5007 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Have the left arm take the white cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "With the left hand, grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "From the table, collect the white cup at a diagonal angle by the handle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 5166, + "end_idx": 5199 + }, + { + "text": "Put the white cup behind the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Using the left hand, place the white cup behind the eggplant, upright, with its front facing backward.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Have the left arm set the white cup behind the eggplant right side up, front oriented backward.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "With the left hand, position the white cup behind the eggplant so it stays upright and its front faces backward.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Place the white cup behind the eggplant right side up with the front facing backward.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Set the white cup behind the eggplant upright with its front toward the back.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Position the white cup behind the eggplant so it is right side up and front-facing backward.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Using the left hand, put the white cup behind the eggplant.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "With the left hand, set the white cup behind the eggplant.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Have the left arm place the white cup behind the eggplant.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Put the white cup behind the eggplant.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Set the white cup behind the eggplant.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Position the white cup behind the eggplant.", + "start_idx": 5199, + "end_idx": 5241 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Have the left arm grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, approaching diagonally at the middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Take the screwdriver from the table diagonally from the middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal approach at its middle.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Get the screwdriver from the table using the left hand.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "With the left hand, pick the screwdriver up from the table.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Grab the screwdriver from the table.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Using the left hand, retrieve the screwdriver from the table.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Take the screwdriver from the table diagonally.", + "start_idx": 5241, + "end_idx": 5283 + }, + { + "text": "Place the screwdriver to the right of the green mug with the left hand facing top left with the tip as the reference point.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Using the left hand, set the screwdriver to the right of the green mug with the tip facing top left.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Have the left arm place the screwdriver to the right of the green mug, oriented top left at the tip.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "With the left hand, position the screwdriver right of the green mug so its tip points top left.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Place the screwdriver to the right of the green mug with the tip facing top left.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Set the screwdriver right of the green mug, with the tip oriented top left.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Position the screwdriver to the right of the green mug so the tip points top left.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Put the screwdriver to the right of the green mug.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Set the screwdriver right of the green mug.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Position the screwdriver to the right of the green mug.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Place the screwdriver beside the green mug on its right.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Have the left arm place the screwdriver to the right of the green mug.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Using the left hand, set the screwdriver beside the green mug on its right side.", + "start_idx": 5283, + "end_idx": 5322 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Have the left hand pick the red marker up from the table diagonally by the middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "With the left hand, retrieve the red marker from the table at a diagonal angle while holding the middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach, holding its middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Have the left hand retrieve the red marker from the table.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Retrieve the red marker from the table by the middle.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Put the red marker in front of the green mug with the left hand facing bottom right tip.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "With the left hand, place the red marker in front of the green mug with its tip facing bottom right.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Have the left arm set the red marker in front of the green mug, tip oriented toward the bottom right.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Using the left hand, position the red marker before the green mug with the tip pointing bottom right.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Place the red marker in front of the green mug with its tip facing bottom right.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Set the red marker before the green mug with the tip oriented bottom right.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Position the red marker in front of the green mug, tip pointing to the bottom right.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "With the left hand, place the red marker in front of the green mug.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Using the left hand, set the red marker before the green mug.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Have the left arm position the red marker in front of the green mug.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Put the red marker in front of the green mug.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Set the red marker before the green mug.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "With the left hand, put the red marker in front of the green mug.", + "start_idx": 5358, + "end_idx": 5397 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "With the left hand, collect the eggplant from the table diagonally by the middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Take the eggplant from the table diagonally by its middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup at the middle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Have the left arm collect the eggplant from the table.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "From the table, take the eggplant diagonally.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Have the left arm pick up the eggplant from the table.", + "start_idx": 5397, + "end_idx": 5439 + }, + { + "text": "Place the eggplant to the left of the red marker with the left hand facing forwards with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Using the left hand, set the eggplant to the left of the red marker, facing forwards with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Have the left arm place the eggplant left of the red marker, oriented forward using the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "With the left hand, position the eggplant to the red marker's left, facing forward with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Place the eggplant to the left of the red marker, facing forwards with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Set the eggplant left of the red marker, facing forward with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Position the eggplant on the left side of the red marker, with the tip as the reference point and facing forwards.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Using the left hand, place the eggplant to the left of the red marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "With the left hand, set the eggplant left of the red marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Have the left arm position the eggplant to the red marker's left.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Place the eggplant to the left of the red marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Set the eggplant on the left side of the red marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Put the eggplant left of the red marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "With the left hand, seize the white cup from the table via the handle at a diagonal angle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "From the table, grasp the white cup via the handle at a diagonal angle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "With a diagonal approach, pick up the white cup from the table.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "From the table, collect the white cup.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Grab the white cup from the table with the left hand.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 5472, + "end_idx": 5511 + }, + { + "text": "Put the white cup to the left of the eggplant with the handle facing backwards right side up using the left hand.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Using the left hand, place the white cup to the left of the eggplant, handle facing backwards and right side up.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Have the left arm set the white cup left of the eggplant with its handle pointing backward, right side up.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "With the left hand, position the white cup on the eggplant's left side, keeping the handle facing backward and the cup upright.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Place the white cup to the left of the eggplant with the handle facing backwards and right side up.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Set the white cup on the left side of the eggplant, with its handle pointing backward and upright.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Position the white cup left of the eggplant, handle facing backward and right side up.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Using the left hand, put the white cup to the left of the eggplant.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Have the left arm place the white cup on the eggplant's left side.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "With the left hand, set the white cup left of the eggplant.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Put the white cup to the left of the eggplant.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Place the white cup on the eggplant's left side.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Set the white cup left of the eggplant.", + "start_idx": 5511, + "end_idx": 5550 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp at the top.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grasp at the top.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "With the left arm, grasp the white cup off the table using a top diagonal lip hold.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Have the left hand pick the white cup up from the table with a diagonal lip grip at the top.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the top.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Take the white cup off the table with a diagonal lip grip at the top.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Grasp the white cup from the table with a top diagonal lip hold.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "With the left arm, take the white cup off the table.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Have the left hand grasp the white cup from the table.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Using the left hand, pick up the white cup from the table at the top.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 5550, + "end_idx": 5586 + }, + { + "text": "Place the white cup behind the eggplant with the handle facing backwards right side up with the left hand.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Using the left hand, set the white cup behind the eggplant, keeping it upright with the handle facing backward.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Have the left hand place the white cup behind the eggplant so the handle points backward and the cup stays right side up.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "With the left hand, position the white cup behind the eggplant, upright and with its handle facing the back.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Place the white cup behind the eggplant with the handle facing backward and right side up.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Set the white cup behind the eggplant, upright with its handle pointing backward.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Position the white cup behind the eggplant so it stays upright and the handle faces the back.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Put the white cup behind the eggplant.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Place the white cup behind the eggplant using the left hand.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "With the left hand, set the white cup behind the eggplant.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Have the left hand put the white cup behind the eggplant.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Place the white cup behind the eggplant with the handle facing backward.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Set the white cup behind the eggplant upright.", + "start_idx": 5586, + "end_idx": 5622 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "With the left hand, retrieve the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Retrieve the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Take the eggplant from the table by grasping the middle.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 5769, + "end_idx": 5808 + }, + { + "text": "Put the eggplant on the top left side of the table with the left hand facing forwards with the tip facing forwards.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Using the left hand, place the eggplant on the table's top left side with its tip facing forwards.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Have the left arm set the eggplant at the top left area of the table, oriented so the tip points forwards.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "With the left hand, position the eggplant on the top left side of the table, keeping the tip facing forwards.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Place the eggplant on the top left side of the table.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Set the eggplant on the table's top left side.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Position the eggplant at the top left area of the table.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Put the eggplant on the top left side of the table.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Using the left hand, place the eggplant on the top left side of the table.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Have the left arm set the eggplant at the table's top left area.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "With the left hand, position the eggplant at the top left side of the table.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Place the eggplant on the table's top left side with the tip facing forwards.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Set the eggplant at the top left area of the table with its tip pointing forwards.", + "start_idx": 5808, + "end_idx": 5850 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal top lip grasp.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal top lip grasp.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Have the left arm take the white cup from the table using a diagonal grasp on the top lip.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "With the left hand, grasp the white cup from the table by its top lip at a diagonal angle.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Pick up the white cup from the table using a diagonal top lip grasp.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Take the white cup from the table with a diagonal top lip grasp.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Grasp the white cup from the table by the top lip diagonally.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Use the left hand to pick up the white cup from the table.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "With the left hand, take the white cup from the table.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 5934, + "end_idx": 5979 + }, + { + "text": "Put the white cup behind the green mug with the handle facing backwards right side up with the left hand.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Using the left hand, place the white cup behind the green mug with the handle facing backward, right side up.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Have the left arm set the white cup behind the green mug, keeping it upright and the handle pointed backward.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "With the left hand, position the white cup behind the green mug so the handle faces the back and it stays right side up.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Place the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Set the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Position the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Arrange the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Using the left hand, put the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Have the left arm place the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Set the white cup behind the green mug with the handle facing backward, right side up.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Position the white cup behind the green mug so the handle faces the back.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Using the left hand, place the white cup behind the green mug.", + "start_idx": 5979, + "end_idx": 6021 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Have the left hand take the eggplant from the table with a diagonal pickup, holding its middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "With the left arm, retrieve the eggplant from the table at a diagonal angle by grasping the middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup, holding the middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Retrieve the eggplant from the table at a diagonal angle by gripping its middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Have the left hand take the eggplant from the table.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "With the left arm, retrieve the eggplant from the table.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 6099, + "end_idx": 6141 + }, + { + "text": "Put the eggplant on the bottom side of the table with the left hand with its tip facing top right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Using the left hand, place the eggplant on the bottom side of the table with its tip pointing to the top right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Have the left arm set the eggplant on the table's bottom side, tip oriented toward the top right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "With the left hand, position the eggplant on the bottom side of the table so its tip faces the upper right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Place the eggplant on the bottom side of the table with its tip pointing to the top right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Set the eggplant on the table's bottom side with its tip facing the upper right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Position the eggplant on the bottom side of the table so its tip faces top right.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Using the left hand, put the eggplant on the bottom side of the table.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "With the left hand, place the eggplant on the table's bottom side.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Have the left arm set the eggplant on the bottom side of the table.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Put the eggplant on the bottom side of the table.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Set the eggplant on the table's bottom side.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Position the eggplant on the bottom side of the table.", + "start_idx": 6141, + "end_idx": 6174 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Have the left arm pick up the green mug from the table by its handle at a diagonal angle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Grasp the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "From the table, collect the green mug by the handle at a diagonal angle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Using the left hand, retrieve the green mug from the table.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "From the table, pick up the green mug with the left hand.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 6273, + "end_idx": 6315 + }, + { + "text": "Put the green mug to the left of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant, right side up, with its front facing backward.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Have the left arm set the green mug left of the eggplant, upright, with the front oriented backward.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "With the left hand, position the green mug to the eggplant's left, right side up and facing backward at the front.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Place the green mug to the left of the eggplant, right side up, with its front facing backward.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Set the green mug left of the eggplant, upright, with the front directed backward.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Position the green mug to the eggplant's left, with its front facing backward and right side up.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Have the left arm set the green mug left of the eggplant.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "With the left hand, position the green mug to the eggplant's left.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Put the green mug to the left of the eggplant.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Set the green mug to the eggplant's left.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Have the green mug placed left of the eggplant.", + "start_idx": 6315, + "end_idx": 6363 + }, + { + "text": "Pick up the green mug from the table with the left hand using a lip grip at the left side and a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Using the left hand, pick up the green mug from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Have the left arm take the green mug from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "With the left hand, grasp the green mug from the table using the lip at the left side on a diagonal.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Pick up the green mug from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Take the green mug from the table using a lip grasp on the left side at a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Grasp the green mug from the table with the lip on the left side at a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Using the left hand, pick up the green mug from the table with a lip grip.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Using the left hand, pick up the green mug from the table at the left side and a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Have the left arm take the green mug from the table at a diagonal angle.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 6549, + "end_idx": 6603 + }, + { + "text": "Put the green mug behind the red marker with the left hand right side up with the front facing backwards.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Using the left hand, place the green mug behind the red marker, right side up, with the front facing backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Have the left arm set the green mug behind the red marker upright, with its front directed backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "With the left hand, position the green mug behind the red marker so it stays right side up and faces backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Place the green mug behind the red marker, right side up, with the front facing backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Set the green mug behind the red marker upright, with its front directed backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Position the green mug behind the red marker so it remains right side up and faces backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Using the left hand, put the green mug behind the red marker.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "With the left hand, place the green mug behind the red marker.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Have the left arm set the green mug behind the red marker.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Put the green mug behind the red marker.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Place the green mug behind the red marker upright.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Set the green mug behind the red marker with the front facing backward.", + "start_idx": 6603, + "end_idx": 6648 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "With the left hand, collect the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Grab the eggplant from the table at a diagonal angle by the middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Have the left arm collect the eggplant from the table.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "From the table, take the eggplant by the middle.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 6732, + "end_idx": 6771 + }, + { + "text": "Put the eggplant to the left of the red marker with the left hand facing bottom left from the tip.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Using the left hand, place the eggplant to the left of the red marker with its tip facing bottom left.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Have the left arm set the eggplant left of the red marker, oriented bottom left from the tip.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "With the left hand, position the eggplant to the left of the red marker so the tip points bottom left.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Place the eggplant to the left of the red marker with its tip facing bottom left.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Set the eggplant left of the red marker, oriented bottom left from the tip.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Position the eggplant to the left of the red marker so the tip points bottom left.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Using the left hand, place the eggplant to the left of the red marker.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "With the left hand, set the eggplant left of the red marker.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Have the left arm position the eggplant to the left of the red marker.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Place the eggplant to the left of the red marker.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Set the eggplant left of the red marker.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Put the eggplant beside the left side of the red marker.", + "start_idx": 6771, + "end_idx": 6804 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Have the left arm pick up the green mug from the table, gripping the handle at a diagonal angle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "The green mug from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "With the left hand, take the green mug from the table at a diagonal angle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Have the left arm pick up the green mug from the table at a diagonal angle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 6888, + "end_idx": 6936 + }, + { + "text": "Put the green mug to the left of the eggplant with the handle facing backwards right side up using the left hand.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant, right side up, with the handle facing backward.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Have the left arm set the green mug left of the eggplant with its handle pointing backward and the mug upright.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "The green mug should go to the eggplant's left, upright with the handle facing back, placed by the left hand.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Place the green mug to the left of the eggplant with the handle facing backward and right side up.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Set the green mug left of the eggplant, upright and with its handle pointed backward.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Position the green mug to the eggplant's left, keeping it upright with the handle facing back.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Using the left hand, put the green mug to the left of the eggplant.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Have the left arm place the green mug on the eggplant's left side.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "With the left hand, set the green mug beside the eggplant on its left.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Put the green mug to the left of the eggplant.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Place the green mug on the left side of the eggplant.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Set the green mug beside the eggplant on its left.", + "start_idx": 6936, + "end_idx": 6990 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Have the left arm pick the eggplant off the table diagonally by the middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "With the left hand, collect the eggplant from the table, approaching at a diagonal and holding the middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Take the eggplant off the table diagonally by the middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Get the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "The eggplant should be taken from the table with the left hand.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "With the left hand, grasp the eggplant from the table.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Take the eggplant off the table.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Have the eggplant picked up from the table.", + "start_idx": 7071, + "end_idx": 7107 + }, + { + "text": "Put the eggplant behind the green mug with the left hand facing bottom left with the tip as reference.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Using the left hand, place the eggplant behind the green mug with the tip facing bottom left.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Have the left arm set the eggplant behind the green mug, tip oriented toward the bottom left.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "With the left hand, position the eggplant behind the green mug so its tip points bottom left.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Place the eggplant behind the green mug with the tip facing bottom left.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Set the eggplant behind the green mug, with its tip directed toward the bottom left.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Position the eggplant behind the green mug so the tip points to the bottom left.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Using the left hand, put the eggplant behind the green mug.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "With the left hand, place the eggplant behind the green mug.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Have the left arm set the eggplant behind the green mug.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Place the eggplant behind the green mug.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Set the eggplant behind the green mug.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Position the eggplant behind the green mug.", + "start_idx": 7107, + "end_idx": 7146 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Have the left arm take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "With the left hand, grasp the green mug from the table via the handle at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Grasp the green mug from the table via the handle at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "With the left hand, pick up the green mug from the table by the handle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Using the left hand, take the green mug from the table by its handle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Have the left arm grasp the green mug from the table at the handle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Take the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 7146, + "end_idx": 7191 + }, + { + "text": "Put the green mug to the right of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Using the left hand, place the green mug to the right of the eggplant upright with the front facing backward.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Have the left arm set the green mug down to the eggplant's right, right side up and with its front facing backwards.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "With the left hand, position the green mug to the right of the eggplant so it is upright and its front points backward.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Place the green mug to the right of the eggplant.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Set the green mug down to the right of the eggplant.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Position the green mug on the right side of the eggplant.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Using the left hand, put the green mug to the right of the eggplant.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Have the left arm place the green mug to the right of the eggplant.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "With the left hand, set the green mug on the eggplant's right side.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Place the green mug to the right of the eggplant upright.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Set the green mug down to the eggplant's right with its front facing backwards.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Using the left hand, place the green mug to the right of the eggplant upright.", + "start_idx": 7191, + "end_idx": 7239 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Have the left arm take the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "With the left hand, retrieve the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Retrieve the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Have the left arm take the green mug from the table via the handle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "With the left hand, retrieve the green mug from the table.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Retrieve the green mug from the table.", + "start_idx": 7473, + "end_idx": 7515 + }, + { + "text": "Place the green mug to the left of the red marker with the left hand right side up front.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Using the left hand, set the green mug to the left of the red marker right side up with the front facing forward.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Have the left arm place the green mug left of the red marker, keeping it upright with the front oriented forward.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "With the left hand, position the green mug to the left of the red marker in an upright pose, front forward.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Place the green mug to the left of the red marker right side up with the front facing forward.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Set the green mug left of the red marker upright, with its front forward.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Position the green mug to the left of the red marker, keeping it right side up and the front forward.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Using the left hand, place the green mug to the left of the red marker.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Have the left arm set the green mug left of the red marker.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "With the left hand, position the green mug to the left of the red marker.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Place the green mug to the left of the red marker.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Set the green mug left of the red marker.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Have the left arm place the green mug left of the red marker, keeping it upright.", + "start_idx": 7515, + "end_idx": 7560 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach and hold it at the middle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "With the left hand, grasp the eggplant from the table at the middle using a diagonal pickup angle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "From the table, grasp the eggplant at the middle with a diagonal pickup.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "With the left hand, grasp the eggplant from the table.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Take the eggplant from the table, grasping the middle.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Put the eggplant to the left of the green mug with the left hand facing bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Using the left hand, place the eggplant to the left of the green mug with its tip facing bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Have the left arm set the eggplant left of the green mug, tip oriented toward the bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "With the left hand, position the eggplant to the left of the green mug so the tip points bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Place the eggplant to the left of the green mug with its tip facing bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Set the eggplant left of the green mug, with the tip oriented bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Position the eggplant to the left of the green mug so its tip faces bottom right.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Using the left hand, put the eggplant to the left of the green mug.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "With the left hand, set the eggplant left of the green mug.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Have the left arm place the eggplant to the left of the green mug.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Place the eggplant to the left of the green mug.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Set the eggplant left of the green mug.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Position the eggplant to the left of the green mug.", + "start_idx": 7599, + "end_idx": 7635 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Have the left arm grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "With the left hand, take the green mug from the table using the handle at a diagonal angle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "From the table, grasp the green mug by its handle at a diagonal angle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Using the left hand, take the green mug from the table by the handle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Have the left arm grasp the green mug from the table at a diagonal angle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "From the table, take the green mug with the left hand.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Grasp the green mug from the table by its handle.", + "start_idx": 7788, + "end_idx": 7827 + }, + { + "text": "Put the green mug in front of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Using the left hand, place the green mug in front of the eggplant, right side up, with its front facing backward.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Have the left arm set the green mug before the eggplant, keeping it upright and oriented with the front toward the back.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "With the left hand, position the green mug in front of the eggplant so it stays right side up and its front faces backward.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Place the green mug in front of the eggplant, right side up, with its front facing backward.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Set the green mug before the eggplant, upright, with the front oriented backward.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Position the green mug in front of the eggplant, keeping it right side up and facing backward.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Using the left hand, put the green mug in front of the eggplant.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "With the left hand, place the green mug before the eggplant.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Have the left arm set the green mug in front of the eggplant.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Put the green mug in front of the eggplant.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Set the green mug before the eggplant.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Using the left hand, position the green mug before the eggplant.", + "start_idx": 7826, + "end_idx": 7880 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a diagonal approach at its middle.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at the middle on a diagonal.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal approach at its middle.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Using the left hand, grasp the screwdriver from the table.", + "start_idx": 7968, + "end_idx": 8007 + }, + { + "text": "Place the screwdriver behind the eggplant with the left hand with the tip facing left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Using the left hand, set the screwdriver behind the eggplant with the tip pointing left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Have the left arm place the screwdriver behind the eggplant, tip oriented to the left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "With the left hand, position the screwdriver behind the eggplant so its tip faces left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Place the screwdriver behind the eggplant with the tip facing left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Set the screwdriver behind the eggplant with the tip pointing left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Position the screwdriver behind the eggplant, with its tip to the left.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Using the left hand, place the screwdriver behind the eggplant.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "With the left hand, set the screwdriver behind the eggplant.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Have the left arm position the screwdriver behind the eggplant.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Place the screwdriver behind the eggplant.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Set the screwdriver behind the eggplant.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Position the screwdriver behind the eggplant.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "With the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Using the left arm, grasp the green mug from the table diagonally at the handle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Have the left hand pick the green mug up from the table with a diagonal handle grasp.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Take the green mug from the table diagonally by the handle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Grasp the green mug from the table with a handle hold at a diagonal angle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "With the left arm, take the green mug from the table at a diagonal angle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "The green mug should be picked up from the table with the left hand.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Take the green mug from the table at a diagonal angle.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Using the left hand, grasp the green mug from the table.", + "start_idx": 8121, + "end_idx": 8160 + }, + { + "text": "Put the green mug to the left of the eggplant with the left hand with the handle facing backwards.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant with the handle facing backwards.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Have the left arm set the green mug left of the eggplant, handle facing backward.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "With the left hand, position the green mug to the eggplant's left, keeping the handle pointed backwards.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Place the green mug to the left of the eggplant with the handle facing backwards.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Set the green mug left of the eggplant, with the handle facing backward.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Position the green mug to the eggplant's left, handle pointed backwards.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Using the left hand, put the green mug to the left of the eggplant.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Have the left arm place the green mug left of the eggplant.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "With the left hand, set the green mug to the eggplant's left.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Put the green mug to the left of the eggplant.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Set the green mug left of the eggplant.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Position the green mug to the eggplant's left.", + "start_idx": 8160, + "end_idx": 8202 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup at the middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Retrieve the eggplant from the table diagonally, holding its middle.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 8280, + "end_idx": 8313 + }, + { + "text": "Put the eggplant to the front right of the green mug with the left hand with its tip facing left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Using the left hand, place the eggplant at the green mug's front-right, with its tip pointing left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Have the left arm set the eggplant to the front right of the green mug, tip facing left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "With the left hand, position the eggplant in front-right of the green mug so its tip faces left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Place the eggplant to the front right of the green mug, with its tip facing left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Set the eggplant at the green mug's front-right, keeping the tip pointed left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Position the eggplant front-right of the green mug, with the tip oriented left.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Using the left hand, put the eggplant to the front right of the green mug.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "With the left hand, place the eggplant at the green mug's front-right.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Have the left arm set the eggplant in front-right of the green mug.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Put the eggplant to the front right of the green mug.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Place the eggplant at the green mug's front-right.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Set the eggplant in front-right of the green mug.", + "start_idx": 8313, + "end_idx": 8355 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Using the left hand, take the green mug from the table with a diagonal grasp on the handle.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Have the left arm pick up the green mug from the table by the handle with a diagonal grip.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "With the left hand, grasp the green mug from the table at the handle in a diagonal hold.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Pick up the green mug from the table using a diagonal grasp at the handle.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Take the green mug from the table with a diagonal grip on the handle.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Grasp the green mug from the table by the handle in a diagonal hold.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Using the left hand, take the green mug from the table.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 8433, + "end_idx": 8472 + }, + { + "text": "Put the green mug to the left of the eggplant with the handle facing backwards using the left hand right side up from the front.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Using the left hand, place the green mug left of the eggplant, right side up, with the handle facing backward from the front.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Have the left hand set the green mug to the eggplant's left, keeping it upright and the handle pointing backward from the front.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "With the left hand, position the green mug on the left side of the eggplant, right side up and with the handle facing backward from the front.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Place the green mug to the left of the eggplant.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Set the green mug on the eggplant's left side.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Position the green mug left of the eggplant.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Using the left hand, put the green mug to the left of the eggplant.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "With the left hand, set the green mug on the left side of the eggplant.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Have the left hand place the green mug left of the eggplant.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Place the green mug left of the eggplant, right side up.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Set the green mug to the left of the eggplant with the handle facing backward.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Position the green mug on the eggplant's left side, upright.", + "start_idx": 8472, + "end_idx": 8517 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table, holding the middle.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Take the screwdriver from the table with the left hand.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Retrieve the screwdriver from the table.", + "start_idx": 8589, + "end_idx": 8628 + }, + { + "text": "Put the screwdriver behind the green mug with the left hand with its tip facing bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Using the left hand, place the screwdriver behind the green mug with its tip pointing to the bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Have the left arm set the screwdriver behind the green mug, tip directed bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "With the left hand, position the screwdriver behind the green mug so its tip faces the bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Place the screwdriver behind the green mug with its tip pointing to the bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Set the screwdriver behind the green mug so its tip faces bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Position the screwdriver behind the green mug, with the tip directed to the bottom right.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Using the left hand, put the screwdriver behind the green mug.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Have the left arm place the screwdriver behind the green mug.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "With the left hand, set the screwdriver behind the green mug.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Place the screwdriver behind the green mug.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Set the screwdriver behind the green mug.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Position the screwdriver behind the green mug.", + "start_idx": 8628, + "end_idx": 8676 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Have the left arm grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "With the left hand, collect the green mug from the table using a diagonal approach at the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Grasp the green mug from the table at a diagonal angle by its handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "With the left hand, take the green mug from the table at the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Have the left arm collect the green mug from the table by its handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Get the green mug from the table.", + "start_idx": 8676, + "end_idx": 8709 + }, + { + "text": "Put the green mug to the left of the screwdriver with the left hand right side up with the front facing backwards.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Using the left hand, place the green mug to the screwdriver's left, right side up, with the front facing backward.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Have the left arm set the green mug down left of the screwdriver, upright, with its front toward the back.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "With the left hand, position the green mug to the left of the screwdriver, keeping it right side up and the front facing backwards.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Place the green mug to the left of the screwdriver, right side up, with the front facing backwards.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Set the green mug down left of the screwdriver, upright, with its front toward the back.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Position the green mug to the screwdriver's left, keeping it right side up and the front facing backward.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Arrange the green mug left of the screwdriver in an upright pose with the front facing backwards.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Using the left hand, place the green mug to the left of the screwdriver.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "With the left hand, set the green mug down left of the screwdriver.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Have the left arm position the green mug to the screwdriver's left.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Place the green mug to the left of the screwdriver.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Set the green mug down to the screwdriver's left.", + "start_idx": 8709, + "end_idx": 8748 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at the middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at the middle.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 8748, + "end_idx": 8784 + }, + { + "text": "Put the eggplant in front of the screwdriver with the left hand with its tip facing top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Using the left hand, place the eggplant in front of the screwdriver with its tip facing the top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Have the left arm set the eggplant in front of the screwdriver, tip oriented toward the top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "With the left hand, position the eggplant in front of the screwdriver so its tip points top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Place the eggplant in front of the screwdriver with its tip facing the top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Set the eggplant in front of the screwdriver, with the tip pointing to the top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Position the eggplant in front of the screwdriver so the tip faces top right.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Using the left hand, put the eggplant in front of the screwdriver.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "With the left hand, place the eggplant in front of the screwdriver.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Have the left arm set the eggplant in front of the screwdriver.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Put the eggplant in front of the screwdriver.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Place the eggplant in front of the screwdriver.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Set the eggplant in front of the screwdriver.", + "start_idx": 8784, + "end_idx": 8823 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by grasping its middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Retrieve the eggplant from the table diagonally, holding the middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup at its middle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Put the eggplant behind the red marker with the left hand with its tip facing top right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Using the left hand, place the eggplant behind the red marker with its tip pointing to the top right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Have the left arm set the eggplant behind the red marker so the tip faces the upper right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "With the left hand, position the eggplant behind the red marker, tip oriented toward the top right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Place the eggplant behind the red marker with its tip facing the top right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Set the eggplant behind the red marker so its tip points upper right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Position the eggplant behind the red marker, keeping the tip directed to the top right.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Using the left hand, put the eggplant behind the red marker.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "With the left hand, place the eggplant behind the red marker.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Have the left arm position the eggplant behind the red marker.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Put the eggplant behind the red marker.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Set the eggplant behind the red marker.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Position the eggplant behind the red marker.", + "start_idx": 9015, + "end_idx": 9054 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Have the left arm take hold of the green mug from the table by the handle at a diagonal angle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "With the left hand, take the green mug from the table by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "With the left hand, grasp the green mug from the table at a diagonal angle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 9054, + "end_idx": 9093 + }, + { + "text": "Place the green mug to the left side of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Using the left hand, set the green mug to the left of the eggplant, right side up, with the front facing backward.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Have the left arm place the green mug on the eggplant's left side, upright, with its front oriented backward.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "With the left hand, position the green mug left of the eggplant, right side up, front facing backwards.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Place the green mug to the left of the eggplant, right side up, with the front facing backward.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Set the green mug on the left side of the eggplant, upright, with its front oriented backward.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Position the green mug left of the eggplant, right side up, front facing backwards.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Have the left arm set the green mug on the eggplant's left side.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "With the left hand, position the green mug left of the eggplant.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Place the green mug to the left of the eggplant with the left hand.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Set the green mug on the eggplant's left side using the left hand.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Position the green mug left of the eggplant with the left arm.", + "start_idx": 9093, + "end_idx": 9135 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Have the left hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by holding the middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Retrieve the red marker from the table diagonally by holding the middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Take the red marker from the table by grasping the middle.", + "start_idx": 9135, + "end_idx": 9177 + }, + { + "text": "Place the red marker to the left of the screwdriver with the left hand facing right with the tip as the reference point.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Using the left hand, set the red marker to the left of the screwdriver, facing right with the tip as the reference point.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Have the left arm place the red marker left of the screwdriver with the tip oriented rightward.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "With the left hand, position the red marker to the screwdriver's left, with its tip pointing right.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Place the red marker to the left of the screwdriver, facing right with the tip as the reference point.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Set the red marker left of the screwdriver, with the tip pointing right.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Position the red marker to the screwdriver's left, oriented rightward from the tip.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Using the left hand, place the red marker to the left of the screwdriver.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "With the left hand, set the red marker left of the screwdriver.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Have the left arm position the red marker to the screwdriver's left.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Put the red marker to the left of the screwdriver.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Place the red marker left of the screwdriver, facing right.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Using the left hand, place the red marker to the left of the screwdriver, facing right.", + "start_idx": 9177, + "end_idx": 9213 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Have the left arm pick the screwdriver up from the table at a diagonal angle by the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally, holding its middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle while holding the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Retrieve the screwdriver from the table by the middle.", + "start_idx": 9309, + "end_idx": 9339 + }, + { + "text": "Put the screwdriver in front of the eggplant with the left hand with its tip facing bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Using the left hand, place the screwdriver in front of the eggplant with its tip pointing to the bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Have the left arm set the screwdriver in front of the eggplant, tip directed bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "With the left hand, position the screwdriver in front of the eggplant so the tip faces the bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Place the screwdriver in front of the eggplant with its tip pointing to the bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Set the screwdriver in front of the eggplant so its tip faces bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Position the screwdriver in front of the eggplant, with the tip directed to the bottom left.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Using the left hand, put the screwdriver in front of the eggplant.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "With the left hand, place the screwdriver in front of the eggplant.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Have the left arm position the screwdriver in front of the eggplant.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Put the screwdriver in front of the eggplant.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Set the screwdriver in front of the eggplant.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Position the screwdriver in front of the eggplant.", + "start_idx": 9339, + "end_idx": 9381 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Have the left arm take the red marker from the table diagonally by its middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "The red marker should be picked up from the table with the left hand, angled diagonally and held at the middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "The red marker should be picked up from the table at a diagonal angle, held at the middle.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "With the left hand, pick up the red marker from the table.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Use the left hand to take the red marker from the table.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Have the left arm retrieve the red marker from the table.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "The red marker should be picked up from the table.", + "start_idx": 9381, + "end_idx": 9408 + }, + { + "text": "Place the red marker in front of the white cup with the left hand facing backwards with the tip as the reference point.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Using the left hand, position the red marker in front of the white cup with the tip facing backwards.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Have the left arm place the red marker before the white cup, oriented backward relative to its tip.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "With the left hand, set the red marker in front of the white cup so the tip points backward.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Place the red marker in front of the white cup with the tip facing backwards.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Set the red marker before the white cup, with its tip oriented backward.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Position the red marker in front of the white cup, keeping the tip pointed backward.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Using the left hand, place the red marker in front of the white cup.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Have the left arm set the red marker before the white cup.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "With the left hand, position the red marker in front of the white cup.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Place the red marker in front of the white cup.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Set the red marker before the white cup.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Position the red marker in front of the white cup.", + "start_idx": 9408, + "end_idx": 9444 + }, + { + "text": "Return both hands to home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Move both hands back to the home position.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Bring both arms to home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Have both hands return to home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Return to home position.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Bring the hands back to home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Move back to the home position.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Have the arms go to home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Go back home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Resume the home position.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Return home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Move to home.", + "start_idx": 9444, + "end_idx": 9474 + }, + { + "text": "Bring everything back home.", + "start_idx": 9444, + "end_idx": 9474 + } + ] + }, + "2026-03-17-01-32-38-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 9190, + "num_annotations": 3118, + "annotations": [ + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach by the middle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Retrieve the screwdriver from the table, grasping the middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Retrieve the screwdriver from the table.", + "start_idx": 0, + "end_idx": 189 + }, + { + "text": "Put the screwdriver in front of the blue marker with the left hand facing forwards with the tip as the reference point.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Using the left hand, place the screwdriver in front of the blue marker with the tip facing forwards.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Have the left arm set the screwdriver in front of the blue marker, oriented forward from the tip.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "With the left hand, position the screwdriver in front of the blue marker so its tip points forwards.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Place the screwdriver in front of the blue marker with the tip facing forwards.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Set the screwdriver in front of the blue marker, oriented forward from the tip.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Position the screwdriver in front of the blue marker so the tip points forwards.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Using the left hand, put the screwdriver in front of the blue marker.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "With the left hand, place the screwdriver in front of the blue marker.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Have the left arm position the screwdriver in front of the blue marker.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Put the screwdriver in front of the blue marker.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Set the screwdriver in front of the blue marker.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Position the screwdriver in front of the blue marker.", + "start_idx": 189, + "end_idx": 225 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle from the middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "With the left hand, grasp the red marker from the table diagonally at its middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Have the left arm pick the red marker off the table at a diagonal angle from the middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Take the red marker off the table diagonally from the middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Grasp the red marker from the table at its middle on a diagonal.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "The red marker should be picked up from the table diagonally from the middle.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Using the left hand, take the red marker off the table.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "The red marker should be taken from the table.", + "start_idx": 225, + "end_idx": 246 + }, + { + "text": "Put the red marker to the left of the blue marker with the left hand with its tip facing left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue marker with its tip pointing left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Have the left arm set the red marker left of the blue marker, tip facing left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "With the left hand, position the red marker on the left side of the blue marker, keeping the tip directed left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Place the red marker to the left of the blue marker with its tip facing left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Set the red marker left of the blue marker with the tip pointing left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Position the red marker on the left side of the blue marker, with its tip directed left.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Using the left hand, put the red marker to the left of the blue marker.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "With the left hand, place the red marker on the left side of the blue marker.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Have the left arm set the red marker left of the blue marker.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Put the red marker to the left of the blue marker.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Place the red marker on the left side of the blue marker.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Set the red marker left of the blue marker.", + "start_idx": 245, + "end_idx": 279 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Have the left arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "With the left hand, retrieve the asparagus from the table by grasping its middle at a diagonal angle.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Take the asparagus from the table diagonally from its middle.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "From the table, grasp the asparagus at its middle with a diagonal approach.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "From the table, take the asparagus.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Grasp the asparagus from the table.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Put the asparagus between the blue marker and the green bowl with the left hand with the tip facing top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the asparagus between the blue marker and the green bowl with its tip pointing top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Have the left arm set the asparagus between the blue marker and the green bowl, tip aimed toward the top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "With the left hand, position the asparagus between the blue marker and the green bowl so the tip faces top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Place the asparagus between the blue marker and the green bowl with its tip pointing top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Set the asparagus between the blue marker and the green bowl, with the tip aimed toward the top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Position the asparagus between the blue marker and the green bowl so its tip faces top left.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the asparagus between the blue marker and the green bowl.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "With the left hand, set the asparagus between the blue marker and the green bowl.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Have the left arm position the asparagus between the blue marker and the green bowl.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Put the asparagus between the blue marker and the green bowl.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Set the asparagus between the blue marker and the green bowl.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Position the asparagus between the blue marker and the green bowl.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Have the left arm pick up the asparagus from the table on a diagonal, holding it at the center.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by grasping its middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Grasp the asparagus from the table at the middle.", + "start_idx": 405, + "end_idx": 447 + }, + { + "text": "Put the asparagus to the right of the screwdriver with the left hand with the tip facing left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Using the left hand, place the asparagus to the right of the screwdriver with the tip pointing left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Have the left arm set the asparagus to the screwdriver's right, tip facing left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "With the left hand, position the asparagus right of the screwdriver, keeping the tip oriented left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Place the asparagus to the right of the screwdriver with the tip facing left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Set the asparagus to the screwdriver's right with the tip pointing left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Position the asparagus right of the screwdriver, with its tip directed left.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Using the left hand, put the asparagus to the right of the screwdriver.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "With the left hand, place the asparagus to the screwdriver's right.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Have the left arm position the asparagus right of the screwdriver.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Put the asparagus to the right of the screwdriver.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Set the asparagus to the screwdriver's right.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "With the left hand, set the asparagus to the screwdriver's right.", + "start_idx": 447, + "end_idx": 477 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Have the left arm take the red marker from the table, grasping it at the middle on a diagonal.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "With the left hand, grasp the red marker from the table diagonally at its middle.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Take the red marker from the table, grasping it diagonally at the middle.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Grasp the red marker from the table at its middle on a diagonal.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "With the left hand, grasp the red marker from the table.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 477, + "end_idx": 513 + }, + { + "text": "Place the red marker to the right of the asparagus with the left hand facing left with the tip as the reference point.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Using the left hand, set the red marker to the right of the asparagus with the tip facing left.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Have the left arm place the red marker to the asparagus's right, oriented left at the tip.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "With the left hand, position the red marker right of the asparagus so the tip points left.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Place the red marker to the right of the asparagus with the tip facing left.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Set the red marker to the asparagus's right with the tip pointing left.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Position the red marker right of the asparagus, oriented left at the tip.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Using the left hand, place the red marker to the right of the asparagus.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Have the left arm set the red marker to the asparagus's right.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "With the left hand, position the red marker right of the asparagus.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Put the red marker to the right of the asparagus.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Place the red marker to the right of the asparagus facing left.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Set the red marker to the asparagus's right, with the tip pointing left.", + "start_idx": 513, + "end_idx": 549 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Have the left arm take the screwdriver from the table, grasping it at the middle on a diagonal.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "With the left hand, collect the screwdriver from the table from the middle at a diagonal angle.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Take the screwdriver from the table from the middle on a diagonal.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Grasp the screwdriver from the table at the middle with a diagonal approach.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Retrieve the screwdriver from the table from the middle.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 549, + "end_idx": 585 + }, + { + "text": "Put the screwdriver between the blue marker and the green bowl with the left hand facing forwards with the tip forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Using the left hand, place the screwdriver between the blue marker and the green bowl with its tip facing forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Have the left arm set the screwdriver between the blue marker and the green bowl, tip pointed forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "With the left hand, position the screwdriver between the blue marker and the green bowl so the tip faces forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Place the screwdriver between the blue marker and the green bowl with its tip facing forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Set the screwdriver between the blue marker and the green bowl, keeping the tip pointed forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Position the screwdriver between the blue marker and the green bowl so the tip faces forwards.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Using the left hand, place the screwdriver between the blue marker and the green bowl.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "With the left hand, set the screwdriver between the blue marker and the green bowl.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Have the left arm position the screwdriver between the blue marker and the green bowl.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Put the screwdriver between the blue marker and the green bowl.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Set the screwdriver between the blue marker and the green bowl.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Position the screwdriver between the blue marker and the green bowl.", + "start_idx": 585, + "end_idx": 609 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "With the left hand, grasp the asparagus at its middle and retrieve it from the table at a diagonal angle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Take the asparagus from the table at a diagonal angle while holding the middle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Grasp the middle of the asparagus and remove it from the table at a diagonal angle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "With the left hand, grasp the asparagus and remove it from the table.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Grasp the asparagus from the table at the middle.", + "start_idx": 609, + "end_idx": 645 + }, + { + "text": "Put the asparagus between the blue marker and the red screwdriver with the left hand facing forwards with the tip as the reference point.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Using the left hand, place the asparagus between the blue marker and the red screwdriver, with the tip facing forwards.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Have the left arm set the asparagus between the blue marker and the red screwdriver, oriented forward from the tip.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "With the left hand, position the asparagus between the blue marker and the red screwdriver so its tip points forwards.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Place the asparagus between the blue marker and the red screwdriver, with the tip facing forwards.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Set the asparagus between the blue marker and the red screwdriver, oriented forward from the tip.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Position the asparagus between the blue marker and the red screwdriver so the tip points forwards.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Using the left hand, put the asparagus between the blue marker and the red screwdriver.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "With the left hand, place the asparagus between the blue marker and the red screwdriver.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Have the left arm position the asparagus between the blue marker and the red screwdriver.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Put the asparagus between the blue marker and the red screwdriver.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Set the asparagus between the blue marker and the red screwdriver.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Position the asparagus between the blue marker and the red screwdriver.", + "start_idx": 645, + "end_idx": 678 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Have the left hand pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Retrieve the screwdriver from the table, holding the middle at a diagonal angle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "From the table, pick up the screwdriver with the left hand, grasping the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Using the left hand, take the screwdriver from the table by the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Have the left hand retrieve the screwdriver from the table, holding its middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "With the left hand, take the screwdriver from the table diagonally.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Put the screwdriver in front of the green bowl with the left hand facing right with the tip as the reference point.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Using the left hand, place the screwdriver in front of the green bowl with the tip facing right.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Have the left arm set the screwdriver in front of the green bowl, oriented rightward at the tip.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "With the left hand, position the screwdriver before the green bowl so its tip points right.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Set the screwdriver in front of the green bowl with the tip facing right.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Place the screwdriver before the green bowl, with the tip oriented to the right.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Position the screwdriver in front of the green bowl so the tip points right.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Put the screwdriver in front of the green bowl.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Place the screwdriver before the green bowl.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Set the screwdriver in front of the green bowl.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Have the screwdriver placed in front of the green bowl.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Using the left hand, put the screwdriver in front of the green bowl.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "With the left arm, place the screwdriver before the green bowl.", + "start_idx": 771, + "end_idx": 804 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a side grip at its bottom from a diagonal approach.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a side hold on the bottom at a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "From the table, take the asparagus with a side grasp at the bottom from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Grasp the asparagus from the table with a side hold on the bottom from a diagonal approach.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Have the left arm take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "With the left hand, grasp the asparagus from the table at the bottom.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Pick up the asparagus from the table with the left hand from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Using the left hand, take the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "From the table, grasp the asparagus at the bottom from a diagonal angle.", + "start_idx": 804, + "end_idx": 840 + }, + { + "text": "Put the asparagus to the left of the screwdriver with the left hand with its tip facing bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Using the left hand, place the asparagus to the left of the screwdriver with its tip pointing bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Have the left arm set the asparagus to the screwdriver's left, tip directed toward the bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "With the left hand, position the asparagus left of the screwdriver, keeping the tip facing bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Place the asparagus to the left of the screwdriver with its tip pointing bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Set the asparagus left of the screwdriver, with the tip directed toward the bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Position the asparagus to the screwdriver's left, tip facing bottom left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Using the left hand, put the asparagus to the left of the screwdriver.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Have the left arm place the asparagus to the screwdriver's left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "With the left hand, set the asparagus left of the screwdriver.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Put the asparagus to the left of the screwdriver.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Place the asparagus to the screwdriver's left.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Set the asparagus left of the screwdriver.", + "start_idx": 840, + "end_idx": 873 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Have the left arm pick the blue marker off the table, holding the center at a diagonal angle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "With the left hand, grasp the middle of the blue marker on the table and retrieve it diagonally.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Take the blue marker off the table diagonally while holding its middle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Grasp the middle of the blue marker and remove it from the table at a diagonal angle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Take the blue marker from the table, grasping the middle.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Remove the blue marker from the table.", + "start_idx": 873, + "end_idx": 909 + }, + { + "text": "Put the blue marker to the left of the green bowl with the left hand facing forwards with the tip as the reference point.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Using the left hand, place the blue marker to the left of the green bowl with the tip facing forwards.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Have the left arm set the blue marker left of the green bowl, oriented forward by its tip.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "With the left hand, position the blue marker to the left of the green bowl so the tip points forwards.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Place the blue marker to the left of the green bowl with the tip facing forwards.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Set the blue marker left of the green bowl with the tip pointing forwards.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Position the blue marker to the left of the green bowl, keeping the tip oriented forwards.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Using the left hand, put the blue marker to the left of the green bowl.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "With the left hand, set the blue marker left of the green bowl.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Have the left arm place the blue marker to the left of the green bowl.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Put the blue marker to the left of the green bowl.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Set the blue marker left of the green bowl.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Position the blue marker to the left of the green bowl.", + "start_idx": 909, + "end_idx": 939 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "At a diagonal angle, have the left hand take the blue marker from the table by its middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "With the left hand, retrieve the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Take the blue marker from the table at a diagonal angle by the middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "The blue marker from the table should be picked up at a diagonal angle, grasping the middle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Have the left hand take the blue marker from the table.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Have the left hand pick up the blue marker from the table at a diagonal angle.", + "start_idx": 1008, + "end_idx": 1047 + }, + { + "text": "Put the blue marker to the left of the asparagus with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Using the left hand, place the blue marker to the left of the asparagus, facing forwards with the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Have the left arm set the blue marker to the asparagus's left, oriented forwards using the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "With the left hand, position the blue marker left of the asparagus so it faces forwards, taking the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Place the blue marker to the left of the asparagus, facing forwards with the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Set the blue marker to the left of the asparagus, oriented forwards with the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Position the blue marker on the left side of the asparagus, with a forward-facing orientation using the tip as the reference point.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Using the left hand, put the blue marker to the left of the asparagus.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Have the left arm place the blue marker on the asparagus's left side.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "With the left hand, set the blue marker left of the asparagus.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Put the blue marker to the left of the asparagus.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Position the blue marker on the left side of the asparagus.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Set the blue marker to the asparagus's left.", + "start_idx": 1047, + "end_idx": 1077 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Have the left arm pick up the green bowl from the table using a bottom-left diagonal lip grasp.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "With the left hand, secure the green bowl from the table in a diagonal lip grip at the bottom left.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Take the green bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Get the green bowl off the table using a diagonal lip grasp at the bottom left.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "The green bowl should be picked up from the table with the left hand.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Using the left hand, grasp the green bowl from the table.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 1143, + "end_idx": 1176 + }, + { + "text": "Dump the corn to the left of the asparagus with the left hand.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Using the left hand, dump the corn to the left of the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Have the left arm place the corn on the asparagus's left side.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "With the left hand, deposit the corn just left of the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Dump the corn to the left of the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Place the corn on the left side of the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Set the corn down left of the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Position the corn beside the asparagus on its left.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Move the corn to the asparagus's left.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Put the corn next to the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Transfer the corn beside the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Set the corn on the asparagus's left side.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Place the corn left of the asparagus.", + "start_idx": 1176, + "end_idx": 1209 + }, + { + "text": "Put the green bowl behind the blue marker with the left hand.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Using the left hand, place the green bowl behind the blue marker upright.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Have the left arm set the green bowl behind the blue marker, keeping it right side up.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "With the left hand, position the green bowl behind the blue marker in an upright orientation.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Place the green bowl behind the blue marker upright.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Set the green bowl behind the blue marker so it stays right side up.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Position the green bowl behind the blue marker in an upright pose.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Using the left hand, place the green bowl behind the blue marker.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Have the left arm set the green bowl behind the blue marker.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Place the green bowl behind the blue marker.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Set the green bowl behind the blue marker.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Position the green bowl behind the blue marker.", + "start_idx": 1209, + "end_idx": 1272 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal approach, holding it at the center.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally, gripping the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the center.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Using the left hand, pick up the asparagus from the table grasping the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding its center.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 1272, + "end_idx": 1305 + }, + { + "text": "Put the asparagus to the left of the blue marker with the left hand facing top left with the tip as the reference point.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Using the left hand, place the asparagus to the left of the blue marker with the tip facing top left.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Have the left arm set the asparagus left of the blue marker, oriented top left by its tip.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "With the left hand, position the asparagus to the left of the blue marker so the tip points top left.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Place the asparagus to the left of the blue marker with the tip facing top left.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Set the asparagus left of the blue marker, with the tip oriented toward the top left.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Position the asparagus to the left of the blue marker so its tip points top left.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Using the left hand, place the asparagus to the left of the blue marker.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Have the left arm set the asparagus left of the blue marker.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "With the left hand, position the asparagus to the left of the blue marker.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Put the asparagus to the left of the blue marker.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Place the asparagus left of the blue marker.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Set the asparagus to the left of the blue marker.", + "start_idx": 1305, + "end_idx": 1335 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the left arm take the red marker from the table diagonally by its middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "With the left hand, retrieve the red marker from the table, holding it at a diagonal angle around the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Retrieve the red marker from the table while holding its middle at a diagonal angle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Take the red marker from the table with the left hand.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Grab the red marker from the table at a diagonal angle.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Place the red marker to the left of the asparagus with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Using the left hand, set the red marker to the left of the asparagus with its tip facing backwards.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Have the left arm place the red marker left of the asparagus, oriented backwards at the tip.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "With the left hand, position the red marker to the asparagus's left, keeping the tip facing backward.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Place the red marker to the left of the asparagus with its tip facing backwards.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Set the red marker left of the asparagus, with the tip oriented backward.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Position the red marker to the left of the asparagus, tip facing backward.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Using the left hand, place the red marker to the left of the asparagus.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "With the left hand, set the red marker left of the asparagus.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Have the left arm position the red marker to the asparagus's left.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Place the red marker to the left of the asparagus.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Set the red marker left of the asparagus.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Position the red marker to the asparagus's left.", + "start_idx": 1371, + "end_idx": 1407 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle section.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Take the corn from the table on a diagonal, holding the middle.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Have the arm get the corn from the table.", + "start_idx": 1407, + "end_idx": 1437 + }, + { + "text": "Put the corn to the right of the blue marker with the left hand facing forwards with the tip forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Using the left hand, place the corn to the right of the blue marker with its tip facing forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Have the left arm set the corn to the right of the blue marker, oriented so the tip points forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "With the left hand, position the corn to the right of the blue marker, keeping the tip pointed forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Place the corn to the right of the blue marker with its tip facing forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Set the corn to the right of the blue marker so the tip points forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Position the corn to the right of the blue marker, oriented with the tip forwards.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Using the left hand, place the corn to the right of the blue marker.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Have the left arm set the corn to the right of the blue marker.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "With the left hand, position the corn to the right of the blue marker.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Put the corn to the right of the blue marker.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Set the corn to the right of the blue marker.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Position the corn to the right of the blue marker.", + "start_idx": 1437, + "end_idx": 1467 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Put the asparagus to the right of the corn with the left hand facing forwards with the tip facing forwards.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Using the left hand, place the asparagus to the right of the corn, with the tip facing forwards.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Have the left hand set the asparagus to the corn's right side, oriented forwards at the tip.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "With the left arm, position the asparagus right of the corn so its tip points forwards.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Place the asparagus to the right of the corn with the tip facing forwards.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Set the asparagus on the right side of the corn, with its tip pointing forwards.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Position the asparagus to the corn's right, keeping the tip facing forwards.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Put the asparagus to the right of the corn.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Set the asparagus on the right side of the corn.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Have the asparagus placed to the corn's right.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Using the left hand, place the asparagus to the right of the corn.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "With the left arm, set the asparagus on the right side of the corn.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Have the left hand position the asparagus to the corn's right.", + "start_idx": 1494, + "end_idx": 1527 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Have the left arm take the red marker from the table at a diagonal angle by the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "With the left hand, collect the red marker from the table diagonally, holding its middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Collect the red marker from the table at a diagonal angle while holding the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Using the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "With the left hand, take the red marker from the table by the middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Have the left arm collect the red marker from the table, holding its middle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "With the left hand, take the red marker from the table diagonally.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1527, + "end_idx": 1560 + }, + { + "text": "Put the red marker to the left of the blue marker with the left hand with its tip facing left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue marker with its tip pointing left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Have the left hand set the red marker left of the blue marker, tip facing left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "With the left hand, position the red marker to the left of the blue marker so its tip faces left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Place the red marker to the left of the blue marker with its tip pointing left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Set the red marker left of the blue marker, with the tip facing left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Position the red marker to the left of the blue marker so the tip points left.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue marker.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Have the left hand set the red marker left of the blue marker.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "With the left hand, position the red marker to the left of the blue marker.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Put the red marker to the left of the blue marker.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Set the red marker left of the blue marker.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Position the red marker to the left of the blue marker.", + "start_idx": 1560, + "end_idx": 1590 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "With the left arm, grasp the green bowl from the table using a lip hold on the bottom-left side at a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Have the left hand pick the green bowl up from the table with a bottom-left lip grasp from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Grasp the green bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "The green bowl should be picked up from the table with a bottom-left lip grasp from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom left.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "With the left arm, take the green bowl from the table using a lip grasp on the bottom-left side.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a lip hold.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Pick up the green bowl from the table with the left hand from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Using the left hand, take the green bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Grasp the green bowl from the table at the bottom left.", + "start_idx": 1662, + "end_idx": 1689 + }, + { + "text": "Put the green bowl behind the asparagus with the left hand.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Using the left hand, place the green bowl behind the asparagus upright.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Have the left arm set the green bowl behind the asparagus, keeping it right side up.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "With the left hand, position the green bowl behind the asparagus so its front faces forward.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Place the green bowl behind the asparagus upright.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Set the green bowl behind the asparagus, keeping it right side up.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Position the green bowl behind the asparagus with its front facing forward.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Put the green bowl behind the asparagus.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Place the green bowl behind the asparagus.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Set the green bowl behind the asparagus.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Have the arm place the green bowl behind the asparagus.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Using the left hand, put the green bowl behind the asparagus.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Position the green bowl behind the asparagus with the left hand.", + "start_idx": 1689, + "end_idx": 1728 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Have the left arm pick the corn off the table with a diagonal approach at the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "With the left hand, collect the corn from the table by gripping its middle at a diagonal angle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Take the corn off the table with a diagonal approach at the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "The corn from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Using the left hand, pick up the corn from the table grasping the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "With the left hand, remove the corn from the table by the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Have the left arm take the corn off the table, gripping the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "The corn should be picked up from the table by the middle.", + "start_idx": 1728, + "end_idx": 1755 + }, + { + "text": "Put the corn from behind the blue marker with the left hand facing right with the tip as the reference point.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Using the left hand, place the corn from behind the blue marker so the tip faces right.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Have the left arm put the corn from behind the blue marker with its tip oriented to the right.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "With the left hand, set down the corn from behind the blue marker, keeping the tip pointed right.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Place the corn from behind the blue marker so the tip faces right.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Set the corn from behind the blue marker down with the tip pointing to the right.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Put the corn from behind the blue marker, tip to the right.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Using the left hand, place the corn from behind the blue marker.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "With the left hand, set down the corn from behind the blue marker.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Have the left arm put the corn from behind the blue marker.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Place the corn from behind the blue marker.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Set down the corn from behind the blue marker.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Put the corn from behind the blue marker.", + "start_idx": 1755, + "end_idx": 1788 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Retrieve the blue marker from the table diagonally, holding the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Take the blue marker from the table at a diagonal angle by the middle.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 1788, + "end_idx": 1836 + }, + { + "text": "Place the blue marker to the left of the asparagus with the left hand with its tip facing top right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Using the left hand, place the blue marker to the left of the asparagus with its tip pointing to the top right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Have the left arm set the blue marker left of the asparagus, tip oriented toward the upper right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "With the left hand, position the blue marker on the asparagus's left side, keeping the tip directed top right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Place the blue marker to the left of the asparagus.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Set the blue marker on the left side of the asparagus.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Position the blue marker left of the asparagus.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Using the left hand, place the blue marker to the left of the asparagus.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Have the left arm set the blue marker left of the asparagus.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "With the left hand, position the blue marker on the asparagus's left side.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Place the blue marker to the left of the asparagus with its tip pointing to the top right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Set the blue marker left of the asparagus, tip directed toward the upper right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Position the blue marker on the asparagus's left side with the tip facing top right.", + "start_idx": 1836, + "end_idx": 1866 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by its middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Have the left arm pick the red marker up from the table at a diagonal angle, holding the middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Take the red marker from the table diagonally by its middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle while holding the middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Have the left arm retrieve the red marker from the table.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Take the red marker from the table by the middle.", + "start_idx": 1866, + "end_idx": 1902 + }, + { + "text": "Put the red marker in front of the corn with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Using the left hand, place the red marker in front of the corn with the tip facing backwards.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the red marker in front of the corn, oriented backwards at the tip.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "With the left hand, position the red marker before the corn so its tip points backward.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Place the red marker in front of the corn with the tip facing backwards.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Set the red marker before the corn, with the tip oriented backward.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Position the red marker in front of the corn so the tip points backward.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Put the red marker in front of the corn.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Place the red marker before the corn.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Set the red marker in front of the corn.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Using the left hand, put the red marker in front of the corn.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Have the left arm place the red marker before the corn.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "With the left hand, set the red marker in front of the corn.", + "start_idx": 1902, + "end_idx": 1941 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Using the left hand, take the blue marker from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Have the left arm grasp the blue marker from the table with a side hold at the bottom on a diagonal.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "With the left hand, collect the blue marker from the table using a side grasp at the bottom at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the bottom at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Take the blue marker from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Grasp the blue marker from the table at the bottom with a side hold at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Have the left arm take the blue marker from the table with a side grasp at the bottom.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "With the left hand, grasp the blue marker from the table using a side hold at the bottom.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Have the left arm take the blue marker from the table on a diagonal.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Pick up the blue marker from the table at the bottom.", + "start_idx": 2076, + "end_idx": 2112 + }, + { + "text": "Put the blue marker in front of the green bowl with the left hand facing top left with the tip as the orientation reference point.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "With the left hand, place the blue marker in front of the green bowl, with the tip facing top left.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Using the left arm, set the blue marker in front of the green bowl so its tip points to the top left.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Have the left hand position the blue marker in front of the green bowl, oriented top left by the tip.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Place the blue marker in front of the green bowl with the tip facing top left.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Set the blue marker in front of the green bowl so the tip points top left.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Position the blue marker in front of the green bowl, keeping the tip oriented toward the top left.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Using the left hand, put the blue marker in front of the green bowl.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "With the left hand, place the blue marker in front of the green bowl.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Have the left arm set the blue marker in front of the green bowl.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Put the blue marker in front of the green bowl.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Place the blue marker in front of the green bowl.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Set the blue marker in front of the green bowl.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Have the left arm take the red marker from the table at a diagonal angle by the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally, holding its middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle while holding the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Using the left hand, pick up the red marker from the table grasping the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Have the left arm take the red marker from the table by the middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "With the left hand, retrieve the red marker from the table, holding its middle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Have the left arm take the red marker from the table diagonally.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Put the red marker to the left of the corn with the left hand facing backwards.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn with its tip facing backwards.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Have the left arm set the red marker to the left of the corn, tip oriented backward.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "With the left hand, position the red marker left of the corn so the tip points backward.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Place the red marker to the left of the corn with its tip facing backwards.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Set the red marker left of the corn with the tip pointing backward.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Position the red marker to the left of the corn, oriented backward.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "With the left hand, set the red marker left of the corn.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Have the left arm position the red marker to the left of the corn.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Put the red marker to the left of the corn.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Set the red marker to the left of the corn.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Position the red marker left of the corn.", + "start_idx": 2172, + "end_idx": 2202 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Have the left hand take the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "With the left hand, retrieve the blue marker from the table, holding it at the middle and diagonally.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal approach, holding the middle.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Take the blue marker from the table diagonally by its middle.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Have the left hand take the blue marker from the table.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 2202, + "end_idx": 2241 + }, + { + "text": "Put the blue marker in front of the corn with the left hand facing backwards with the tip as the reference point.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Using the left hand, place the blue marker in front of the corn with the tip facing backwards.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Have the left arm set the blue marker in front of the corn, oriented backwards from the tip.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "With the left hand, position the blue marker in front of the corn so the tip faces backward.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Place the blue marker in front of the corn with the tip facing backwards.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Set the blue marker in front of the corn with the tip oriented backward.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Position the blue marker in front of the corn so its tip points backward.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Using the left hand, put the blue marker in front of the corn.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "With the left hand, place the blue marker in front of the corn.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Have the left arm set the blue marker in front of the corn.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Put the blue marker in front of the corn.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Place the blue marker in front of the corn.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Set the blue marker in front of the corn.", + "start_idx": 2241, + "end_idx": 2277 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Have the left arm pick the corn off the table diagonally from its middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "With the left hand, retrieve the corn from the table using a diagonal approach at the middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Take the corn off the table diagonally by the middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at its middle.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Have the left arm take the corn off the table.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Take the corn off the table.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Have the arm collect the corn from the table.", + "start_idx": 2352, + "end_idx": 2391 + }, + { + "text": "Put the corn in front of the green bowl with the left hand facing forwards by the tip.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Using the left hand, place the corn in front of the green bowl with the tip facing forwards.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Have the left arm set the corn in front of the green bowl, oriented forward by its tip.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "With the left hand, position the corn before the green bowl so the tip faces forwards.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Place the corn in front of the green bowl with the tip facing forwards.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Set the corn before the green bowl with the tip pointing forwards.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Position the corn in front of the green bowl so its tip faces forwards.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Using the left hand, put the corn in front of the green bowl.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "With the left hand, place the corn before the green bowl.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Have the left arm set the corn in front of the green bowl.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Put the corn in front of the green bowl.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Set the corn before the green bowl.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Place the corn in front of the green bowl.", + "start_idx": 2391, + "end_idx": 2430 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Have the left arm pick the blue marker off the table with a diagonal approach at its center.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Take the blue marker off the table diagonally by the middle.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup at its center.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Have the marker picked up from the table.", + "start_idx": 2430, + "end_idx": 2472 + }, + { + "text": "Place the blue marker to the left of the green bowl with the left hand with its tip facing left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Using the left hand, set the blue marker to the left of the green bowl with its tip facing left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Have the left arm place the blue marker left of the green bowl, tip pointed left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "With the left hand, position the blue marker beside the green bowl on its left, with the tip facing left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Place the blue marker to the left of the green bowl with its tip facing left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Set the blue marker left of the green bowl, with the tip pointed left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Position the blue marker on the green bowl's left side, tip facing left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Using the left hand, place the blue marker to the left of the green bowl.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Have the left arm set the blue marker on the left side of the green bowl.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "With the left hand, position the blue marker beside the green bowl on its left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Place the blue marker to the left of the green bowl.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Set the blue marker on the left side of the green bowl.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Position the blue marker beside the green bowl on its left.", + "start_idx": 2472, + "end_idx": 2508 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Have the left hand take the red marker from the table on a diagonal, holding it at the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "With the left hand, retrieve the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Take the red marker from the table on a diagonal while holding the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle with a hold at the middle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "With the left hand, pick up the red marker from the table.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Using the left hand, retrieve the red marker from the table.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Grasp the middle of the red marker and pick it up from the table.", + "start_idx": 2508, + "end_idx": 2544 + }, + { + "text": "Put the red marker to the left of the corn with the left hand with the tip facing bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn with the tip facing bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Have the left hand set the red marker left of the corn, tip pointing toward the bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "With the left hand, position the red marker to the corn's left, keeping the tip directed bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Place the red marker to the left of the corn with the tip facing bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Set the red marker left of the corn, with the tip pointing bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Position the red marker to the left of the corn, tip directed toward the bottom left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Using the left hand, put the red marker to the left of the corn.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "With the left hand, place the red marker left of the corn.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Have the left hand position the red marker to the corn's left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Place the red marker to the left of the corn.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Set the red marker left of the corn.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Position the red marker to the corn's left.", + "start_idx": 2544, + "end_idx": 2580 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom-left edge using a diagonal lip grip.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Have the left hand pick the green bowl up from the table with a diagonal grasp on the bottom-left lip.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Pick up the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Take the green bowl from the table by the bottom-left edge with a diagonal lip grip.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Grasp the green bowl from the table using a diagonal lip hold at the bottom left.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Have the left hand grasp the green bowl from the table.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "The green bowl should be grasped from the table.", + "start_idx": 2670, + "end_idx": 2706 + }, + { + "text": "Place the green bowl to the left of the blue marker with the left hand.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Using the left hand, set the green bowl to the left of the blue marker, right side up.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Have the left arm place the green bowl left of the blue marker with the front as the reference, right side up.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "With the left hand, position the green bowl to the blue marker's left, keeping it right side up.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Place the green bowl to the left of the blue marker, right side up.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Set the green bowl left of the blue marker with the front as the reference, right side up.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Position the green bowl on the left side of the blue marker, keeping it right side up.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "With the left hand, place the green bowl to the left of the blue marker.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Using the left hand, set the green bowl on the blue marker's left side.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Have the left arm position the green bowl left of the blue marker.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Place the green bowl to the left of the blue marker.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Set the green bowl on the left side of the blue marker.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Position the green bowl left of the blue marker.", + "start_idx": 2706, + "end_idx": 2760 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Have the left arm take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "With the left hand, retrieve the red marker from the table on a diagonal angle by grasping the middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Take the red marker from the table on a diagonal angle while holding the middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Retrieve the red marker from the table with a diagonal pickup by grasping its middle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Grab the middle of the red marker from the table.", + "start_idx": 2760, + "end_idx": 2790 + }, + { + "text": "Put the red marker behind the corn with the left hand with its tip facing top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Using the left hand, place the red marker behind the corn with its tip pointing to the top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Have the left arm set the red marker behind the corn, tip oriented toward the top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "With the left hand, position the red marker behind the corn so its tip faces the top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Place the red marker behind the corn with its tip facing the top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Set the red marker behind the corn with the tip pointed top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Position the red marker behind the corn so the tip points toward the top left.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Using the left hand, put the red marker behind the corn.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Have the left arm place the red marker behind the corn.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "With the left hand, set the red marker behind the corn.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Place the red marker behind the corn.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Set the red marker behind the corn.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Position the red marker behind the corn.", + "start_idx": 2790, + "end_idx": 2829 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "With the left hand, retrieve the corn from the table, holding it at the middle on a diagonal.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Retrieve the corn from the table, grasping the middle at a diagonal angle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "With the left hand, pick up the corn from the table, grasping the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Have the left arm take the corn from the table by the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Using the left hand, retrieve the corn from the table by the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Retrieve the corn from the table by the middle.", + "start_idx": 2904, + "end_idx": 2940 + }, + { + "text": "Put the corn in front of the blue marker with the left hand facing top right by the tip.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Using the left hand, place the corn in front of the blue marker with the tip facing the top right.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Have the left arm set the corn in front of the blue marker, oriented top right at the tip.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "With the left hand, position the corn before the blue marker so its tip points to the top right.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Place the corn in front of the blue marker with the tip facing the top right.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Set the corn before the blue marker, with its tip oriented toward the top right.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Position the corn in front of the blue marker so the tip faces top right.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Using the left hand, put the corn in front of the blue marker.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "With the left hand, set the corn before the blue marker.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Have the left arm place the corn in front of the blue marker.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Put the corn in front of the blue marker.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Set the corn before the blue marker.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Position the corn in front of the blue marker.", + "start_idx": 2940, + "end_idx": 2976 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Have the left hand take the green bowl from the table by its bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a bottom lip hold at a diagonal approach.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Take the green bowl from the table using a lip grasp at the bottom with a diagonal approach.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Grasp the green bowl from the table by the bottom edge with a lip hold and a diagonal pick angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip grasp at the bottom.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Have the left hand grasp the green bowl from the table by the bottom edge with a lip hold.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a diagonal pick angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "With the left hand, take the green bowl from the table from the bottom at a diagonal angle.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Have the left hand grasp the green bowl from the table at the bottom with a diagonal approach.", + "start_idx": 2976, + "end_idx": 3003 + }, + { + "text": "Put the green bowl to the left of the corn with the left hand.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Using the left hand, place the green bowl to the left of the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Have the left arm set the green bowl left of the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "With the left hand, position the green bowl on the corn's left side.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Place the green bowl to the left of the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Set the green bowl on the left side of the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Position the green bowl left of the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "The green bowl goes to the left of the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Using the left hand, put the green bowl by the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "With the left hand, set down the green bowl near the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Have the left arm place the green bowl beside the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Put the green bowl by the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Set the green bowl beside the corn.", + "start_idx": 3003, + "end_idx": 3039 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Have the left arm pick up the blue marker from the table diagonally by the middle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "With the left hand, retrieve the blue marker from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Take the blue marker from the table while holding its middle at a diagonal angle.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Take the blue marker from the table with the left hand.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Retrieve the blue marker from the table diagonally.", + "start_idx": 3039, + "end_idx": 3066 + }, + { + "text": "Put the blue marker inside the green bowl with the left hand.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Using the left hand, place the blue marker into the green bowl with its tip facing the bottom right.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Have the left arm set the blue marker in the green bowl so the tip points bottom right.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "With the left hand, position the blue marker inside the green bowl, tip oriented toward the bottom right.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Place the blue marker into the green bowl with its tip facing the bottom right.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Set the blue marker inside the green bowl so the tip points to the bottom right.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Put the blue marker in the green bowl, with the tip directed toward the bottom right.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Using the left hand, put the blue marker inside the green bowl.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Have the left arm place the blue marker into the green bowl.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "With the left hand, set the blue marker in the green bowl.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Place the blue marker into the green bowl.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Set the blue marker inside the green bowl.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Put the blue marker in the green bowl.", + "start_idx": 3066, + "end_idx": 3099 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle, gripping the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle, holding the middle.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Take the corn from the table.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 3099, + "end_idx": 3120 + }, + { + "text": "Put the corn inside the green bowl with the left hand facing top left with the tip as the reference point.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Using the left hand, place the corn in the green bowl with its tip facing the top left.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Have the left arm set the corn inside the green bowl so the tip points top left.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "With the left hand, deposit the corn into the green bowl, tip oriented toward the top left.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Place the corn inside the green bowl with its tip facing the top left.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Set the corn in the green bowl so the tip points top left.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Put the corn into the green bowl, keeping the tip directed toward the top left.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Using the left hand, place the corn inside the green bowl.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Have the left arm put the corn into the green bowl.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "With the left hand, set the corn in the green bowl.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Put the corn inside the green bowl.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Place the corn into the green bowl.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Have the left arm place the corn in the green bowl.", + "start_idx": 3120, + "end_idx": 3159 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp at the bottom-left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the lip at the bottom left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Grasp the green bowl from the table by the lip at the bottom left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Take the green bowl from the table using a lip grasp at the bottom-left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Remove the green bowl from the table at the bottom left diagonal.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Put the green bowl in front of the red marker with the left hand.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Using the left hand, place the green bowl in front of the red marker, right side up.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Have the left arm set the green bowl in front of the red marker with its open side up.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "With the left hand, position the green bowl before the red marker upright.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Place the green bowl in front of the red marker, right side up.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Set the green bowl before the red marker with its open side up.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Position the green bowl in front of the red marker upright.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Put the green bowl with the left hand in front of the red marker.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Using the left hand, place the green bowl before the red marker.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Have the left arm set the green bowl in front of the red marker.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Put the green bowl in front of the red marker.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Set the green bowl before the red marker.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Position the green bowl in front of the red marker.", + "start_idx": 3255, + "end_idx": 3303 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "With the left hand, pick the green bowl up from the table using the bowl's lip at the bottom left on a diagonal.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Grasp the green bowl from the table using a lip hold on the bottom left at a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "The green bowl should be picked up from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom left.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip hold on the bottom left.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Have the left hand collect the green bowl from the table with a grip on the lip.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Pick up the green bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Using the left hand, grasp the green bowl from the table at the bottom left diagonally.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Take the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Dump the corn and the blue marker to the left of the red marker with the left hand.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Using the left hand, dump the corn and the blue marker to the left of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Have the left arm place down the corn and the blue marker on the left side of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "With the left hand, set the corn and the blue marker down left of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Dump the corn and the blue marker to the left of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Place the corn and the blue marker on the left side of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Set down the corn and the blue marker left of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Move the corn and the blue marker to the left of the red marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Using the left hand, dump the corn and the blue marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "With the left hand, place down the corn and the blue marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Have the left arm set the corn and the blue marker down.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Dump the corn and the blue marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Place down the corn and the blue marker.", + "start_idx": 3423, + "end_idx": 3471 + }, + { + "text": "Put the green bowl to the left of the corn with the left hand.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Using the left hand, place the green bowl to the left of the corn, right side up.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Have the left arm set the green bowl to the left of the corn with its front facing forward.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "With the left hand, position the green bowl left of the corn in an upright orientation.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Place the green bowl to the left of the corn, right side up.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Set the green bowl left of the corn with its front facing forward.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Position the green bowl to the left of the corn in an upright pose.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Using the left hand, place the green bowl to the left of the corn.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Have the left arm set the green bowl left of the corn.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "With the left hand, position the green bowl to the left of the corn.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Place the green bowl to the left of the corn.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Set the green bowl left of the corn.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Position the green bowl to the left of the corn.", + "start_idx": 3471, + "end_idx": 3522 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "With the left hand, retrieve the blue marker from the table on a diagonal approach and grip the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Retrieve the blue marker from the table on a diagonal approach while gripping the middle.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 3522, + "end_idx": 3573 + }, + { + "text": "Place the blue marker inside the green bowl with the left hand.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the blue marker in the green bowl with its tip facing bottom right.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Have the left arm set the blue marker inside the green bowl, tip oriented toward the bottom right.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "With the left hand, deposit the blue marker into the green bowl so the tip points bottom right.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Put the blue marker into the green bowl.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Place the blue marker inside the green bowl.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Set the blue marker in the green bowl.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the blue marker in the green bowl.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Have the left arm put the blue marker inside the green bowl.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "With the left hand, set the blue marker into the green bowl.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Place the blue marker into the green bowl with its tip facing bottom right.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Set the blue marker inside the green bowl, tip toward the bottom right.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Put the blue marker in the green bowl with the tip pointing bottom right.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Retrieve the corn from the table on a diagonal, gripping it at the middle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 3615, + "end_idx": 3657 + }, + { + "text": "Put the corn inside the green bowl with the left hand.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Using the left hand, place the corn into the green bowl with its tip facing the top left.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Have the left arm put the corn in the green bowl, tip oriented toward the top left.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "With the left hand, set the corn inside the green bowl so the tip points top left.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Place the corn into the green bowl with its tip facing the top left.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Set the corn in the green bowl, with the tip oriented toward the top left.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "The corn goes inside the green bowl with its tip pointing to the top left.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Put the corn inside the green bowl.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Have the corn placed in the green bowl.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Set the corn into the green bowl.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Place the corn in the green bowl with the left hand.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Using the left hand, put the corn into the green bowl.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Have the left arm place the corn inside the green bowl.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a diagonal approach at its middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "With the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Using the left hand, take the screwdriver from the table by the middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table, holding its middle.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Retrieve the screwdriver from the table diagonally.", + "start_idx": 3690, + "end_idx": 3732 + }, + { + "text": "Place the screwdriver in front of the red marker with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Using the left hand, set the screwdriver in front of the red marker with the tip facing backwards.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Have the left arm place the screwdriver in front of the red marker, oriented backwards relative to its tip.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "With the left hand, position the screwdriver before the red marker so the tip points backwards.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Place the screwdriver in front of the red marker with the tip facing backwards.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Set the screwdriver before the red marker with the tip oriented backwards.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Position the screwdriver in front of the red marker, keeping the tip facing backwards.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Using the left hand, place the screwdriver in front of the red marker.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "With the left hand, set the screwdriver before the red marker.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Have the left arm position the screwdriver in front of the red marker.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Put the screwdriver in front of the red marker.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Place the screwdriver before the red marker.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Set the screwdriver in front of the red marker.", + "start_idx": 3732, + "end_idx": 3774 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Have the left hand take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "With the left hand, retrieve the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Retrieve the red marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Take the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Using the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "With the left hand, take the red marker from the table, holding the middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Have the left hand retrieve the red marker from the table by grasping its middle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "With the left hand, take the red marker from the table at a diagonal angle.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3774, + "end_idx": 3822 + }, + { + "text": "Put the red marker to the left of the screwdriver with the left hand with its tip facing top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Using the left hand, place the red marker to the left of the screwdriver with its tip pointing to the top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Have the left arm set the red marker left of the screwdriver, tip oriented toward the top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "With the left hand, position the red marker to the screwdriver's left, keeping its tip directed top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Place the red marker to the left of the screwdriver with its tip pointing to the top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Set the red marker left of the screwdriver, with the tip aimed at the top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Position the red marker to the screwdriver's left, leaving its tip directed toward the top right.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Using the left hand, place the red marker to the left of the screwdriver.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Have the left arm set the red marker left of the screwdriver.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "With the left hand, position the red marker to the screwdriver's left.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Place the red marker to the left of the screwdriver.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Set the red marker left of the screwdriver.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Position the red marker to the screwdriver's left.", + "start_idx": 3822, + "end_idx": 3861 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally, grasping its middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle at the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "The screwdriver on the table should be picked up at a diagonal angle, holding the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Take the screwdriver from the table by the middle.", + "start_idx": 3948, + "end_idx": 3984 + }, + { + "text": "Put the screwdriver in front of the green bowl with the left hand facing backwards with the tip as the reference point.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Using the left hand, place the screwdriver in front of the green bowl with the tip facing backwards.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Have the left arm set the screwdriver in front of the green bowl, oriented backwards by its tip.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "With the left hand, position the screwdriver before the green bowl so the tip points backwards.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Place the screwdriver in front of the green bowl with the tip facing backwards.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Set the screwdriver before the green bowl, with the tip oriented backwards.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Position the screwdriver in front of the green bowl so its tip points backwards.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Put the screwdriver in front of the green bowl.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Place the screwdriver before the green bowl.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Set the screwdriver in front of the green bowl.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Using the left hand, place the screwdriver in front of the green bowl.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Have the left arm set the screwdriver before the green bowl.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "With the left hand, position the screwdriver in front of the green bowl.", + "start_idx": 3984, + "end_idx": 4020 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Have the left arm take the red marker from the table with a diagonal approach, holding it at the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 4020, + "end_idx": 4059 + }, + { + "text": "Put the red marker to the left of the red screwdriver with the left hand with its tip facing top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Using the left hand, place the red marker to the left of the red screwdriver with its tip pointing to the top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Have the left arm set the red marker left of the red screwdriver, tip oriented toward the top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "With the left hand, position the red marker on the left side of the red screwdriver, keeping the tip facing top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Place the red marker to the left of the red screwdriver with its tip facing top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Set the red marker left of the red screwdriver, with the tip pointing top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Position the red marker on the left side of the red screwdriver, tip directed toward the top right.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Using the left hand, put the red marker to the left of the red screwdriver.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Have the left arm place the red marker left of the red screwdriver.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "With the left hand, position the red marker on the left side of the red screwdriver.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Put the red marker to the left of the red screwdriver.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Set the red marker left of the red screwdriver.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Using the left hand, place the red marker to the left of the red screwdriver.", + "start_idx": 4059, + "end_idx": 4098 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Have the left arm pick the green bowl up from the table using a bottom diagonal lip grip.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom in a diagonal lip hold.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Grasp the green bowl from the table with a bottom diagonal lip hold.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Using the left hand, grasp the green bowl from the table.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Take the green bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 4170, + "end_idx": 4209 + }, + { + "text": "Put the green bowl to the right of the asparagus with the left hand.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Using the left hand, place the green bowl to the right of the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Have the left arm set the green bowl to the asparagus's right side.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "With the left hand, position the green bowl on the right side of the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Place the green bowl to the right of the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Set the green bowl on the asparagus's right side.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "The green bowl goes to the right of the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Position the green bowl beside the asparagus on its right.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Move the green bowl to the asparagus's right.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Using the left hand, place the green bowl by the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "With the left hand, set the green bowl next to the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Have the left arm position the green bowl beside the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Put the green bowl next to the asparagus.", + "start_idx": 4209, + "end_idx": 4257 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup angle and a middle grasp.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "With the left hand, collect the asparagus from the table diagonally by the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Grab the asparagus from the table diagonally at the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Have the left arm collect the asparagus from the table, holding the middle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "At a diagonal angle, take the asparagus from the table with the left hand.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 4257, + "end_idx": 4296 + }, + { + "text": "Put the asparagus behind the screwdriver with the left hand with the tip facing left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Using the left hand, place the asparagus behind the screwdriver with the tip facing left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Have the left arm set the asparagus behind the screwdriver, tip oriented to the left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "With the left hand, position the asparagus behind the screwdriver so its tip points left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Place the asparagus behind the screwdriver with the tip facing left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Set the asparagus behind the screwdriver with the tip pointed left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Position the asparagus behind the screwdriver, keeping the tip to the left.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Using the left hand, put the asparagus behind the screwdriver.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Have the left arm place the asparagus behind the screwdriver.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "With the left hand, set the asparagus behind the screwdriver.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Place the asparagus behind the screwdriver.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Set the asparagus behind the screwdriver.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Position the asparagus behind the screwdriver.", + "start_idx": 4296, + "end_idx": 4335 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Have the left hand take the red marker from the table on a diagonal, holding it at the middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "With the left hand, collect the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Collect the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "With the left hand, collect the red marker from the table.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Take the red marker from the table on a diagonal.", + "start_idx": 4335, + "end_idx": 4374 + }, + { + "text": "Put the red marker between the red screwdriver and the green bowl with the left hand tip facing forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Using the left hand, place the red marker between the red screwdriver and the green bowl with its tip facing forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Have the left arm set the red marker between the red screwdriver and the green bowl, tip pointed forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "With the left hand, position the red marker between the red screwdriver and the green bowl so the tip faces forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Place the red marker between the red screwdriver and the green bowl with its tip facing forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Set the red marker between the red screwdriver and the green bowl, keeping the tip pointed forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Position the red marker between the red screwdriver and the green bowl with the tip facing forwards.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Using the left hand, put the red marker between the red screwdriver and the green bowl.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Have the left arm place the red marker between the red screwdriver and the green bowl.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "With the left hand, set the red marker between the red screwdriver and the green bowl.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Place the red marker between the red screwdriver and the green bowl.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Set the red marker between the red screwdriver and the green bowl.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Position the red marker between the red screwdriver and the green bowl.", + "start_idx": 4374, + "end_idx": 4410 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Have the left arm pick the screwdriver off the table at a diagonal angle by the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table at a diagonal angle, holding its middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Take the screwdriver off the table at a diagonal angle by the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "The screwdriver should be picked up from the table at a diagonal angle, holding the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "With the left hand, remove the screwdriver from the table by its middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Using the left hand, take the screwdriver off the table at a diagonal angle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Remove the screwdriver from the table by the middle.", + "start_idx": 4410, + "end_idx": 4446 + }, + { + "text": "Put the screwdriver behind the red marker with the left hand with its tip facing bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Using the left hand, place the screwdriver behind the red marker with its tip pointing to the bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Have the left arm set the screwdriver behind the red marker, tip oriented bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "With the left hand, position the screwdriver behind the red marker so its tip faces bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Place the screwdriver behind the red marker.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Set the screwdriver behind the red marker.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Position the screwdriver behind the red marker.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Using the left hand, put the screwdriver behind the red marker.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Have the left arm place the screwdriver behind the red marker.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Arrange the screwdriver behind the red marker with its tip pointing bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Position the screwdriver behind the red marker so the tip faces bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Put the screwdriver behind the red marker with its tip directed bottom left.", + "start_idx": 4446, + "end_idx": 4476 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, contacting it at the middle on a diagonal.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Take the asparagus from the table with a diagonal approach at the middle.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 4476, + "end_idx": 4521 + }, + { + "text": "Put the asparagus to the left of the red marker with the left hand facing top left with the tip facing top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Using the left hand, place the asparagus to the left of the red marker with its tip pointing top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Have the left arm set the asparagus left of the red marker, tip facing the top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "With the left hand, position the asparagus to the left of the red marker so the tip faces top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Place the asparagus to the left of the red marker with its tip pointing top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Set the asparagus left of the red marker, with the tip oriented toward the top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Position the asparagus to the left of the red marker so its tip faces top left.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Using the left hand, put the asparagus to the left of the red marker.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Have the left arm place the asparagus left of the red marker.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "With the left hand, set the asparagus to the left of the red marker.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Place the asparagus to the left of the red marker.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Set the asparagus left of the red marker.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Position the asparagus to the left of the red marker.", + "start_idx": 4521, + "end_idx": 4557 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "With the left hand, collect the corn from the table on a diagonal approach, gripping the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Take the corn from the table on a diagonal approach, holding the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "From the table, collect the corn at a diagonal angle by the middle.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Using the left hand, collect the corn from the table.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Take the corn from the table.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "From the table, collect the corn.", + "start_idx": 4692, + "end_idx": 4731 + }, + { + "text": "Put the corn to the left of the screwdriver with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Using the left hand, place the corn to the left of the screwdriver with its tip facing bottom right.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Have the left arm set the corn left of the screwdriver, oriented bottom right from the tip.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "With the left hand, position the corn to the screwdriver's left, with the tip directed toward the bottom right.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Place the corn to the left of the screwdriver with its tip facing bottom right.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Set the corn left of the screwdriver, with the tip oriented toward the bottom right.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Position the corn to the screwdriver's left, tip facing bottom right.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Using the left hand, put the corn to the left of the screwdriver.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "With the left hand, place the corn left of the screwdriver.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Have the left arm position the corn to the screwdriver's left.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Place the corn to the left of the screwdriver.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Set the corn left of the screwdriver.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Position the corn to the screwdriver's left.", + "start_idx": 4731, + "end_idx": 4767 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip at the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Have the left arm grasp the red marker from the table from the bottom with a diagonal side grasp.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "With the left hand, secure the red marker from the table using a diagonal side hold at the bottom.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Grasp the red marker from the table with a diagonal side hold at the bottom.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Take the red marker from the table with a side grasp from the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a side grip.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Have the left arm take the red marker from the table using a side grasp.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "With the left hand, grasp the red marker from the table from the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Pick up the red marker from the table with the left hand at the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Using the left hand, take the red marker from the table.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Grasp the red marker from the table at the bottom diagonally.", + "start_idx": 4860, + "end_idx": 4893 + }, + { + "text": "Put the red marker to the left of the corn with the left hand facing top left with the tip as the reference point.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn with the tip facing top left.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Have the left arm set the red marker left of the corn, oriented top left using the tip as the reference point.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "With the left hand, position the red marker to the corn's left, with its tip pointing toward the top left.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Place the red marker to the left of the corn with its tip facing top left.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Set the red marker left of the corn, oriented top left from the tip.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Position the red marker to the left of the corn so the tip points top left.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Put the red marker to the left of the corn.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Set the red marker left of the corn.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Position the red marker to the corn's left.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Have the left arm put the red marker left of the corn.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "With the left hand, set the red marker to the corn's left.", + "start_idx": 4893, + "end_idx": 4929 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "With the left arm, pick the asparagus up from the table diagonally by the middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Have the left hand retrieve the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Grab the asparagus from the table at a diagonal angle around its middle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "With the left arm, take the asparagus from the table.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Have the left hand grasp the asparagus from the table.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Put the asparagus on the bottom side of the table with the left hand with the tip facing left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Using the left hand, place the asparagus on the bottom side of the table with its tip pointing left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Have the left arm set the asparagus on the bottom side of the table, tip oriented to the left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "With the left hand, position the asparagus on the table's bottom side so the tip faces left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Place the asparagus on the bottom side of the table with its tip pointing left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Set the asparagus on the table's bottom side with the tip facing left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Position the asparagus on the bottom side of the table so its tip points left.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Using the left hand, place the asparagus on the bottom side of the table.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Have the left arm set the asparagus on the table's bottom side.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "With the left hand, position the asparagus on the bottom side of the table.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Put the asparagus on the bottom side of the table.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Set the asparagus on the table's bottom side.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Have the asparagus placed on the bottom side of the table.", + "start_idx": 4971, + "end_idx": 5004 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "With the left hand, grasp the corn from the table at the middle on a diagonal angle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Grasp the corn from the table diagonally at its middle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Put the corn to the left of the asparagus with the left hand facing backwards.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Using the left hand, place the corn to the left of the asparagus with its tip facing backwards.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Have the left arm set the corn left of the asparagus, tip oriented backward.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "With the left hand, position the corn on the asparagus's left side, its tip pointing backwards.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Place the corn to the left of the asparagus with its tip facing backwards.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Set the corn on the left side of the asparagus, tip pointing backward.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Position the corn left of the asparagus, with the tip oriented backwards.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Using the left hand, put the corn to the left of the asparagus.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Have the left arm place the corn on the asparagus's left side.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "With the left hand, set the corn left of the asparagus.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Place the corn to the left of the asparagus.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Using the left hand, position the corn left of the asparagus.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Set the corn on the asparagus's left side.", + "start_idx": 5037, + "end_idx": 5073 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "With the left hand, grasp the red marker from the table from the bottom using a side hold at a diagonal angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Have the left hand retrieve the red marker from the table with a diagonal pickup angle and a side grasp at the bottom.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Take the red marker from the table with a side hold at the bottom and a diagonal angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Grasp the red marker from the table from the bottom with a side grip and a diagonal pickup angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "With the left hand, take the red marker from the table from the bottom using a side grasp.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Have the left hand collect the red marker from the table with a side hold at the bottom.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "With the left hand, take the red marker from the table from the bottom at a diagonal pick angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Pick up the red marker from the table from the bottom at a diagonal angle.", + "start_idx": 5073, + "end_idx": 5097 + }, + { + "text": "Put the red marker to the left of the corn with the left hand with its tip facing bottom left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn with its tip pointing to the bottom left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Have the left arm set the red marker left of the corn, tip oriented bottom-left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "With the left hand, position the red marker on the corn's left side, keeping the tip facing bottom left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Place the red marker to the left of the corn.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Set the red marker on the left side of the corn.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Position the red marker left of the corn.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Using the left hand, place the red marker to the left of the corn.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Have the left arm set the red marker left of the corn.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Place the red marker with its tip pointing to the bottom left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Set the red marker down with the tip facing bottom left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Using the left hand, place the red marker with its tip facing bottom left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Have the left arm position the red marker with the tip oriented bottom-left.", + "start_idx": 5097, + "end_idx": 5136 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a diagonal approach, holding its middle.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "With the left hand, grasp the screwdriver from the table diagonally at the center.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle by its middle.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "With the left hand, pick up the screwdriver from the table.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Using the left hand, grasp the screwdriver from the table.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Grasp the screwdriver from the table.", + "start_idx": 5136, + "end_idx": 5169 + }, + { + "text": "Put the screwdriver behind the red marker with the left hand with its tip facing bottom right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Using the left hand, place the screwdriver behind the red marker with its tip pointing to the bottom right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Have the left arm set the screwdriver behind the red marker, keeping the tip oriented bottom right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "With the left hand, position the screwdriver behind the red marker so the tip faces the lower right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Place the screwdriver behind the red marker with its tip pointing to the bottom right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Set the screwdriver behind the red marker so its tip faces the lower right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Position the screwdriver behind the red marker, leaving the tip directed bottom right.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Using the left hand, put the screwdriver behind the red marker.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Have the left arm place the screwdriver behind the red marker.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "With the left hand, set the screwdriver behind the red marker.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Place the screwdriver behind the red marker.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Set the screwdriver behind the red marker.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Position the screwdriver behind the red marker.", + "start_idx": 5169, + "end_idx": 5199 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by its middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, approaching at a diagonal and holding the center.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal approach, holding its center.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Using the left hand, take the asparagus from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Pick up the asparagus from the table grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "From the table, take the asparagus with the left hand.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Put the asparagus behind the corn with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Using the left hand, place the asparagus behind the corn with the tip facing bottom left.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Have the left arm set the asparagus behind the corn, oriented bottom left at the tip.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "With the left hand, position the asparagus behind the corn so its tip points bottom left.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Place the asparagus behind the corn with the tip facing bottom left.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Set the asparagus behind the corn so the tip points bottom left.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Position the asparagus behind the corn, oriented bottom left at the tip.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Using the left hand, put the asparagus behind the corn.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "With the left hand, place the asparagus behind the corn.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Have the left arm set the asparagus behind the corn.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Put the asparagus behind the corn.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Place the asparagus behind the corn.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Set the asparagus behind the corn.", + "start_idx": 5232, + "end_idx": 5262 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "With the left hand, take the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Using the left hand, grasp the green bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Have the left arm pick the green bowl up from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Take the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "The green bowl should be picked up from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Use the left hand to take the green bowl from the table.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "With the left hand, take the green bowl from the table at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Take the green bowl from the table at the bottom left.", + "start_idx": 5334, + "end_idx": 5367 + }, + { + "text": "Put the green bowl to the right of the asparagus with the left hand.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Using the left hand, place the green bowl to the right of the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Have the left arm set the green bowl down to the asparagus's right.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "With the left hand, position the green bowl on the right side of the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Place the green bowl to the right of the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Set the green bowl down on the asparagus's right side.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Position the green bowl beside the asparagus on its right.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Arrange the green bowl to the right of the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Using the left hand, put the green bowl by the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "With the left hand, place the green bowl next to the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Set the green bowl beside the asparagus with the left hand.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Put the green bowl next to the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Place the green bowl by the asparagus.", + "start_idx": 5367, + "end_idx": 5406 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Have the left arm take the red marker from the table on a diagonal, holding it at the middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "With the left hand, collect the red marker from the table diagonally by its middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Grab the red marker from the table diagonally by the middle.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "With the left hand, pick up the red marker from the table.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Using the left hand, collect the red marker from the table.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Grab the red marker from the table.", + "start_idx": 5406, + "end_idx": 5439 + }, + { + "text": "Put the red marker to the right of the blue marker with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Using the left hand, place the red marker to the right of the blue marker, facing bottom right with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Have the left hand set the red marker to the right of the blue marker, with its tip defining a bottom-right orientation.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "The red marker goes to the right of the blue marker in the left hand, oriented bottom right using the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Place the red marker to the right of the blue marker, facing bottom right with the tip as the reference point.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Set the red marker to the right of the blue marker with the tip defining a bottom-right orientation.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Position the red marker to the right of the blue marker, oriented toward the bottom right from the tip.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "With the left hand, put the red marker to the right of the blue marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Using the left hand, set the red marker to the right of the blue marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Have the left hand position the red marker to the right of the blue marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Place the red marker to the right of the blue marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Set the red marker to the right of the blue marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Position the red marker to the right of the blue marker.", + "start_idx": 5439, + "end_idx": 5472 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Using the left hand, grasp the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "From a diagonal angle, have the left hand take the asparagus from the table with a side grasp at the bottom.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "With the left hand, secure the asparagus from the table in a side hold at the bottom from a diagonal approach.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "From a diagonal angle, grasp the asparagus from the table with a side hold at the bottom.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Take the asparagus from the table in a side grip at the bottom from a diagonal approach.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Have the left hand collect the asparagus from the table with a side hold.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Using the left hand, pick up the asparagus from the table from a diagonal angle.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Grab the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 5472, + "end_idx": 5508 + }, + { + "text": "Put the asparagus on the top side of the table with the left hand with the tip facing bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Using the left hand, place the asparagus on the table's top side with the tip pointing to the bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Have the left arm set the asparagus on the top side of the table, tip aimed bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "With the left hand, position the asparagus on the top side of the table so its tip faces the bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Place the asparagus on the top side of the table with the tip facing bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Set the asparagus on the table's top side, with its tip directed toward the bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Position the asparagus on the top side of the table so the tip points bottom left.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Using the left hand, put the asparagus on the top side of the table.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "With the left hand, set the asparagus on the table's top side.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Have the left arm place the asparagus on the top side of the table.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Put the asparagus on the top side of the table.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Place the asparagus on the table's top side.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Using the left hand, position the asparagus on the top side of the table.", + "start_idx": 5508, + "end_idx": 5553 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "With the left hand, collect the screwdriver from the table, holding it at a diagonal angle at the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle at the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Have the left arm collect the screwdriver from the table at a diagonal angle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Take the screwdriver from the table diagonally.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 5553, + "end_idx": 5592 + }, + { + "text": "Put the screwdriver in front of the asparagus with the left hand with its tip facing bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Using the left hand, place the screwdriver in front of the asparagus with its tip facing bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Have the left arm set the screwdriver in front of the asparagus, tip oriented toward the bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "With the left hand, position the screwdriver before the asparagus so its tip points bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Place the screwdriver in front of the asparagus with its tip facing bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Set the screwdriver before the asparagus with its tip pointing bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Position the screwdriver in front of the asparagus, with the tip oriented to the bottom left.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Using the left hand, put the screwdriver in front of the asparagus.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Have the left arm place the screwdriver before the asparagus.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "With the left hand, set the screwdriver in front of the asparagus.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Put the screwdriver in front of the asparagus.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Set the screwdriver before the asparagus.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Position the screwdriver in front of the asparagus.", + "start_idx": 5592, + "end_idx": 5634 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "With the left hand, secure the green bowl from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Take the green bowl from the table with a lip grasp at the bottom left at a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Grasp the green bowl from the table with a lip hold on the bottom-left side at a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a lip hold.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "With the left hand, take the green bowl from the table at a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Grasp the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 5634, + "end_idx": 5670 + }, + { + "text": "Put the green bowl on the right side of the table with the left hand.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Using the left hand, place the green bowl on the right side of the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Have the left arm set the green bowl down on the table's right side.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "With your left hand, position the green bowl on the right side of the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Place the green bowl on the right side of the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Set the green bowl on the table's right side.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Put the green bowl down on the right side of the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Move the green bowl to the right side of the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Using the left hand, place the green bowl on the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Have the left arm set the green bowl down on the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "With your left hand, put the green bowl on the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Place the green bowl on the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Set the green bowl down on the table.", + "start_idx": 5670, + "end_idx": 5715 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Have the left arm take the blue marker from the table diagonally by its middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "With the left hand, collect the blue marker from the table using a diagonal approach at the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Grab the blue marker from the table at a diagonal angle from its middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "With the left hand, pick up the blue marker from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Using the left hand, take the blue marker from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Have the left arm grab the blue marker from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Put the blue marker between the screwdriver and the green bowl with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Using the left hand, place the blue marker between the screwdriver and the green bowl with its tip facing bottom left.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Have the left arm set the blue marker between the screwdriver and the green bowl, oriented bottom left by the tip.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "With the left hand, position the blue marker between the screwdriver and the green bowl so the tip points bottom left.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Place the blue marker between the screwdriver and the green bowl with the tip facing bottom left.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Set the blue marker between the screwdriver and the green bowl, with its tip oriented bottom left.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Position the blue marker between the screwdriver and the green bowl so the tip faces bottom left.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Using the left hand, put the blue marker between the screwdriver and the green bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "With the left hand, place the blue marker between the screwdriver and the green bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Have the left arm set the blue marker between the screwdriver and the green bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Put the blue marker between the screwdriver and the green bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Set the blue marker between the screwdriver and the green bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Position the blue marker between the screwdriver and the green bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the center.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Have the asparagus picked up from the table.", + "start_idx": 5862, + "end_idx": 5898 + }, + { + "text": "Put the asparagus to the right of the corn with the left hand facing left with the tip as the reference point.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Using the left hand, place the asparagus to the right of the corn with the tip facing left.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Have the left arm set the asparagus to the right of the corn, oriented left by its tip.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "With the left hand, position the asparagus right of the corn so the tip points left.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Place the asparagus to the right of the corn with the tip facing left.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Set the asparagus right of the corn, with its tip oriented left.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Position the asparagus to the right of the corn so the tip points left.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Put the asparagus to the right of the corn.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Place the asparagus right of the corn.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Set the asparagus to the corn's right side.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Using the left hand, place the asparagus to the right of the corn.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "With the left hand, set the asparagus right of the corn.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Have the left arm put the asparagus to the right of the corn.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Have the left hand take the screwdriver from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "With the left hand, collect the screwdriver from the table diagonally by the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "From the table, grasp the screwdriver at a diagonal angle by the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Have the left hand collect the screwdriver from the table, holding the middle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "With the left hand, take the screwdriver from the table with a diagonal approach.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 5937, + "end_idx": 5976 + }, + { + "text": "Put the screwdriver to the left of the corn with the left hand facing left with the tip as the reference point.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the corn with its tip facing left.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Have the left arm set the screwdriver left of the corn, oriented leftward using the tip as the reference point.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "With the left hand, position the screwdriver to the left of the corn so the tip points left.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Place the screwdriver to the left of the corn with its tip facing left.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Set the screwdriver left of the corn, with the tip oriented to the left.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Position the screwdriver to the left of the corn, keeping the tip pointed left.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Put the screwdriver to the left of the corn.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Set the screwdriver left of the corn.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Position the screwdriver beside the corn on its left side.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the corn.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "With the left hand, set the screwdriver beside the corn.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Have the left arm position the screwdriver on the corn's left side.", + "start_idx": 5976, + "end_idx": 6012 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal approach, holding it at the center.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "With the left hand, grasp the middle of the blue marker on the table and retrieve it at a diagonal angle.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Take the blue marker from the table with a diagonal approach, holding the center.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Grasp the middle of the blue marker from the table at a diagonal angle.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Remove the blue marker from the table.", + "start_idx": 6012, + "end_idx": 6051 + }, + { + "text": "Put the blue marker behind the corn with the left hand with its tip facing left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Using the left hand, place the blue marker behind the corn with its tip pointing left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Have the left arm set the blue marker behind the corn, tip oriented to the left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "With the left hand, position the blue marker behind the corn so its tip faces left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Place the blue marker behind the corn with its tip facing left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Set the blue marker behind the corn with the tip pointing left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Position the blue marker behind the corn so the tip faces left.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Using the left hand, put the blue marker behind the corn.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "With the left hand, set the blue marker behind the corn.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Have the left arm place the blue marker behind the corn.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Put the blue marker behind the corn.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Place the blue marker behind the corn.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Set the blue marker behind the corn.", + "start_idx": 6051, + "end_idx": 6093 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Have the left arm pick up the blue marker from the table diagonally by the middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "With the left hand, retrieve the blue marker from the table in a diagonal orientation, holding its middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Take the blue marker from the table with the left hand diagonally.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle with the left hand.", + "start_idx": 6189, + "end_idx": 6228 + }, + { + "text": "Put the blue marker to the right of the green bowl with the left hand facing top left by the tip.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Using the left hand, place the blue marker to the right of the green bowl with the tip facing top left.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Have the left hand set the blue marker to the right of the green bowl, oriented so its tip points top left.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "With the left hand, position the blue marker to the right of the green bowl, keeping the tip directed toward the top left.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Place the blue marker to the right of the green bowl with the tip facing top left.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Set the blue marker to the right of the green bowl so the tip points top left.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Position the blue marker to the right of the green bowl, with its tip oriented top left.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Using the left hand, put the blue marker to the right of the green bowl.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "With the left hand, place the blue marker to the right of the green bowl.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Have the left hand position the blue marker to the right of the green bowl.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Put the blue marker to the right of the green bowl.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Set the blue marker to the right of the green bowl.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Position the blue marker to the right of the green bowl.", + "start_idx": 6228, + "end_idx": 6276 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Have the left arm grasp the corn from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "With the left hand, seize the corn from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Take the corn from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Grasp the corn from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip at the bottom.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Have the left arm take the corn from the table with a side grasp on the bottom.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Using the left hand, grasp the corn from the table at the bottom.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Take the corn from the table with the left hand using a side grip.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "With the left hand, seize the corn from the table at the bottom.", + "start_idx": 6483, + "end_idx": 6516 + }, + { + "text": "Put the corn to the left of the green bowl with the left hand with the tip facing left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Using the left hand, place the corn to the left of the green bowl with its tip pointing left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Have the left arm set the corn to the green bowl's left, tip facing left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "With the left hand, position the corn left of the green bowl so the tip faces left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Place the corn to the left of the green bowl with its tip pointing left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Set the corn on the left side of the green bowl with the tip facing left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Position the corn to the green bowl's left, tip directed left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Using the left hand, place the corn to the left of the green bowl.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Have the left arm set the corn on the left side of the green bowl.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "With the left hand, position the corn beside the green bowl on its left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Put the corn to the left of the green bowl.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Set the corn on the left side of the green bowl.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Position the corn beside the green bowl on its left.", + "start_idx": 6516, + "end_idx": 6561 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal angle and grip the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Take the asparagus from the table on a diagonal angle, holding the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup and grip it at the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "With the left hand, retrieve the asparagus from the table and hold the middle.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Have the left arm pick up the asparagus from the table.", + "start_idx": 6561, + "end_idx": 6606 + }, + { + "text": "Put the asparagus to the center of the table with the left hand facing backwards with the tip as the reference point.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table with its tip facing backwards.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Have the left arm set the asparagus in the middle of the table, oriented backward relative to the tip.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "With the left hand, position the asparagus at the table center so the tip faces backward.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Place the asparagus at the center of the table.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Set the asparagus in the middle of the table.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Position the asparagus at the table center.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Using the left hand, put the asparagus at the center of the table.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Have the left arm place the asparagus in the middle of the table.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Move the asparagus to the center of the table with the left hand.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Place the asparagus at the center of the table with its tip facing backwards.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Set the asparagus in the middle of the table so the tip points backward.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Position the asparagus at the table center with the tip facing backward.", + "start_idx": 6606, + "end_idx": 6645 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Have the left hand pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Retrieve the screwdriver from the table while holding its middle at a diagonal angle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "With the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Using the left hand, take the screwdriver from the table by the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Have the left hand retrieve the screwdriver from the table, holding the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 6645, + "end_idx": 6687 + }, + { + "text": "Put the screwdriver on the bottom side of the table with the left hand facing left with the tip as the reference point.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Using the left hand, place the screwdriver on the bottom side of the table with its tip pointing left.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "With the left arm, set the screwdriver on the table's bottom side, oriented left relative to the tip.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Have the left hand position the screwdriver on the bottom side of the table so the tip faces left.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Place the screwdriver on the bottom side of the table with its tip pointing left.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Set the screwdriver on the table's bottom side, oriented left from the tip.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Position the screwdriver on the bottom side of the table so the tip faces left.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Put the screwdriver on the bottom side of the table.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Set the screwdriver on the table's bottom side.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Position the screwdriver on the bottom side of the table.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Using the left hand, place the screwdriver on the bottom side of the table.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "With the left arm, set the screwdriver on the table's bottom side.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Have the left hand position the screwdriver on the bottom side of the table.", + "start_idx": 6687, + "end_idx": 6735 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Have the left arm pick the corn off the table with a side grip on the top at a diagonal angle.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "With the left hand, retrieve the corn from the table using a side hold at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Pick up the corn from the table using a side grip at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Take the corn off the table with a side grasp on the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Retrieve the corn from the table with a side hold at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the top.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Have the left arm take the corn off the table with a side grasp on the top.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "With the left hand, retrieve the corn from the table at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Pick up the corn from the table with the left hand at the top in a diagonal pick.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Take the corn off the table with the left hand.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Retrieve the corn from the table using a side grip.", + "start_idx": 6735, + "end_idx": 6771 + }, + { + "text": "Put the corn on the top side of the table with the left hand facing bottom right by the tip.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Using the left hand, place the corn on the table's top side with the tip facing bottom right.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Have the left arm set the corn on the top side of the table, oriented with its tip toward the bottom right.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "With the left hand, position the corn on the table's top side so the tip points bottom right.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Place the corn on the top side of the table with its tip facing bottom right.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Set the corn on the table's top side, keeping the tip oriented toward the bottom right.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Position the corn on the top side of the table so its tip faces the bottom right.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Put the corn on the top side of the table with the left hand.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Using the left hand, set the corn on the table's top side.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Have the left arm place the corn on the top side of the table.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Put the corn on the top side of the table.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Set the corn on the table's top side.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Place the corn on the top side of the table.", + "start_idx": 6771, + "end_idx": 6807 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Have the left arm take the asparagus from the table, grasping it at the middle on a diagonal.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "The asparagus should be picked up from the table with the left hand, approaching diagonally at its middle.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Take the asparagus from the table, grasping it diagonally at the middle.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "The asparagus from the table should be picked up from the middle at a diagonal angle.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "With the left hand, pick up the asparagus from the table.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "The asparagus from the table should be picked up with the left hand.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Put the asparagus in front right of the corn with the left hand facing bottom left with the tip as reference.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Using the left hand, place the asparagus in front-right of the corn with the tip facing bottom left.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Have the left arm set the asparagus front-right of the corn, oriented bottom left by its tip.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "With the left hand, position the asparagus in the front-right spot relative to the corn, tip facing bottom left.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Place the asparagus in front-right of the corn with the tip facing bottom left.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Set the asparagus in front-right of the corn, with its tip oriented toward the bottom left.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Position the asparagus in front-right of the corn, tip pointing bottom left.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Using the left hand, put the asparagus in front-right of the corn.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "With the left hand, place the asparagus at the front-right of the corn.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Have the left arm position the asparagus in front-right of the corn.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Put the asparagus in front-right of the corn.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Set the asparagus by the corn at the front-right.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Have the asparagus placed in front-right of the corn.", + "start_idx": 7104, + "end_idx": 7140 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Have the left arm grasp the corn from the table with a side hold on the top at a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp on its top from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Take the corn from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Grasp the corn from the table using a side hold on the top from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "The corn from the table should be taken with a side grasp at the top from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Take the corn from the table using a side grip at the top.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "The corn from the table should be grasped from a diagonal angle.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Put the corn to the left of the screwdriver with the left hand facing backwards with the tip as the reference point.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Using the left hand, place the corn to the left of the screwdriver with its tip facing backward.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Have the left arm set the corn left of the screwdriver, oriented backward relative to the tip.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "With the left hand, position the corn to the screwdriver's left, with the tip pointing backward.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Place the corn to the left of the screwdriver with its tip facing backward.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Set the corn left of the screwdriver, with the tip oriented backward.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Position the corn to the screwdriver's left, tip facing backward.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Using the left hand, put the corn to the left of the screwdriver.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "With the left hand, place the corn left of the screwdriver.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Have the left arm set the corn to the screwdriver's left.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Put the corn to the left of the screwdriver.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Using the left hand, position the corn to the left of the screwdriver.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Set the corn left of the screwdriver.", + "start_idx": 7167, + "end_idx": 7209 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Have the left arm pick the screwdriver up from the table on a diagonal, holding it at the center.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Take the screwdriver from the table on a diagonal, holding its center.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Have the left arm pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 7533, + "end_idx": 7584 + }, + { + "text": "Put the screwdriver behind the corn with the left hand with its tip facing right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Using the left hand, place the screwdriver behind the corn with its tip pointing right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Have the left arm set the screwdriver behind the corn, tip oriented to the right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "With the left hand, position the screwdriver behind the corn so the tip faces right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Place the screwdriver behind the corn with its tip facing right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Set the screwdriver behind the corn with the tip pointing right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Position the screwdriver behind the corn so its tip points right.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Using the left hand, put the screwdriver behind the corn.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "With the left hand, place the screwdriver behind the corn.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Have the left arm set the screwdriver behind the corn.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Put the screwdriver behind the corn.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Place the screwdriver behind the corn.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Set the screwdriver behind the corn.", + "start_idx": 7584, + "end_idx": 7626 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal pick angle at its middle.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "With the left hand, retrieve the asparagus from the table by grasping its middle diagonally.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Retrieve the asparagus from the table by grasping the middle at a diagonal angle.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 7695, + "end_idx": 7734 + }, + { + "text": "Put the asparagus behind the screwdriver with the left hand with its tip facing bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Using the left hand, place the asparagus behind the screwdriver with its tip pointing to the bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Have the left arm set the asparagus behind the screwdriver, tip directed bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "With the left hand, position the asparagus behind the screwdriver so its tip faces the bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Place the asparagus behind the screwdriver with its tip pointing to the bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Set the asparagus behind the screwdriver so the tip faces bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Position the asparagus behind the screwdriver, with the tip directed toward the bottom right.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Using the left hand, put the asparagus behind the screwdriver.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "With the left hand, place the asparagus behind the screwdriver.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Have the left arm set the asparagus behind the screwdriver.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Put the asparagus behind the screwdriver.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Using the left hand, position the asparagus behind the screwdriver.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Set the asparagus behind the screwdriver.", + "start_idx": 7734, + "end_idx": 7779 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal from the middle.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal from the middle.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal middle grasp.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "With the left hand, grasp the corn from the table diagonally at its middle.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Pick up the corn from the table at a diagonal from the middle.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Take the corn from the table with a diagonal grasp at the middle.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Grasp the corn from the table diagonally from its middle.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Take the corn from the table.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 7779, + "end_idx": 7818 + }, + { + "text": "Put the corn to the right of the screwdriver with the left hand with the tip facing bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Using the left hand, place the corn to the right of the screwdriver with the tip facing bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Have the left arm set the corn to the screwdriver's right, tip oriented toward the bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "With the left hand, position the corn on the right side of the screwdriver, keeping its tip pointed bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Place the corn to the right of the screwdriver with the tip facing bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Set the corn on the right side of the screwdriver, with its tip pointed toward the bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Position the corn to the screwdriver's right, tip facing bottom right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Using the left hand, put the corn to the right of the screwdriver.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Have the left arm place the corn on the right side of the screwdriver.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "With the left hand, set the corn to the screwdriver's right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Place the corn to the right of the screwdriver.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Set the corn on the right side of the screwdriver.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Position the corn to the screwdriver's right.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by its middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "From the table, take the screwdriver diagonally by the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "From the table, take the screwdriver by the middle.", + "start_idx": 7848, + "end_idx": 7890 + }, + { + "text": "Put the screwdriver in front left of the corn with the left hand with its tip facing top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Using the left hand, place the screwdriver in front left of the corn with its tip pointing top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Have the left hand set the screwdriver in front left of the corn, tip oriented toward the top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "With the left hand, position the screwdriver in front left of the corn so its tip faces top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Place the screwdriver in front left of the corn with its tip pointing top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Set the screwdriver in front left of the corn, with the tip directed to the top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Position the screwdriver in front left of the corn so the tip faces top right.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Using the left hand, put the screwdriver in front left of the corn.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "With the left hand, place the screwdriver in front left of the corn.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Have the left hand set the screwdriver in front left of the corn.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Put the screwdriver in front left of the corn.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Position the screwdriver in front left of the corn.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Set the screwdriver in front left of the corn.", + "start_idx": 7890, + "end_idx": 7926 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping its middle.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Take the asparagus from the table diagonally by the center.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle while holding its middle.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Have the left arm pick up the asparagus from the table at a diagonal angle.", + "start_idx": 7926, + "end_idx": 7959 + }, + { + "text": "Put the asparagus between the screwdriver and the blue marker with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Using the left hand, place the asparagus between the screwdriver and the blue marker with the tip facing bottom left.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Have the left arm set the asparagus between the screwdriver and the blue marker, tip oriented toward the bottom left.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "With the left hand, position the asparagus between the screwdriver and the blue marker so its tip points bottom left.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Place the asparagus between the screwdriver and the blue marker with the tip facing bottom left.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Set the asparagus between the screwdriver and the blue marker, keeping the tip directed toward the bottom left.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Position the asparagus between the screwdriver and the blue marker so the tip points to the bottom left.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Using the left hand, put the asparagus between the screwdriver and the blue marker.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "With the left hand, place the asparagus between the screwdriver and the blue marker.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Have the left arm position the asparagus between the screwdriver and the blue marker.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Put the asparagus between the screwdriver and the blue marker.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Set the asparagus between the screwdriver and the blue marker.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Position the asparagus between the screwdriver and the blue marker.", + "start_idx": 7959, + "end_idx": 7989 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by grasping its middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Retrieve the corn from the table diagonally, holding the middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Grasp the corn from the table with the left hand.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Take the corn from the table.", + "start_idx": 8070, + "end_idx": 8109 + }, + { + "text": "Put the corn to the left of the green bowl with the left hand facing left with the tip as the orientation reference point.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Using the left hand, place the corn to the left of the green bowl with its tip facing left.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Have the left arm set the corn to the left of the green bowl, oriented leftward from the tip.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "With the left hand, position the corn left of the green bowl so the tip points left.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Place the corn to the left of the green bowl with its tip facing left.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Set the corn left of the green bowl with the tip oriented to the left.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Position the corn to the left of the green bowl, keeping the tip pointed left.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Using the left hand, put the corn to the left of the green bowl.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "With the left hand, place the corn left of the green bowl.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Have the left arm set the corn to the left of the green bowl.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Place the corn to the left of the green bowl.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Set the corn left of the green bowl.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Position the corn beside the green bowl on its left side.", + "start_idx": 8109, + "end_idx": 8151 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal middle grasp.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "With the left hand, grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Grasp the screwdriver from the table diagonally from the middle.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Take the screwdriver from the table with a diagonal middle grasp.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 8151, + "end_idx": 8193 + }, + { + "text": "Place the screwdriver in front of the corn with the left hand with its tip facing bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Using the left hand, set the screwdriver in front of the corn with its tip facing bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Have the left arm place the screwdriver in front of the corn, tip pointed toward the bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "With the left hand, position the screwdriver before the corn so the tip faces bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Place the screwdriver in front of the corn with its tip facing bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Set the screwdriver before the corn with the tip pointed bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Position the screwdriver in front of the corn so its tip points toward the bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Using the left hand, place the screwdriver in front of the corn.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Have the left arm set the screwdriver before the corn.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "With the left hand, position the screwdriver in front of the corn.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Put the screwdriver in front of the corn.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Using the left hand, place the screwdriver before the corn.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Set the screwdriver in front of the corn with its tip facing bottom left.", + "start_idx": 8193, + "end_idx": 8238 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grasp at the bottom with a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Using the left hand, collect the asparagus from the table with a side hold at the bottom on a diagonal angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a side grip at the bottom at a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Using a side hold at the bottom with a diagonal angle, collect the asparagus from the table.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "With the left hand, pick up the asparagus from the table using a side grip at the bottom.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Have the left arm take the asparagus from the table with a side grasp at the bottom.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Using the left hand, collect the asparagus from the table with a side hold at the bottom.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Pick up the asparagus from the table with the left hand at the bottom with a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Take the asparagus from the table with the left hand from the bottom at a diagonal angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "With the left hand, collect the asparagus from the table at the bottom with a diagonal pick angle.", + "start_idx": 8238, + "end_idx": 8280 + }, + { + "text": "Put the asparagus behind the red marker with the left hand with its tip facing bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Using the left hand, place the asparagus behind the red marker with its tip pointing to the bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Have the left arm set the asparagus behind the red marker, keeping the tip directed bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "With the left hand, position the asparagus behind the red marker so its tip faces the bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Place the asparagus behind the red marker with its tip facing bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Set the asparagus behind the red marker, with the tip pointing bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Position the asparagus behind the red marker so the tip faces the bottom left.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Using the left hand, put the asparagus behind the red marker.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Have the left arm place the asparagus behind the red marker.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "With the left hand, set the asparagus behind the red marker.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Put the asparagus behind the red marker.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Position the asparagus behind the red marker.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Have the asparagus placed behind the red marker.", + "start_idx": 8280, + "end_idx": 8316 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, gripping the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at a diagonal angle around the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Take the screwdriver from the table diagonally, holding the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table grasping the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "From the table, retrieve the screwdriver with the left hand, holding the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Take the screwdriver from the table diagonally.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Using the left hand, grasp the screwdriver from the table.", + "start_idx": 8382, + "end_idx": 8424 + }, + { + "text": "Put the screwdriver inside the green bowl with the left hand.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Using the left hand, place the screwdriver in the green bowl with its tip facing the top left.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Have the left arm set the screwdriver inside the green bowl, tip oriented toward the top left.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "With the left hand, deposit the screwdriver into the green bowl so the tip points top left.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Place the screwdriver into the green bowl with its tip facing the top left.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Set the screwdriver inside the green bowl, with the tip oriented toward the top left.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Put the screwdriver in the green bowl so the tip points to the top left.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Move the screwdriver into the green bowl.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "The screwdriver goes inside the green bowl.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Set the screwdriver in the green bowl.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Using the left hand, place the screwdriver in the green bowl.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Have the left arm put the screwdriver inside the green bowl.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "With the left hand, move the screwdriver into the green bowl.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Retrieve the corn from the table diagonally by the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "From the table, take the corn.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Have the arm collect the corn from the table.", + "start_idx": 8523, + "end_idx": 8562 + }, + { + "text": "Put the corn in front of the green bowl with the left hand facing backwards.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Using the left hand, place the corn in front of the green bowl with its tip facing backwards.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Have the left arm set the corn in front of the green bowl, tip oriented backward.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "With the left hand, position the corn before the green bowl so the tip points backward.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Place the corn in front of the green bowl with its tip facing backwards.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Set the corn before the green bowl with the tip pointing backward.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Position the corn in front of the green bowl so its tip faces backward.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Using the left hand, put the corn in front of the green bowl.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "With the left hand, set the corn before the green bowl.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Have the left arm place the corn in front of the green bowl.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Put the corn in front of the green bowl.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Set the corn before the green bowl.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Position the corn in front of the green bowl.", + "start_idx": 8562, + "end_idx": 8604 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 8679, + "end_idx": 8700 + }, + { + "text": "Dump the blue marker the red marker and the red screwdriver behind the corn with the left hand.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Using the left hand, dump the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Have the left arm place the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "With the left hand, deposit the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Dump the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Place the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Set the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Move the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Position the blue marker, the red marker, and the red screwdriver behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "The blue marker, the red marker, and the red screwdriver go behind the corn.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Using the left hand, dump the blue marker, the red marker, and the red screwdriver.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Have the left arm place the blue marker, the red marker, and the red screwdriver.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "With the left hand, move the blue marker, the red marker, and the red screwdriver.", + "start_idx": 8700, + "end_idx": 8760 + }, + { + "text": "Put the green bowl to the left of the corn with the left hand.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Using the left hand, place the green bowl to the left of the corn.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Have the left arm set the green bowl to the left of the corn.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "With your left hand, position the green bowl to the left of the corn.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Place the green bowl to the left of the corn.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Set the green bowl to the left of the corn.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Position the green bowl to the left of the corn.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Move the green bowl to the corn's left side.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Arrange the green bowl with the left hand.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Using the left hand, set down the green bowl.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Place the green bowl with the left hand.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Set down the green bowl.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Move the green bowl.", + "start_idx": 8760, + "end_idx": 8808 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Have the left hand take the red marker off the table diagonally by the middle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "With the left hand, retrieve the red marker from the table while holding its middle at a diagonal angle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Take the red marker off the table diagonally by the middle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Retrieve the red marker from the table while holding the middle at a diagonal angle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Have the left hand take the red marker off the table.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Take the red marker off the table by the middle.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 8877, + "end_idx": 8913 + }, + { + "text": "Put the red marker to the left of the green bowl with the left hand facing forwards with the tip as the reference point.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Using the left hand, place the red marker to the left of the green bowl with the tip facing forwards.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Have the left arm set the red marker left of the green bowl, oriented forwards by its tip.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "With the left hand, position the red marker to the left of the green bowl so the tip points forwards.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Place the red marker to the left of the green bowl with the tip facing forwards.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Set the red marker left of the green bowl, with its tip oriented forwards.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Position the red marker to the left of the green bowl so the tip points forwards.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Using the left hand, put the red marker to the left of the green bowl.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Have the left arm place the red marker left of the green bowl.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "With the left hand, position the red marker to the left of the green bowl.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Put the red marker to the left of the green bowl.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Set the red marker left of the green bowl.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Position the red marker to the left of the green bowl.", + "start_idx": 8913, + "end_idx": 8949 + }, + { + "text": "Pick up the red screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Using the left hand, pick up the red screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Have the left arm take the red screwdriver from the table with a diagonal approach at its middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "With the left hand, retrieve the red screwdriver from the table diagonally by the middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Pick up the red screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Retrieve the red screwdriver from the table with a diagonal approach at the middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Take the red screwdriver from the table diagonally by its middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Using the left hand, pick up the red screwdriver from the table.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Have the left arm take the red screwdriver from the table.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "With the left hand, retrieve the red screwdriver from the table.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Pick up the red screwdriver from the table.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Take the red screwdriver from the table at a diagonal angle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "From the table, retrieve the red screwdriver by the middle.", + "start_idx": 8949, + "end_idx": 8994 + }, + { + "text": "Put the red screwdriver behind the green bowl with the left hand with its tip facing left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Using the left hand, place the red screwdriver behind the green bowl with its tip pointing left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Have the left arm set the red screwdriver behind the green bowl, tip directed to the left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "With the left hand, position the red screwdriver behind the green bowl so the tip faces left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Place the red screwdriver behind the green bowl with its tip facing left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Set the red screwdriver behind the green bowl with the tip pointed left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Position the red screwdriver behind the green bowl so its tip points left.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Using the left hand, put the red screwdriver behind the green bowl.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Have the left arm place the red screwdriver behind the green bowl.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "With the left hand, set the red screwdriver behind the green bowl.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Put the red screwdriver behind the green bowl.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Place the red screwdriver behind the green bowl.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Set the red screwdriver behind the green bowl.", + "start_idx": 8994, + "end_idx": 9030 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Have the left arm pick the corn from the table with a side hold on its bottom at a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "With the left hand, grasp the corn from the table from a diagonal angle using a side grip at the bottom.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "From a diagonal angle, grasp the corn from the table with a side hold at the bottom.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Take the corn from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Have the left arm take the corn from the table with a side hold on the bottom.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "From a diagonal angle, take the corn from the table with the left hand.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Grasp the corn from the table at the bottom from a diagonal angle.", + "start_idx": 9114, + "end_idx": 9138 + }, + { + "text": "Put the corn into the green bowl with the left hand.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Using the left hand, place the corn into the green bowl with its tip facing bottom right.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Have the left arm set the corn in the green bowl, tip oriented toward the bottom right.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "With the left hand, deposit the corn into the green bowl so the tip points bottom right.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Place the corn into the green bowl with its tip facing bottom right.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Set the corn in the green bowl with the tip pointing bottom right.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Put the corn into the green bowl, with the tip directed toward the bottom right.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Using the left hand, place the corn into the green bowl.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Have the left arm put the corn in the green bowl.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "With the left hand, set the corn into the green bowl.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Place the corn into the green bowl.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Put the corn in the green bowl.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Set the corn into the green bowl.", + "start_idx": 9138, + "end_idx": 9174 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Have the right arm take the corn from the table, grasping its bottom with a side hold from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "With the right hand, retrieve the corn from the table by gripping the bottom from a diagonal angle with a side grasp.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Take the corn from the table, gripping its bottom from a diagonal angle with a side hold.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "From a diagonal angle, grasp the corn at the bottom with a side grip and remove it from the table.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Have the right arm take the corn from the table with a side grasp.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "With the right hand, collect the corn from the table from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Using the right hand, pick up the corn from the table at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Pick up the corn from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "With the right hand, take the corn from the table using a side grip.", + "start_idx": 342, + "end_idx": 375 + }, + { + "text": "Put the corn inside the green bowl with the right hand facing forwards.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Using the right hand, place the corn in the green bowl with its tip facing forwards.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Have the right arm set the corn inside the green bowl, tip pointed forward.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "With the right hand, deposit the corn into the green bowl so the tip faces forwards.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Place the corn inside the green bowl.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Set the corn into the green bowl.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Put the corn in the green bowl.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Using the right hand, place the corn in the green bowl.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Have the right arm put the corn inside the green bowl.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "With the right hand, set the corn into the green bowl.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Place the corn in the green bowl with its tip facing forwards.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Set the corn inside the green bowl, tip pointed forward.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Put the corn into the green bowl with the tip facing forwards.", + "start_idx": 375, + "end_idx": 405 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Have the right hand grasp the red marker from the table at its bottom using a side hold with a diagonal approach.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "With the right hand, retrieve the red marker from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "From the table, grasp the red marker at the bottom with a side hold and a diagonal approach.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Take the red marker from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Have the right hand take the red marker from the table at its bottom using a side hold.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "With the right hand, grasp the red marker from the table at the bottom.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a diagonal pick angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Pick up the red marker from the table at the bottom with a diagonal pick angle.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "With the right hand, take the red marker from the table at its bottom.", + "start_idx": 678, + "end_idx": 705 + }, + { + "text": "Put the red marker to the right of the green bowl with the right hand facing forwards with the tip forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Using the right hand, place the red marker to the right of the green bowl with its tip facing forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Have the right hand set the red marker to the right of the green bowl, tip pointed forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "With the right hand, position the red marker to the right of the green bowl so the tip faces forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Place the red marker to the right of the green bowl with the tip facing forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Set the red marker to the right of the green bowl, keeping the tip pointed forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Position the red marker to the right of the green bowl so its tip faces forwards.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Using the right hand, place the red marker to the right of the green bowl.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Have the right hand set the red marker to the right of the green bowl.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "With the right hand, position the red marker to the right of the green bowl.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Place the red marker to the right of the green bowl.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Set the red marker to the right of the green bowl.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Position the red marker to the right of the green bowl.", + "start_idx": 705, + "end_idx": 735 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Have the right arm pick the red marker off the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "With the right hand, grasp the red marker from the table using a side hold at the bottom diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Take the red marker off the table with a side grasp at the bottom diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Grasp the red marker from the table with a side hold at the bottom diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "With the right hand, take the red marker off the table using a side grasp.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Have the right arm grasp the red marker from the table with a side hold.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Using the right hand, pick up the red marker from the table diagonally.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Take the red marker off the table with the right hand at the bottom diagonal.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Put the red marker in front of the asparagus with the right hand with its tip facing left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Using the right hand, place the red marker in front of the asparagus with its tip pointing left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Have the right hand set the red marker in front of the asparagus, tip facing left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "With the right hand, position the red marker in front of the asparagus so its tip faces left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Place the red marker in front of the asparagus with its tip facing left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Set the red marker in front of the asparagus, with the tip pointing left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Position the red marker in front of the asparagus so the tip faces left.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Using the right hand, put the red marker in front of the asparagus.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "With the right hand, place the red marker in front of the asparagus.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Have the right hand position the red marker in front of the asparagus.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Put the red marker in front of the asparagus.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Set the red marker in front of the asparagus.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Position the red marker in front of the asparagus.", + "start_idx": 972, + "end_idx": 1008 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "With the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Using the right hand, take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Take the screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Retrieve the screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "From the table, pick up the screwdriver with the right hand, grasping the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Using the right hand, take the screwdriver from the table by its middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table, holding the middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "With the right hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle with the right hand.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "From the table, take the screwdriver by its middle.", + "start_idx": 1077, + "end_idx": 1113 + }, + { + "text": "Put the screwdriver to the right of the red marker with the tip facing backwards using the right hand.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the red marker with its tip facing backwards.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Have the right hand set the screwdriver to the red marker's right, tip oriented backwards.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "With the right hand, position the screwdriver right of the red marker so the tip faces backwards.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Place the screwdriver to the right of the red marker with its tip facing backwards.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Set the screwdriver on the right side of the red marker, with the tip pointing backwards.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Position the screwdriver right of the red marker so its tip points backwards.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the red marker.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Have the right hand set the screwdriver on the red marker's right side.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "With the right hand, position the screwdriver beside the red marker on its right.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Put the screwdriver to the right of the red marker.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Using the right hand, place the screwdriver beside the red marker.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Have the screwdriver placed on the red marker's right side.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Have the right arm take the screwdriver from the table on a diagonal, holding it at the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Take the screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Have the right arm take the screwdriver from the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Retrieve the screwdriver from the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Put the screwdriver to the right of the asparagus with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the asparagus with the tip facing bottom right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Have the right arm set the screwdriver to the asparagus's right, oriented bottom right by its tip.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "With the right hand, position the screwdriver to the right of the asparagus so its tip points bottom right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Place the screwdriver to the right of the asparagus with the tip facing bottom right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Set the screwdriver to the asparagus's right, with the tip oriented bottom right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Position the screwdriver to the right of the asparagus so the tip points bottom right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Using the right hand, put the screwdriver to the right of the asparagus.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "With the right hand, place the screwdriver to the asparagus's right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Have the right arm set the screwdriver to the right of the asparagus.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Put the screwdriver to the right of the asparagus.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Set the screwdriver to the asparagus's right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Position the screwdriver to the right of the asparagus.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal approach at its middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Have the right arm take the screwdriver from the table by the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table at the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Using the right hand, take the screwdriver from the table diagonally.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 1941, + "end_idx": 1971 + }, + { + "text": "Put the screwdriver to the right of the green bowl with the right hand with its tip facing bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the green bowl with its tip pointing bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Have the right arm set the screwdriver to the green bowl's right side, tip oriented toward the bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "With the right hand, position the screwdriver right of the green bowl, keeping the tip aimed at the bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Place the screwdriver to the right of the green bowl with its tip facing bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Set the screwdriver on the right side of the green bowl, with the tip directed bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Position the screwdriver right of the green bowl, tip pointing to the bottom right.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Using the right hand, put the screwdriver to the right of the green bowl.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Have the right arm place the screwdriver on the bowl's right side.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "With the right hand, position the screwdriver right of the green bowl.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Set the screwdriver to the right of the green bowl.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the green bowl.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Position the screwdriver on the green bowl's right side.", + "start_idx": 1971, + "end_idx": 2004 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "With the right hand, retrieve the asparagus from the table at a diagonal angle by gripping the middle.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle, with the middle grasped.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "The asparagus from the table should be picked up.", + "start_idx": 2004, + "end_idx": 2040 + }, + { + "text": "Put the asparagus in front of the red screwdriver with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Using the right hand, place the asparagus in front of the red screwdriver with the tip facing bottom right.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Have the right arm set the asparagus in front of the red screwdriver, oriented bottom right from the tip.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "With the right hand, position the asparagus before the red screwdriver so its tip points to the bottom right.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Place the asparagus in front of the red screwdriver with the tip facing bottom right.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Set the asparagus before the red screwdriver, with its tip directed toward the bottom right.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Position the asparagus in front of the red screwdriver so the tip points bottom right.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Using the right hand, put the asparagus in front of the red screwdriver.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Have the right arm place the asparagus before the red screwdriver.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "With the right hand, set the asparagus in front of the red screwdriver.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Put the asparagus in front of the red screwdriver.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Position the asparagus before the red screwdriver.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Have the asparagus placed in front of the red screwdriver.", + "start_idx": 2040, + "end_idx": 2076 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 2277, + "end_idx": 2310 + }, + { + "text": "Place the asparagus to the right of the screwdriver with the right hand facing left with the tip as the reference point.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Using the right hand, set the asparagus to the screwdriver's right, facing left with the tip as the reference point.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Have the right arm place the asparagus on the right side of the screwdriver, oriented leftward from the tip.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "With the right hand, position the asparagus right of the screwdriver so its tip defines a left-facing orientation.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Place the asparagus to the right of the screwdriver.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Set the asparagus on the screwdriver's right side.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Position the asparagus right of the screwdriver.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Move the asparagus to the right of the screwdriver.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Place the asparagus to the right of the screwdriver with the right hand.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Using the right hand, set the asparagus on the right side of the screwdriver.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Have the right arm position the asparagus to the screwdriver's right.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Place the asparagus to the right of the screwdriver facing left with the tip as the reference point.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Set the asparagus on the right side of the screwdriver, oriented leftward from the tip.", + "start_idx": 2310, + "end_idx": 2352 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal approach, holding it at the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Have the right arm take the screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Get the screwdriver from the table at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Take the screwdriver from the table by the middle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Place the screwdriver to the right of the corn with the right hand facing top left with the tip as the reference point.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Using the right hand, set the screwdriver to the right of the corn, facing top left with the tip as the reference point.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Have the right arm place the screwdriver to the corn's right, oriented toward the top left from the tip.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "With the right hand, position the screwdriver right of the corn so the tip defines a top-left facing orientation.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Place the screwdriver to the right of the corn, facing top left with the tip as the reference point.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Set the screwdriver to the corn's right, with the tip as the reference point and facing top left.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Position the screwdriver to the right of the corn, oriented top left from the tip.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the corn.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Have the right arm set the screwdriver to the corn's right.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "With the right hand, position the screwdriver right of the corn.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Place the screwdriver to the right of the corn.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Set the screwdriver to the corn's right.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Position the screwdriver right of the corn.", + "start_idx": 2625, + "end_idx": 2670 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Have the right arm pick the asparagus off the table with a diagonal approach, holding it at the center.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "With the right hand, collect the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Take the asparagus off the table with a diagonal approach, holding the middle.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Have the right arm take the asparagus off the table.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "With the right hand, collect the asparagus from the table.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Take the asparagus off the table.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "The asparagus from the table should be picked up.", + "start_idx": 2829, + "end_idx": 2871 + }, + { + "text": "Put the asparagus behind the screwdriver with the right hand with its tip facing top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Using the right hand, place the asparagus behind the screwdriver with its tip pointing to the top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Have the right arm set the asparagus behind the screwdriver, tip oriented toward the top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "With the right hand, position the asparagus behind the screwdriver so its tip faces the top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Place the asparagus behind the screwdriver with its tip facing the top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Set the asparagus behind the screwdriver, with the tip pointing top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Position the asparagus behind the screwdriver so the tip is directed to the top right.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Using the right hand, put the asparagus behind the screwdriver.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "With the right hand, place the asparagus behind the screwdriver.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Have the right arm set the asparagus behind the screwdriver.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Put the asparagus behind the screwdriver.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Position the asparagus behind the screwdriver.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Set the asparagus behind the screwdriver.", + "start_idx": 2871, + "end_idx": 2904 + }, + { + "text": "Pick up the screwdriver from the table with the right hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Using the right hand, take the screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Have the right arm grasp the screwdriver from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "With the right hand, seize the screwdriver from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Pick up the screwdriver from the table using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Take the screwdriver from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "From the table, grasp the screwdriver with a side hold at the bottom and a diagonal angle.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table with a side grip at the bottom.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Have the right arm take the screwdriver from the table with a side grasp on the bottom.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "With the right hand, grasp the screwdriver from the table at the bottom using a side hold.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at the bottom and a diagonal pick angle.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Take the screwdriver from the table with the right hand and a diagonal approach.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "With the right hand, grasp the screwdriver from the table at the bottom.", + "start_idx": 3159, + "end_idx": 3192 + }, + { + "text": "Put the screwdriver in front right of the asparagus with the right hand with its tip facing top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Using the right hand, place the screwdriver in front right of the asparagus with its tip facing top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Have the right hand set the screwdriver in front right of the asparagus, tip oriented toward the top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "With the right hand, position the screwdriver in the front-right spot by the asparagus, keeping the tip pointed top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Place the screwdriver in front right of the asparagus with its tip facing top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Set the screwdriver in the front-right position relative to the asparagus, with the tip pointed top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Position the screwdriver in front right of the asparagus, tip facing the top left.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Using the right hand, put the screwdriver in front right of the asparagus.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Have the right hand place the screwdriver in the front-right area by the asparagus.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "With the right hand, set the screwdriver in front right of the asparagus.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Put the screwdriver in front right of the asparagus.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Set the screwdriver by the asparagus at the front right.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Position the screwdriver at the asparagus's front-right side.", + "start_idx": 3192, + "end_idx": 3222 + }, + { + "text": "Pick up the screwdriver from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "With the right hand, take the screwdriver from the table using a side grip at the bottom diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Using the right hand, grasp the screwdriver from the table with a side hold at the bottom, diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Have the right hand collect the screwdriver from the table with a diagonal side grasp at the bottom.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Pick up the screwdriver from the table using a side grip at the bottom diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Take the screwdriver from the table with a side hold at the bottom diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Grasp the screwdriver from the table in a diagonal orientation with a side grip at the bottom.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "With the right hand, take the screwdriver from the table using a side grip.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Have the right hand grasp the screwdriver from the table diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Pick up the screwdriver from the table diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Take the screwdriver from the table at the bottom diagonally.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Grasp the screwdriver from the table at the bottom.", + "start_idx": 3303, + "end_idx": 3342 + }, + { + "text": "Place the screwdriver to the left of the green bowl with the right hand facing left with the tip as the reference point.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Using the right hand, position the screwdriver to the left of the green bowl, with the tip facing left.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Have the right arm place the screwdriver left of the green bowl, oriented leftward from the tip.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "With the right hand, set the screwdriver to the left of the green bowl so the tip points left.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Place the screwdriver to the left of the green bowl with the tip facing left.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Set the screwdriver left of the green bowl, with the tip oriented to the left.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Position the screwdriver to the left of the green bowl so its tip points left.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Put the screwdriver to the left of the green bowl.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Set the screwdriver left of the green bowl.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Position the screwdriver to the left of the green bowl.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Using the right hand, place the screwdriver to the left of the green bowl.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Have the right arm set the screwdriver left of the green bowl.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "With the right hand, position the screwdriver to the left of the green bowl.", + "start_idx": 3342, + "end_idx": 3384 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Take the asparagus from the table on a diagonal path, holding the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Using the right hand, grasp the asparagus from the table.", + "start_idx": 3860, + "end_idx": 3902 + }, + { + "text": "Put the asparagus to the right of the screwdriver with the right hand facing top left with the tip as the reference point.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Using the right hand, place the asparagus to the right of the screwdriver, oriented top left from the tip.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "With the right hand, set the asparagus to the screwdriver's right, facing top left with the tip as reference.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Have the right hand position the asparagus right of the screwdriver, with the tip pointing toward the top left.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Place the asparagus to the right of the screwdriver.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Set the asparagus to the screwdriver's right side.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Position the asparagus right of the screwdriver.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Put the asparagus to the right of the screwdriver.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Place the asparagus to the right of the screwdriver with the right hand.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "With the right hand, set the asparagus to the screwdriver's right.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Have the right hand position the asparagus right of the screwdriver.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Place the asparagus to the right of the screwdriver, facing top left from the tip.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Set the asparagus to the screwdriver's right, with the tip oriented toward the top left.", + "start_idx": 3903, + "end_idx": 3948 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Have the right arm pick the asparagus up from the table on a diagonal, holding it at the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "With the right hand, take the asparagus from the table by the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Have the right arm retrieve the asparagus from the table, holding the middle.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 4098, + "end_idx": 4137 + }, + { + "text": "Put the asparagus to the right of the screwdriver with the right hand with the tip facing left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Using the right hand, place the asparagus to the right of the screwdriver with its tip facing left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Have the right arm set the asparagus to the screwdriver's right, tip pointing left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "With the right hand, position the asparagus right of the screwdriver, keeping the tip directed left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Place the asparagus to the right of the screwdriver.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Set the asparagus down to the screwdriver's right side.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Position the asparagus right of the screwdriver.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Put the asparagus to the right of the screwdriver.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Using the right hand, place the asparagus to the right of the screwdriver.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Have the right arm set the asparagus to the screwdriver's right.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "With the right hand, position the asparagus with its tip facing left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Arrange the asparagus to the screwdriver's right, tip facing left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Set the asparagus down right of the screwdriver with the tip pointed left.", + "start_idx": 4137, + "end_idx": 4170 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Have the right arm pick up the green bowl from the table using a diagonal lip grasp on the bowl's bottom-right side.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the lip diagonally at the bottom right.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp on the bottom-right side.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Grasp the green bowl from the table by the lip diagonally at the bottom right.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Get the green bowl from the table.", + "start_idx": 4557, + "end_idx": 4599 + }, + { + "text": "Dump the blue marker and the corn to the right of the red marker with the right hand.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Using the right hand, dump the blue marker and the corn to the right of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Have the right arm place the blue marker and the corn to the right of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "With the right hand, deposit the blue marker and the corn on the right side of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Dump the blue marker and the corn to the right of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Place the blue marker and the corn to the right of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Set the blue marker and the corn on the right side of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Move the blue marker and the corn to the red marker's right side.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Position the blue marker and the corn to the right of the red marker.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Using the right hand, dump the blue marker and the corn.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "With the right hand, place the blue marker and the corn.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Have the right arm set down the blue marker and the corn.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Deposit the blue marker and the corn.", + "start_idx": 4599, + "end_idx": 4647 + }, + { + "text": "Place the green bowl to the center of the table with the right hand.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Using the right hand, set the green bowl in the center of the table upright.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Have the right arm place the green bowl at the table's center with its open side up.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "With the right hand, position the green bowl in the middle of the table right side up.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Place the green bowl in the center of the table upright.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Set the green bowl at the table's center with its open side up.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Position the green bowl in the middle of the table right side up.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "With the right hand, place the green bowl in the center of the table.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Using the right hand, set the green bowl at the table's center.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Have the right arm position the green bowl in the middle of the table.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Put the green bowl in the center of the table.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Set the green bowl at the table's center.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Position the green bowl in the middle of the table.", + "start_idx": 4647, + "end_idx": 4692 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Have the right hand take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "With the right hand, retrieve the blue marker from the table on a diagonal angle by grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Take the blue marker from the table on a diagonal angle, holding the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup by grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Pick up the blue marker from the table with the right hand, grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Use the right hand to take the blue marker from the table at a diagonal angle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Pick up the blue marker from the table grasping the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "From the table, take the blue marker by the middle.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 4767, + "end_idx": 4812 + }, + { + "text": "Put the blue marker in front of the green bowl with the right hand with its tip facing left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Using the right hand, place the blue marker in front of the green bowl with its tip pointing left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Have the right arm set the blue marker in front of the green bowl, tip facing left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "With the right hand, position the blue marker before the green bowl so its tip faces left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Place the blue marker in front of the green bowl with its tip facing left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Set the blue marker before the green bowl, with the tip pointing left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Position the blue marker in front of the green bowl so the tip points left.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Using the right hand, put the blue marker in front of the green bowl.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "With the right hand, place the blue marker before the green bowl.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Have the right arm position the blue marker in front of the green bowl.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Put the blue marker in front of the green bowl.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Set the blue marker before the green bowl.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Position the blue marker in front of the green bowl.", + "start_idx": 4812, + "end_idx": 4860 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle from the middle.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Have the right arm grasp the blue marker from the table diagonally at its middle.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "With the right hand, collect the blue marker from the table using a diagonal approach at the center.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Take the blue marker from the table at a diagonal angle from the middle.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Grasp the blue marker from the table diagonally at its middle.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "The blue marker from the table should be picked up at a diagonal angle from the center.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "With the right hand, take the blue marker from the table.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Have the right arm collect the blue marker from the table.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Using the right hand, grasp the blue marker from the table.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "The blue marker from the table should be picked up by the right hand.", + "start_idx": 5262, + "end_idx": 5301 + }, + { + "text": "Put the blue marker to the right of the corn with the right hand facing left by its tip.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Using the right hand, place the blue marker to the right of the corn with its tip facing left.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Have the right hand set the blue marker to the right of the corn so the tip points left.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "With the right hand, position the blue marker to the right of the corn, tip oriented left.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Place the blue marker to the right of the corn with its tip facing left.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Set the blue marker to the right of the corn so the tip points left.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Position the blue marker to the right of the corn, with the tip oriented left.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Using the right hand, put the blue marker to the right of the corn.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "With the right hand, place the blue marker to the right of the corn.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Have the right hand position the blue marker to the right of the corn.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Put the blue marker to the right of the corn.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Set the blue marker to the right of the corn.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Place the blue marker to the right of the corn.", + "start_idx": 5301, + "end_idx": 5334 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Have the right hand pick the red marker off the table diagonally by its middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "With the right hand, retrieve the red marker from the table at a diagonal angle, holding the center.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Take the red marker off the table diagonally by its middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle, holding the center.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "With the right hand, collect the red marker from the table by its middle.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Have the right hand take the red marker off the table, holding the center.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Take the red marker off the table with the right hand.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Using the right hand, retrieve the red marker from the table.", + "start_idx": 5715, + "end_idx": 5757 + }, + { + "text": "Put the red marker inside the green bowl with the right hand facing backwards.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Using the right hand, place the red marker in the green bowl with the tip facing backward.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Have the right arm put the red marker into the green bowl so its tip points backward.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "With the right hand, set the red marker inside the green bowl, tip facing backward.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Place the red marker into the green bowl with the tip facing backward.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Put the red marker in the green bowl so the tip faces backward.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Set the red marker inside the green bowl, keeping its tip pointed backward.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Using the right hand, place the red marker in the green bowl.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "With the right hand, put the red marker inside the green bowl.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Have the right arm set the red marker into the green bowl.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Put the red marker into the green bowl.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Place the red marker in the green bowl.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Have the right arm put the red marker in the green bowl.", + "start_idx": 5757, + "end_idx": 5790 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Have the right arm take the green bowl from the table with a lip grasp on the bottom-right side at a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "With the right hand, grasp the green bowl from the table by its bottom right using a lip hold from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Take the green bowl from the table using a lip grasp on the bottom-right area from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Grasp the green bowl from the table by the bottom right with a lip hold from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Have the right arm take the green bowl from the table using a lip grasp.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "With the right hand, grasp the green bowl from the table with a lip hold.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Using the right hand, pick up the green bowl from the table from a diagonal angle.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Have the right arm take the green bowl from the table at the bottom right.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 6093, + "end_idx": 6132 + }, + { + "text": "Put the green bowl to the right of the asparagus with the right hand.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "With the right hand, place the green bowl to the right of the asparagus, right side up with the front as the reference point.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Using your right hand, set the green bowl to the asparagus's right, keeping it right side up relative to the front.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Have the right arm position the green bowl to the right of the asparagus, upright with the front as the reference point.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Place the green bowl to the right of the asparagus, right side up with the front as the reference point.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Set the green bowl to the asparagus's right, keeping it upright relative to the front.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Position the green bowl on the right side of the asparagus, with the front as the reference point.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "With the right hand, put the green bowl to the right of the asparagus.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Using the right hand, place the green bowl on the asparagus's right side.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Have the right arm set the green bowl to the right of the asparagus.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Move the green bowl to the right of the asparagus.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Arrange the green bowl on the right side of the asparagus.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "The green bowl goes to the right of the asparagus.", + "start_idx": 6132, + "end_idx": 6189 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "With the right hand, pick up the green bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Have the right arm take the green bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Using the right hand, grasp the green bowl from the table with a diagonal lip hold at the bowl's right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold at the right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "With the right hand, pick up the green bowl from the table.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Use the right hand to take the green bowl from the table.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "With the right hand, pick up the green bowl from the table at the right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Take the green bowl from the table at the right side.", + "start_idx": 6276, + "end_idx": 6315 + }, + { + "text": "Dump the red marker between the asparagus and the blue marker with the right hand.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Using the right hand, dump the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Have the right arm place the red marker in the space between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "With the right hand, set down the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Dump the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Place the red marker in the gap between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Set the red marker down between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Position the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "The red marker goes between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Put the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Arrange the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Move the red marker to a spot between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Deposit the red marker between the asparagus and the blue marker.", + "start_idx": 6315, + "end_idx": 6369 + }, + { + "text": "Put the green bowl behind the blue marker with the right hand.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Using the right hand, place the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Have the right arm set the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "With the right hand, position the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Place the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Set the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Position the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Move the green bowl behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "The green bowl goes behind the blue marker.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Using the right hand, place the green bowl.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Have the right arm set down the green bowl.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Place the green bowl with the right hand.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Set down the green bowl.", + "start_idx": 6369, + "end_idx": 6414 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Have the right hand take the red marker from the table diagonally by its middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "With the right hand, retrieve the red marker from the table, holding it at a diagonal angle around the middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Retrieve the red marker from the table with a diagonal hold at its middle.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 6414, + "end_idx": 6447 + }, + { + "text": "Place the red marker inside the green bowl with the right hand facing top right with the tip as the reference point.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Using the right hand, place the red marker inside the green bowl with the tip facing the top right.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Have the right arm put the red marker into the green bowl, oriented top right by its tip.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "With the right hand, set the red marker in the green bowl so the tip points toward the top right.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Place the red marker inside the green bowl with the tip facing the top right.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Set the red marker into the green bowl with its tip directed to the top right.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Put the red marker in the green bowl, with the tip oriented toward the top right.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Using the right hand, place the red marker inside the green bowl.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "With the right hand, put the red marker into the green bowl.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Have the right arm set the red marker in the green bowl.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Put the red marker into the green bowl.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Set the red marker inside the green bowl.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Have the red marker placed in the green bowl.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Pick up the screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Using the right hand, grasp the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Have the right arm take the screwdriver off the table with a side grasp on the bottom at a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "With the right hand, secure the screwdriver from the table by its bottom using a side hold from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Take the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "From the table, grasp the screwdriver by the bottom with a side hold at a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Get the screwdriver off the table using a side grasp on the bottom from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Pick up the screwdriver from the table with the right hand.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Using the right hand, take the screwdriver from the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Have the right arm pick the screwdriver up from the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Pick up the screwdriver from the table from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "With the right hand, grasp the screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Put the screwdriver to the bottom side of the table with the right hand facing top left with the tip as the reference point.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Using the right hand, place the screwdriver on the bottom side of the table with its tip facing the top left.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Have the right arm set the screwdriver against the bottom side of the table, oriented top left from the tip.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "With the right hand, position the screwdriver at the bottom side of the table so the tip points toward the top left.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Place the screwdriver on the bottom side of the table with its tip facing the top left.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Set the screwdriver against the bottom side of the table, oriented top left from the tip.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Position the screwdriver at the bottom side of the table so its tip points to the top left.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Using the right hand, put the screwdriver on the bottom side of the table.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "With the right hand, place the screwdriver against the bottom side of the table.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Have the right arm position the screwdriver at the bottom side of the table.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Put the screwdriver on the bottom side of the table.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Set the screwdriver at the bottom side of the table.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Position the screwdriver against the bottom side of the table.", + "start_idx": 6849, + "end_idx": 6891 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold on the bottom-right side at a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "With the right hand, secure the green bowl from the table by its bottom right using a lip grasp from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Grasp the green bowl from the table with a lip hold on the bottom-right area from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "The green bowl from the table should be taken with a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at the bottom right.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "From the table, take the green bowl with the right hand using a lip grip at the bottom right.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Have the right arm pick up the green bowl from the table with a lip grasp.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Pick up the green bowl from the table with the right hand from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "With the right hand, take the green bowl from the table at the bottom right from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Grasp the green bowl from the table from a diagonal angle.", + "start_idx": 6891, + "end_idx": 6930 + }, + { + "text": "Put the green bowl on the right side of the table with the right hand.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Using the right hand, place the green bowl on the right side of the table.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Have the right arm set the green bowl on the table's right side, right side up.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "With the right hand, position the green bowl on the right side of the table, front facing forward.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Place the green bowl on the right side of the table.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Set the green bowl on the table's right side.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "The green bowl goes on the right side of the table.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Position the green bowl on the right side of the table, right side up.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "On the table's right side, place the green bowl with its front facing forward.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Set the green bowl on the right side of the table in the correct orientation.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Place the green bowl on the table's right side, right side up.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Put the green bowl on the right side of the table, front facing forward.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "The green bowl should be placed on the table's right side.", + "start_idx": 6930, + "end_idx": 6987 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal approach, holding it at the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "With the right hand, take the screwdriver from the table by the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table, holding its middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Retrieve the screwdriver from the table by the middle.", + "start_idx": 6987, + "end_idx": 7026 + }, + { + "text": "Put the screwdriver in front right of the asparagus with the right hand with its tip facing top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Using the right hand, place the screwdriver in front right of the asparagus with its tip pointing to the top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Have the right hand set the screwdriver in the front-right position relative to the asparagus, tip facing top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "With the right hand, position the screwdriver in front right of the asparagus so its tip faces the top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Place the screwdriver in front right of the asparagus with its tip pointing to the top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Set the screwdriver in the front-right spot by the asparagus, with the tip facing top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Position the screwdriver in front right of the asparagus, tip directed toward the top left.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Using the right hand, put the screwdriver in front right of the asparagus.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "With the right hand, place the screwdriver in the front-right position relative to the asparagus.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Have the right hand set the screwdriver by the asparagus in front right.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Put the screwdriver in front right of the asparagus.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Position the screwdriver in front right of the asparagus.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Set the screwdriver by the asparagus in the front-right spot.", + "start_idx": 7026, + "end_idx": 7068 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Have the right hand collect the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "With the right hand, secure the blue marker from the table diagonally around the middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Take the blue marker from the table with a diagonal approach at the middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "From the table, collect the blue marker diagonally by its middle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Have the right hand take the blue marker from the table.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "With the right hand, collect the blue marker from the table.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "From the table, take the blue marker.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Have the right hand pick up the blue marker from the table at a diagonal angle.", + "start_idx": 7209, + "end_idx": 7245 + }, + { + "text": "Put the blue marker to the right of the screwdriver with the right hand facing forwards with the tip forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Using the right hand, place the blue marker to the right of the screwdriver with its tip facing forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Have the right hand set the blue marker to the screwdriver's right, oriented so the tip points forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "With the right hand, position the blue marker right of the screwdriver, keeping the tip directed forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Place the blue marker to the right of the screwdriver with its tip facing forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Set the blue marker to the screwdriver's right, with the tip pointing forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Position the blue marker right of the screwdriver, tip forwards.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Using the right hand, place the blue marker to the right of the screwdriver.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Have the right hand set the blue marker to the screwdriver's right.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "With the right hand, position the blue marker right of the screwdriver.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Put the blue marker to the right of the screwdriver.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Set the blue marker to the screwdriver's right.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Position the blue marker right of the screwdriver.", + "start_idx": 7245, + "end_idx": 7287 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a bottom diagonal lip hold.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "With the right hand, secure the green bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Take the green bowl from the table with a bottom diagonal lip grasp.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Grasp the green bowl from the table using a diagonal lip hold at the bottom.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Dump the red marker to the right of the blue marker with the right hand.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Using the right hand, dump the red marker to the right of the blue marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Have the right hand place the red marker to the right of the blue marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "With the right hand, set the red marker down to the right of the blue marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Dump the red marker to the right of the blue marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Place the red marker to the right of the blue marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Set the red marker down to the right of the blue marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Using the right hand, dump the red marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Have the right hand place the red marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "With the right hand, set down the red marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Dump the red marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Place the red marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Set down the red marker.", + "start_idx": 7326, + "end_idx": 7377 + }, + { + "text": "Put the green bowl behind the asparagus with the right hand.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Using the right hand, place the green bowl behind the asparagus, right side up.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Have the right arm set the green bowl behind the asparagus with its front facing forward.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "With the right hand, position the green bowl behind the asparagus upright, front forward.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Place the green bowl behind the asparagus, right side up.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Set the green bowl behind the asparagus with its front facing forward.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Position the green bowl behind the asparagus upright.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Put the green bowl behind the asparagus.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Using the right hand, place the green bowl behind the asparagus.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "With the right hand, set the green bowl behind the asparagus.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Have the right arm position the green bowl behind the asparagus.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Place the green bowl behind the asparagus.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Set the green bowl behind the asparagus.", + "start_idx": 7377, + "end_idx": 7440 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Have the right arm grasp the red marker from the table with a bottom side hold at a diagonal angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "With the right hand, secure the red marker from the table by its bottom using a side grasp on a diagonal.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Take the red marker from the table with a side grasp at the bottom and a diagonal angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Get the red marker from the table with a bottom side hold and a diagonal pick angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Have the right arm take the red marker from the table with a side grasp at the bottom.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "With the right hand, secure the red marker from the table by its bottom using a side hold.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a diagonal pick angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Have the right arm take the red marker from the table at a diagonal angle.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 7440, + "end_idx": 7482 + }, + { + "text": "Put the red marker to the right of the asparagus with the right hand facing right with the tip as the reference point.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Using the right hand, place the red marker to the right of the asparagus, facing right with the tip as the reference point.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Have the right arm set the red marker to the asparagus's right, oriented rightward based on its tip.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "With your right hand, position the red marker on the right side of the asparagus, with the tip defining a right-facing orientation.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Place the red marker to the right of the asparagus.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Set the red marker on the asparagus's right side.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Position the red marker to the right of the asparagus.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Put the red marker to the right of the asparagus.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Using the right hand, place the red marker to the right of the asparagus.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Have the right arm set the red marker on the right side of the asparagus.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "With your right hand, position the red marker beside the asparagus on its right.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Place the red marker to the asparagus's right, facing right with the tip as the reference point.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Set the red marker on the right side of the asparagus, oriented rightward from the tip.", + "start_idx": 7482, + "end_idx": 7533 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Have the right hand take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "With the right hand, retrieve the blue marker from the table on a diagonal, gripping the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Take the blue marker from the table on a diagonal, holding the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup at the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "With the right hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Have the right hand take the blue marker from the table by the middle.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Using the right hand, retrieve the blue marker from the table.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "The blue marker from the table should be picked up.", + "start_idx": 7626, + "end_idx": 7662 + }, + { + "text": "Put the blue marker in front of the red marker with the right hand with its tip facing top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Using the right hand, place the blue marker in front of the red marker with its tip pointing to the top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Have the right arm set the blue marker before the red marker, tip oriented toward the top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "With the right hand, position the blue marker in front of the red marker so its tip faces the top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Place the blue marker in front of the red marker with its tip pointing to the top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Set the blue marker before the red marker, with the tip directed toward the top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Position the blue marker in front of the red marker so the tip faces top left.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Using the right hand, put the blue marker in front of the red marker.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "With the right hand, place the blue marker before the red marker.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Have the right arm position the blue marker in front of the red marker.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Put the blue marker in front of the red marker.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Set the blue marker before the red marker.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Position the blue marker in front of the red marker.", + "start_idx": 7662, + "end_idx": 7695 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Have the right arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup at the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Retrieve the blue marker from the table diagonally, holding the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Have the right arm take the blue marker from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Have the right arm take the blue marker from the table by its middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Put the blue marker between the corn and the red marker with the right hand facing top left with the tip as the reference point.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Using the right hand, place the blue marker between the corn and the red marker, with the tip facing top left.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Have the right arm set the blue marker between the corn and the red marker, oriented top left by the tip.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "With the right hand, position the blue marker between the corn and the red marker so its tip points top left.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Place the blue marker between the corn and the red marker, with the tip facing top left.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Set the blue marker between the corn and the red marker, oriented top left from the tip.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Position the blue marker between the corn and the red marker so the tip points top left.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Using the right hand, put the blue marker between the corn and the red marker.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "With the right hand, place the blue marker between the corn and the red marker.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Have the right arm position the blue marker between the corn and the red marker.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Put the blue marker between the corn and the red marker.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Set the blue marker between the corn and the red marker.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Position the blue marker between the corn and the red marker.", + "start_idx": 8028, + "end_idx": 8070 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Have the right hand collect the red marker from the table with a diagonal approach at its middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach at the middle.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Have the right hand retrieve the red marker from the table.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Take the red marker from the table diagonally.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 8316, + "end_idx": 8349 + }, + { + "text": "Put the red marker inside the green bowl with the right hand facing bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Using the right hand, place the red marker in the green bowl with its tip facing bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Have the right arm set the red marker inside the green bowl, tip oriented toward the bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "With the right hand, deposit the red marker into the green bowl so the tip points bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Place the red marker into the green bowl with its tip facing bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Set the red marker inside the green bowl, with the tip directed toward the bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Deposit the red marker in the green bowl so its tip points to the bottom right.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Using the right hand, put the red marker inside the green bowl.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "With the right hand, place the red marker into the green bowl.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Have the right arm deposit the red marker in the green bowl.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Put the red marker in the green bowl.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Set the red marker into the green bowl.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Deposit the red marker inside the green bowl.", + "start_idx": 8349, + "end_idx": 8382 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Have the right arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "With the right hand, retrieve the blue marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Using the right hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Have the right arm take the blue marker from the table.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 8454, + "end_idx": 8499 + }, + { + "text": "Put the blue marker inside the green bowl with the right hand facing top left with the tip as the reference point.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Using the right hand, place the blue marker in the green bowl with the tip facing top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Have the right hand set the blue marker inside the green bowl so its tip points top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "With the right hand, deposit the blue marker into the green bowl, tip oriented toward the top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Place the blue marker inside the green bowl with its tip facing top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Set the blue marker in the green bowl so the tip points top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Put the blue marker into the green bowl, keeping the tip toward the top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Move the blue marker into the green bowl with the tip directed top left.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Using the right hand, put the blue marker inside the green bowl.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Have the right hand place the blue marker into the green bowl.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "With the right hand, set the blue marker in the green bowl.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Place the blue marker inside the green bowl.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Put the blue marker into the green bowl.", + "start_idx": 8499, + "end_idx": 8523 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Have the right arm pick the asparagus off the table on a diagonal, holding it at the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "With the right hand, collect the asparagus from the table diagonally by the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Take the asparagus off the table on a diagonal, holding the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "The asparagus from the table should be picked up diagonally by the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Have the right arm take the asparagus off the table by the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "With the right hand, collect the asparagus from the table, holding the middle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Take the asparagus off the table with the right hand on a diagonal.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "The asparagus from the table should be picked up with the right hand.", + "start_idx": 8604, + "end_idx": 8640 + }, + { + "text": "Put the asparagus to the right of the corn with the right hand facing right with the tip as the reference point.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Using the right hand, place the asparagus to the right of the corn, facing right with the tip as the reference point.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Have the right arm set the asparagus to the right of the corn so the tip defines a right-facing orientation.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "With the right hand, position the asparagus to the right of the corn, oriented rightward relative to its tip.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Place the asparagus to the right of the corn, facing right with the tip as the reference point.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Set the asparagus to the right of the corn so it faces right, using the tip as the reference point.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Position the asparagus to the right of the corn with a right-facing orientation based on the tip.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Using the right hand, place the asparagus to the right of the corn.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "With the right hand, set the asparagus to the right of the corn.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Have the right arm position the asparagus to the right of the corn.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Put the asparagus to the right of the corn.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Arrange the asparagus to the right of the corn.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Using the right hand, put the asparagus to the right of the corn.", + "start_idx": 8640, + "end_idx": 8679 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "With the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Using the right hand, take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Have the right arm collect the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Collect the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "With the right hand, pick up the asparagus from the table.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Using the right hand, take the asparagus from the table.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Have the right arm collect the asparagus from the table.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 8808, + "end_idx": 8841 + }, + { + "text": "Put the asparagus to the right of the blue marker with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Using the right hand, place the asparagus to the right of the blue marker, facing bottom left with the tip as the reference point.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Have the right arm set the asparagus to the right of the blue marker so its tip points bottom left.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "With the right hand, position the asparagus to the right of the blue marker, oriented bottom left using the tip as the reference point.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Place the asparagus to the right of the blue marker so its tip faces bottom left.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Set the asparagus to the right of the blue marker with the tip oriented toward the bottom left.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Position the asparagus to the right of the blue marker, facing bottom left relative to its tip.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "The asparagus goes to the right of the blue marker.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Put the asparagus to the right of the blue marker.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Set the asparagus down to the right of the blue marker.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Using the right hand, place the asparagus to the right of the blue marker.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "With the right hand, set the asparagus down to the right of the blue marker.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Have the right arm position the asparagus to the right of the blue marker.", + "start_idx": 8841, + "end_idx": 8877 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Have the right hand take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "With the right hand, collect the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "The blue marker from the table should be picked up diagonally by grasping the middle.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Have the right hand take the blue marker from the table.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "With the right hand, collect the blue marker from the table.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "The blue marker from the table should be picked up.", + "start_idx": 9030, + "end_idx": 9069 + }, + { + "text": "Put the blue marker to the right of the corn with the right hand with its tip facing right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Using the right hand, place the blue marker to the right of the corn with its tip pointing right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Have the right arm set the blue marker to the right of the corn, tip facing right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "The blue marker goes to the right of the corn in the right hand, with the tip directed right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Place the blue marker to the right of the corn with its tip facing right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Set the blue marker to the right of the corn, keeping the tip pointed right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Position the blue marker to the right of the corn with the tip directed right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Using the right hand, put the blue marker to the right of the corn.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "With the right hand, position the blue marker to the right of the corn.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Have the right arm place the blue marker to the right of the corn.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Place the blue marker to the right of the corn.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Set the blue marker to the right of the corn.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Using the right hand, place the blue marker with its tip facing right.", + "start_idx": 9069, + "end_idx": 9114 + }, + { + "text": "Return both hands to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Bring both hands back to the home position.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Have both arms return to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Move both hands to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Return the hands to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Send the hands back to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Bring the hands to the home position.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Move the hands back home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Have the hands return to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Guide the hands to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Both hands should go to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Set the hands back to home.", + "start_idx": 9174, + "end_idx": 9192 + }, + { + "text": "Direct the hands home.", + "start_idx": 9174, + "end_idx": 9192 + } + ] + }, + "2026-03-17-01-52-08-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 9183, + "num_annotations": 3236, + "annotations": [ + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "With the right hand, collect the gray stuffed toy from the table at a diagonal angle using a full-object hold.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Take the gray stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "The gray stuffed toy from the table should be picked up at a diagonal angle with a full-object hold.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table, grasping the entire object.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "With the right hand, take the gray stuffed toy from the table using a full-object hold.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Have the right arm collect the gray stuffed toy from the table with a whole-object grasp.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "With the right hand, take the gray stuffed toy from the table diagonally.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Have the right arm pick up the gray stuffed toy from the table.", + "start_idx": 75, + "end_idx": 108 + }, + { + "text": "Put the gray stuffed toy in front of the croissant with the right hand facing top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Using the right hand, place the gray stuffed toy in front of the croissant with it facing top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Have the right arm set the gray stuffed toy in front of the croissant, oriented toward the top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "With the right hand, position the gray stuffed toy before the croissant so it faces top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Place the gray stuffed toy in front of the croissant facing top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Set the gray stuffed toy before the croissant with its front toward the top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Position the gray stuffed toy in front of the croissant so it is facing top left.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Put the gray stuffed toy in front of the croissant with the right hand.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Using the right hand, place the gray stuffed toy before the croissant.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Have the right arm position the gray stuffed toy in front of the croissant.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Place the gray stuffed toy in front of the croissant.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Set the gray stuffed toy before the croissant.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Position the gray stuffed toy in front of the croissant.", + "start_idx": 108, + "end_idx": 144 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Have the right arm take the white plate from the table using a bottom-right diagonal lip grasp.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "With the right hand, grasp the white plate from the table by its bottom-right lip at a diagonal angle.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Take the white plate from the table with a bottom-right diagonal lip grasp.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Grasp the white plate from the table by the bottom-right lip diagonally.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Using the right hand, pick up the white plate from the table.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Have the right arm take the white plate from the table.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "With the right hand, grasp the white plate from the table.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Take the white plate from the table with the right hand.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Grasp the white plate from the table using a lip grip.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Put the white plate to the right of the gray stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Using the right hand, place the white plate to the right of the gray stuffed toy, right side up with the front as the reference point.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Have the right hand set the white plate to the right of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "With the right hand, position the white plate to the right of the gray stuffed toy so its front serves as the reference point and it stays right side up.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Place the white plate to the right of the gray stuffed toy, right side up with the front as the reference point.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Set the white plate to the right of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Position the white plate to the right of the gray stuffed toy with the front as the orientation reference point.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "To the right of the gray stuffed toy, place the white plate.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Set the white plate to the right of the gray stuffed toy.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Have the white plate placed to the right of the gray stuffed toy.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Place the white plate to the right of the gray stuffed toy with the right hand.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Using the right hand, set the white plate to the right of the gray stuffed toy.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Have the right hand place the white plate to the right of the gray stuffed toy.", + "start_idx": 291, + "end_idx": 339 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Using the right hand, take the gray stuffed toy from the table at a diagonal angle, grasping the whole object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Have the right arm pick the gray stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "With a diagonal approach, the right hand should seize the gray stuffed toy from the table around the entire object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the whole object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Take the gray stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Grasp the gray stuffed toy from the table at a diagonal angle around the entire object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table, grasping the entire object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "With the right hand, take the gray stuffed toy from the table using a full-object grasp.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Have the right arm collect the gray stuffed toy from the table around the whole object.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Take the gray stuffed toy from the table with the right hand.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 501, + "end_idx": 531 + }, + { + "text": "Put the gray stuffed toy to the right of the cabbage with the right hand facing top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Using the right hand, place the gray stuffed toy to the right of the cabbage with its front facing top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Have the right arm set the gray stuffed toy to the cabbage's right, front pointing toward the top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "With the right hand, position the gray stuffed toy on the right side of the cabbage, front oriented top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Place the gray stuffed toy to the right of the cabbage with its front facing top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Set the gray stuffed toy on the right side of the cabbage with the front pointing top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Position the gray stuffed toy to the cabbage's right with the front oriented toward the top left.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Using the right hand, put the gray stuffed toy to the right of the cabbage.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Have the right arm place the gray stuffed toy on the right side of the cabbage.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "With the right hand, set the gray stuffed toy to the cabbage's right.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Put the gray stuffed toy to the right of the cabbage.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Set the gray stuffed toy on the right side of the cabbage.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Position the gray stuffed toy to the cabbage's right.", + "start_idx": 531, + "end_idx": 561 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "With the right hand, retrieve the croissant from the table by approaching diagonally and grasping its middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Retrieve the croissant from the table diagonally, with the grasp at the middle.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 561, + "end_idx": 594 + }, + { + "text": "Place the croissant in the center of the table with the right hand.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Using the right hand, set the croissant at the center of the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Have the right arm place the croissant in the table's center.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "With the right hand, position the croissant in the middle of the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Place the croissant in the center of the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Set the croissant at the center of the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Put the croissant in the middle of the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "The croissant goes in the center of the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Position the croissant on the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Set the croissant down on the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Put the croissant on the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Place the croissant on the table with the right hand.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Using the right hand, set the croissant on the table.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "With the right hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, holding the middle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Take the croissant from the table with the right hand.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 849, + "end_idx": 882 + }, + { + "text": "Put the croissant between the gray stuffed toy and the white plate with the right hand.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Using the right hand, place the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Have the right arm set the croissant down between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "With the right hand, position the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Place the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Set the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Position the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Leave the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "The croissant goes between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Put the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Arrange the croissant between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Between the gray stuffed toy and the white plate, place the croissant.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Have the croissant placed between the gray stuffed toy and the white plate.", + "start_idx": 882, + "end_idx": 915 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Have the right arm take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "With the right hand, retrieve the croissant from the table diagonally by the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Take the croissant from the table with a diagonal pickup at the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Retrieve the croissant from the table diagonally, holding the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Have the right arm take the croissant from the table by the middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "With the right hand, retrieve the croissant from the table while holding its middle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 1281, + "end_idx": 1317 + }, + { + "text": "Put the croissant to the right of the white cup with the right hand.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Using the right hand, place the croissant to the right of the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Have the right arm set the croissant down to the white cup's right side.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "With your right hand, position the croissant just right of the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Place the croissant to the right of the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Set the croissant on the right side of the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "The croissant goes to the right of the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Put the croissant by the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Place the croissant next to the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Set the croissant beside the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Put the croissant down.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Using the right hand, place the croissant by the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Have the right arm put the croissant beside the white cup.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Pick up the white plate from the table with the right hand using a lip grip at the bottom diagonally.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a lip grip at the bottom diagonally.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Have the right hand grasp the white plate from the table with a bottom lip hold on a diagonal.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "With the right hand, take the white plate from the table using a diagonal lip grasp at the bottom.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom diagonally.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Take the white plate from the table with a bottom lip grasp on the diagonal.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Grasp the white plate from the table with a lip hold at the bottom diagonally.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a lip grip.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "With the right hand, take the white plate from the table using a lip grasp.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Have the right hand grasp the white plate from the table with a bottom lip hold.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Using the right hand, pick up the white plate from the table diagonally.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 1419, + "end_idx": 1464 + }, + { + "text": "Place the white plate to the right of the croissant with the right hand right side up with the front as the orientation reference point.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Using the right hand, set the white plate to the right of the croissant right side up, with the front as the orientation reference point.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Have the right arm place the white plate to the croissant's right, right side up, using the front as the orientation reference point.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "With the right hand, position the white plate to the right of the croissant, keeping it right side up relative to the front.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Place the white plate to the right of the croissant right side up, with the front as the orientation reference point.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Set the white plate to the croissant's right right side up, using the front as the orientation reference point.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Position the white plate to the right of the croissant, right side up with the front as the orientation reference point.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Using the right hand, place the white plate to the right of the croissant.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Have the right arm set the white plate to the croissant's right.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "With the right hand, position the white plate to the right of the croissant.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Place the white plate to the right of the croissant.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Set the white plate to the croissant's right.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Position the white plate to the croissant's right.", + "start_idx": 1464, + "end_idx": 1524 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "With the right hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Take the croissant from the table with a diagonal pickup at the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "With the right hand, take the croissant from the table from its middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Have the right hand collect the croissant from the table by holding the middle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "With the right hand, retrieve the croissant from the table at a diagonal angle.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1524, + "end_idx": 1557 + }, + { + "text": "Put the croissant onto the white plate with the right hand.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Using the right hand, place the croissant onto the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Have the right arm set the croissant on the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "With the right hand, deposit the croissant onto the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Put the croissant onto the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Set the croissant on the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Place the croissant onto the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Move the croissant onto the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Transfer the croissant to the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Position the croissant on the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Arrange the croissant on the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Rest the croissant on the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Leave the croissant on the white plate.", + "start_idx": 1557, + "end_idx": 1587 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Have the right hand grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "With the right hand, collect the white cup from the table using the handle at a diagonal angle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Have the right hand take the white cup from the table by the handle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "With the right hand, grasp the white cup from the table by the handle.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Take the white cup from the table with the right hand.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1587, + "end_idx": 1629 + }, + { + "text": "Put the white cup on the right side of the table with the right hand right side up with the front facing bottom right.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Using the right hand, place the white cup on the right side of the table right side up, with the front facing bottom right.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Have the right arm set the white cup on the table's right side, upright, front pointed toward the bottom right.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "With the right hand, position the white cup on the right side of the table so it stays right side up and the front faces bottom right.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Place the white cup on the right side of the table right side up, with the front facing bottom right.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Set the white cup on the table's right side, upright with the front pointed toward the bottom right.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Position the white cup on the right side of the table so it is right side up and faces bottom right at the front.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Using the right hand, place the white cup on the right side of the table.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Have the right arm set the white cup on the table's right side.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "With the right hand, position the white cup on the right side of the table.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Put the white cup on the right side of the table.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Set the white cup on the table's right side.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Position the white cup on the right side of the table.", + "start_idx": 1629, + "end_idx": 1689 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Have the right arm grasp the white cup from the table with a diagonal lip hold on the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "With the right hand, secure the white cup from the table using a diagonal grasp on the lip at the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip grip on the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Using the right hand, take the white cup from the table.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "With the right hand, pick up the white cup from the table.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Take the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 1863, + "end_idx": 1890 + }, + { + "text": "Put the white cup behind the cabbage with handle facing bottom right using the right hand.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Using the right hand, place the white cup behind the cabbage with the handle pointing to the bottom right.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Have the right arm set the white cup behind the cabbage, with its handle oriented toward the bottom right.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "With the right hand, position the white cup behind the cabbage so the handle faces the lower right.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Place the white cup behind the cabbage with the handle pointing to the bottom right.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Set the white cup behind the cabbage, with its handle toward the lower right.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Position the white cup behind the cabbage so the handle faces bottom right.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Using the right hand, put the white cup behind the cabbage.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Have the right arm place the white cup behind the cabbage.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "With the right hand, set the white cup behind the cabbage.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Put the white cup behind the cabbage.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Place the white cup behind the cabbage without changing its orientation.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Set the white cup behind the cabbage in place.", + "start_idx": 1890, + "end_idx": 1944 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Have the right hand take the gray stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Retrieve the gray stuffed toy from the table at a diagonal angle by grasping its middle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Have the right hand take the gray stuffed toy from the table.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Take the gray stuffed toy from the table.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Get the gray stuffed toy from the table.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Put the gray stuffed toy between the white cup and the white plate with the right hand facing top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Using the right hand, place the gray stuffed toy between the white cup and the white plate with its front facing top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Have the right arm set the gray stuffed toy between the white cup and the white plate, front oriented toward the top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "With the right hand, position the gray stuffed toy between the white cup and the white plate so the front faces top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Place the gray stuffed toy between the white cup and the white plate with its front facing top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Set the gray stuffed toy between the white cup and the white plate, front toward the top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Position the gray stuffed toy between the white cup and the white plate so it faces top left.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Using the right hand, put the gray stuffed toy between the white cup and the white plate.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "With the right hand, place the gray stuffed toy between the white cup and the white plate.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Have the right arm position the gray stuffed toy between the white cup and the white plate.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Put the gray stuffed toy between the white cup and the white plate.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Set the gray stuffed toy between the white cup and the white plate.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Position the gray stuffed toy between the white cup and the white plate.", + "start_idx": 2042, + "end_idx": 2076 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle with a diagonal approach.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "With the right hand, seize the white cup from the table at a diagonal angle using the handle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Grasp the white cup from the table by the handle with a diagonal approach.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Use the right hand to pick up the white cup from the table by the handle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "With the right hand, take the white cup from the table by the handle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Have the right arm grasp the white cup from the table at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Take the white cup from the table with the right hand.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle.", + "start_idx": 2076, + "end_idx": 2109 + }, + { + "text": "Put the white cup in front of the white plate with handle facing bottom right right side up using the right hand.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Using the right hand, place the white cup in front of the white plate, right side up, with its handle facing the bottom right.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Have the right arm set the white cup in front of the white plate with the handle pointing bottom right, keeping it upright.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "With the right hand, position the white cup before the white plate so the handle faces bottom right and the cup stays right side up.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Place the white cup in front of the white plate with its handle facing the bottom right, right side up.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Set the white cup before the white plate, upright, with the handle pointing bottom right.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Position the white cup in front of the white plate so it is right side up and the handle faces bottom right.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Using the right hand, put the white cup in front of the white plate.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Have the right arm place the white cup before the white plate.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "With the right hand, set the white cup in front of the white plate.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Put the white cup in front of the white plate.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Using the right hand, position the white cup before the white plate.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Set the white cup in front of the white plate with the right hand.", + "start_idx": 2109, + "end_idx": 2175 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Have the right hand grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "With the right hand, pick the white cup up from the table using the handle at a diagonal angle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Take the white cup from the table via the handle at a diagonal angle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "With the right hand, take the white cup from the table using the handle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Have the right hand grasp the white cup from the table by the handle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Using the right hand, pick up the white cup from the table at a diagonal angle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Take the white cup from the table with the right hand at a diagonal angle.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2271, + "end_idx": 2298 + }, + { + "text": "Put the white cup to the right of the white plate with the front right side up using the right arm.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Using the right arm, place the white cup to the right of the white plate with its front right side up.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Have the right arm set the white cup down to the right of the white plate, front right side up.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "With the right arm, position the white cup to the right of the white plate so its front right side faces up.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Place the white cup to the right of the white plate with its front right side up.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Set the white cup down to the right of the white plate, front right side up.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Position the white cup to the right of the white plate with the front right side facing up.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Using the right arm, put the white cup to the right of the white plate.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "With the right arm, set the white cup down to the right of the white plate.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Have the right arm place the white cup to the right of the white plate.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Put the white cup to the right of the white plate.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Set the white cup down to the right of the white plate.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Position the white cup to the right of the white plate.", + "start_idx": 2298, + "end_idx": 2364 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "With the right hand, seize the white cup from the table via the handle at a diagonal angle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Grasp the white cup from the table via the handle at a diagonal angle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "The white cup from the table should be picked up by the handle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Have the right arm take the white cup from the table via the handle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2430, + "end_idx": 2469 + }, + { + "text": "Put the white cup between the cabbage and the gray stuffed toy with handle facing bottom left using the right hand.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Using the right hand, place the white cup between the cabbage and the gray stuffed toy, with the handle facing bottom left.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Have the right arm set the white cup between the cabbage and the gray stuffed toy so its handle points to the bottom left.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "The white cup goes between the cabbage and the gray stuffed toy, handle oriented bottom left, with the right hand.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Place the white cup between the cabbage and the gray stuffed toy, with the handle facing bottom left.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Set the white cup between the cabbage and the gray stuffed toy so the handle points bottom left.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Position the white cup between the cabbage and the gray stuffed toy, keeping the handle at the bottom left.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Using the right hand, put the white cup between the cabbage and the gray stuffed toy.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "With the right hand, place the white cup between the cabbage and the gray stuffed toy.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Have the right arm position the white cup between the cabbage and the gray stuffed toy.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "The white cup should go between the cabbage and the gray stuffed toy using the right hand.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Place the white cup between the cabbage and the gray stuffed toy.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Set the white cup down between the cabbage and the gray stuffed toy.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table on a diagonal, gripping the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Retrieve the gray stuffed toy from the table on a diagonal while holding the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal pickup by the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Have the right arm take the gray stuffed toy from the table.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table, grasping the middle.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Take the gray stuffed toy from the table with the right hand.", + "start_idx": 2511, + "end_idx": 2532 + }, + { + "text": "Put the gray stuffed inside the white cup with the right hand facing right with the front as the reference point.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Using the right hand, place the gray stuffed inside the white cup with its front facing right.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Have the right hand put the gray stuffed into the white cup, oriented rightward from the front.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "With the right hand, set the gray stuffed inside the white cup so the front faces right.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Place the gray stuffed inside the white cup with its front facing right.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Set the gray stuffed into the white cup, with the front oriented to the right.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Put the gray stuffed in the white cup so its front points right.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Put the gray stuffed inside the white cup with the right hand.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Using the right hand, place the gray stuffed into the white cup.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Have the right hand set the gray stuffed in the white cup.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Place the gray stuffed inside the white cup.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Set the gray stuffed into the white cup.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Have the gray stuffed placed in the white cup.", + "start_idx": 2532, + "end_idx": 2553 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Using the right hand, take the white plate from the table with a diagonal lip grip at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Have the right hand grasp the white plate from the table using a diagonal lip hold at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "With the right hand, pick the white plate up from the table in a diagonal lip grasp at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grip at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Take the white plate from the table with a diagonal lip hold at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Grasp the white plate from the table in a diagonal lip grip at the bottom right.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Using the right hand, take the white plate from the table.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Have the right hand grasp the white plate from the table.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "With the right hand, pick up the white plate from the table.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Take the white plate from the table with the right hand.", + "start_idx": 2649, + "end_idx": 2682 + }, + { + "text": "Place the white plate on the bottom side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Using the right hand, set the white plate on the bottom side of the table right side up, with the front as the orientation reference point.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Have the right arm place the white plate on the bottom side of the table in a right-side-up orientation, referenced to the front.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "With the right hand, position the white plate on the bottom side of the table so it is right side up relative to the front.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Place the white plate on the bottom side of the table right side up, with the front as the orientation reference point.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Set the white plate on the bottom side of the table in a right-side-up position relative to the front.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Position the white plate on the bottom side of the table right side up using the front as the reference point.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Using the right hand, place the white plate on the bottom side of the table.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "With the right hand, set the white plate on the bottom side of the table.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Have the right arm position the white plate on the bottom side of the table.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Place the white plate on the bottom side of the table.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Set the white plate on the bottom side of the table.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Put the white plate on the bottom side of the table.", + "start_idx": 2682, + "end_idx": 2730 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp at the right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Have the right arm pick up the white cup from the table using a diagonal lip grasp on its right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "With the right hand, grasp the white cup from the table in a diagonal lip hold at the right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Grasp the white cup from the table in a diagonal lip hold at its right side.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Using the right hand, take the white cup from the table.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 2730, + "end_idx": 2763 + }, + { + "text": "Dump the gray stuffed toy in the center of the table with the right hand.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Using the right hand, dump the gray stuffed toy in the center of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Have the right arm dump the gray stuffed toy at the table's center.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "The gray stuffed toy should be dumped in the center of the table with the right hand.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Dump the gray stuffed toy in the center of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Place the gray stuffed toy in the center of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Set the gray stuffed toy down in the middle of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Move the gray stuffed toy to the table's center.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Position the gray stuffed toy at the center of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Deposit the gray stuffed toy in the center of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Put the gray stuffed toy in the middle of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "The gray stuffed toy goes in the center of the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Set the gray stuffed toy at the table's center.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Place the white cup in front of the yogurt with the right hand right side up with its front facing backwards.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Using the right hand, set the white cup in front of the yogurt upright, with its front facing backward.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Have the right arm place the white cup before the yogurt, right side up and front pointed backward.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "With the right hand, position the white cup in front of the yogurt so it stays upright and its front faces backward.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Place the white cup in front of the yogurt upright, with its front facing backward.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Set the white cup before the yogurt right side up, front facing backward.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Position the white cup in front of the yogurt so it is upright and its front points backward.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Using the right hand, place the white cup in front of the yogurt.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Have the right arm set the white cup before the yogurt.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "With the right hand, position the white cup in front of the yogurt.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Put the white cup in front of the yogurt.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Set the white cup before the yogurt.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Have the white cup placed in front of the yogurt.", + "start_idx": 2784, + "end_idx": 2862 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Have the right hand take the white plate off the table using a bottom-right diagonal lip grip.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "With the right hand, grasp the white plate from the table via a diagonal lip hold at the bottom right.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Take the white plate off the table with a diagonal lip grip at the bottom right.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Grasp the white plate from the table with a bottom-right diagonal lip hold.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Using the right hand, take the white plate off the table.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Have the right hand grasp the white plate from the table.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Take the white plate off the table.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "The white plate should be grasped from the table.", + "start_idx": 3156, + "end_idx": 3195 + }, + { + "text": "Put the white plate to the right of the cabbage with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Using the right hand, place the white plate to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Have the right arm set the white plate to the cabbage's right, keeping it right side up and using the front as the orientation reference.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "With the right hand, position the white plate on the right side of the cabbage, right side up relative to its front.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Place the white plate to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Set the white plate on the cabbage's right side, keeping it right side up with the front as the orientation reference.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Position the white plate to the right of the cabbage, right side up using the front as the reference point.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Using the right hand, place the white plate to the right of the cabbage.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Have the right arm set the white plate on the right side of the cabbage.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "With the right hand, position the white plate to the cabbage's right.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Put the white plate to the right of the cabbage.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Set the white plate on the right side of the cabbage.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Position the white plate to the cabbage's right.", + "start_idx": 3195, + "end_idx": 3252 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Have the right arm pick the cabbage off the table diagonally by the middle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "With the right hand, retrieve the cabbage from the table, holding the middle at a diagonal angle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Take the cabbage off the table diagonally by the middle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Retrieve the cabbage from the table while holding its middle at a diagonal angle.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "With the right hand, take the cabbage off the table.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Have the right arm retrieve the cabbage from the table.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 3612, + "end_idx": 3645 + }, + { + "text": "Put the cabbage on the right side of the table with the right hand facing bottom left from the front.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Using the right hand, place the cabbage on the right side of the table facing bottom left from the front.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Have the right arm set the cabbage on the table's right side with its front facing bottom left.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "With the right hand, position the cabbage on the right side of the table, front oriented toward the bottom left.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Place the cabbage on the right side of the table facing bottom left from the front.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Set the cabbage on the table's right side with its front facing bottom left.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Position the cabbage on the right side of the table, oriented bottom left from the front.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Using the right hand, put the cabbage on the right side of the table.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "With the right hand, set the cabbage on the table's right side.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Have the right arm place the cabbage on the right side of the table.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Put the cabbage on the right side of the table.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Set the cabbage on the table's right side.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Position the cabbage on the table's right side.", + "start_idx": 3645, + "end_idx": 3690 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Have the right hand pick the croissant off the table with a diagonal approach at its middle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "With the right hand, collect the croissant from the table by gripping its middle at a diagonal angle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Take the croissant off the table with a diagonal approach, holding the middle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Grab the croissant from the table at a diagonal angle by the middle.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Have the right hand take the croissant off the table.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "With the right hand, grab the croissant from the table.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Take the croissant off the table.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Grab the croissant from the table.", + "start_idx": 4248, + "end_idx": 4287 + }, + { + "text": "Put the croissant on the bottom side of the table with the right hand.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Using the right hand, place the croissant on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Have the right hand set the croissant onto the table's bottom side.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "With the right hand, position the croissant on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Place the croissant on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Set the croissant on the table's bottom side.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Position the croissant on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Put the croissant onto the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "The croissant goes on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Move the croissant to the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Arrange the croissant on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Transfer the croissant to the table's bottom side.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Rest the croissant on the bottom side of the table.", + "start_idx": 4287, + "end_idx": 4323 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "With the right hand, take the yogurt from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Using a side grip at the top from a diagonal angle, have the right hand pick up the yogurt from the table.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "The right hand should grasp the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Grasp the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "With the right hand, pick up the yogurt from the table using a side grip at the top.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grasp at the top.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "The right hand should grasp the yogurt from the table with a side hold at the top.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "With the right hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Using the right hand, take the yogurt from the table at the top from a diagonal angle.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Pick up the yogurt from the table with the right hand.", + "start_idx": 4917, + "end_idx": 4947 + }, + { + "text": "Put the yogurt to the right of the cabbage with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Using the right hand, place the yogurt to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Have the right arm set the yogurt to the cabbage's right, keeping it right side up relative to the front.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "With the right hand, position the yogurt on the right side of the cabbage, oriented right side up using the front as reference.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Place the yogurt to the right of the cabbage.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Set the yogurt on the cabbage's right side.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Position the yogurt to the right of the cabbage.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Using the right hand, put the yogurt to the right of the cabbage.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Have the right arm place the yogurt on the right side of the cabbage.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Put the yogurt to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Arrange the yogurt to the right of the cabbage, with the front as the orientation reference and right side up.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Set the yogurt to the cabbage's right with the front as the reference point.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Using the right hand, place the yogurt to the right of the cabbage.", + "start_idx": 4947, + "end_idx": 4986 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Have the right arm pick the cabbage up from the table with a diagonal approach at the middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "With the right hand, grasp the cabbage from the table diagonally at its middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Take the cabbage from the table diagonally from the middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Grasp the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "With the right hand, take the cabbage from the table.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Have the right arm grasp the cabbage from the table.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Using the right hand, collect the cabbage from the table.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Get the cabbage from the table with the right hand.", + "start_idx": 5145, + "end_idx": 5181 + }, + { + "text": "Put the cabbage in front of the yogurt with the right hand facing bottom right from the front.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Using the right hand, place the cabbage in front of the yogurt, facing bottom right from the front.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Have the right arm set the cabbage in front of the yogurt with its front facing bottom right.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "With the right hand, position the cabbage before the yogurt so the front points bottom right.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Place the cabbage in front of the yogurt, facing bottom right from the front.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Set the cabbage before the yogurt with its front facing bottom right.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Position the cabbage in front of the yogurt so the front faces bottom right.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Using the right hand, put the cabbage in front of the yogurt.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "With the right hand, place the cabbage before the yogurt.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Have the right arm set the cabbage in front of the yogurt.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Put the cabbage in front of the yogurt.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Set the cabbage before the yogurt.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Position the cabbage in front of the yogurt.", + "start_idx": 5181, + "end_idx": 5220 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "With the right hand, retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Take the cabbage from the table, grasping the middle.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 5454, + "end_idx": 5487 + }, + { + "text": "Put the cabbage to the right of the croissant with the right hand facing bottom left with the front as the reference point.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Using the right hand, place the cabbage to the croissant's right, oriented bottom left relative to its front.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Have the right arm set the cabbage on the right side of the croissant, with its front facing bottom left.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "With the right hand, position the cabbage to the right of the croissant, front directed toward the bottom left.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Place the cabbage to the right of the croissant, with its front facing bottom left.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Set the cabbage on the right side of the croissant, oriented bottom left from the front.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Position the cabbage to the croissant's right, with the front toward the bottom left.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Using the right hand, place the cabbage to the right of the croissant.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Have the right arm set the cabbage on the croissant's right side.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "With the right hand, position the cabbage to the right of the croissant.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Place the cabbage to the right of the croissant.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Set the cabbage on the right side of the croissant.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Position the cabbage to the croissant's right.", + "start_idx": 5487, + "end_idx": 5535 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "With the right hand, take the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Using the right hand, grasp the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Have the right arm pick the yogurt up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Grasp the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "With the right hand, take the yogurt from the table using a side grasp at the top.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Have the right arm grasp the yogurt from the table with a side hold at the top.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Pick up the yogurt from the table with the right hand at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Using the right hand, take the yogurt from the table from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Pick up the yogurt from the table at the top from a diagonal angle.", + "start_idx": 5535, + "end_idx": 5574 + }, + { + "text": "Put the yogurt behind the croissant with the right hand right side up front.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Using the right hand, place the yogurt behind the croissant right side up with the front facing forward.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Have the right arm set the yogurt behind the croissant, keeping it right side up and front-facing.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "With the right hand, position the yogurt behind the croissant in an upright orientation with the front toward the front.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Place the yogurt behind the croissant right side up with the front facing forward.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Set the yogurt behind the croissant behind the croissant, keeping it upright and front-facing.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Position the yogurt behind the croissant with its front toward the front and right side up.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Using the right hand, put the yogurt behind the croissant.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "With the right hand, place the yogurt behind the croissant.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Have the right arm set the yogurt behind the croissant.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Put the yogurt behind the croissant.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Set the yogurt behind the croissant.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Position the yogurt behind the croissant.", + "start_idx": 5574, + "end_idx": 5610 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Have the right arm grasp the yogurt from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "With the right hand, secure the yogurt from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "From the table, grasp the yogurt by the top with a side hold at a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Take the yogurt from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Have the right arm take the yogurt from the table using a side hold at the top.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "With the right hand, collect the yogurt from the table.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Pick up the yogurt from the table with the right hand from a diagonal angle.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "From the table, grasp the yogurt with the right hand using a side grip.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 5709, + "end_idx": 5760 + }, + { + "text": "Put the yogurt on top of the white plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Using the right hand, place the yogurt on top of the white plate right side up, with the front as the reference point.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Have the right arm set the yogurt atop the white plate in a right-side-up orientation, using the front as the reference point.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "With the right hand, position the yogurt on the white plate so it is right side up relative to the front.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Place the yogurt on top of the white plate right side up, with the front as the reference point.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Set the yogurt atop the white plate in a right-side-up orientation, using the front as the reference point.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "The yogurt should go on the white plate right side up, with the front as the orientation reference point.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Using the right hand, put the yogurt on top of the white plate.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Have the right arm place the yogurt atop the white plate.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "With the right hand, set the yogurt on the white plate.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Put the yogurt on top of the white plate.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Set the yogurt atop the white plate.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "The yogurt should be placed on the white plate.", + "start_idx": 5760, + "end_idx": 5796 + }, + { + "text": "Pick up the yogurt from the top of the white plate with the right hand using a side grip at a diagonal angle from the top.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Using the right hand, take the yogurt from the top of the white plate with a side grasp at a diagonal angle from above.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Have the right arm pick the yogurt up from the top of the white plate using a side grip, diagonally from the top.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "With the right hand, grasp the yogurt from the top of the white plate in a side hold at a diagonal top angle.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Pick up the yogurt from the top of the white plate using a side grip at a diagonal angle from the top.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Take the yogurt from the top of the white plate with a side grasp at a diagonal angle from above.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Grasp the yogurt from the top of the white plate in a side hold, diagonally from the top.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Using the right hand, pick up the yogurt from the top of the white plate with a side grip.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Have the right arm take the yogurt from the top of the white plate using a side grasp.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "With the right hand, secure the yogurt from the top of the white plate in a side hold.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Using the right hand, pick up the yogurt from the top of the white plate at a diagonal angle from above.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Have the right arm take the yogurt from the top of the white plate diagonally from the top.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Pick up the yogurt from the top of the white plate.", + "start_idx": 6021, + "end_idx": 6063 + }, + { + "text": "Put the yogurt to the right of the cabbage with the right hand right side up with the front as the orientation reference.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Using the right hand, place the yogurt to the right of the cabbage, right side up with the front as the orientation reference.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Have the right arm set the yogurt down to the cabbage's right, keeping it right side up relative to the front.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "With the right hand, position the yogurt to the right of the cabbage, oriented right side up using the front as the reference.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Place the yogurt to the right of the cabbage.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Set the yogurt down to the right of the cabbage.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Position the yogurt to the cabbage's right.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Move the yogurt to the right of the cabbage.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Using the right hand, place the yogurt to the right of the cabbage.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Have the right arm set the yogurt down to the cabbage's right.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "With the right hand, position the yogurt to the right of the cabbage.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Put the yogurt to the right of the cabbage, right side up with the front as the orientation reference.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Arrange the yogurt to the cabbage's right, with the front as the reference for keeping it right side up.", + "start_idx": 6063, + "end_idx": 6096 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Have the right arm pick the cabbage up from the table on a diagonal, holding it at the middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "With the right hand, retrieve the cabbage from the table diagonally by grasping its middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Take the cabbage from the table on a diagonal while holding the middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Retrieve the cabbage from the table diagonally by its middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Take the cabbage from the table by grasping the middle.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 6096, + "end_idx": 6120 + }, + { + "text": "Put the cabbage on top of the white plate with the right hand facing top left from the front.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Using the right hand, place the cabbage on the white plate with its front facing the top left.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Have the right arm set the cabbage on top of the white plate, oriented top left from the front.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "With the right hand, position the cabbage atop the white plate so the front points toward the top left.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Place the cabbage on top of the white plate with its front facing the top left.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Set the cabbage atop the white plate, with the front oriented toward the top left.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Position the cabbage on the white plate so its front faces top left.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Put the cabbage on top of the white plate.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Set the cabbage onto the white plate.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Place the cabbage atop the white plate.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Using the right hand, put the cabbage on top of the white plate.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "With the right hand, set the cabbage atop the white plate.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Have the right arm place the cabbage on the white plate.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Have the right hand grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "With the right hand, secure the yogurt from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "From a diagonal angle, grasp the yogurt from the table with a side hold at the top.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Take the yogurt from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "With the right hand, take the yogurt from the table using a side hold.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Have the right hand grasp the yogurt from the table with a side grasp.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Pick up the yogurt from the table with the right hand from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Using the right hand, take the yogurt from the table at the top.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Grasp the yogurt from the table from a diagonal angle.", + "start_idx": 6333, + "end_idx": 6369 + }, + { + "text": "Put the yogurt to the right of the white cup with the right hand right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Using the right hand, place the yogurt to the right of the white cup with its right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Have the right arm set the yogurt down to the right of the white cup, right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "With the right hand, position the yogurt to the right of the white cup so it stays right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Place the yogurt to the right of the white cup with its right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Set the yogurt down to the right of the white cup, right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Position the yogurt to the right of the white cup so it is right side up.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Using the right hand, place the yogurt to the right of the white cup.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Have the right arm set the yogurt down to the right of the white cup.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "With the right hand, position the yogurt to the right of the white cup.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Put the yogurt to the right of the white cup.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Set the yogurt down to the right of the white cup.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Position the yogurt to the right of the white cup.", + "start_idx": 6369, + "end_idx": 6402 + }, + { + "text": "Pick up the white plate from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Using the right hand, take the white plate from the table with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Have the right hand grasp the white plate from the table with a lip hold on the bottom-right edge, diagonally oriented.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "With the right hand, secure the white plate from the table using a lip grasp at the bottom right on a diagonal.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Take the white plate from the table with a lip hold at the bottom right at a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Grasp the white plate from the table with a lip grasp on the bottom-right area at a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a lip grip at the bottom right.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "With the right hand, take the white plate from the table using a lip grasp on the bottom-right edge.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Have the right hand grasp the white plate from the table with a lip hold at the bottom right.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Pick up the white plate from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "With the right hand, take the white plate from the table at the bottom right diagonally.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Grasp the white plate from the table at the bottom right with a diagonal angle.", + "start_idx": 6543, + "end_idx": 6588 + }, + { + "text": "Put the white plate in front of the white cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Using the right hand, place the white plate in front of the white cup right side up, with the front as the orientation reference point.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Have the right arm set the white plate in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "With the right hand, position the white plate before the white cup, right side up using the front as the reference point.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Place the white plate in front of the white cup right side up, with the front as the orientation reference point.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Set the white plate in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Position the white plate before the white cup right side up, using the front as the reference point.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Using the right hand, put the white plate in front of the white cup.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "With the right hand, set the white plate before the white cup.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Have the right arm place the white plate in front of the white cup.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Put the white plate in front of the white cup.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Set the white plate before the white cup.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Have the plate placed in front of the white cup.", + "start_idx": 6588, + "end_idx": 6657 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Using the right hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Have the right arm take the white cup from the table by the handle, keeping it at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "With the right hand, grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Have the right arm take the white cup from the table by its handle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Take the white cup from the table diagonally.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 6999, + "end_idx": 7035 + }, + { + "text": "Put the white cup on the right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Using the right hand, set the white cup on the right side of the table upright with the front facing backward.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Have the right arm place the white cup on the table's right side, right side up, with its front facing backwards.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "With the right hand, position the white cup on the right side of the table so it stays upright and the front faces backward.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Place the white cup on the right side of the table right side up with the front facing backwards.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Set the white cup on the table's right side upright with its front facing backward.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Position the white cup on the right side of the table with the front facing backwards, right side up.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Using the right hand, put the white cup on the right side of the table.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "With the right hand, place the white cup on the table's right side.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Have the right arm set the white cup on the right side of the table.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Put the white cup on the right side of the table.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Set the white cup on the table's right side.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Have the right arm place the white cup on the right side of the table right side up.", + "start_idx": 7035, + "end_idx": 7110 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Have the right hand take the white plate from the table using a lip grasp diagonally at the bottom right.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "With the right hand, grasp the white plate from the table by the bottom-right edge with a diagonal lip hold.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Pick up the white plate from the table with a diagonal lip grip at the bottom right.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Take the white plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Grasp the white plate from the table diagonally at the bottom right with a lip hold.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Using the right hand, pick up the white plate from the table.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Have the right hand take the white plate from the table.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "With the right hand, grasp the white plate from the table.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Take the white plate from the table with the right hand.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Have the right hand pick up the white plate from the table.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Place the white plate on the top side of the table with the right hand right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Using the right hand, set the white plate on the top side of the table right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Have the right arm place the white plate on the table's top side with its right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "With the right hand, position the white plate on the top side of the table so it is right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Place the white plate on the top side of the table right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Set the white plate on the table's top side with its right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Position the white plate on the top side of the table, keeping it right side up.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Using the right hand, place the white plate on the top side of the table.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "With the right hand, set the white plate on the table's top side.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Have the right arm position the white plate on the top side of the table.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Place the white plate on the top side of the table.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Set the white plate on the table's top side.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Put the white plate on the top side of the table.", + "start_idx": 7296, + "end_idx": 7341 + }, + { + "text": "Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Have the right hand take the gray stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally by the middle.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Using the right hand, pick up the gray stuffed toy from the table.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Have the right hand take the gray stuffed toy from the table.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "With the right hand, retrieve the gray stuffed toy from the table.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Take the gray stuffed toy from the table.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Retrieve the gray stuffed toy from the table.", + "start_idx": 7422, + "end_idx": 7467 + }, + { + "text": "Put the gray stuffed toy in front of the white plate with the right hand facing bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Using the right hand, place the gray stuffed toy in front of the white plate facing bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Have the right arm set the gray stuffed toy before the white plate with its orientation toward the bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "With the right hand, position the gray stuffed toy in front of the white plate so it faces bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Place the gray stuffed toy in front of the white plate facing bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Set the gray stuffed toy before the white plate with its orientation toward the bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Position the gray stuffed toy in front of the white plate so it faces bottom right.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Using the right hand, put the gray stuffed toy in front of the white plate.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Have the right arm place the gray stuffed toy before the white plate.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "With the right hand, position the gray stuffed toy in front of the white plate.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Put the gray stuffed toy in front of the white plate.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Set the gray stuffed toy before the white plate.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Position the gray stuffed toy in front of the white plate.", + "start_idx": 7467, + "end_idx": 7497 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Have the right arm pick up the white cup from the table by the handle with a diagonal grip.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "With the right hand, grasp the white cup from the table at the handle in a diagonal hold.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Pick up the white cup from the table at the handle with a diagonal grasp.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Take the white cup from the table by the handle using a diagonal grip.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Grasp the white cup from the table with a diagonal hold at the handle.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Retrieve the white cup from the table at the handle.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Put the white cup to the left of the croissant with handle facing backwards right side up using the right hand.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Using the right hand, place the white cup to the left of the croissant with the handle facing backward, right side up.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Have the right hand set the white cup left of the croissant, keeping it upright and the handle pointing backward.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "With the right hand, position the white cup to the croissant's left, upright with its handle facing the back.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Place the white cup to the left of the croissant with the handle facing backward, right side up.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Set the white cup left of the croissant, keeping it upright and the handle pointed backward.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Position the white cup to the left of the croissant, upright with its handle facing the back.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "The white cup goes to the left of the croissant with the handle facing backward, right side up.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Using the right hand, place the white cup to the left of the croissant.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "With the right hand, set the white cup left of the croissant.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Have the right hand position the white cup to the croissant's left.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Put the white cup to the left of the croissant.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Set the white cup left of the croissant.", + "start_idx": 7761, + "end_idx": 7809 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Using the right hand, take the white plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Have the right hand grasp the white plate from the table with a diagonal lip hold at the bottom right.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "With the right hand, pick the white plate up from the table using a diagonal grasp on the bottom-right lip.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Take the white plate from the table with a diagonal lip hold at the bottom right.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Grasp the white plate from the table at the bottom-right lip on a diagonal.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Using the right hand, pick up the white plate from the table.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Have the right hand take the white plate from the table.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "With the right hand, grasp the white plate from the table.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Take the white plate from the table using a diagonal grip at the bottom right.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Grasp the white plate from the table.", + "start_idx": 7875, + "end_idx": 7914 + }, + { + "text": "Put the white plate to the right of the gray stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Using the right hand, place the white plate to the right of the gray stuffed toy, right side up with the front as the reference point.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Have the right arm set the white plate to the right of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "With the right hand, position the white plate to the right of the gray stuffed toy so it is right side up using the front as the orientation reference.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Place the white plate to the right of the gray stuffed toy, right side up with the front as the orientation reference point.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Set the white plate to the right of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Position the white plate to the right of the gray stuffed toy with its front as the orientation reference, right side up.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Using the right hand, place the white plate to the right of the gray stuffed toy.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Have the right arm set the white plate to the right of the gray stuffed toy.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "With the right hand, position the white plate to the right of the gray stuffed toy.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Place the white plate to the right of the gray stuffed toy.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Set the white plate to the right of the gray stuffed toy.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "To the right of the gray stuffed toy, position the white plate.", + "start_idx": 7914, + "end_idx": 7962 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "With the right hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Retrieve the cabbage from the table diagonally by its middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Take the cabbage from the table by the middle.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 7961, + "end_idx": 7982 + }, + { + "text": "Place the cabbage behind the gray stuffed toy with the right hand facing right with the front as the reference point.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Using the right hand, set the cabbage behind the gray stuffed toy, facing right relative to its front.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Have the right arm place the cabbage behind the gray stuffed toy with its front pointing right.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "With the right hand, position the cabbage behind the gray stuffed toy so the front faces right.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Place the cabbage behind the gray stuffed toy so its front faces right.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Set the cabbage behind the gray stuffed toy with the front oriented to the right.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Position the cabbage behind the gray stuffed toy, front facing right.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Using the right hand, place the cabbage behind the gray stuffed toy.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Have the right arm set the cabbage behind the gray stuffed toy.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "With the right hand, position the cabbage behind the gray stuffed toy.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Put the cabbage behind the gray stuffed toy.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Set the cabbage behind the gray stuffed toy.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Position the cabbage behind the gray stuffed toy.", + "start_idx": 7983, + "end_idx": 8031 + }, + { + "text": "Pick up the white plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Have the right hand grasp the white plate from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "With the right hand, take the white plate from the table using a lip grasp at the bottom right from a diagonal approach.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Pick up the white plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Take the white plate from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "From the table, grasp the white plate with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Use the right hand to pick up the white plate from the table with a lip grip.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "With the right hand, take the white plate from the table using a lip grasp.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Have the right hand grasp the white plate from the table with a lip hold.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Use the right hand to pick up the white plate from the table from a diagonal angle.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "From the table, take the white plate with a lip grip.", + "start_idx": 8319, + "end_idx": 8358 + }, + { + "text": "Put the white plate in front of the cabbage with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Using the right hand, place the white plate in front of the cabbage, right side up with the front as the orientation reference point.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Have the right arm set the white plate in front of the cabbage, keeping it right side up and using the front as the orientation reference point.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "With the right hand, position the white plate in front of the cabbage so it is right side up relative to the front.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Place the white plate in front of the cabbage, right side up with the front as the orientation reference point.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Set the white plate in front of the cabbage, keeping it right side up relative to the front.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Position the white plate in front of the cabbage with the front as the orientation reference point, right side up.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Using the right hand, place the white plate in front of the cabbage.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Have the right arm set the white plate in front of the cabbage.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "With the right hand, position the white plate in front of the cabbage.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Put the white plate in front of the cabbage.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Place the white plate in front of the cabbage with the right hand.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Set the white plate in front of the cabbage using the right arm.", + "start_idx": 8358, + "end_idx": 8400 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Have the right hand pick the yogurt up from the table with a top side grip at a diagonal angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "With the right hand, collect the yogurt from the table using a side hold on the top at a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Take the yogurt from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "The yogurt should be picked up from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Pick the yogurt up from the table with a top side hold and a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Have the right hand take the yogurt from the table using a side grasp on the top.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "With the right hand, retrieve the yogurt from the table using a side hold at the top.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Pick up the yogurt from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Using the right hand, take the yogurt from the table at the top with a diagonal angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Pick up the yogurt from the table at the top with a diagonal pick angle.", + "start_idx": 8790, + "end_idx": 8826 + }, + { + "text": "Put the yogurt in front of the white plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Using the right hand, place the yogurt in front of the white plate right side up, with the front as the orientation reference point.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Have the right arm set the yogurt in front of the white plate, keeping it right side up relative to the front.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "With the right hand, position the yogurt in front of the white plate so it remains right side up, using the front as the reference point.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Place the yogurt in front of the white plate right side up, with the front as the orientation reference point.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Set the yogurt in front of the white plate, keeping it right side up relative to the front.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Position the yogurt in front of the white plate so it is right side up, using the front as the reference point.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Using the right hand, put the yogurt in front of the white plate.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Have the right arm place the yogurt in front of the white plate.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "With the right hand, set the yogurt in front of the white plate.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Put the yogurt in front of the white plate.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Place the yogurt in front of the white plate.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Set the yogurt in front of the white plate.", + "start_idx": 8826, + "end_idx": 8862 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Using the right hand, take the white plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Have the right arm pick up the white plate from the table using a diagonal lip grip at the plate's bottom right.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "With the right hand, grasp the white plate from the table at the bottom right using a diagonal lip hold.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Grasp the white plate from the table with a diagonal lip hold at the bottom right.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Take the white plate from the table with a diagonal lip grip at the bottom right.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Using the right hand, pick up the white plate from the table.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Have the right arm take the white plate from the table.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "With the right hand, grasp the white plate from the table.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Using the right hand, take the white plate from the table.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Grasp the white plate from the table.", + "start_idx": 8862, + "end_idx": 8883 + }, + { + "text": "Dump the cabbage between the white cup and the yogurt with the right hand.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Using the right hand, dump the cabbage between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Have the right arm place the cabbage between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "With the right hand, deposit the cabbage in the space between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Dump the cabbage between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Place the cabbage between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Set the cabbage down between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Position the cabbage between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Have the cabbage placed between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Put the cabbage in the gap between the white cup and the yogurt.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Using the right hand, place the cabbage.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "With the right hand, set down the cabbage.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Deposit the cabbage with the right hand.", + "start_idx": 8883, + "end_idx": 8928 + }, + { + "text": "Put the white plate to the right of the yogurt with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Using the right hand, place the white plate to the right of the yogurt, right side up with the front as the reference point.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Have the right arm set the white plate to the yogurt's right, keeping it right side up and using the front as the orientation reference.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "With the right hand, position the white plate on the right side of the yogurt, right side up relative to the front.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Place the white plate to the right of the yogurt.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Set the white plate on the yogurt's right side.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Position the white plate to the right of the yogurt.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Using the right hand, place the white plate to the right of the yogurt.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Have the right arm put the white plate on the right side of the yogurt.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "With the right hand, set the white plate to the yogurt's right.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Place the white plate to the right of the yogurt with the front as the reference point.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Position the white plate on the right side of the yogurt, right side up.", + "start_idx": 8928, + "end_idx": 8982 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a top side hold and a diagonal approach.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left hand, grasp the yogurt from the table at the top using a side grip and a diagonal pickup angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Take the yogurt from the table at the top with a side grasp and a diagonal approach.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Grasp the yogurt from the table with a side hold at the top and a diagonal pickup angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left arm, take the yogurt from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Have the left hand grasp the yogurt from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Take the yogurt from the table with the left hand at the top.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Pick up the yogurt from the table at the top with a side grip.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Put the yogurt in front of the white plate with the left hand right side up with the front as the orientation reference point.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Using the left hand, place the yogurt in front of the white plate right side up, with the front as the reference point.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Have the left arm set the yogurt in front of the white plate, keeping it right side up relative to its front.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "With the left hand, position the yogurt in front of the white plate so it remains right side up, using the front as the orientation reference point.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Place the yogurt in front of the white plate right side up, with the front as the reference point.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Set the yogurt in front of the white plate, keeping it right side up relative to the front.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Position the yogurt in front of the white plate with its front as the orientation reference, right side up.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Using the left hand, put the yogurt in front of the white plate.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "With the left hand, set the yogurt in front of the white plate.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Have the left arm place the yogurt in front of the white plate.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Put the yogurt in front of the white plate.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Place the yogurt in front of the white plate.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Set the yogurt in front of the white plate.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal angle and grip the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 144, + "end_idx": 165 + }, + { + "text": "Put the cabbage to the left of the yogurt with the left hand facing bottom left from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Using the left hand, place the cabbage to the left of the yogurt, facing bottom left from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Have the left arm set the cabbage left of the yogurt with its front facing bottom left.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "With the left hand, position the cabbage to the yogurt's left, oriented bottom left from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Place the cabbage to the left of the yogurt, facing bottom left from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Set the cabbage left of the yogurt with its front oriented bottom left.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Position the cabbage to the yogurt's left so the front faces bottom left.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Put the cabbage to the left of the yogurt.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Arrange the cabbage left of the yogurt.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Set the cabbage down to the yogurt's left.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Using the left hand, place the cabbage to the left of the yogurt.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Have the left arm put the cabbage left of the yogurt.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "With the left hand, set the cabbage down to the yogurt's left.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Have the left arm take hold of the white cup on the table by its handle at a diagonal angle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "With the left hand, grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Grasp the white cup on the table by the handle at a diagonal angle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Remove the white cup from the table using the handle at a diagonal angle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "With the left hand, take the white cup from the table by its handle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Have the left arm grasp the white cup on the table by the handle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Take the white cup from the table via the handle.", + "start_idx": 195, + "end_idx": 219 + }, + { + "text": "Put the white cup in the center of the table with handle facing backwards right side up with the front as the reference point using the left hand.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Using the left hand, place the white cup in the center of the table, right side up, with the handle facing backward relative to the front.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Have the left arm set the white cup at the table's center, upright, with its handle pointing backward using the front as reference.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "With the left hand, position the white cup in the middle of the table so it stays right side up and the handle faces backward from the front.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Place the white cup in the center of the table, right side up, with the handle facing backward relative to the front.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Set the white cup at the table's center, upright, with its handle pointing backward using the front as the reference point.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Position the white cup in the middle of the table so it is right side up and the handle faces backward from the front.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Using the left hand, put the white cup in the center of the table.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "With the left hand, place the white cup at the table's center.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Have the left arm set the white cup in the middle of the table.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Put the white cup in the center of the table.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Set the white cup at the table's center.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Using the left hand, position the white cup in the middle of the table.", + "start_idx": 219, + "end_idx": 264 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top and a diagonal pickup angle.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "With the left arm, collect the yogurt from the table using a side hold at the top with a diagonal approach.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Have the left hand pick the yogurt up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Take the yogurt from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "The yogurt should be picked up from the table with a side hold at the top and a diagonal angle.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Pick up the yogurt from the table using a side grasp on the top with a diagonal approach.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "With the left arm, take the yogurt from the table using a side grasp at the top.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Have the left hand collect the yogurt from the table with a side hold on the top.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Using the left hand, pick up the yogurt from the table at a diagonal angle.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "With the left arm, take the yogurt from the table on a diagonal approach.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 339, + "end_idx": 354 + }, + { + "text": "Put the yogurt to the left of the white cup with the left hand right side up front.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white cup, right side up with the front facing forward.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Have the left arm set the yogurt to the left of the white cup in an upright position, front outward.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "With the left hand, position the yogurt left of the white cup, keeping it right side up and the front ahead.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Place the yogurt to the left of the white cup, right side up with the front facing forward.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Set the yogurt left of the white cup in an upright position, front outward.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Position the yogurt to the left of the white cup with its front facing forward.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Arrange the yogurt left of the white cup, keeping it upright.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Set the yogurt to the left of the white cup with the left hand.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Using the left hand, place the yogurt left of the white cup.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Have the left arm position the yogurt to the left of the white cup.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Place the yogurt to the left of the white cup.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Put the yogurt left of the white cup.", + "start_idx": 354, + "end_idx": 384 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "With the left hand, collect the white cup from the table using the handle at a diagonal angle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Grasp the white cup from the table using the handle at a diagonal angle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "With the left hand, take the white cup from the table by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Have the left arm collect the white cup from the table by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Using the left hand, grasp the white cup from the table.", + "start_idx": 384, + "end_idx": 408 + }, + { + "text": "Put the white cup in the center of the table with handle facing backwards with the left hand right side up.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Using the left hand, place the white cup in the center of the table, upright, with the handle facing backward.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Have the left arm set the white cup at the table's center with the handle toward the back and the cup right side up.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "With the left hand, position the white cup in the middle of the table, right side up, handle facing the rear.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Place the white cup in the center of the table, upright, with the handle facing backward.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Set the white cup at the table's center with the handle toward the back and the cup right side up.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Position the white cup in the middle of the table, right side up, with its handle facing the rear.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Using the left hand, put the white cup in the center of the table.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Have the left arm place the white cup at the table's center.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "With the left hand, set the white cup in the middle of the table.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Put the white cup in the center of the table.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Set the white cup at the table's center.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Place the white cup in the middle of the table.", + "start_idx": 408, + "end_idx": 447 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by its middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 447, + "end_idx": 465 + }, + { + "text": "Put the cabbage in the center of the table with the left hand facing backwards from the front.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Using the left hand, place the cabbage in the center of the table with it facing backwards from the front.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Have the left arm set the cabbage at the table center, oriented backwards relative to the front.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "With the left hand, position the cabbage in the middle of the table so its front faces backward.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Place the cabbage in the center of the table with it facing backwards from the front.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Set the cabbage in the middle of the table, oriented backward relative to the front.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Position the cabbage at the center of the table so it faces backward from the front.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Using the left hand, put the cabbage in the center of the table.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "With the left hand, set the cabbage in the middle of the table.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Have the left arm place the cabbage at the table center.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Place the cabbage in the center of the table.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Set the cabbage in the middle of the table.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Put the cabbage at the table center.", + "start_idx": 465, + "end_idx": 501 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "With the left hand, collect the cabbage from the table on a diagonal, gripping the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Take the cabbage from the table on a diagonal, holding the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Collect the cabbage from the table with a diagonal pickup at the middle.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Collect the cabbage from the table.", + "start_idx": 624, + "end_idx": 654 + }, + { + "text": "Put the cabbage on the top left side of the table with the left hand facing bottom left from the front.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Using the left hand, place the cabbage on the table's top-left side, facing bottom left from the front.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Have the left arm set the cabbage on the top left area of the table with its front facing bottom left.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "With the left hand, position the cabbage on the top-left part of the table, oriented bottom-left from the front.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Place the cabbage on the table's top-left side, facing bottom left from the front.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Set the cabbage on the top left area of the table with its front toward the bottom left.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Position the cabbage on the top-left part of the table, front facing bottom left.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Using the left hand, put the cabbage on the top left side of the table.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Have the left arm place the cabbage on the table's top-left area.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "With the left hand, set the cabbage on the top-left part of the table.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Put the cabbage on the top left side of the table.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Place the cabbage on the table's top-left area.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Set the cabbage on the top-left part of the table.", + "start_idx": 654, + "end_idx": 690 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "With the left hand, collect the white cup from the table, approaching diagonally at the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "With the left hand, grasp the white cup from the table by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Have the left arm take the white cup from the table by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 690, + "end_idx": 735 + }, + { + "text": "Put the white cup to the right of the yogurt with handle facing backwards with the left hand.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Using the left hand, place the white cup to the right of the yogurt with the handle facing backward.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Have the left arm set the white cup to the yogurt's right, with its handle pointing backward.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "With the left hand, position the white cup on the right side of the yogurt, handle facing backward.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Place the white cup to the right of the yogurt with the handle facing backward.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Set the white cup on the yogurt's right side, with the handle pointing backward.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Position the white cup to the right of the yogurt, handle facing backward.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Put the white cup to the right of the yogurt.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Place the white cup on the right side of the yogurt.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Set the white cup beside the yogurt on its right.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Place the white cup to the right of the yogurt.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "With the left hand, place the white cup to the right of the yogurt.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Using the left hand, set the white cup on the yogurt's right side.", + "start_idx": 735, + "end_idx": 780 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, contacting it at the middle on a diagonal.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Retrieve the cabbage from the table, contacting the middle at a diagonal angle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 780, + "end_idx": 810 + }, + { + "text": "Put the cabbage between the white cup and the gray stuffed toy with the left hand facing backwards with the front as the reference point.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Using the left hand, place the cabbage between the white cup and the gray stuffed toy, oriented backward relative to its front.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Have the left arm set the cabbage between the white cup and the gray stuffed toy with its front facing backward.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "With the left hand, position the cabbage between the white cup and the gray stuffed toy so the front points backward.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Place the cabbage between the white cup and the gray stuffed toy with its front facing backward.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Set the cabbage between the white cup and the gray stuffed toy, oriented backward relative to the front.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Position the cabbage between the white cup and the gray stuffed toy so it faces backward from the front reference.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Using the left hand, put the cabbage between the white cup and the gray stuffed toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "With the left arm, place the cabbage between the white cup and the gray stuffed toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Have the left hand position the cabbage between the white cup and the gray stuffed toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Put the cabbage between the white cup and the gray stuffed toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Set the cabbage between the white cup and the gray stuffed toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Position the cabbage between the white cup and the gray stuffed toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Have the left arm grasp the gray stuffed toy from the table from the top with a side hold at a diagonal angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "With the left hand, pick the gray stuffed toy up from the table by the top using a side grasp and a diagonal approach.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Pick up the gray stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Take the gray stuffed toy from the table by the top using a side grasp and a diagonal angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Grasp the gray stuffed toy from the table at the top with a side hold and a diagonal pick angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table with a side grip.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table using a side grasp.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Have the left arm grasp the gray stuffed toy from the table with a side hold.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at the top with a diagonal pick angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand by the top at a diagonal angle.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 915, + "end_idx": 951 + }, + { + "text": "Put the gray stuffed toy to the left of the yogurt with the left hand facing bottom left from the front.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the yogurt, facing bottom left from the front.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the yogurt with its front facing bottom left.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "With the left hand, position the gray stuffed toy to the yogurt's left, oriented bottom left from the front.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Place the gray stuffed toy to the left of the yogurt, facing bottom left from the front.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Set the gray stuffed toy left of the yogurt with its front facing bottom left.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Position the gray stuffed toy to the yogurt's left, oriented bottom left from the front.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the yogurt.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the yogurt.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "With the left hand, position the gray stuffed toy to the yogurt's left.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Place the gray stuffed toy to the left of the yogurt.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Set the gray stuffed toy left of the yogurt.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Position the gray stuffed toy to the yogurt's left.", + "start_idx": 951, + "end_idx": 990 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle, keeping it diagonal.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "With the left hand, collect the white cup from the table via the handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Grasp the white cup from the table via the handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Retrieve the white cup from the table by the handle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "With the left hand, take the white cup from the table at a diagonal angle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Have the left arm pick up the white cup from the table.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 990, + "end_idx": 1026 + }, + { + "text": "Put the white cup behind the cabbage with handle facing bottom left right side up with the left hand.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Using the left hand, place the white cup behind the cabbage, right side up, with its handle facing the bottom left.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Have the left arm set the white cup behind the cabbage with the handle oriented bottom left and the cup right side up.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "With the left hand, position the white cup behind the cabbage so it stays upright and the handle points bottom left.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Place the white cup behind the cabbage with its handle facing the bottom left.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Set the white cup behind the cabbage, keeping the handle pointed bottom left.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Position the white cup behind the cabbage so the handle points to the bottom left.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Using the left hand, put the white cup behind the cabbage.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Have the left arm place the white cup behind the cabbage.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "With the left hand, set the white cup behind the cabbage.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Put the white cup behind the cabbage.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Place the white cup behind the cabbage.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Set the white cup behind the cabbage.", + "start_idx": 1026, + "end_idx": 1080 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "The cabbage from the table should be picked up.", + "start_idx": 1080, + "end_idx": 1116 + }, + { + "text": "Put the cabbage behind the yogurt with the left hand facing left from the front.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Using the left hand, place the cabbage behind the yogurt with its front facing left.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Have the left arm set the cabbage behind the yogurt, oriented leftward from the front.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "With the left hand, position the cabbage behind the yogurt so the front points left.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Place the cabbage behind the yogurt with its front facing left.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Set the cabbage behind the yogurt, keeping the front directed left.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Position the cabbage behind the yogurt so it faces left from the front.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Using the left hand, put the cabbage behind the yogurt.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "With the left hand, place the cabbage behind the yogurt.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Have the left arm set the cabbage behind the yogurt.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Put the cabbage behind the yogurt.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Place the cabbage behind the yogurt.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Set the cabbage behind the yogurt.", + "start_idx": 1116, + "end_idx": 1155 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top and a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Have the left hand grasp the yogurt from the table from the top with a side hold at a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "With the left hand, secure the yogurt from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top with a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Grasp the yogurt from the table from the top with a side hold at a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "With the left hand, take the yogurt from the table using a side grasp on the top.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Have the left hand collect the yogurt from the table with a side hold at the top.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Using the left hand, pick up the yogurt from the table at a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Pick up the yogurt from the table with the left hand at the top and a diagonal angle.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Take the yogurt from the table from the top.", + "start_idx": 1155, + "end_idx": 1185 + }, + { + "text": "Put the yogurt in front of the white cup with the left hand right side up with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Using the left hand, place the yogurt in front of the white cup right side up, with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Have the left arm set the yogurt down in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "With the left hand, position the yogurt before the white cup in a right-side-up orientation using the front as the reference point.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Place the yogurt in front of the white cup right side up, with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Set the yogurt in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Position the yogurt before the white cup in a right-side-up orientation with the front as the reference point.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Using the left hand, put the yogurt in front of the white cup.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Have the left arm place the yogurt before the white cup.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "With the left hand, set the yogurt down in front of the white cup.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Put the yogurt in front of the white cup.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Set the yogurt before the white cup.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Position the yogurt in front of the white cup.", + "start_idx": 1185, + "end_idx": 1218 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the center.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally by gripping the middle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal pickup, holding the center.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Take the gray stuffed toy from the table diagonally, gripping it at the middle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Take the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Get the gray stuffed toy from the table by grasping the middle.", + "start_idx": 1218, + "end_idx": 1251 + }, + { + "text": "Put the gray stuffed toy to the left of the yogurt with the left hand facing left with the front as the reference point.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the yogurt with its front facing left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the yogurt, front pointed left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "With the left hand, position the gray stuffed toy to the yogurt's left, keeping the front directed left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Place the gray stuffed toy to the left of the yogurt with its front facing left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Set the gray stuffed toy left of the yogurt, front pointed left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Position the gray stuffed toy to the yogurt's left with the front facing left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the yogurt.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Have the left arm set the gray stuffed toy left of the yogurt.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "With the left hand, position the gray stuffed toy to the yogurt's left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Place the gray stuffed toy to the left of the yogurt.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Set the gray stuffed toy left of the yogurt.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Position the gray stuffed toy to the yogurt's left.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Have the left arm grasp the yogurt from the table with a side hold at the top on a diagonal.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "With the left hand, retrieve the yogurt from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top on a diagonal.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Retrieve the yogurt from the table, using a side hold on the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Using the left hand, take the yogurt from the table.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Have the left arm grasp the yogurt from the table.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Pick up the yogurt from the table from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Take the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Retrieve the yogurt from the table at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1386 + }, + { + "text": "Place the yogurt in front of the cabbage with the left hand right side up with the front as the reference point.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Using the left hand, set the yogurt in front of the cabbage right side up, using the front as the reference point.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Have the left arm place the yogurt before the cabbage, keeping it right side up with the front as the reference point.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "With the left hand, position the yogurt in front of the cabbage so it is right side up relative to the front.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Place the yogurt in front of the cabbage right side up with the front as the reference point.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Set the yogurt before the cabbage, keeping it right side up relative to the front.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Position the yogurt in front of the cabbage so it stays right side up using the front as the reference point.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Using the left hand, place the yogurt in front of the cabbage.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Have the left arm set the yogurt before the cabbage.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "With the left hand, position the yogurt in front of the cabbage.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Place the yogurt in front of the cabbage.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Set the yogurt before the cabbage.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Position the yogurt in front of the cabbage.", + "start_idx": 1386, + "end_idx": 1419 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Have the left hand take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table on a diagonal approach, gripping the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Retrieve the gray stuffed toy from the table on a diagonal approach, holding the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Take the gray stuffed toy from the table at a diagonal angle by the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Have the left hand retrieve the gray stuffed toy from the table.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Take the gray stuffed toy from the table, grasping the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Retrieve the gray stuffed toy from the table with the left hand, holding the middle.", + "start_idx": 1689, + "end_idx": 1716 + }, + { + "text": "Put the gray stuffed in the center of the table with the left hand facing top left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Using the left hand, place the gray stuffed in the center of the table facing the top left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Have the left arm set the gray stuffed in the table's center, oriented top-left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "With the left hand, position the gray stuffed at the center of the table so it faces top left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Place the gray stuffed in the center of the table facing the top left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Set the gray stuffed at the center of the table facing top left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Position the gray stuffed in the middle of the table facing the top left from the front.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Using the left hand, put the gray stuffed in the center of the table.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "With the left hand, set the gray stuffed at the center of the table.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Have the left arm place the gray stuffed in the middle of the table.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Put the gray stuffed in the center of the table.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Set the gray stuffed at the center of the table.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Position the gray stuffed in the middle of the table.", + "start_idx": 1716, + "end_idx": 1740 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach, gripping the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Take the cabbage from the table using the left hand.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 1740, + "end_idx": 1773 + }, + { + "text": "Put the cabbage to the left of the gray stuffed toy with the left hand facing forwards.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Using the left hand, place the cabbage to the left of the gray stuffed toy with its front facing forwards.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Have the left arm set the cabbage to the left of the gray stuffed toy, front facing forward.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "With the left hand, position the cabbage left of the gray stuffed toy so the front faces forwards.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Place the cabbage to the left of the gray stuffed toy with its front facing forwards.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Set the cabbage left of the gray stuffed toy with the front facing forward.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Position the cabbage to the left of the gray stuffed toy facing forwards.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Using the left hand, put the cabbage to the left of the gray stuffed toy.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "With the left hand, set the cabbage left of the gray stuffed toy.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Have the left arm place the cabbage to the left of the gray stuffed toy.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Place the cabbage to the left of the gray stuffed toy.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Set the cabbage left of the gray stuffed toy.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Position the cabbage to the left of the gray stuffed toy.", + "start_idx": 1773, + "end_idx": 1806 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Have the left arm pick up the yogurt from the table with a top side grasp at a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "With the left hand, grasp the yogurt from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Grasp the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "The yogurt from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Have the left arm grasp the yogurt from the table using a side hold at the top.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "With the left hand, take the yogurt from the table using a side grasp.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Using the left hand, grasp the yogurt from the table at the top from a diagonal angle.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "The yogurt from the table should be picked up with the left hand.", + "start_idx": 1806, + "end_idx": 1836 + }, + { + "text": "Put the yogurt to the left of the cabbage with the left hand right side up with the front as the reference point.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Using the left hand, place the yogurt to the left of the cabbage right side up, with the front as the reference point.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Have the left arm set the yogurt left of the cabbage, keeping it right side up relative to the front.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "With the left hand, position the yogurt on the cabbage's left side right side up, using the front as the reference point.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Place the yogurt to the left of the cabbage.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Set the yogurt on the left side of the cabbage.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Position the yogurt left of the cabbage.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Using the left hand, put the yogurt to the left of the cabbage.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Have the left arm place the yogurt left of the cabbage.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Place the yogurt to the left of the cabbage right side up.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Set the yogurt left of the cabbage with its front as the reference point.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Using the left hand, place the yogurt to the left of the cabbage.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Have the left arm set the yogurt on the cabbage's left side.", + "start_idx": 1836, + "end_idx": 1863 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Have the left arm retrieve the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and pick it up diagonally.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Grasp the cabbage from the table at the middle and raise it at a diagonal angle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Have the left arm retrieve the cabbage from the table.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Grasp the cabbage from the table with the left hand.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Take the cabbage from the table at the middle.", + "start_idx": 1944, + "end_idx": 1974 + }, + { + "text": "Put the cabbage to the left of the white cup with the left hand facing top right from the front.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white cup, facing top right from the front.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Have the left arm set the cabbage to the left of the white cup with its front facing the top right.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "With the left hand, position the cabbage to the left of the white cup so the front points top right.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Place the cabbage to the left of the white cup, facing top right from the front.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Set the cabbage to the left of the white cup with its front toward the top right.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Position the cabbage to the left of the white cup so it faces top right from the front.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white cup.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "With the left hand, set the cabbage to the left of the white cup.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Have the left arm position the cabbage to the left of the white cup.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Place the cabbage to the left of the white cup.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Set the cabbage to the left of the white cup.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Position the cabbage to the left of the white cup.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Pick up the yogurt from the table with the left hand at a diagonal angle grasping the top using a side grip.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Using the left hand, take the yogurt from the table at a diagonal angle, grasping it at the top with a side grip.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "At a diagonal angle, have the left hand pick up the yogurt from the table by the top using a side grasp.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "The left hand should retrieve the yogurt from the table, approaching diagonally and holding the top with a side grip.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Pick up the yogurt from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "At a diagonal angle, pick the yogurt up from the table by the top using a side grasp.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "The yogurt from the table should be taken at a diagonal angle, with the top grasped in a side grip.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "With the left hand, pick up the yogurt from the table using a side grip.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Have the left hand take the yogurt from the table, grasping the top with a side grasp.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "The left hand should pick up the yogurt from the table at a diagonal angle.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Using the left hand, collect the yogurt from the table by the top.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Pick up the yogurt from the table.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Take the yogurt from the table by the top.", + "start_idx": 2175, + "end_idx": 2190 + }, + { + "text": "Put the yogurt in front of the cabbage with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Using the left hand, place the yogurt in front of the cabbage right side up, with the front as the orientation reference point.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Have the left arm set the yogurt in front of the cabbage, keeping it right side up relative to its front.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "With the left hand, position the yogurt before the cabbage in a right-side-up orientation using the front as the reference point.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Place the yogurt in front of the cabbage right side up, with the front as the orientation reference point.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Set the yogurt in front of the cabbage, keeping it right side up relative to the front.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Position the yogurt before the cabbage with its front used as the orientation reference, right side up.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Using the left hand, put the yogurt in front of the cabbage.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "With the left hand, place the yogurt before the cabbage.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Have the left arm set the yogurt in front of the cabbage.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Put the yogurt in front of the cabbage.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Place the yogurt before the cabbage.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Set the yogurt in front of the cabbage.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and pick it up diagonally.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Grasp the middle of the cabbage on the table and pick it up at a diagonal angle.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Grasp the cabbage on the table.", + "start_idx": 2220, + "end_idx": 2241 + }, + { + "text": "Place the cabbage to the right of the yogurt with the left hand facing right with the front as the reference point.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Using the left hand, set the cabbage to the right of the yogurt, facing right from the front.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Have the left arm place the cabbage to the yogurt's right, with its front facing right.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "With the left hand, position the cabbage to the right of the yogurt so the front faces right.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Place the cabbage to the right of the yogurt with its front facing right.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Set the cabbage to the yogurt's right, oriented rightward from the front.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Position the cabbage to the right of the yogurt so it faces right from the front.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Put the cabbage to the right of the yogurt.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Set the cabbage down to the right of the yogurt.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Position the cabbage on the yogurt's right side.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Place the cabbage to the right of the yogurt.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Using the left hand, place the cabbage to the right of the yogurt.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Have the left arm set the cabbage to the yogurt's right.", + "start_idx": 2241, + "end_idx": 2271 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grip at the top diagonally.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Have the left hand grasp the gray stuffed toy from the table with a side hold on the top diagonal.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "With the left hand, pick the gray stuffed toy up from the table using a side grasp at the top diagonally.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Pick up the gray stuffed toy from the table using a side grip at the top diagonally.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Take the gray stuffed toy from the table with a side hold at the top diagonal.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Grasp the gray stuffed toy from the table using a side grasp at the top diagonally.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grasp.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Have the left hand pick up the gray stuffed toy from the table with a side hold.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at the top diagonally.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table at the top diagonal.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Take the gray stuffed toy from the table.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Put the gray stuffed toy in front of the white plate with the left hand facing forwards.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front of the white plate facing forwards.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Have the left arm set the gray stuffed toy in front of the white plate with its front facing forward.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "With the left hand, position the gray stuffed toy before the white plate, oriented forward.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Place the gray stuffed toy in front of the white plate facing forwards.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Set the gray stuffed toy before the white plate with its front facing forward.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Position the gray stuffed toy in front of the white plate, facing forward.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Using the left hand, put the gray stuffed toy in front of the white plate.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "With the left hand, place the gray stuffed toy before the white plate.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Have the left arm set the gray stuffed toy in front of the white plate.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Put the gray stuffed toy in front of the white plate.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Set the gray stuffed toy before the white plate.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Position the gray stuffed toy in front of the white plate.", + "start_idx": 2400, + "end_idx": 2430 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Using the left hand, take the cabbage from the table with a diagonal grasp at the middle.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Have the left arm pick the cabbage off the table at a diagonal angle from its middle.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "With the left hand, grasp the cabbage from the table diagonally at the center.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Take the cabbage off the table with a diagonal grasp from the middle.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Grasp the cabbage from the table diagonally at its center.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Have the left arm take the cabbage off the table.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 2553, + "end_idx": 2574 + }, + { + "text": "Put the cabbage behind the yogurt with the left hand facing top right from the front.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Using the left hand, place the cabbage behind the yogurt facing the top right from the front.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Have the left arm set the cabbage behind the yogurt with its front facing top right.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "With the left hand, position the cabbage behind the yogurt so it faces top right from the front.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Place the cabbage behind the yogurt facing the top right from the front.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Set the cabbage behind the yogurt with its front toward the top right.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Position the cabbage behind the yogurt so the front points top right.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Put the cabbage behind the yogurt.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Place the cabbage behind the yogurt.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Set the cabbage behind the yogurt in place.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Using the left hand, put the cabbage behind the yogurt.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Have the left arm place the cabbage behind the yogurt.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Position the cabbage behind the yogurt with the left hand.", + "start_idx": 2574, + "end_idx": 2610 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Have the left arm pick the yogurt up from the table using a side grasp at the top on a diagonal.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "With the left hand, grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "With the left hand, take the yogurt from the table using a side grasp at the top.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Have the left arm grasp the yogurt from the table with a side hold at the top.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Using the left hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 2610, + "end_idx": 2625 + }, + { + "text": "Put the yogurt to the left of the white cup with the left hand right side up front.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white cup, right side up with the front facing forward.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Have the left arm set the yogurt to the left of the white cup in a right-side-up orientation, front forward.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "With the left hand, position the yogurt left of the white cup so it stays right side up and the front faces front.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Place the yogurt to the left of the white cup, keeping it right side up with the front facing forward.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Set the yogurt to the left of the white cup in a right-side-up position, front forward.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Position the yogurt left of the white cup so it is right side up and front-facing.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white cup.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "With the left hand, set the yogurt to the left of the white cup.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Have the left arm position the yogurt left of the white cup.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Put the yogurt to the left of the white cup.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Place the yogurt left of the white cup, keeping it right side up.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Set the yogurt to the left of the white cup with the front facing forward.", + "start_idx": 2625, + "end_idx": 2649 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal angle by gripping the middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Retrieve the cabbage from the table on a diagonal angle by grasping its middle.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 2862, + "end_idx": 2889 + }, + { + "text": "Put the cabbage to the left of the yogurt with the left hand facing top right from the front.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Using the left hand, place the cabbage to the left of the yogurt, facing top right from the front.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Have the left arm set the cabbage left of the yogurt with its orientation top right from the front.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "With the left hand, position the cabbage to the yogurt's left, oriented top right from the front.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Place the cabbage to the left of the yogurt, facing top right from the front.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Set the cabbage left of the yogurt with the front facing top right.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Position the cabbage to the yogurt's left, oriented top right from the front.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Using the left hand, put the cabbage to the left of the yogurt.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Have the left arm place the cabbage left of the yogurt.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "With the left hand, set the cabbage to the yogurt's left.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Place the cabbage to the left of the yogurt.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Set the cabbage left of the yogurt.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Position the cabbage to the yogurt's left.", + "start_idx": 2889, + "end_idx": 2928 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table on a diagonal approach, gripping the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Retrieve the gray stuffed toy from the table on a diagonal approach, gripping the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Take the gray stuffed toy from the table at a diagonal angle, holding the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table, grasping the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table by the middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Have the left arm retrieve the gray stuffed toy from the table, holding its middle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Retrieve the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 2928, + "end_idx": 2967 + }, + { + "text": "Put the gray stuffed toy behind the cabbage with the left hand facing right.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the gray stuffed toy behind the cabbage with its front facing right.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the gray stuffed toy behind the cabbage, oriented so the front points right.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the gray stuffed toy behind the cabbage facing right from the front.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Place the gray stuffed toy behind the cabbage with its front facing right.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Set the gray stuffed toy behind the cabbage facing right.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Position the gray stuffed toy behind the cabbage so the front points right.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Using the left hand, put the gray stuffed toy behind the cabbage.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the gray stuffed toy behind the cabbage.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the gray stuffed toy behind the cabbage.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Put the gray stuffed toy behind the cabbage.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Place the gray stuffed toy behind the cabbage.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Set the gray stuffed toy behind the cabbage.", + "start_idx": 2967, + "end_idx": 3000 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Have the left hand take the white cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "With the left arm, grasp the white cup from the table using a diagonal lip hold on the left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Pick up the white cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Take the white cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip hold on the left side.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 3000, + "end_idx": 3033 + }, + { + "text": "Put the white cup to the left of the gray stuffed toy with the left hand right side up with the front facing backwards.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Using the left hand, place the white cup to the left of the gray stuffed toy, right side up, with the front facing backward.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Have the left arm set the white cup left of the gray stuffed toy, keeping it upright and the front facing backwards.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "With the left hand, position the white cup to the gray stuffed toy's left, right side up and with the front oriented backward.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Place the white cup to the left of the gray stuffed toy, right side up, with the front facing backwards.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Set the white cup left of the gray stuffed toy, keeping it upright with the front directed backward.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Position the white cup to the gray stuffed toy's left, with its front facing backward and right side up.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Using the left hand, place the white cup to the left of the gray stuffed toy.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Have the left arm set the white cup left of the gray stuffed toy.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "With the left hand, position the white cup to the gray stuffed toy's left.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Put the white cup to the left of the gray stuffed toy.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Set the white cup left of the gray stuffed toy.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Position the white cup to the gray stuffed toy's left.", + "start_idx": 3033, + "end_idx": 3093 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Have the left arm grasp the yogurt from the table with a side hold at the top on a diagonal approach.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "With the left hand, secure the yogurt from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Grasp the yogurt from the table using a side hold at the top on a diagonal approach.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "The yogurt from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "With the left hand, take the yogurt from the table using a side grasp at the top.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Have the left arm grasp the yogurt from the table with a side hold.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Using the left hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Take the yogurt from the table at the top from a diagonal angle.", + "start_idx": 3093, + "end_idx": 3120 + }, + { + "text": "Put the yogurt in front of the white cup with the left hand right side up with the front as the reference point.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Using the left hand, place the yogurt in front of the white cup right side up with the front as the reference point.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Have the left arm set the yogurt down in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "With the left hand, position the yogurt before the white cup so it stays right side up using the front as the reference point.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Place the yogurt in front of the white cup.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Set the yogurt down in front of the white cup.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Position the yogurt before the white cup.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Using the left hand, put the yogurt in front of the white cup.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Have the left arm place the yogurt before the white cup.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "With the left hand, set the yogurt down in front of the white cup.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Place the yogurt in front of the white cup right side up.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Set the yogurt before the white cup with the front as the reference point.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Position the yogurt in front of the white cup, keeping it right side up.", + "start_idx": 3120, + "end_idx": 3156 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal, gripping the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Retrieve the cabbage from the table on a diagonal, holding the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, gripping it at the middle.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 3252, + "end_idx": 3267 + }, + { + "text": "Put the cabbage in the center of the table with the left hand facing bottom right from the front.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Using the left hand, place the cabbage in the center of the table facing bottom right from the front.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Have the left arm set the cabbage at the table's center with its front facing bottom right.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "With the left hand, position the cabbage in the center of the table, oriented bottom right from the front.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Place the cabbage in the center of the table facing bottom right from the front.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Set the cabbage at the center of the table with its front facing bottom right.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Position the cabbage in the center of the table so the front points bottom right.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Put the cabbage in the center of the table with the left hand.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Using the left hand, place the cabbage at the center of the table.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Have the left arm set the cabbage in the center of the table.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Place the cabbage in the center of the table.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Set the cabbage at the table's center.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Have the cabbage placed in the center of the table.", + "start_idx": 3267, + "end_idx": 3306 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Have the left arm pick the white plate up from the table using a bottom-left diagonal lip grasp.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "With the left hand, grasp the white plate from the table at the bottom left using a diagonal lip hold.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Take the white plate from the table with a bottom-left diagonal lip grasp.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Grasp the white plate from the table at the bottom left with a diagonal lip hold.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "With the left hand, pick up the white plate from the table.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Have the left arm take the white plate from the table.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Using the left hand, grasp the white plate from the table.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Take the white plate from the table with the left hand.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Grasp the white plate from the table at the bottom left.", + "start_idx": 3306, + "end_idx": 3348 + }, + { + "text": "Dump the croissant between the gray stuffed toy and the cabbage with the left hand.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Using the left hand, dump the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Have the left arm place the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "With the left hand, deposit the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Dump the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Place the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Set the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Position the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Leave the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Put the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Arrange the croissant between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Between the gray stuffed toy and the cabbage, place the croissant.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Have the croissant set down between the gray stuffed toy and the cabbage.", + "start_idx": 3348, + "end_idx": 3396 + }, + { + "text": "Put the white plate in front of the croissant with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Using the left hand, place the white plate in front of the croissant right side up, with the front as the orientation reference point.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Have the left arm set the white plate in front of the croissant, keeping it right side up and using the front as the reference point.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "With the left hand, position the white plate in front of the croissant so it is right side up, referenced by the front.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Place the white plate in front of the croissant right side up, with the front as the orientation reference point.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Set the white plate in front of the croissant, keeping it right side up relative to the front.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Position the white plate in front of the croissant with the front as the orientation reference point, right side up.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Using the left hand, place the white plate in front of the croissant.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Have the left arm set the white plate in front of the croissant.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "With the left hand, position the white plate in front of the croissant.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Place the white plate in front of the croissant.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Set the white plate in front of the croissant.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "In front of the croissant, position the white plate.", + "start_idx": 3396, + "end_idx": 3456 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top diagonally.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Have the left arm take the yogurt from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "With the left hand, grasp the yogurt from the table by the top using a diagonal side hold.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top diagonally.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Take the yogurt from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Grasp the yogurt from the table by the top with a diagonal side hold.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "With the left hand, take the yogurt from the table by the top using a side grasp.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Have the left arm grasp the yogurt from the table with a side hold.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Using the left hand, pick up the yogurt from the table at the top diagonally.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "With the left hand, take the yogurt from the table from the top at a diagonal angle.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Have the left arm grasp the yogurt from the table by the top diagonally.", + "start_idx": 3486, + "end_idx": 3495 + }, + { + "text": "Put the yogurt to the left of the white plate right side up with the front as the reference point using the left arm.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Using the left arm, place the yogurt to the left of the white plate right side up with the front as the reference point.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Have the left arm set the yogurt left of the white plate, keeping it right side up relative to the front.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "With the left arm, position the yogurt to the left of the white plate in a right-side-up orientation using the front as reference.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Place the yogurt to the left of the white plate right side up with the front as the reference point.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Set the yogurt left of the white plate, keeping it right side up relative to the front.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Position the yogurt to the left of the white plate in a right-side-up orientation using the front as reference.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Put the yogurt to the left of the white plate.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Set the yogurt left of the white plate.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Position the yogurt to the left of the white plate.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Place the yogurt to the left of the white plate with the front as the reference point.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Using the left arm, place the yogurt to the left of the white plate.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Have the left arm set the yogurt left of the white plate.", + "start_idx": 3495, + "end_idx": 3531 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach, holding it at the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "With the left hand, retrieve the croissant from the table on a diagonal, gripping the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Retrieve the croissant from the table diagonally by the middle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Take the croissant from the table on a diagonal.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 3531, + "end_idx": 3564 + }, + { + "text": "Place the croissant to the right of the white plate with the left hand.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Using the left hand, set the croissant to the right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Have the left arm place the croissant on the right side of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "With the left hand, position the croissant just right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Place the croissant to the right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Set the croissant on the right side of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Position the croissant just to the right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Put the croissant beside the white plate on its right.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Arrange the croissant to the plate's right side.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Place the croissant next to the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Set the croissant to the right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Move the croissant to the right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Have the croissant placed to the right of the white plate.", + "start_idx": 3564, + "end_idx": 3612 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Have the left arm pick up the yogurt from the table with a side grip on the top at a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "With the left hand, grasp the yogurt from the table using a side hold at the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Take the yogurt from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Grasp the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Have the left arm take the yogurt from the table using a side grasp.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "With the left hand, grasp the yogurt from the table with a side hold.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Take the yogurt from the table with the left hand at the top from a diagonal angle.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Grasp the yogurt from the table with the left hand.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Put the yogurt behind the gray stuffed toy with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Using the left hand, place the yogurt behind the gray stuffed toy, right side up with the front as the orientation reference point.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Have the left arm set the yogurt behind the gray stuffed toy in a right-side-up orientation, referenced to the front.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "With the left hand, position the yogurt behind the gray stuffed toy so it is right side up relative to the front.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Place the yogurt behind the gray stuffed toy right side up with the front as the orientation reference point.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Set the yogurt behind the gray stuffed toy in a right-side-up position using the front as the reference point.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Position the yogurt behind the gray stuffed toy so the front serves as the orientation reference and it remains right side up.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Using the left hand, put the yogurt behind the gray stuffed toy.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "With the left hand, place the yogurt behind the gray stuffed toy.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Have the left arm set the yogurt behind the gray stuffed toy.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Put the yogurt behind the gray stuffed toy.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Place the yogurt behind the gray stuffed toy.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Set the yogurt behind the gray stuffed toy.", + "start_idx": 3714, + "end_idx": 3756 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Have the left arm pick the croissant up from the table diagonally with a full-object grasp.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "With the left hand, collect the croissant from the table using a diagonal approach and gripping the whole item.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Take the croissant from the table diagonally with a full-object grip.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Grab the croissant from the table at a diagonal angle while holding the whole object.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Have the left arm collect the croissant from the table.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "With the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 3756, + "end_idx": 3786 + }, + { + "text": "Put the croissant on the bottom side of the table with the left hand.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Using the left hand, place the croissant on the bottom side of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Have the left arm set the croissant onto the table's bottom side.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "With the left hand, position the croissant on the underside of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Place the croissant on the bottom side of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Set the croissant on the underside of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Position the croissant on the table's bottom side.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Put the croissant beneath the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Move the croissant to the bottom side of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Transfer the croissant onto the underside of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Set the croissant in place with the left hand.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Using the left arm, place the croissant there.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Have the croissant placed on the bottom side of the table.", + "start_idx": 3786, + "end_idx": 3825 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Have the left arm grasp the gray stuffed toy from the table by the top with a side hold at a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "With the left hand, secure the gray stuffed toy from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Pick up the gray stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "From the table, grasp the gray stuffed toy by the top with a side hold at a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Take the gray stuffed toy from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table with a side grip.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "From the table, take the gray stuffed toy with the left hand.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Grab the gray stuffed toy from the table at the top from a diagonal angle.", + "start_idx": 3825, + "end_idx": 3870 + }, + { + "text": "Put the gray stuffed toy in front left of the white cup with the left hand facing top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front left of the white cup, facing top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Have the left arm set the gray stuffed toy in the front-left position of the white cup with its orientation toward the top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "With the left hand, position the gray stuffed toy in front and left of the white cup so it faces top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Place the gray stuffed toy in front left of the white cup facing top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Set the gray stuffed toy at the front-left of the white cup, facing top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Position the gray stuffed toy in front and to the left of the white cup with its front toward the top right.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Put the gray stuffed toy in front left of the white cup.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Set the gray stuffed toy at the front-left of the white cup.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Position the gray stuffed toy in front and to the left of the white cup.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Place the gray stuffed toy in front left of the white cup.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front left of the white cup.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Have the left arm set the gray stuffed toy at the front-left of the white cup.", + "start_idx": 3870, + "end_idx": 3900 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp on the handle.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Have the left arm pick the white cup up from the table by the handle in a diagonal grasp.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle using a diagonal hold.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Pick up the white cup from the table by the handle using a diagonal grasp.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Grasp the white cup from the table at the handle in a diagonal grip.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Using the left hand, take the white cup from the table at the handle.", + "start_idx": 3900, + "end_idx": 3939 + }, + { + "text": "Put the white cup in front right of the yogurt with the left hand right side up with the front facing backwards.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Using the left hand, place the white cup in front-right of the yogurt, right side up, with its front facing backward.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Have the left arm set the white cup in the front-right position relative to the yogurt, keeping it upright and its front toward the back.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "With the left hand, position the white cup front-right of the yogurt, right side up and facing backward at the front.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Place the white cup in front-right of the yogurt, right side up, with its front facing backward.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Set the white cup in the front-right spot by the yogurt, upright with the front facing backward.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Position the white cup in front-right of the yogurt, keeping it right side up and its front toward the back.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Using the left hand, put the white cup in front-right of the yogurt.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "With the left hand, set the white cup by the yogurt in the front-right position.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Have the left arm place the white cup in front-right of the yogurt.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Put the white cup in front-right of the yogurt.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Set the white cup by the yogurt in the front-right position.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Position the white cup front-right of the yogurt.", + "start_idx": 3939, + "end_idx": 3984 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip at the left side diagonally.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Have the left hand take the white plate from the table using a lip grasp on the left side at a diagonal angle.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "With the left hand, grasp the white plate from the table by the left side using a lip hold diagonally.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the left side diagonally.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Take the white plate from the table with a lip grasp on the left side diagonally.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Grasp the white plate from the table by its left side with a lip hold at a diagonal angle.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grasp.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Have the left hand grasp the white plate from the table with a lip hold.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Using the left hand, pick up the white plate from the table at the left side diagonally.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "With the left hand, take the white plate from the table on the left side at a diagonal angle.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 3984, + "end_idx": 4008 + }, + { + "text": "Put the white plate in the center of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Using the left hand, place the white plate in the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Have the left arm set the white plate at the center of the table, keeping it right side up relative to the front.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "With the left hand, position the white plate in the table's center right side up, using the front as the orientation reference point.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Place the white plate in the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Set the white plate at the center of the table, keeping it right side up relative to the front.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Position the white plate in the center of the table with the front as the orientation reference point, right side up.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Using the left hand, put the white plate in the center of the table.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Have the left arm place the white plate at the center of the table.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "With the left hand, set the white plate in the table's center.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Put the white plate in the center of the table.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Place the white plate at the center of the table.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Set the white plate in the center of the table.", + "start_idx": 4008, + "end_idx": 4053 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "With the left hand, secure the white cup from the table using the lip grip on the bottom left at a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Grasp the white cup from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "The white cup from the table should be taken using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "With the left hand, take the white cup from the table using a lip hold.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Have the left arm grasp the white cup from the table by the lip.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Take the white cup from the table at the bottom left with a diagonal angle.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "The white cup from the table should be grasped using a lip grip.", + "start_idx": 4053, + "end_idx": 4080 + }, + { + "text": "Put the white cup onto the white plate with handle facing bottom right right side up with the left hand.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Using the left hand, place the white cup on the white plate with its handle pointing to the bottom right, right side up.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Have the left arm set the white cup onto the white plate, keeping it upright with the handle facing the bottom right.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "With the left hand, position the white cup on the white plate so the handle faces bottom right and the cup remains right side up.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Place the white cup onto the white plate with its handle facing bottom right and right side up.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Set the white cup on the white plate, keeping the handle pointed toward the bottom right and the cup upright.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Position the white cup onto the white plate with the handle oriented bottom right and the cup right side up.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Using the left hand, put the white cup onto the white plate.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "With the left hand, set the white cup on the white plate.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Have the left arm place the white cup onto the white plate.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Put the white cup onto the white plate.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Set the white cup on the white plate.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Place the white cup onto the white plate.", + "start_idx": 4080, + "end_idx": 4125 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Have the left arm pick the yogurt up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "With the left hand, collect the yogurt from the table in a side hold at the top from a diagonal approach.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Take the yogurt from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "From the table, collect the yogurt using a side hold at the top from a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Have the left arm take the yogurt from the table using a side grasp on the top.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "With the left hand, collect the yogurt from the table in a side hold at the top.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Take the yogurt from the table with the left hand using a side grip.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "From the table, collect the yogurt with a side grasp on the top.", + "start_idx": 4125, + "end_idx": 4155 + }, + { + "text": "Place the yogurt in the center of the table with the left hand right side up with the front as the reference point.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Using the left hand, set the yogurt in the center of the table right side up, with the front as the reference point.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Have the left arm place the yogurt at the table's center, keeping it right side up relative to the front.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "With the left hand, position the yogurt in the center of the table so it is right side up using the front as reference.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Place the yogurt in the center of the table right side up, with the front as the reference point.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Set the yogurt at the table's center, keeping it right side up relative to the front.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Position the yogurt in the center of the table so it remains right side up using the front as reference.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Using the left hand, place the yogurt in the center of the table.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Have the left arm set the yogurt at the table's center.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "With the left hand, position the yogurt in the center of the table.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Place the yogurt in the center of the table.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Set the yogurt at the table's center.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Position the yogurt in the center of the table.", + "start_idx": 4155, + "end_idx": 4188 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table on a diagonal, securing the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Take the gray stuffed toy from the table on a diagonal while holding the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Retrieve the gray stuffed toy from the table with a diagonal pickup, gripping the middle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Take the gray stuffed toy from the table.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Have the left arm pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 4188, + "end_idx": 4215 + }, + { + "text": "Put the gray stuffed toy on the top left side of the table with the left hand facing top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Using the left hand, place the gray stuffed toy on the table's top left side with its front facing the top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Have the left arm set the gray stuffed toy on the top left area of the table, front pointed toward the top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "With the left hand, position the gray stuffed toy on the upper-left side of the table, front facing top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Place the gray stuffed toy on the top left side of the table with its front facing the top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Set the gray stuffed toy on the table's top left area, front pointed toward the top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "The gray stuffed toy goes on the upper-left side of the table with its front directed to the top right.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Using the left hand, place the gray stuffed toy on the top left side of the table.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Have the left arm set the gray stuffed toy on the table's top left area.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "With the left hand, position the gray stuffed toy on the upper-left side of the table.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Put the gray stuffed toy on the top left side of the table.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Set the gray stuffed toy on the table's upper-left area.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "The gray stuffed toy belongs on the top left side of the table.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach, gripping the middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Retrieve the cabbage from the table on a diagonal path, holding the middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, gripping its middle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 4323, + "end_idx": 4368 + }, + { + "text": "Put the cabbage to the left of the white plate with the left hand facing left with the front as the reference point.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white plate, oriented left relative to its front.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Have the left arm set the cabbage to the left of the white plate with its front facing left.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "With the left hand, position the cabbage left of the white plate so the front points left.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Place the cabbage to the left of the white plate with its front facing left.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Set the cabbage left of the white plate, oriented left from the front.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Position the cabbage to the left of the white plate with the front directed left.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Put the cabbage to the left of the white plate using the left hand.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Have the left arm place the cabbage to the left of the white plate.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "With the left hand, set the cabbage left of the white plate.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Place the cabbage to the left of the white plate.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Set the cabbage left of the white plate.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Position the cabbage beside the white plate on its left side.", + "start_idx": 4368, + "end_idx": 4416 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Have the left arm take the yogurt from the table, grasping its top with a side hold at a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "With the left hand, retrieve the yogurt from the table by gripping the top from a diagonal angle using a side grasp.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Take the yogurt from the table, holding it at the top with a side grasp from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Retrieve the yogurt from the table with a side hold on the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Have the left arm take the yogurt from the table using a side grasp.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "With the left hand, retrieve the yogurt from the table in a side hold.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Take the yogurt from the table at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Retrieve the yogurt from the table.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Put the yogurt behind the croissant with the left hand right side up with the front as the reference point.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Using the left hand, place the yogurt behind the croissant right side up, with the front as the reference point.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Have the left arm set the yogurt behind the croissant in an upright orientation, referenced to the front.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "With the left hand, position the yogurt behind the croissant so it is right side up relative to the front.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Place the yogurt behind the croissant right side up, with the front as the reference point.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Set the yogurt behind the croissant in an upright orientation relative to the front.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Position the yogurt behind the croissant so it remains right side up based on the front.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Put the yogurt behind the croissant.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Place the yogurt behind the croissant.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Set the yogurt behind the croissant.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Using the left hand, place the yogurt behind the croissant.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Have the left arm set the yogurt behind the croissant.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Position the yogurt behind the croissant with the left hand.", + "start_idx": 4458, + "end_idx": 4488 + }, + { + "text": "Pick up the white cup from the top of the white plate with the left hand using a diagonal grasp at the handle.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Using the left hand, grasp the white cup from the top of the white plate with a diagonal hold on the handle.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Have the left arm take the white cup off the top of the white plate using a diagonal grasp at the handle.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "With the left hand, retrieve the white cup from atop the white plate by gripping the handle diagonally.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Pick up the white cup from the top of the white plate using a diagonal grasp at the handle.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "From the top of the white plate, take the white cup with a diagonal handle grasp.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "The white cup on top of the white plate should be picked up with a diagonal grip at the handle.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Pick up the white cup from the top of the white plate.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Take the white cup off the top of the white plate.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "The white cup from atop the white plate should be grasped.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Using the left hand, pick up the white cup from the top of the white plate.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "With the left hand, take the white cup off the top of the white plate.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Have the left arm grasp the white cup from atop the white plate.", + "start_idx": 4488, + "end_idx": 4524 + }, + { + "text": "Put the white cup to the right of the yogurt with handle facing backwards right side up with the front as the orientation reference using the left hand.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Using the left hand, place the white cup to the right of the yogurt, right side up, with the handle facing backward relative to the front.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Have the left arm set the white cup to the yogurt's right, keeping it upright and the handle pointed backward using the front as reference.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "With the left hand, position the white cup on the right side of the yogurt, right side up, with its handle facing back from the front.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Place the white cup to the right of the yogurt, right side up, with the handle facing backward relative to the front.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Set the white cup on the yogurt's right side, upright, with its handle pointing backward from the front.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Position the white cup to the right of the yogurt, keeping it right side up and the handle facing backward based on the front.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Put the white cup to the right of the yogurt.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Place the white cup on the right side of the yogurt.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Set the white cup beside the yogurt on its right.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Put the white cup to the right of the yogurt with the left hand.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Using the left hand, place the white cup on the yogurt's right side.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Have the left arm set the white cup beside the yogurt on its right.", + "start_idx": 4524, + "end_idx": 4578 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the bottom.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp at the bottom.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Have the left arm pick up the white plate from the table using a bottom diagonal lip grasp.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "With the left hand, grasp the white plate from the table by the bottom edge using a diagonal lip hold.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Take the white plate from the table with a diagonal lip grasp at the bottom.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Grasp the white plate from the table with a diagonal lip hold at the bottom.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "With the left hand, take the white plate from the table.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Have the left arm grasp the white plate from the table.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Have the left arm pick up the white plate from the table.", + "start_idx": 4578, + "end_idx": 4608 + }, + { + "text": "Place the white plate behind the white cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Using the left hand, set the white plate behind the white cup right side up with the front as the orientation reference point.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Have the left arm place the white plate behind the white cup, keeping it right side up relative to the front.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "With the left hand, position the white plate behind the white cup so it is right side up using the front as the reference point.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Set the white plate behind the white cup right side up with the front as the orientation reference point.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Position the white plate behind the white cup, keeping it right side up relative to the front.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "The white plate goes behind the white cup, right side up with the front as the reference point.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Using the left hand, place the white plate behind the white cup.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Have the left arm set the white plate behind the white cup.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "With the left hand, position the white plate behind the white cup.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Put the white plate behind the white cup.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Place the white plate behind the white cup right side up.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Set the white plate behind the white cup with the front as the orientation reference point.", + "start_idx": 4608, + "end_idx": 4653 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Have the left arm grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "With the left hand, retrieve the yogurt from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Retrieve the yogurt from the table by the top with a side hold from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Using the left hand, take the yogurt from the table.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Have the left arm grasp the yogurt from the table.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "With the left hand, retrieve the yogurt from the table by the top.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 4653, + "end_idx": 4680 + }, + { + "text": "Put the yogurt on the bottom side of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Using the left hand, place the yogurt on the bottom side of the table right side up, with the front as the orientation reference point.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Have the left arm set the yogurt on the bottom side of the table, keeping it right side up relative to its front.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "With the left hand, position the yogurt on the bottom side of the table so it stays right side up using the front as the reference point.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Place the yogurt on the bottom side of the table right side up, with the front as the orientation reference point.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Set the yogurt on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Position the yogurt on the bottom side of the table with the front as the orientation reference point, right side up.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Using the left hand, place the yogurt on the bottom side of the table.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Have the left arm set the yogurt on the bottom side of the table.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "With the left hand, position the yogurt on the bottom side of the table.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Put the yogurt on the bottom side of the table.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Set the yogurt on the bottom side of the table.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Position the yogurt on the bottom side of the table.", + "start_idx": 4680, + "end_idx": 4713 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding its middle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Have the left hand retrieve the croissant from the table.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "From the table, take the croissant.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 4713, + "end_idx": 4746 + }, + { + "text": "Place the croissant to the left of the white plate with the left hand.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Using the left hand, set the croissant to the left of the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Have the left arm place the croissant on the white plate's left side.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "With the left hand, position the croissant just left of the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Place the croissant to the left of the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Set the croissant on the left side of the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Position the croissant left of the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Move the croissant to the white plate's left.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "The croissant goes to the left of the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Put the croissant beside the white plate on its left side.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Set the croissant to the left of the plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Place the croissant on the plate's left side.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Position the croissant beside the white plate.", + "start_idx": 4746, + "end_idx": 4773 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Have the left arm grasp the gray stuffed toy from the table by the top with a side hold at a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Pick up the gray stuffed toy from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Take the gray stuffed toy from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Retrieve the gray stuffed toy from the table by the top using a side hold from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table with a side grip.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a side grasp at the top.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "With the left hand, grasp the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Pick up the gray stuffed toy from the table at the top from a diagonal angle.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Take the gray stuffed toy from the table with a side grip.", + "start_idx": 4773, + "end_idx": 4809 + }, + { + "text": "Put the gray stuffed toy to the left of the white cup with the left hand facing forwards.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the white cup facing forwards.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Have the left arm set the gray stuffed toy to the left of the white cup with its front forward.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the white cup, front facing forward.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Place the gray stuffed toy to the left of the white cup facing forwards.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Set the gray stuffed toy to the left of the white cup with its front forward.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Position the gray stuffed toy to the left of the white cup so it faces forwards.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the left of the white cup.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Have the left arm set the gray stuffed toy to the left of the white cup.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "With the left hand, position the gray stuffed toy to the left of the white cup.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Place the gray stuffed toy to the left of the white cup.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Set the gray stuffed toy facing forwards.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Have the left arm place the gray stuffed toy to the left of the white cup.", + "start_idx": 4809, + "end_idx": 4839 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Have the left arm pick the cabbage up from the table diagonally by its middle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and remove it at a diagonal angle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Grasp the cabbage at its middle from the table at a diagonal angle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Using the left hand, take the cabbage from the table.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Have the left arm collect the cabbage from the table.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Remove the cabbage from the table.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Grasp the middle of the cabbage from the table with the left hand.", + "start_idx": 4839, + "end_idx": 4869 + }, + { + "text": "Put the cabbage to the right of the white plate with the left hand facing bottom left with the front as the reference point.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Using the left hand, place the cabbage to the right of the white plate, oriented bottom left from the front.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Have the left arm set the cabbage to the right of the white plate with its front facing bottom left.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "With the left hand, position the cabbage right of the white plate, front pointing toward the bottom left.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Place the cabbage to the right of the white plate with its front facing bottom left.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Set the cabbage right of the white plate, with the front oriented toward the bottom left.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Position the cabbage to the right of the white plate, front directed to the bottom left.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Using the left hand, put the cabbage to the right of the white plate.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "With the left hand, set the cabbage right of the white plate.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Have the left arm place the cabbage to the right of the white plate.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Put the cabbage to the right of the white plate.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Set the cabbage right of the white plate.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Position the cabbage to the right of the white plate.", + "start_idx": 4869, + "end_idx": 4917 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Using the left hand, take hold of the white cup on the table by its handle at a diagonal angle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "With the left hand, seize the white cup from the table via the handle at a diagonal angle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Grasp the white cup on the table by the handle at a diagonal angle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Retrieve the white cup from the table using the handle at a diagonal angle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Take the white cup from the table by its handle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Grasp the white cup on the table with the left hand.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 4986, + "end_idx": 5022 + }, + { + "text": "Put the white cup to the left of the croissant with handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Using the left hand, place the white cup to the left of the croissant, right side up with the front as reference, and the handle facing backward.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Have the left hand set the white cup left of the croissant, keeping it upright and oriented from the front with the handle pointing backward.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "With the left hand, position the white cup to the croissant's left, right side up, using the front as the reference and the handle facing backward.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Place the white cup to the left of the croissant, right side up with the front as reference and the handle facing backward.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Set the white cup left of the croissant, keeping it upright relative to the front and the handle pointing backward.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Position the white cup to the left of the croissant with the handle facing backward, using the front as reference and keeping it right side up.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Using the left hand, put the white cup to the left of the croissant.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "With the left hand, set the white cup left of the croissant.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Have the left hand place the white cup to the croissant's left.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Place the white cup to the left of the croissant.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Set the white cup left of the croissant.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Position the white cup to the croissant's left.", + "start_idx": 5022, + "end_idx": 5076 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle by grasping the entire object.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle by grasping the entire object.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table at a diagonal angle, holding the whole object.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle by grasping the entire object.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Take the gray stuffed toy from the table diagonally with a full-object hold.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Retrieve the gray stuffed toy from the table at a diagonal angle while holding the whole toy.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "With the left hand, pick up the gray stuffed toy from the table by grasping the entire object.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Using the left arm, take the gray stuffed toy from the table with a full-object grasp.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Have the left hand retrieve the gray stuffed toy from the table, holding the whole object.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table diagonally.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand.", + "start_idx": 5076, + "end_idx": 5118 + }, + { + "text": "Put the gray stuffed toy in front of the white plate with the left hand facing forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Using the left hand, place the gray stuffed toy in front of the white plate facing forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Have the left arm set the gray stuffed toy in front of the white plate with its front facing forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "With the left hand, position the gray stuffed toy before the white plate so it faces forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Place the gray stuffed toy in front of the white plate facing forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Set the gray stuffed toy before the white plate with its front facing forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Position the gray stuffed toy in front of the white plate so it faces forwards.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Using the left hand, put the gray stuffed toy in front of the white plate.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "With the left hand, place the gray stuffed toy before the white plate.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Have the left arm position the gray stuffed toy in front of the white plate.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Set the gray stuffed toy in front of the white plate.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Place the gray stuffed toy before the white plate.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Put the gray stuffed toy in front of the white plate.", + "start_idx": 5118, + "end_idx": 5145 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grip at the bottom left.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "With the left hand, grasp the white plate off the table using a bottom-left diagonal lip hold.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Have the left hand pick the white plate up from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grip at the bottom left.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Take the white plate off the table with a diagonal lip hold at the bottom left.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Grasp the white plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Remove the white plate from the table.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Take the white plate off the table.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "With the left hand, take the white plate off the table.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Grab the white plate from the table with the left hand.", + "start_idx": 5220, + "end_idx": 5250 + }, + { + "text": "Put the white plate in front of the white cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Using the left hand, place the white plate in front of the white cup right side up, with the front as the orientation reference point.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Have the left arm set the white plate in front of the white cup, keeping it right side up relative to its front.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "With the left hand, position the white plate in front of the white cup so it stays right side up, using the front as the reference point.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Place the white plate in front of the white cup right side up, with the front as the orientation reference point.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Set the white plate in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Position the white plate in front of the white cup so it is right side up, using the front as the reference point.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Using the left hand, place the white plate in front of the white cup.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Have the left arm set the white plate in front of the white cup.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "With the left hand, position the white plate in front of the white cup.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Put the white plate in front of the white cup.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Arrange the white plate in front of the white cup.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "The white plate goes in front of the white cup.", + "start_idx": 5250, + "end_idx": 5307 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally while securing the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table, grasping the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table using a whole-object grasp.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Have the left arm retrieve the gray stuffed toy from the table while holding the entire object.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table diagonally.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 5307, + "end_idx": 5346 + }, + { + "text": "Put the gray stuffed toy to the right of the white plate with the left hand right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the white plate right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Have the left arm set the gray stuffed toy to the right of the white plate with its right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "With the left hand, position the gray stuffed toy to the right of the white plate so it is right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Place the gray stuffed toy to the right of the white plate right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Set the gray stuffed toy to the right of the white plate with its right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Position the gray stuffed toy to the right of the white plate so it is right side up.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Using the left hand, place the gray stuffed toy to the right of the white plate.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Have the left arm set the gray stuffed toy to the right of the white plate.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "With the left hand, position the gray stuffed toy to the right of the white plate.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Put the gray stuffed toy to the right of the white plate.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Set the gray stuffed toy to the right of the white plate.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Arrange the gray stuffed toy to the right of the white plate.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Have the left arm pick the croissant up from the table with a diagonal approach at its middle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "With the left hand, collect the croissant from the table by gripping the middle at a diagonal angle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Take the croissant from the table with a diagonal approach at the middle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "From the table, collect the croissant diagonally by its middle.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Using the left hand, collect the croissant from the table.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "From the table, grasp the croissant.", + "start_idx": 5376, + "end_idx": 5412 + }, + { + "text": "Put the croissant to the right of the gray stuffed toy with the left hand.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Using the left hand, place the croissant to the right of the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Have the left arm set the croissant down to the gray stuffed toy's right.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "With the left hand, position the croissant on the right side of the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Place the croissant to the right of the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Set the croissant on the right side of the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Position the croissant to the gray stuffed toy's right.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Move the croissant to the area right of the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "The croissant goes to the right of the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Put the croissant by the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Set the croissant beside the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Using the left hand, place the croissant by the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Have the left arm set the croissant beside the gray stuffed toy.", + "start_idx": 5412, + "end_idx": 5454 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Have the left hand grasp the white plate from the table with a lip hold on the bottom left diagonally.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "With the left hand, secure the white plate from the table using a bottom-left lip grasp at a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Grasp the white plate from the table with a lip hold at the bottom left diagonally.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "The white plate from the table should be taken with a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip at the bottom left.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grasp on the bottom left.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Have the left hand grasp the white plate from the table at the bottom left.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Pick up the white plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "With the left hand, pick up the white plate from the table diagonally.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Take the white plate from the table at the bottom left with a diagonal angle.", + "start_idx": 5610, + "end_idx": 5655 + }, + { + "text": "Put the white plate on the top side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Using the left hand, place the white plate on the top side of the table right side up, with the front as the reference point.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Have the left arm set the white plate on the table's top side, right side up relative to the front.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "With the left hand, position the white plate on the top side of the table so it is right side up using the front as the reference point.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Place the white plate on the top side of the table right side up, with the front as the reference point.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Set the white plate on the table's top side, keeping it right side up relative to the front.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Position the white plate on the top side of the table with its front as the reference point, right side up.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Using the left hand, place the white plate on the top side of the table.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "With the left hand, set the white plate on the table's top side.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Have the left arm put the white plate on the top side of the table.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Put the white plate on the top side of the table.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Set the white plate on the table's top side.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Position the white plate on the top side of the table.", + "start_idx": 5655, + "end_idx": 5709 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Retrieve the gray stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Take the gray stuffed toy from the table using a diagonal approach and grasp the entire object.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "With the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Using the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Retrieve the gray stuffed toy from the table.", + "start_idx": 5796, + "end_idx": 5832 + }, + { + "text": "Put the gray stuffed toy into the white cup with the left hand facing bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Using the left hand, place the gray stuffed toy into the white cup with its front facing bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Have the left arm put the gray stuffed toy in the white cup, front oriented toward the bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "With the left hand, deposit the gray stuffed toy into the white cup so the front points bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Place the gray stuffed toy into the white cup with its front facing bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Put the gray stuffed toy in the white cup, with the front directed toward the bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Set the gray stuffed toy into the white cup so its front faces bottom right.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Using the left hand, place the gray stuffed toy into the white cup.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "With the left hand, put the gray stuffed toy in the white cup.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Have the left arm set the gray stuffed toy into the white cup.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Place the gray stuffed toy into the white cup.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Put the gray stuffed toy in the white cup.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Set the gray stuffed toy into the white cup.", + "start_idx": 5832, + "end_idx": 5859 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Have the left arm pick the croissant up from the table on a diagonal, enclosing the whole item.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally with a full-object grasp.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Take the croissant from the table on a diagonal with a full-object hold.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Retrieve the croissant from the table diagonally while gripping the whole croissant.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Using the left hand, pick up the croissant from the table grasping the entire object.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "With the left hand, collect the croissant from the table and enclose the whole item.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Have the left arm take the croissant from the table with a full-object grasp.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Take the croissant from the table with the left hand on a diagonal.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 5859, + "end_idx": 5910 + }, + { + "text": "Put the croissant in front of the white cup with the left hand.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Using the left hand, place the croissant in front of the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Have the left arm set the croissant down in front of the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "With the left hand, position the croissant before the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Place the croissant in front of the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Set the croissant down in front of the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Position the croissant before the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "The croissant goes in front of the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Put the croissant by the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Using the left hand, place the croissant by the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Have the left arm set the croissant beside the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Set the croissant down by the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "The croissant should be placed beside the white cup.", + "start_idx": 5910, + "end_idx": 5949 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Have the left arm grasp the cabbage from the table from the bottom using a side hold at a diagonal angle.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by its bottom using a side grasp and a diagonal approach.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Pick up the cabbage from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Take the cabbage from the table from the bottom using a side grasp and a diagonal angle.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Retrieve the cabbage from the table with a side hold at the bottom and a diagonal approach.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip at the bottom.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "With the left hand, take the cabbage from the table from the bottom.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Have the left arm collect the cabbage from the table using a side grasp.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Pick up the cabbage from the table at the bottom with a diagonal pick angle.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Using the left hand, grasp the cabbage from the table from the bottom.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 5949, + "end_idx": 5985 + }, + { + "text": "Put the cabbage to the right of the croissant with the front facing left using the left hand.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Using the left hand, place the cabbage to the right of the croissant with its front facing left.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Have the left arm set the cabbage to the croissant's right, front facing left.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "With the left hand, position the cabbage on the right side of the croissant, front pointed left.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Place the cabbage to the right of the croissant with its front facing left.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Set the cabbage on the right side of the croissant with the front directed left.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Position the cabbage to the croissant's right with its front toward the left.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Using the left hand, put the cabbage to the right of the croissant.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Have the left arm place the cabbage on the right side of the croissant.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "With the left hand, set the cabbage to the croissant's right.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Put the cabbage to the right of the croissant.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Place the cabbage on the right side of the croissant.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Set the cabbage to the croissant's right.", + "start_idx": 5985, + "end_idx": 6021 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Have the left arm take hold of the white cup from the table by its handle at a diagonal angle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "With the left hand, grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Using the left hand, take the white cup from the table by the handle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Put the white cup between the croissant and the yogurt with handle facing bottom right using the left hand.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Using the left hand, place the white cup between the croissant and the yogurt, with its handle pointing to the bottom right.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Have the left arm set the white cup between the croissant and the yogurt so the handle faces bottom right.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "The white cup goes between the croissant and the yogurt, handle oriented bottom right, with the left hand.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Place the white cup between the croissant and the yogurt.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Set the white cup down between the croissant and the yogurt.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Position the white cup between the croissant and the yogurt.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "With the left hand, place the white cup between the croissant and the yogurt.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Using the left hand, set the white cup between the croissant and the yogurt.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "The white cup should be placed between the croissant and the yogurt with the left hand.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Place the white cup with its handle facing bottom right.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Set the white cup down so the handle points bottom right.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Using the left hand, place the white cup.", + "start_idx": 6186, + "end_idx": 6261 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Have the left arm retrieve the croissant from the table.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Have the left hand grasp the croissant from the table.", + "start_idx": 6261, + "end_idx": 6297 + }, + { + "text": "Place the croissant on the top side of the table with the left hand.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Using the left hand, set the croissant on the top side of the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Have the left arm place the croissant onto the table's top side.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "With the left hand, position the croissant on the upper side of the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Put the croissant on the top side of the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Set the croissant onto the table's top side.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Position the croissant on the upper side of the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "The croissant goes on the top side of the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Place the croissant on the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Set the croissant onto the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Put the croissant down on the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Have the left arm place the croissant on the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Using the left hand, set the croissant on the table.", + "start_idx": 6297, + "end_idx": 6333 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "With the left hand, collect the white cup from the table using the handle at a diagonal angle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Grasp the white cup from the table using the handle at a diagonal angle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Pick up the white cup from the table with the left hand by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Using the left hand, take the white cup from the table by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "With the left hand, take the white cup from the table.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Grasp the white cup from the table by the handle.", + "start_idx": 6402, + "end_idx": 6438 + }, + { + "text": "Put the white cup to the left of the croissant with handle facing backwards with the left hand right side up front.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Using the left hand, place the white cup to the left of the croissant, right side up, with the handle facing backward from the front.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Have the left arm set the white cup left of the croissant, keeping it upright and the handle pointing backward relative to the front.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "With the left hand, position the white cup to the croissant's left, right side up, handle oriented backward from the front.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Place the white cup to the left of the croissant.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Set the white cup left of the croissant.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Position the white cup to the croissant's left.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Using the left hand, place the white cup to the left of the croissant.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Have the left arm set the white cup left of the croissant.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "With the left hand, position the white cup to the croissant's left.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Place the white cup to the left of the croissant, right side up.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Set the white cup left of the croissant with the handle facing backward.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Position the white cup to the croissant's left, upright.", + "start_idx": 6438, + "end_idx": 6489 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "From a diagonal angle, have the left hand pick the yogurt up from the table with a side grip at the top.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "With the left hand, retrieve the yogurt from the table using a side hold at the top from a diagonal approach.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "From a diagonal angle, grasp the yogurt from the table at the top with a side hold.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "With the left hand, pick up the yogurt from the table.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Have the left hand take the yogurt from the table.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "From the table, retrieve the yogurt with the left hand.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Using a side grip at the top, pick up the yogurt from the table.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Approach the yogurt from a diagonal angle and take it from the table.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "With the left hand, grasp the yogurt from the table.", + "start_idx": 6489, + "end_idx": 6513 + }, + { + "text": "Put the yogurt in front of the croissant with the left hand right side up with the front as the reference point.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Using the left hand, place the yogurt in front of the croissant right side up with the front as the reference point.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Have the left arm set the yogurt in front of the croissant, keeping it right side up relative to the front.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "With the left hand, position the yogurt in front of the croissant so it stays right side up using the front as reference.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Place the yogurt in front of the croissant right side up with the front as the reference point.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Set the yogurt in front of the croissant, keeping it right side up relative to the front.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Position the yogurt in front of the croissant so it is right side up with the front as the reference point.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Using the left hand, put the yogurt in front of the croissant.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "With the left hand, place the yogurt in front of the croissant.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Have the left arm set the yogurt in front of the croissant.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Put the yogurt in front of the croissant.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Place the yogurt in front of the croissant.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Set the yogurt in front of the croissant.", + "start_idx": 6513, + "end_idx": 6543 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Have the left arm grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "With the left hand, retrieve the white cup from the table, approaching diagonally at the handle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Retrieve the white cup from the table, gripping the handle at a diagonal angle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Retrieve the white cup from the table.", + "start_idx": 6657, + "end_idx": 6684 + }, + { + "text": "Dump the gray stuffed toy to the right of the yogurt with the left hand.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "With the left hand, dump the gray stuffed toy to the right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Have the left arm dump the gray stuffed toy so it ends up to the right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Using the left hand, place the gray stuffed toy on the yogurt's right side.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Dump the gray stuffed toy to the right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Set the gray stuffed toy down to the right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Place the gray stuffed toy on the right side of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Move the gray stuffed toy to the yogurt's right.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Deposit the gray stuffed toy to the right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Put the gray stuffed toy beside the yogurt on its right side.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Position the gray stuffed toy right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Arrange the gray stuffed toy on the yogurt's right side.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "The gray stuffed toy goes to the right of the yogurt.", + "start_idx": 6684, + "end_idx": 6735 + }, + { + "text": "Put the white cup to the right of the gray stuffed toy with the left hand right side up with the front facing backwards.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Using the left hand, place the white cup to the right of the gray stuffed toy, right side up, with its front facing backward.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Have the left arm set the white cup to the right of the gray stuffed toy, upright, with the front toward the back.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "With the left hand, position the white cup to the right of the gray stuffed toy so it stays right side up and its front faces backward.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Place the white cup to the right of the gray stuffed toy, right side up, with its front facing backward.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Set the white cup to the right of the gray stuffed toy, upright, with the front toward the back.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Position the white cup to the right of the gray stuffed toy so it remains right side up and faces backward.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Using the left hand, place the white cup to the right of the gray stuffed toy.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Have the left arm set the white cup to the right of the gray stuffed toy.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "With the left hand, position the white cup to the right of the gray stuffed toy.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Place the white cup to the right of the gray stuffed toy.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Set the white cup to the right of the gray stuffed toy.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Position the white cup to the right of the gray stuffed toy.", + "start_idx": 6735, + "end_idx": 6795 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Have the left arm pick up the yogurt from the table with a diagonal side hold at the top.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "With the left hand, grasp the yogurt from the table from the side at the top on a diagonal.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top diagonally.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Grasp the yogurt from the table from the side at the top diagonally.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "With the left hand, take the yogurt from the table.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Have the left arm grasp the yogurt from the table.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Using the left hand, pick up the yogurt from the table diagonally at the top.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 6795, + "end_idx": 6831 + }, + { + "text": "Put the yogurt in front of the gray stuffed toy with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Using the left hand, place the yogurt in front of the gray stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Have the left arm set the yogurt in front of the gray stuffed toy, keeping it right side up relative to its front.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "With the left hand, position the yogurt before the gray stuffed toy so it stays right side up, using the front as the reference point.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Place the yogurt in front of the gray stuffed toy right side up, using the front as the orientation reference point.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Set the yogurt in front of the gray stuffed toy, keeping it right side up with the front as the reference point.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Position the yogurt before the gray stuffed toy right side up relative to its front.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Using the left hand, put the yogurt in front of the gray stuffed toy.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "With the left hand, set the yogurt before the gray stuffed toy.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Have the left arm place the yogurt in front of the gray stuffed toy.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Put the yogurt in front of the gray stuffed toy.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Set the yogurt before the gray stuffed toy.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Position the yogurt in front of the gray stuffed toy.", + "start_idx": 6831, + "end_idx": 6858 + }, + { + "text": "Pick up the cabbage from the top of the white plate by the handle at a diagonal angle with the left hand.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Using the left hand, take the cabbage from the top of the white plate by the handle at a diagonal angle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "With the left hand, grasp the cabbage on top of the white plate at the handle, keeping a diagonal angle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Have the left hand retrieve the cabbage from the top of the white plate via the handle on a diagonal.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Take the cabbage from the top of the white plate by the handle at a diagonal angle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "From the top of the white plate, grasp the cabbage by the handle at a diagonal angle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Retrieve the cabbage on the white plate by the handle at a diagonal angle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Take the cabbage from the top of the white plate by the handle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "From the top of the white plate, collect the cabbage by the handle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Get the cabbage off the white plate via the handle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Pick up the cabbage from the top of the white plate at a diagonal angle with the left hand.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Using the left hand, take the cabbage from the top of the white plate by the handle.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Get the cabbage from the top of the white plate.", + "start_idx": 6858, + "end_idx": 6888 + }, + { + "text": "Place the cabbage to the left of the yogurt with the left hand facing top right from the front.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Using the left hand, set the cabbage to the left of the yogurt with its front facing the top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Have the left arm place the cabbage left of the yogurt, front oriented toward the top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "With the left hand, position the cabbage to the yogurt's left, front facing top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Place the cabbage to the left of the yogurt with its front facing the top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Set the cabbage left of the yogurt, with the front oriented top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Position the cabbage to the left of the yogurt, front facing top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Using the left hand, place the cabbage to the left of the yogurt.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Have the left arm set the cabbage left of the yogurt.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "With the left hand, position the cabbage to the yogurt's left.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Put the cabbage to the left of the yogurt.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Place the cabbage left of the yogurt with its front facing top right.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Set the cabbage to the yogurt's left.", + "start_idx": 6888, + "end_idx": 6921 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Have the left arm grasp the white plate from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "With the left hand, secure the white plate from the table using a bottom-left lip grasp at a diagonal pick angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Take the white plate from the table with a lip hold at the bottom left using a diagonal angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Grasp the white plate from the table at the bottom left with a lip grip and a diagonal pick angle.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip at the bottom left.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grasp at the bottom left.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Have the left arm collect the white plate from the table with a bottom-left lip hold.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Pick up the white plate from the table with the left hand at the bottom left using a lip grip.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Using the left hand, grasp the white plate from the table with a lip hold.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Take the white plate from the table at the bottom left.", + "start_idx": 6921, + "end_idx": 6951 + }, + { + "text": "Put the white plate in front of the white cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Using the left hand, place the white plate in front of the white cup, right side up with the front as the reference point.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Have the left arm set the white plate in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "With the left hand, position the white plate before the white cup, right side up using the front as the orientation reference.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Place the white plate in front of the white cup, right side up with the front as the orientation reference point.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Set the white plate before the white cup, keeping it right side up relative to the front.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Position the white plate in front of the white cup, with its front as the reference point and right side up.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Using the left hand, put the white plate in front of the white cup.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "With the left hand, place the white plate before the white cup.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Have the left arm position the white plate in front of the white cup.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Set the white plate in front of the white cup.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Place the white plate before the white cup.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Position the white plate in front of the white cup.", + "start_idx": 6951, + "end_idx": 6999 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Retrieve the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 7110, + "end_idx": 7140 + }, + { + "text": "Put the cabbage to the left of the gray stuffed toy with the left hand facing right with the front as the orientation reference point.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Using the left hand, place the cabbage to the left of the gray stuffed toy, facing right with the front as the reference point.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Have the left arm set the cabbage to the left of the gray stuffed toy, with its front oriented to the right.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "With the left hand, position the cabbage left of the gray stuffed toy so the front faces right.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Place the cabbage to the left of the gray stuffed toy with its front facing right.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Set the cabbage left of the gray stuffed toy, oriented so the front points right.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Position the cabbage to the left of the gray stuffed toy with the front facing right.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Put the cabbage to the left of the gray stuffed toy.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Set the cabbage left of the gray stuffed toy.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Position the cabbage to the left of the gray stuffed toy.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Using the left hand, place the cabbage to the left of the gray stuffed toy.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Have the left arm set the cabbage left of the gray stuffed toy.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "With the left hand, position the cabbage to the left of the gray stuffed toy.", + "start_idx": 7140, + "end_idx": 7173 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "With the left hand, grasp the yogurt from the table by the top using a side hold from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "From the table, take the yogurt with a side grasp on the top at a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Grasp the yogurt from the table by the top with a side hold from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Have the left arm pick up the yogurt from the table from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Pick up the yogurt from the table with the left hand at the top from a diagonal angle.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "From the table, take the yogurt with the left hand.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Grasp the yogurt from the table at the top.", + "start_idx": 7173, + "end_idx": 7215 + }, + { + "text": "Put the yogurt to the left of the croissant with the left hand right side up front.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Using the left hand, place the yogurt to the left of the croissant, right side up with the front facing forward.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Have the left arm set the yogurt left of the croissant, keeping it upright with its front at the front.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "With the left hand, position the yogurt to the croissant's left, right side up and front-facing.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Place the yogurt to the left of the croissant, right side up with the front facing forward.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Set the yogurt left of the croissant, keeping it upright with its front at the front.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Position the yogurt to the croissant's left, right side up and front-facing.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Using the left hand, place the yogurt to the left of the croissant.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Have the left arm set the yogurt left of the croissant.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "With the left hand, position the yogurt to the croissant's left.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Place the yogurt to the left of the croissant.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Set the yogurt left of the croissant.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Position the yogurt to the croissant's left.", + "start_idx": 7215, + "end_idx": 7254 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "With the left hand, grasp the cabbage from the table at a slant through its middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 7341, + "end_idx": 7377 + }, + { + "text": "Place the cabbage in front of the yogurt with the left hand facing top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Using the left hand, place the cabbage in front of the yogurt facing top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Have the left arm set the cabbage in front of the yogurt, oriented top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "With the left hand, position the cabbage before the yogurt with its top facing top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Place the cabbage in front of the yogurt facing top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Set the cabbage before the yogurt, oriented top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Position the cabbage in front of the yogurt with the top facing top left from the front.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Using the left hand, place the cabbage in front of the yogurt.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Have the left arm set the cabbage before the yogurt.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "With the left hand, position the cabbage in front of the yogurt.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Place the cabbage in front of the yogurt.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Set the cabbage before the yogurt.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Position the cabbage in front of the yogurt.", + "start_idx": 7377, + "end_idx": 7422 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "With the left hand, grasp the croissant at the middle from the table on a diagonal angle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding its middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Grasp the croissant from the table at the middle with a diagonal pickup.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "With the left hand, take the croissant from the table by its middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Have the left hand grasp the croissant from the table at the middle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Take the croissant from the table at a diagonal angle with the left hand.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Grasp the croissant from the table diagonally with the left hand.", + "start_idx": 7497, + "end_idx": 7530 + }, + { + "text": "Put the croissant to the left of the gray stuffed toy with the left hand.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Using the left hand, place the croissant to the left of the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Have the left arm set the croissant on the gray stuffed toy's left side.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "With the left hand, position the croissant left of the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Place the croissant to the left of the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Set the croissant on the left side of the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Position the croissant left of the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Arrange the croissant to the gray stuffed toy's left.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "The croissant goes to the left of the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Put the croissant beside the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Set the croissant next to the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Have the croissant placed by the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Move the croissant over by the gray stuffed toy.", + "start_idx": 7530, + "end_idx": 7572 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and retrieve it diagonally.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding its middle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Grasp the middle of the cabbage from the table at a diagonal angle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Pick up the cabbage from the table, grasping the middle.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 7572, + "end_idx": 7608 + }, + { + "text": "Put the cabbage in front of the gray stuffed toy with the left hand facing top right from the front.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Using the left hand, place the cabbage in front of the gray stuffed toy with its front facing the top right.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Have the left arm set the cabbage in front of the gray stuffed toy, front oriented toward the top right.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "With the left hand, position the cabbage before the gray stuffed toy so the front faces top right.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Place the cabbage in front of the gray stuffed toy with its front facing the top right.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Set the cabbage before the gray stuffed toy, front toward the top right.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Position the cabbage in front of the gray stuffed toy so the front points to the top right.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Place the cabbage in front of the gray stuffed toy with the left hand.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Using the left hand, set the cabbage before the gray stuffed toy.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Have the left arm position the cabbage in front of the gray stuffed toy.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Put the cabbage in front of the gray stuffed toy.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Set the cabbage before the gray stuffed toy.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Position the cabbage in front of the gray stuffed toy.", + "start_idx": 7608, + "end_idx": 7647 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "With the left arm, pick the yogurt up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Have the left hand retrieve the yogurt from the table with a side hold at the top using a diagonal approach.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Retrieve the yogurt from the table using a side hold on the top with a diagonal approach.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "With the left arm, take the yogurt from the table using a side grasp on the top.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Have the left hand get the yogurt from the table at the top with a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Using the left hand, pick up the yogurt from the table at the top with a diagonal angle.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Take the yogurt from the table with a side grip.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Get the yogurt from the table.", + "start_idx": 7647, + "end_idx": 7686 + }, + { + "text": "Put the yogurt in the center of the table with the left hand right side up with the front as the reference point.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Using the left hand, place the yogurt in the center of the table right side up, using the front as the reference point.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Have the left arm set the yogurt at the table's center, right side up with the front as the reference.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "The yogurt goes in the center of the table with the left hand, positioned right side up relative to the front.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Place the yogurt in the center of the table right side up, using the front as the reference point.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Set the yogurt at the center of the table with the front as the reference, right side up.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "The yogurt should be placed in the center of the table right side up relative to the front.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "With the left hand, place the yogurt in the center of the table.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Have the left arm set the yogurt at the table's center.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "The yogurt goes in the center of the table with the left hand.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Place the yogurt in the center of the table.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Set the yogurt at the center of the table.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "The yogurt should be placed in the center of the table.", + "start_idx": 7686, + "end_idx": 7719 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "With the left hand, grasp the yogurt from the table by the top using a side hold from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Grasp the yogurt from the table by the top from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "From the table, pick up the yogurt.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Using the left hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "With the left hand, take the yogurt from the table at the top.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Have the left arm grasp the yogurt from the table using a side hold.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 7809, + "end_idx": 7839 + }, + { + "text": "Put the yogurt to the left of the white cup with the left hand right side up with the front as the reference point.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white cup right side up, with the front as the reference point.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Have the left arm set the yogurt to the left of the white cup, keeping it right side up relative to the front.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "With the left hand, position the yogurt to the left of the white cup in a right-side-up orientation using the front as the reference point.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Place the yogurt to the left of the white cup right side up, with the front as the reference point.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Set the yogurt to the left of the white cup in a right-side-up position relative to the front.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Position the yogurt to the left of the white cup, keeping it right side up with the front as the reference point.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white cup.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Have the left arm set the yogurt to the left of the white cup.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "With the left hand, position the yogurt to the left of the white cup.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Put the yogurt to the left of the white cup.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Place the yogurt to the left of the white cup with the left hand.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Set the yogurt to the left of the white cup right side up.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "With the left hand, secure the white cup from the table via the handle on a diagonal approach.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Take the white cup from the table via the handle on a diagonal approach.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "With the left hand, grasp the white cup from the table at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Get the white cup from the table by the handle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8082 + }, + { + "text": "Put the white cup on the top left side of the table with the left hand right side up with the front facing backwards.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Using the left hand, place the white cup on the table's top-left side, right side up with the front facing backward.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Have the left arm set the white cup on the upper-left area of the table, keeping it upright and the front oriented backward.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "With the left hand, position the white cup on the top left of the table so it is right side up and its front points backward.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Place the white cup on the top-left side of the table, right side up with the front facing backward.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Set the white cup on the table's upper-left side, upright with the front oriented backward.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Position the white cup on the upper-left part of the table, with its front facing backward and right side up.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "With the left hand, place the white cup on the top left side of the table.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Have the left arm put the white cup on the upper-left area of the table.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Using the left hand, set the white cup on the table's top-left side.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Place the white cup on the top left side of the table.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Set the white cup on the upper-left part of the table.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Position the white cup on the table's top-left side.", + "start_idx": 8081, + "end_idx": 8129 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a side grip on its top at a diagonal angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "With the left hand, grasp the yogurt from the table from the side at the top using a diagonal pick angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Pick up the yogurt from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Take the yogurt from the table using a side grip at the top with a diagonal approach.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Grasp the yogurt from the table from the side at the top with a diagonal pick angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Have the left arm take the yogurt from the table.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "With the left hand, grasp the yogurt from the table.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Pick up the yogurt from the table with the left hand at the top using a diagonal pick angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Take the yogurt from the table with the left hand at a diagonal angle.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Pick up the yogurt from the table at the top with a diagonal approach.", + "start_idx": 8130, + "end_idx": 8151 + }, + { + "text": "Put the yogurt in front of the white cup with the left hand right side up with the front as the reference point.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Using the left hand, place the yogurt in front of the white cup right side up, with the front as the reference point.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Have the left arm set the yogurt in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "With the left hand, position the yogurt before the white cup in a right-side-up orientation using the front as reference.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Place the yogurt in front of the white cup right side up, with the front as the reference point.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Set the yogurt before the white cup, keeping it right side up relative to the front.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Position the yogurt in front of the white cup with its front as the reference, right side up.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Using the left hand, put the yogurt in front of the white cup.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "With the left hand, set the yogurt before the white cup.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Have the left arm place the yogurt in front of the white cup.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Place the yogurt in front of the white cup.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Set the yogurt before the white cup.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Position the yogurt in front of the white cup.", + "start_idx": 8151, + "end_idx": 8184 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "With the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Using the left arm, take the croissant from the table with a diagonal approach and hold it at the middle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Have the left hand retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Have the left arm retrieve the croissant from the table.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Take the croissant from the table, grasping the middle.", + "start_idx": 8184, + "end_idx": 8217 + }, + { + "text": "Put the croissant to the right of the white cup with the left hand.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Using the left hand, place the croissant to the right of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Have the left arm set the croissant down to the right of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "With the left hand, position the croissant on the right side of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Place the croissant to the right of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Set the croissant down to the right of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Position the croissant on the right side of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "The croissant goes to the right of the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Move the croissant to the white cup's right side.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Set the croissant beside the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Place the croissant next to the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Using the left hand, place the croissant beside the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Have the left arm set the croissant next to the white cup.", + "start_idx": 8217, + "end_idx": 8256 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Using the left hand, take the gray stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Have the left arm grasp the gray stuffed toy from the table at the top with a side hold from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Pick up the gray stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Take the gray stuffed toy from the table at the top with a side hold from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Retrieve the gray stuffed toy from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "With the left hand, retrieve the gray stuffed toy from the table.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Pick up the gray stuffed toy from the table from a diagonal angle.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Take the gray stuffed toy from the table with the left hand.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Grasp the gray stuffed toy from the table at the top.", + "start_idx": 8256, + "end_idx": 8292 + }, + { + "text": "Put the gray stuffed toy in the center of the table with the left hand facing right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Using the left hand, place the gray stuffed toy in the center of the table with its front facing right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Have the left arm set the gray stuffed toy at the center of the table, front pointed to the right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "With the left hand, position the gray stuffed toy in the middle of the table so the front faces right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Place the gray stuffed toy in the center of the table with its front facing right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Set the gray stuffed toy in the middle of the table, front pointed right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Position the gray stuffed toy at the center of the table so it faces right.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Using the left hand, put the gray stuffed toy in the center of the table.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "With the left hand, place the gray stuffed toy in the middle of the table.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Have the left arm set the gray stuffed toy at the center of the table.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Put the gray stuffed toy in the center of the table.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Set the gray stuffed toy in the middle of the table.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Position the gray stuffed toy at the center of the table.", + "start_idx": 8292, + "end_idx": 8319 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "With the left hand, retrieve the cabbage from the table at a diagonal angle by grasping its middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Take the cabbage from the table at a diagonal angle, holding the middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Retrieve the cabbage from the table diagonally by grasping its middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Pick up the cabbage from the table, grasping the middle with the left hand.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "With the left hand, take the cabbage from the table, holding the middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Have the left arm collect the cabbage from the table by grasping its middle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Using the left hand, take the cabbage from the table diagonally.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 8400, + "end_idx": 8433 + }, + { + "text": "Place the cabbage onto the white plate with the left hand facing top right from the front.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Using the left hand, set the cabbage on the white plate facing top right from the front.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Have the left arm place the cabbage onto the white plate with its front facing top right.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "With the left hand, position the cabbage on the white plate so the front points top right.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Place the cabbage onto the white plate facing top right from the front.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Set the cabbage on the white plate with the front facing top right.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Position the cabbage onto the white plate so it faces top right from the front.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Using the left hand, place the cabbage onto the white plate.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Have the left arm set the cabbage on the white plate.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "With the left hand, position the cabbage onto the white plate.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Place the cabbage onto the white plate.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Set the cabbage on the white plate.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Position the cabbage onto the white plate.", + "start_idx": 8433, + "end_idx": 8466 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Using the left hand, take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "With the left arm, grasp the white cup from the table at the handle on a diagonal.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Have the left hand pick the white cup up from the table by the handle diagonally.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Pick up the white cup from the table by its handle at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Take the white cup from the table at the handle on a diagonal.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Grasp the white cup from the table by the handle diagonally.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Using the left arm, take the white cup from the table at the handle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Have the left hand grasp the white cup from the table by its handle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Take the white cup from the table with the left arm.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Have the left hand pick up the white cup from the table.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Place the white cup in front of the croissant with handle facing backwards right side up with the left hand.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Using the left hand, set the white cup in front of the croissant with its handle facing backward, right side up.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Have the left arm place the white cup before the croissant, upright, with the handle pointing backward.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "With the left hand, position the white cup in front of the croissant, keeping it right side up and the handle facing backward.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Place the white cup in front of the croissant with its handle facing backward, right side up.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Set the white cup before the croissant, upright, with the handle pointing backward.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Position the white cup in front of the croissant, keeping the handle facing backward and the cup right side up.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Using the left hand, place the white cup in front of the croissant.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Have the left arm set the white cup before the croissant.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "With the left hand, position the white cup in front of the croissant.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Set the white cup in front of the croissant.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Position the white cup before the croissant.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Place the white cup in front of the croissant.", + "start_idx": 8502, + "end_idx": 8544 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "With the left arm, grasp the yogurt on the table from a diagonal angle using a side hold at the top.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Have the left hand pick the yogurt up from the table with a top side grip at a diagonal angle.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "From a diagonal angle, grasp the yogurt on the table with a side hold at the top.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Take the yogurt from the table with a top side grasp from a diagonal angle.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "With the left arm, take the yogurt from the table using a side grasp.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Have the left hand grasp the yogurt from the table with a side hold.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Pick up the yogurt from the table from a diagonal angle.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Take the yogurt from the table with the left hand.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Grasp the yogurt on the table using a side grip.", + "start_idx": 8544, + "end_idx": 8565 + }, + { + "text": "Put the yogurt in front of the gray stuffed toy with the left hand right side up with the front as the orientation reference point.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Using the left hand, place the yogurt in front of the gray stuffed toy right side up with the front as the orientation reference point.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Have the left arm set the yogurt in front of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "With the left hand, position the yogurt before the gray stuffed toy in a right-side-up orientation using the front as the reference point.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Place the yogurt in front of the gray stuffed toy right side up with the front as the orientation reference point.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Set the yogurt in front of the gray stuffed toy, keeping it right side up relative to the front.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Position the yogurt before the gray stuffed toy with the front as the orientation reference point and right side up.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Using the left hand, place the yogurt in front of the gray stuffed toy.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Have the left arm set the yogurt before the gray stuffed toy.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "With the left hand, position the yogurt in front of the gray stuffed toy.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Put the yogurt in front of the gray stuffed toy.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Place the yogurt before the gray stuffed toy.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Set the yogurt in front of the gray stuffed toy.", + "start_idx": 8565, + "end_idx": 8598 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Using the left hand, grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Have the left arm pick the white cup up from the table, approaching the handle diagonally.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "With the left hand, take hold of the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Grasp the white cup from the table by the handle, keeping a diagonal angle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Using the left hand, take the white cup from the table by the handle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "By the handle, pick up the white cup from the table.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 8598, + "end_idx": 8622 + }, + { + "text": "Put the white cup to the left of the yogurt with the left hand right side up with its front facing bottom left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Using the left hand, place the white cup to the left of the yogurt, right side up, with its front facing bottom left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Have the left arm set the white cup left of the yogurt, keeping it upright and its front pointed bottom left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "With the left hand, position the white cup to the yogurt's left, right side up and with the front facing bottom left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Place the white cup to the left of the yogurt, right side up, with its front facing bottom left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Set the white cup left of the yogurt, keeping it upright with its front pointed bottom left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Position the white cup to the yogurt's left, with its front facing bottom left and right side up.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Using the left hand, put the white cup to the left of the yogurt.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Have the left arm place the white cup to the yogurt's left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "With the left hand, set the white cup left of the yogurt.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Place the white cup to the left of the yogurt.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Set the white cup to the yogurt's left.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Position the white cup left of the yogurt.", + "start_idx": 8622, + "end_idx": 8670 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "With the left hand, retrieve the croissant from the table by gripping its middle at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8694 + }, + { + "text": "Place the croissant in the center of the table with the left hand.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Using the left hand, set the croissant in the center of the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Have the left arm place the croissant at the table's center.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "With the left hand, position the croissant in the middle of the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Place the croissant in the center of the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Set the croissant at the table's center.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Position the croissant in the middle of the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Put the croissant in the center of the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Have the croissant placed at the table's center.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "The croissant goes in the middle of the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Using the left hand, place the croissant on the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "With the left hand, set the croissant down on the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Have the left arm put the croissant on the table.", + "start_idx": 8694, + "end_idx": 8727 + }, + { + "text": "Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Have the left arm take the gray stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "With the left hand, collect the gray stuffed toy from the table diagonally by its middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Pick up the gray stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Take the gray stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Collect the gray stuffed toy from the table diagonally by its middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table, grasping the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table by the middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Have the left arm collect the gray stuffed toy from the table from its middle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the gray stuffed toy from the table at a diagonal angle.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "With the left hand, take the gray stuffed toy from the table diagonally.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Pick up the gray stuffed toy from the table.", + "start_idx": 8727, + "end_idx": 8766 + }, + { + "text": "Put the gray stuffed toy into the white cup with the left hand facing bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Using the left hand, place the gray stuffed toy into the white cup with its front facing bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Have the left arm put the gray stuffed toy in the white cup, front oriented toward the bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "With the left hand, deposit the gray stuffed toy into the white cup so the front faces bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Place the gray stuffed toy into the white cup with its front facing bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Put the gray stuffed toy in the white cup, with the front pointed bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Set the gray stuffed toy into the white cup so its front faces bottom left.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Using the left hand, put the gray stuffed toy into the white cup.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "With the left hand, place the gray stuffed toy in the white cup.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Have the left arm deposit the gray stuffed toy into the white cup.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Put the gray stuffed toy into the white cup.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Place the gray stuffed toy in the white cup.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Set the gray stuffed toy into the white cup.", + "start_idx": 8766, + "end_idx": 8790 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "With the left arm, pick the cabbage off the table on a diagonal, holding it at the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Have the left hand retrieve the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Take the cabbage off the table on a diagonal while holding the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach, grasping its middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Get the cabbage from the table by the middle.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "With the left arm, take the cabbage off the table.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Have the left hand retrieve the cabbage from the table.", + "start_idx": 8982, + "end_idx": 9012 + }, + { + "text": "Put the cabbage in front left of the croissant with the left hand facing top left from the front.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Using the left hand, place the cabbage in front-left of the croissant, facing top left from the front.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Have the left arm set the cabbage front-left of the croissant with its front facing top left.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "With the left hand, position the cabbage in front left of the croissant so the front points top left.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Place the cabbage in front-left of the croissant, facing top left from the front.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Set the cabbage in front left of the croissant with its front toward the top left.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Position the cabbage front-left of the croissant so it faces top left from the front.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Using the left hand, put the cabbage in front-left of the croissant.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "With the left hand, set the cabbage in front left of the croissant.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Have the left arm place the cabbage front-left of the croissant.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Put the cabbage in front-left of the croissant.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Set the cabbage in front left of the croissant.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Position the cabbage front-left of the croissant.", + "start_idx": 9012, + "end_idx": 9048 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "With the left hand, take the white cup from the table using a diagonal lip grasp on its left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Have the left arm pick up the white cup from the table with a diagonal lip hold at the left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Using the left hand, grasp the white cup from the table with a diagonal lip grip on the cup's left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip at its left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Grasp the white cup from the table using a diagonal lip hold on the left side.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Using the left hand, grasp the white cup from the table.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 9048, + "end_idx": 9105 + }, + { + "text": "Place the white cup behind the yogurt with the left hand right side up with the front facing backwards.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Using the left hand, set the white cup behind the yogurt, right side up, with the front facing backward.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Have the left arm place the white cup behind the yogurt upright, with its front toward the back.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "With the left hand, position the white cup behind the yogurt so it stays right side up and its front faces backward.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Place the white cup behind the yogurt, right side up, with the front facing backward.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Set the white cup behind the yogurt upright, with its front toward the back.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Position the white cup behind the yogurt so it remains right side up and faces backward at the front.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Using the left hand, place the white cup behind the yogurt.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Have the left arm set the white cup behind the yogurt.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "With the left hand, position the white cup behind the yogurt.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Place the white cup behind the yogurt.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Set the white cup behind the yogurt.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Position the white cup behind the yogurt.", + "start_idx": 9105, + "end_idx": 9156 + }, + { + "text": "Return both arms to home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Bring both arms to home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Have both arms return to home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Move the arms back to the home position.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Bring the arms home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Have the arms return to home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Return the arms to home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Send the arms back home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Position the arms at home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Bring both manipulators to home.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Set the arms in the home position.", + "start_idx": 9156, + "end_idx": 9183 + }, + { + "text": "Return both manipulators to home.", + "start_idx": 9156, + "end_idx": 9183 + } + ] + }, + "2026-03-17-01-59-29-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 9019, + "num_annotations": 3575, + "annotations": [ + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, gripping the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach and grasp it at the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally, holding its middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, gripping the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Take the carrot from the table with a diagonal approach, grasping the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Retrieve the carrot from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the carrot from the table gripping the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "With the left hand, take the carrot from the table by the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left arm retrieve the carrot from the table at the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Take the carrot from the table diagonally with the left hand.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Put the carrot in front of the pink mug with the left hand facing forwards with the tip facing forwards.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Using the left hand, place the carrot in front of the pink mug with its tip facing forwards.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Have the left arm set the carrot in front of the pink mug, oriented forwards at the tip.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "With the left hand, position the carrot before the pink mug so the tip points forwards.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Place the carrot in front of the pink mug with its tip facing forwards.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Set the carrot before the pink mug with the tip pointed forwards.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Position the carrot in front of the pink mug so its tip faces forwards.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Using the left hand, put the carrot in front of the pink mug.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "With the left hand, set the carrot before the pink mug.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Have the left arm place the carrot in front of the pink mug.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Put the carrot in front of the pink mug.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Set the carrot before the pink mug.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Place the carrot in front of the pink mug.", + "start_idx": 33, + "end_idx": 63 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "With the left arm, grasp the blue soda can from the table using a side grip on the top at a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Have the left hand pick the blue soda can off the table with a side hold at the top from a diagonal approach.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Take the blue soda can off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top from a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "With the left arm, take the blue soda can off the table.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Have the left hand grasp the blue soda can from the table.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Take the blue soda can off the table using a side grip at the top.", + "start_idx": 63, + "end_idx": 87 + }, + { + "text": "Put the blue soda can to the left of the carrot with the left hand.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Have the left arm set the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "With the left hand, position the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Place the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Set the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Position the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Move the blue soda can to the carrot's left side.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Leave the blue soda can to the left of the carrot.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Arrange the blue soda can next to the carrot on its left side.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Using the left hand, place the blue soda can by the carrot on its left side.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Have the left arm move the blue soda can to the carrot's left side.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "With the left hand, set the blue soda can next to the carrot on the left.", + "start_idx": 87, + "end_idx": 117 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top with a diagonal pick angle.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Using the left hand, grasp the white cup from the table with a lip grip at the top using a diagonal pick angle.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Have the left hand take the white cup from the table by the top with a lip grasp at a diagonal angle.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "With the left hand, retrieve the white cup from the table via a top lip grip on a diagonal approach.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top with a diagonal pick angle.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Take the white cup from the table with a top lip grasp at a diagonal angle.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Retrieve the white cup from the table by the top using a lip grip on a diagonal approach.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the top.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "With the left hand, take the white cup from the table using a top lip grasp.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Have the left hand collect the white cup from the table with a lip grip at the top.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal pick angle.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "With the left hand, take the white cup from the table on a diagonal approach.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Have the left hand retrieve the white cup from the table.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Put the white cup to the left of the blue soda can with the handle facing backwards right side up with the left hand.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue soda can, handle facing backward and right side up.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Have the left arm set the white cup left of the blue soda can with its handle toward the back, upright.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "With the left hand, position the white cup to the left of the blue soda can, upright with the handle pointing backward.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Place the white cup to the left of the blue soda can with the handle facing backward and right side up.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Set the white cup left of the blue soda can, with its handle toward the back and upright.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Position the white cup to the left of the blue soda can, handle pointing backward and standing upright.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Using the left hand, put the white cup to the left of the blue soda can.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "With the left hand, place the white cup left of the blue soda can.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Have the left arm position the white cup to the left of the blue soda can.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Set the white cup to the left of the blue soda can.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Put the white cup left of the blue soda can.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Position the white cup to the left of the blue soda can.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Have the left arm pick the canned goods off the table using a top side hold from a diagonal approach.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "With the left hand, retrieve the canned goods from the table in a side grip at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Take the canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Retrieve the canned goods from the table in a side hold at the top from a diagonal approach.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Have the left arm take the canned goods off the table.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "With the left hand, retrieve the canned goods from the table.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Using the left hand, take the canned goods off the table with a side grip at the top.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Retrieve the canned goods from the table from a diagonal angle.", + "start_idx": 234, + "end_idx": 252 + }, + { + "text": "Put the canned goods behind the white cup with the left hand.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Using the left hand, place the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Have the left arm set the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "With the left hand, position the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Place the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Set the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Position the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Move the canned goods behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "The canned goods go behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Behind the white cup, put the canned goods.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Place the canned goods there behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Set the canned goods behind the white cup there.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Have the canned goods placed behind the white cup.", + "start_idx": 252, + "end_idx": 291 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Have the left arm seize the blue soda can from the table with a top side grip at a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold on the top from a diagonal approach.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp on the top.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Take the blue soda can from the table using a side grip at the top.", + "start_idx": 291, + "end_idx": 309 + }, + { + "text": "Put the blue soda can to the left of the white cup with the left hand.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "With the left hand, position the blue soda can to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Place the blue soda can to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Set the blue soda can down to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Position the blue soda can to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Move the blue soda can to the left of the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Using the left hand, place the blue soda can by the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Have the left arm set the blue soda can next to the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "With the left hand, move the blue soda can beside the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Place the blue soda can by the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Set the blue soda can beside the white cup.", + "start_idx": 309, + "end_idx": 342 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "With the left hand, retrieve the white cup from the table, approaching diagonally at the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Take the white cup from the table diagonally by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Retrieve the white cup from the table by the handle at a diagonal angle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Grasp the white cup from the table by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Pick up the white cup from the table with the left hand by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Using the left hand, take the white cup from the table by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Have the left arm retrieve the white cup from the table by the handle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Take the white cup from the table diagonally.", + "start_idx": 468, + "end_idx": 498 + }, + { + "text": "Put the white cup to the right of the canned goods with the left hand right side up with the front facing backwards.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Using the left hand, place the white cup to the right of the canned goods upright with its front facing backward.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Have the left arm set the white cup to the right of the canned goods right side up, front toward the back.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "With the left hand, position the white cup to the right of the canned goods so it stays upright and its front faces backward.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Place the white cup to the right of the canned goods upright with its front facing backward.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Set the white cup to the right of the canned goods right side up, front toward the back.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Position the white cup to the right of the canned goods with its front facing backward and the cup upright.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Move the white cup to the right of the canned goods.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Put the white cup to the right of the canned goods.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Set the white cup to the right of the canned goods.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Place the white cup to the right of the canned goods upright.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Using the left hand, place the white cup to the right of the canned goods.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Have the left arm put the white cup to the right of the canned goods.", + "start_idx": 498, + "end_idx": 540 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "With the left arm, pick the blue soda can up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Have the left hand grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "With the left arm, take the blue soda can from the table using a side grasp on the top.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Have the left hand grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "With the left arm, take the blue soda can from the table at a diagonal angle.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 540, + "end_idx": 570 + }, + { + "text": "Place the blue soda can to the center of the table with the left hand.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "With the left hand, set the blue soda can at the center of the table upright.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Have the left arm place the blue soda can in the table's center, standing upright.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Using the left hand, position the blue soda can upright at the center of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Place the blue soda can at the center of the table upright.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Set the blue soda can upright in the center of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Position the blue soda can standing upright at the table's center.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "With the left hand, place the blue soda can at the center of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Using the left hand, set the blue soda can in the center of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Have the left arm position the blue soda can at the table's center.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Place the blue soda can in the middle of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Set the blue soda can at the center of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Have the blue soda can placed in the center of the table.", + "start_idx": 570, + "end_idx": 609 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Using the left hand, take hold of the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a side grip at the top on a diagonal approach.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "With the left hand, seize the canned goods from the table using a side hold at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "From the table, grasp the canned goods with a side hold at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Grasp the canned goods from the table at the top from a diagonal angle.", + "start_idx": 609, + "end_idx": 639 + }, + { + "text": "Put the canned goods to the left of the blue soda can with the left hand.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Using the left hand, place the canned goods to the left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Have the left arm set the canned goods down to the left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "With the left hand, position the canned goods left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Place the canned goods to the left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Set the canned goods down left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Position the canned goods to the left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Move the canned goods to the left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "The canned goods go to the left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Arrange the canned goods left of the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Using the left hand, place the canned goods by the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "With the left hand, set the canned goods beside the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Have the left arm position the canned goods next to the blue soda can.", + "start_idx": 639, + "end_idx": 684 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "With the left hand, pick up the canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Using the left arm, grasp the canned goods from the table from the top with a side hold at a diagonal pick angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Have the left hand take the canned goods from the table with a top side grasp and a diagonal approach.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Grasp the canned goods from the table from the top using a side hold at a diagonal pick angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "With the left hand, pick up the canned goods from the table using a side grip at the top.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Using the left arm, grasp the canned goods from the table with a side hold.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Have the left hand take the canned goods from the table with a top side grasp.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "With the left hand, pick up the canned goods from the table with a diagonal pick angle.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 741, + "end_idx": 768 + }, + { + "text": "Put the canned goods on the top side of the table with the left hand.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Using the left hand, place the canned goods on the top side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Have the left arm set the canned goods onto the table's top side.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "With the left hand, position the canned goods on the upper side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Place the canned goods on the top side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Set the canned goods onto the table's top side.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Position the canned goods on the upper side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Put the canned goods on the top side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Arrange the canned goods on the table's top side.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Move the canned goods to the top side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Transfer the canned goods onto the upper side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "The canned goods should go on the top side of the table.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Set the canned goods down on the table's top side.", + "start_idx": 768, + "end_idx": 807 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Have the left arm grasp the blue soda can from the table by the top with a side hold at a diagonal angle.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "With the left hand, seize the blue soda can from the table from a diagonal angle using a side grasp at the top.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "From a diagonal angle, grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "From a diagonal angle, take the blue soda can from the table with the left hand.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Using a side grip at the top, pick up the blue soda can from the table.", + "start_idx": 807, + "end_idx": 831 + }, + { + "text": "Place the blue soda can to the center of the table with the left hand.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Using the left hand, set the blue soda can at the center of the table upright.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Have the left arm place the blue soda can in the table center, keeping it right side up.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "With the left hand, position the blue soda can at the center of the table standing upright.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Place the blue soda can at the center of the table.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Set the blue soda can in the center of the table.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Position the blue soda can at the table center.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Put the blue soda can down at the center of the table.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Leave the blue soda can upright at the center of the table.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Set the blue soda can at the center of the table standing up.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Place the blue soda can in the middle of the table upright.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Set the blue soda can at the center of the table.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Put the blue soda can in the middle of the table.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "With the left hand, collect the white cup from the table, approaching diagonally at the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Grasp the white cup from the table diagonally by the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Take the white cup from the table with the left hand by the handle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Grab the white cup from the table at a diagonal angle.", + "start_idx": 933, + "end_idx": 969 + }, + { + "text": "Place the white cup to the center of the table with the left hand right side up with the front facing bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Using the left hand, set the white cup at the center of the table right side up with the front facing bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Have the left arm place the white cup in the table center, upright, with the front oriented toward the bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "With the left hand, position the white cup at the center of the table right side up, front facing bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Place the white cup at the center of the table right side up with the front facing bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Set the white cup in the center of the table upright with the front toward the bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Position the white cup at the table center right side up, with its front facing bottom right.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Using the left hand, place the white cup at the center of the table.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Have the left arm set the white cup in the center of the table.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "With the left hand, position the white cup at the table center.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Place the white cup at the center of the table.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Set the white cup in the middle of the table.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Position the white cup on the table center.", + "start_idx": 968, + "end_idx": 1010 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Have the left arm pick up the blue soda can from the table, gripping its top from a diagonal angle with a side hold.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side grip on the top at a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Grasp the blue soda can from the table with a side hold on the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "The blue soda can from the table should be picked up with a side grip at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Pick up the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 1071, + "end_idx": 1092 + }, + { + "text": "Put the blue soda can to the front left of the canned goods with the left hand.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Using the left hand, place the blue soda can at the front-left of the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Have the left arm set the blue soda can down to the front left of the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "With the left hand, position the blue soda can in front of and left of the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Place the blue soda can at the front-left of the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Set the blue soda can down to the front left of the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Position the blue soda can in front of and left of the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Move the blue soda can beside the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Put the blue soda can down near the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Place the blue soda can by the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Set the blue soda can down with the left hand.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Using the left hand, move the blue soda can beside the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Have the left arm place the blue soda can by the canned goods.", + "start_idx": 1092, + "end_idx": 1128 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle, keeping it diagonal.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "With the left hand, collect the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Grab the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "With the left hand, grasp the pink cup from the table by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at a diagonal angle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Have the left arm take the pink cup from the table diagonally.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 1203, + "end_idx": 1233 + }, + { + "text": "Put the pink cup to the front right of the blue soda can with the left hand right side up with the front facing backwards.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Using the left hand, place the pink cup at the blue soda can's front-right, upright with its front facing backward.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Have the left arm set the pink cup to the front right of the blue soda can, right side up and with the front toward the back.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "With the left hand, position the pink cup front-right of the blue soda can, keeping it upright and its front facing backwards.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Place the pink cup to the front right of the blue soda can, right side up with the front facing backwards.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Set the pink cup at the front right of the blue soda can, upright with its front toward the back.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Position the pink cup front-right of the blue soda can, keeping it right side up and the front facing backward.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Using the left hand, place the pink cup to the front right of the blue soda can.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Have the left arm set the pink cup at the blue soda can's front-right.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "With the left hand, position the pink cup front-right of the blue soda can.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Put the pink cup to the front right of the blue soda can.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Set the pink cup at the blue soda can's front-right.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Using the left hand, place the pink cup by the blue soda can.", + "start_idx": 1233, + "end_idx": 1272 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Have the left arm pick the pink cup up from the table by its handle with a diagonal grip.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Pick up the pink cup from the table at the handle with a diagonal grasp.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "From the table, take the pink cup by the handle with a diagonal grip.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Grasp the pink cup from the table using a diagonal hold at the handle.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Using the left hand, take the pink cup from the table by the handle.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Grasp the pink cup from the table at the handle.", + "start_idx": 1398, + "end_idx": 1434 + }, + { + "text": "Put the pink cup to the front left of the blue soda can with the left hand right side up with the front facing backwards.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Using the left hand, place the pink cup front-left of the blue soda can, right side up, with its front facing backward.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Have the left arm set the pink cup to the front left of the blue soda can, keeping it upright and the front pointed backward.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "With the left hand, position the pink cup at the blue soda can's front-left, upright, with the front oriented backward.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Place the pink cup to the front left of the blue soda can, right side up, with the front facing backward.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Set the pink cup front-left of the blue soda can, upright, with its front pointed backward.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Position the pink cup at the front left of the blue soda can, keeping it right side up and facing backward.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Using the left hand, place the pink cup to the front left of the blue soda can.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Have the left arm set the pink cup at the blue soda can's front-left position.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "With the left hand, position the pink cup front-left of the blue soda can.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Put the pink cup to the front left of the blue soda can with the left hand.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Set the pink cup front-left of the blue soda can using the left hand.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Place the pink cup at the front left of the blue soda can with the left arm.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "From a diagonal angle, have the left hand take the blue soda can from the table with a side grasp at the top.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top using a side grip from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "From a diagonal angle, grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Take the blue soda can from the table at the top using a side grip from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Have the left hand grasp the blue soda can from the table.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "From the table, take the blue soda can with the left hand using a side grip.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 1467, + "end_idx": 1494 + }, + { + "text": "Place the blue soda can to the center of the table with the left hand.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Using the left hand, set the blue soda can at the center of the table upright.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Have the left arm place the blue soda can in the table center, keeping it right side up.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "With the left hand, position the blue soda can at the center of the table, upright from the front.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Place the blue soda can at the center of the table.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Set the blue soda can in the center of the table.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "The blue soda can goes to the center of the table.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Position the blue soda can at the table center.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Place the blue soda can at the center of the table with the left hand.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Using the left hand, set the blue soda can in the table center.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Have the left arm place the blue soda can at the center of the table.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Set the blue soda can at the center of the table upright.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "At the table center, place the blue soda can.", + "start_idx": 1494, + "end_idx": 1530 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Have the left arm pick up the canned goods from the table with a side hold on the top at a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top using a side grip from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Take the canned goods from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Grasp the canned goods from the table by the top with a side hold from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp on the top.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "With the left hand, grasp the canned goods from the table at the top.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Have the left arm take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Pick up the canned goods from the table at the top.", + "start_idx": 1530, + "end_idx": 1551 + }, + { + "text": "Put the canned goods in front of the carrot with the left hand.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Using the left hand, place the canned goods in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Have the left arm set the canned goods down in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "With the left hand, position the canned goods before the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Place the canned goods in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Set the canned goods down in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Position the canned goods before the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "The canned goods go in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Put the canned goods ahead of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Move the canned goods to a spot in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Arrange the canned goods in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Get the canned goods in front of the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "The canned goods should be placed before the carrot.", + "start_idx": 1551, + "end_idx": 1605 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold at the top on a diagonal approach.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "With the left hand, secure the blue soda can from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Grasp the blue soda can from the table by the top using a side hold from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp at the top.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 1665, + "end_idx": 1686 + }, + { + "text": "Put the blue soda can in front of the pink cup with the left hand.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink cup, right side up.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Have the left arm set the blue soda can before the pink cup with its top upward.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "With the left hand, position the blue soda can in front of the pink cup upright.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Place the blue soda can in front of the pink cup, right side up.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Set the blue soda can before the pink cup with its top upward.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Position the blue soda can in front of the pink cup upright.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Using the left hand, put the blue soda can by the pink cup.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "With the left hand, place the blue soda can in front of the pink cup.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Have the left arm set the blue soda can before the pink cup.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Put the blue soda can by the pink cup.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Place the blue soda can in front of the pink cup.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Set the blue soda can before the pink cup.", + "start_idx": 1686, + "end_idx": 1725 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Have the left arm pick up the pink cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "With the left hand, collect the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Have the robot pick up the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "With the left hand, take the pink cup from the table by the handle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Have the left arm collect the pink cup from the table.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Take the pink cup from the table at a diagonal angle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 1725, + "end_idx": 1749 + }, + { + "text": "Put the pink cup to the left of the white cup with the handle facing backwards right side up with the left hand.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Using the left hand, place the pink cup to the left of the white cup, upright with its handle facing backward.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Have the left hand set the pink cup left of the white cup, keeping it right side up and the handle pointed backward.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "With the left hand, position the pink cup to the white cup's left, upright and with the handle facing the back.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Place the pink cup to the left of the white cup, upright with the handle facing backward.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Set the pink cup left of the white cup, keeping it right side up and the handle pointed backward.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Position the pink cup to the left of the white cup with its handle facing backward and upright.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Put the pink cup to the left of the white cup.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Set the pink cup down to the left of the white cup.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Position the pink cup to the white cup's left.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Using the left hand, place the pink cup to the left of the white cup.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "With the left hand, set the pink cup down left of the white cup.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Have the left hand position the pink cup to the white cup's left.", + "start_idx": 1749, + "end_idx": 1788 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "From a diagonal angle, have the left hand grasp the top of the blue soda can from the table with a side hold.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "With the left hand, take the blue soda can from the table by its top using a side grasp from a diagonal approach.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "From a diagonal angle, grasp the top of the blue soda can from the table with a side hold.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Take the blue soda can from the table by the top using a side grasp from a diagonal approach.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Have the left hand grasp the blue soda can from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Take the blue soda can from the table from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Put the blue soda can in front of the pink cup with the left hand.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Have the left arm set the blue soda can before the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "With the left hand, position the blue soda can in front of the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Place the blue soda can in front of the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Set the blue soda can before the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Position the blue soda can in front of the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "The blue soda can goes in front of the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Using the left hand, put the blue soda can by the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "With the left hand, place the blue soda can next to the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Set the blue soda can beside the pink cup with the left hand.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Put the blue soda can by the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Have the blue soda can placed next to the pink cup.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle with a diagonal grasp.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle in a diagonal hold.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Take the white cup from the table by the handle with a diagonal grasp.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Grasp the white cup from the table at the handle in a diagonal hold.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "With the left hand, take the white cup from the table.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Take the white cup from the table using the left hand.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Have the left arm pick up the white cup from the table.", + "start_idx": 1902, + "end_idx": 1929 + }, + { + "text": "Put the white cup in front of the blue soda can with the left hand right side up with the front facing backwards.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Using the left hand, place the white cup in front of the blue soda can upright with its front facing backward.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Have the left arm set the white cup before the blue soda can, right side up and with the front toward the back.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "With the left hand, position the white cup in front of the blue soda can so it stays upright and its front faces backward.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Place the white cup in front of the blue soda can, keeping it upright with the front facing backward.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Set the white cup before the blue soda can right side up, with its front toward the back.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Position the white cup in front of the blue soda can upright, front facing backward.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Using the left hand, put the white cup in front of the blue soda can.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Have the left arm place the white cup before the blue soda can.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "With the left hand, set the white cup in front of the blue soda can.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Put the white cup in front of the blue soda can.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Set the white cup before the blue soda can.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Position the white cup in front of the blue soda can.", + "start_idx": 1929, + "end_idx": 1968 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "From a diagonal angle, have the left hand take the blue soda can from the table with a side grasp at the top.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "From a diagonal angle, take the blue soda can from the table with a side grasp at the top.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Have the left hand grasp the blue soda can from the table with a side hold.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "From a diagonal angle, have the left hand take the blue soda can from the table.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Pick up the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 2031, + "end_idx": 2049 + }, + { + "text": "Put the blue soda can to the left of the pink cup with the left hand.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "With the left hand, position the blue soda can to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Place the blue soda can to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Set the blue soda can to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Position the blue soda can to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Arrange the blue soda can to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "The blue soda can goes to the left of the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Put the blue soda can beside the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Set the blue soda can next to the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Using the left hand, put the blue soda can beside the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Have the left arm place the blue soda can next to the pink cup.", + "start_idx": 2049, + "end_idx": 2088 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Using the left hand, take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Have the left arm grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "With the left hand, secure the white cup from the table via the handle on a diagonal.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Take the white cup from the table using the handle at a diagonal angle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Grasp the white cup from the table by its handle on a diagonal.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Retrieve the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Using the left hand, take the white cup from the table via the handle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Have the left arm grasp the white cup from the table by its handle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 2148, + "end_idx": 2172 + }, + { + "text": "Put the white cup in front of the blue soda can with the handle facing backwards using the left hand right side up.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Using the left hand, place the white cup in front of the blue soda can, right side up, with the handle facing backwards.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Have the left arm set the white cup before the blue soda can with its handle pointing backward, right side up.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "With the left hand, position the white cup in front of the blue soda can so the handle faces backward and the cup stays upright.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Place the white cup in front of the blue soda can with the handle facing backwards, right side up.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Set the white cup before the blue soda can, upright, with its handle pointing backward.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Position the white cup in front of the blue soda can so the handle faces backward and it remains right side up.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Using the left hand, put the white cup in front of the blue soda can.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Have the left arm place the white cup before the blue soda can.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "With the left hand, set the white cup in front of the blue soda can.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Put the white cup in front of the blue soda can.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Place the white cup before the blue soda can with the left hand.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Set the white cup in front of the blue soda can, right side up.", + "start_idx": 2172, + "end_idx": 2211 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Using the left hand, take hold of the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "With the left arm, grasp the pink cup from the table by the handle in a diagonal hold.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Have the left hand pick the pink cup up from the table using a diagonal handle grasp.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Pick up the pink cup from the table at the handle using a diagonal grasp.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "From the table, collect the pink cup with a diagonal grip on the handle.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "The pink cup from the table should be picked up with a diagonal grasp at the handle.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "With the left arm, take the pink cup from the table.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Have the left hand grasp the pink cup from the table.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at the handle.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "From the table, grasp the pink cup by the handle.", + "start_idx": 2271, + "end_idx": 2292 + }, + { + "text": "Put the pink cup with the left hand to the front left of the white cup right side up with the front facing backwards.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Using the left hand, place the pink cup front-left of the white cup, upright, with its front facing backward.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Have the left arm set the pink cup to the front left of the white cup, keeping it right side up and the front backward.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "With the left hand, position the pink cup at the white cup's front-left, upright and facing backward.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Place the pink cup to the front left of the white cup, right side up, with the front facing backwards.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Set the pink cup front-left of the white cup, upright, with its front facing backward.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Position the pink cup at the front left of the white cup, keeping it right side up and the front backward.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Using the left hand, place the pink cup to the front left of the white cup.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Have the left arm set the pink cup at the white cup's front-left.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "With the left hand, position the pink cup beside the white cup at its front-left.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Put the pink cup to the front left of the white cup.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Set the pink cup at the white cup's front-left.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Position the pink cup front-left of the white cup.", + "start_idx": 2292, + "end_idx": 2334 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle with a diagonal grasp.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle on a diagonal.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Take the white cup from the table by the handle using a diagonal grasp.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Grasp the white cup from the table at the handle with a diagonal hold.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Using a diagonal grasp at the handle, pick up the white cup from the table.", + "start_idx": 2334, + "end_idx": 2361 + }, + { + "text": "Put the white cup to the front left of the canned goods with the handle facing bottom left using the left hand.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Using the left hand, place the white cup at the front left of the canned goods, with its handle pointing bottom left.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Have the left arm set the white cup front-left of the canned goods, handle oriented toward the bottom left.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "With the left hand, position the white cup to the front left of the canned goods so the handle faces bottom left.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Place the white cup at the front left of the canned goods, with its handle pointing bottom left.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Set the white cup front-left of the canned goods, handle facing bottom left.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Position the white cup to the front left of the canned goods so its handle points bottom left.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Put the white cup by the canned goods.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Place the white cup near the canned goods.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Set the white cup at the front left of the canned goods.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Using the left hand, put the white cup by the canned goods.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "With the left hand, place the white cup near the canned goods.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Have the left arm set the white cup at the front left of the canned goods.", + "start_idx": 2361, + "end_idx": 2400 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Have the left arm pick the blue soda can off the table using a side grip on the top at a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from a diagonal angle using a side hold at the top.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Take the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Have the left arm take the blue soda can off the table.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "From the table, grasp the blue soda can at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2433 + }, + { + "text": "Put the blue soda can to the left of the white cup with the left hand.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Place the blue soda can to the left of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Set the blue soda can on the left side of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "The blue soda can goes to the left of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Position the blue soda can to the left of the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Using the left hand, place the blue soda can by the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "With the left hand, set the blue soda can next to the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Have the left arm position the blue soda can beside the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Place the blue soda can beside the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Set the blue soda can next to the white cup.", + "start_idx": 2433, + "end_idx": 2469 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Have the left arm pick the pink cup up from the table by the handle with a diagonal grasp.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Take the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Grasp the pink cup from the table at the handle in a diagonal grip.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Remove the pink cup from the table with a diagonal grasp.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "With the left hand, take the pink cup from the table.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Have the left arm grasp the pink cup from the table.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 2541, + "end_idx": 2574 + }, + { + "text": "Put the pink cup to the left of the blue soda can with the handle facing backwards right side up with the left hand.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Using the left hand, place the pink cup left of the blue soda can with its handle facing backward and upright.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Have the left arm set the pink cup to the left of the blue soda can, upright with the handle pointing backward.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "With the left hand, position the pink cup to the left of the blue soda can so the handle faces back and the cup stays right side up.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Place the pink cup to the left of the blue soda can with the handle facing backward and upright.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Set the pink cup left of the blue soda can, keeping the handle pointed backward and the cup right side up.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Position the pink cup to the left of the blue soda can so the handle points backward and it remains upright.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Using the left hand, put the pink cup to the left of the blue soda can.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "With the left hand, place the pink cup beside the blue soda can on its left.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Have the left arm set the pink cup on the left side of the blue soda can.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Put the pink cup to the left of the blue soda can.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Place the pink cup beside the blue soda can on its left side.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Set the pink cup on the left side of the blue soda can.", + "start_idx": 2574, + "end_idx": 2616 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Have the left hand take the blue soda can from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top in a side hold with a diagonal approach.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Take the blue soda can from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side hold and a diagonal approach.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "With the left hand, pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Have the left hand take the blue soda can from the table by the top with a side grasp.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table at the top with a side hold.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a diagonal pick angle.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "With the left hand, take the blue soda can from the table at the top with a diagonal approach.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 2748, + "end_idx": 2772 + }, + { + "text": "Put the blue soda can to the left of the pink cup with the left hand.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "With the left hand, position the blue soda can to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Place the blue soda can to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Set the blue soda can down to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Position the blue soda can to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Move the blue soda can to the left of the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Using the left hand, place the blue soda can by the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Have the left arm set the blue soda can beside the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Position the blue soda can next to the pink cup with the left hand.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Set the blue soda can beside the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Place the blue soda can by the pink cup.", + "start_idx": 2772, + "end_idx": 2823 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Using the left hand, take hold of the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Have the left hand seize the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Take the pink cup from the table with a diagonal hold at the handle.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Grasp the pink cup from the table by the handle in a diagonal grip.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Retrieve the pink cup from the table at the handle with a diagonal grasp.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Using the left hand, take the pink cup from the table.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Have the left hand grasp the pink cup from the table.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 2823, + "end_idx": 2856 + }, + { + "text": "Put the pink cup to the front left of the blue soda can with the left hand right side up with the front facing backwards.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Using the left hand, place the pink cup front-left of the blue soda can, upright with its front facing backward.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Have the left arm set the pink cup to the front left of the blue soda can, right side up and facing backward.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "With the left hand, position the pink cup in front-left of the blue soda can, upright and with the front toward the back.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Place the pink cup to the front left of the blue soda can, right side up with the front facing backward.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Set the pink cup front-left of the blue soda can, upright with its front toward the back.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Position the pink cup to the front left of the blue soda can, with the front facing backward and right side up.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Using the left hand, place the pink cup to the front left of the blue soda can.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Have the left arm set the pink cup front-left of the blue soda can.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "With the left hand, position the pink cup in front-left of the blue soda can.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Place the pink cup to the front left of the blue soda can.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Set the pink cup front-left of the blue soda can.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Position the pink cup to the front left of the blue soda can.", + "start_idx": 2856, + "end_idx": 2904 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Have the left arm pick the blue soda can up from the table with a top side grasp at a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "With the left hand, grasp the blue soda can from the table by the top using a side hold from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Take the blue soda can from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Using the left hand, take the blue soda can from the table by the top.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 2904, + "end_idx": 2937 + }, + { + "text": "Put the blue soda can to the right of the pink cup with the left hand.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Place the blue soda can to the right of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Set the blue soda can down to the right of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Position the blue soda can on the right side of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Move the blue soda can beside the pink cup on its right.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "The blue soda can goes to the right of the pink cup.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Using the left hand, place the blue soda can beside the pink cup on its right.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Have the left arm set the blue soda can next to the pink cup, on the right side.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Place the blue soda can beside the pink cup on its right with the left hand.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Set the blue soda can on the pink cup's right side using the left hand.", + "start_idx": 2937, + "end_idx": 2982 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold on the top at a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp on its top from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side hold from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top from a diagonal angle.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top.", + "start_idx": 3123, + "end_idx": 3147 + }, + { + "text": "Put the blue soda can to the right of the carrot with the left hand.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Have the left arm set the blue soda can down to the carrot's right.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Place the blue soda can to the right of the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Set the blue soda can on the carrot's right side.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Position the blue soda can to the right of the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "The blue soda can goes to the right of the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Using the left hand, place the blue soda can by the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "With the left hand, set the blue soda can down near the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Have the left arm place the blue soda can next to the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Put the blue soda can beside the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Set the blue soda can down by the carrot.", + "start_idx": 3147, + "end_idx": 3180 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Using the left hand, take hold of the pink cup from the table with a diagonal handle grasp.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Have the left hand grasp the pink cup from the table at the handle in a diagonal grip.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "With the left hand, seize the pink cup from the table using a diagonal grasp on the handle.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Retrieve the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "With the left hand, take the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Have the left hand collect the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "From the table, grasp the pink cup at the handle with a diagonal grip.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Using a diagonal handle grasp, take the pink cup from the table.", + "start_idx": 3249, + "end_idx": 3282 + }, + { + "text": "Put the pink cup to the left of the carrot with the handle facing bottom left right side up with the left hand.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Using the left hand, place the pink cup to the left of the carrot with the handle facing bottom left, right side up.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Have the left arm set the pink cup left of the carrot, keeping it right side up with the handle pointing bottom left.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "With the left hand, position the pink cup to the carrot's left, handle oriented bottom left and the cup right side up.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Place the pink cup to the left of the carrot with the handle facing bottom left, right side up.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Set the pink cup left of the carrot, keeping the handle pointed bottom left and the cup upright.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Position the pink cup to the carrot's left with the handle facing bottom left, right side up.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Using the left hand, put the pink cup to the left of the carrot.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Have the left arm place the pink cup left of the carrot.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "With the left hand, set the pink cup to the carrot's left.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Put the pink cup to the left of the carrot.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Using the left hand, place the pink cup to the left of the carrot with the handle facing bottom left.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Set the pink cup left of the carrot, right side up.", + "start_idx": 3282, + "end_idx": 3321 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "From a diagonal angle, have the left hand grasp the top of the blue soda can on the table with a side hold.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "With the left hand, secure the blue soda can from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "From a diagonal angle, grasp the top of the blue soda can on the table with a side hold.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Take the blue soda can from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "With the left hand, pick up the blue soda can from the table using a side grip.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Have the left hand take the blue soda can from the table by the top with a side grasp.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "From a diagonal angle, take the blue soda can from the table with the left hand.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 3393, + "end_idx": 3414 + }, + { + "text": "Put the blue soda can to the front left of the canned goods with the left hand.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Using the left hand, place the blue soda can at the front left of the canned goods, right side up.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Have the left arm set the blue soda can front-left of the canned goods with its front facing forward.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "With the left hand, position the blue soda can to the front left of the canned goods in an upright orientation.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Place the blue soda can at the front left of the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Set the blue soda can down to the front left of the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "The blue soda can goes to the front left of the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Using the left hand, put the blue soda can by the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Have the left arm place the blue soda can beside the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "With the left hand, move the blue soda can into place near the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Put the blue soda can by the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Set the blue soda can in place with the left hand.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "The blue soda can should be placed near the canned goods.", + "start_idx": 3414, + "end_idx": 3453 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Have the left arm take the carrot from the table diagonally from the middle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "With the left hand, grasp the carrot from the table at a diagonal angle from its middle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Take the carrot from the table diagonally from the middle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Grasp the carrot from the table from the middle at a diagonal angle.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "From the table, pick up the carrot with the left hand.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Use the left hand to take the carrot from the table.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Have the left arm grasp the carrot from the table.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 3453, + "end_idx": 3483 + }, + { + "text": "Put the carrot in front of the pink cup with the left hand with the tip facing right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Using the left hand, place the carrot in front of the pink cup with its tip pointing right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Have the left arm set the carrot in front of the pink cup, tip facing to the right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "With the left hand, position the carrot before the pink cup so the tip faces right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Place the carrot in front of the pink cup with its tip pointing right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Set the carrot before the pink cup, with the tip facing right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Position the carrot in front of the pink cup so its tip points right.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Using the left hand, put the carrot in front of the pink cup.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Have the left arm place the carrot before the pink cup.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "With the left hand, set the carrot in front of the pink cup.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Place the carrot in front of the pink cup.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Set the carrot before the pink cup.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Put the carrot in front of the pink cup.", + "start_idx": 3483, + "end_idx": 3522 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Have the left arm pick the pink cup up from the table, gripping the handle at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "With the left hand, grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "With the left hand, take the pink cup from the table by the handle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Take the pink cup from the table with the left hand at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "With the left hand, grasp the pink cup from the table at a diagonal angle.", + "start_idx": 3522, + "end_idx": 3540 + }, + { + "text": "Put the pink cup to the right of the carrot with the left hand right side up with the front facing backwards.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Using the left hand, place the pink cup to the right of the carrot, right side up, with its front facing backward.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Have the left arm set the pink cup to the carrot's right, upright, with the front pointed backward.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "With the left hand, position the pink cup on the right side of the carrot, right side up and facing backward.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Place the pink cup to the right of the carrot, right side up, with its front facing backward.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Set the pink cup on the carrot's right side, upright, with the front pointed backward.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Position the pink cup to the right of the carrot, keeping it right side up and facing backward.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Using the left hand, put the pink cup to the right of the carrot.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Have the left arm place the pink cup on the right side of the carrot.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "With the left hand, set the pink cup to the carrot's right.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Place the pink cup to the right of the carrot.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Set the pink cup on the carrot's right side.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Position the pink cup to the right of the carrot.", + "start_idx": 3540, + "end_idx": 3582 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal angle by grasping its middle.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Take the carrot from the table on a diagonal angle while holding the middle.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup, grasping its center.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 3582, + "end_idx": 3603 + }, + { + "text": "Place the carrot to the center of the table with the left hand with the tip facing top left.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Using the left hand, place the carrot in the center of the table with its tip pointing to the top left.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Have the left hand set the carrot at the table center, tip oriented toward the top left.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip faces top left.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Place the carrot in the center of the table.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Set the carrot at the center of the table.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Position the carrot in the middle of the table.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Using the left hand, place the carrot in the center of the table.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Have the left hand set the carrot at the table center.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Place the carrot at the center of the table with its tip pointing top left.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Set the carrot in the middle of the table with the tip facing top left.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Put the carrot in the center of the table.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Using the left hand, position the carrot at the center of the table.", + "start_idx": 3603, + "end_idx": 3642 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal, gripping its middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Take the carrot from the table with a diagonal pickup, holding the middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Retrieve the carrot from the table on a diagonal, gripping its middle.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Take the carrot from the table with the left arm.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Get the carrot from the table with the left hand.", + "start_idx": 3870, + "end_idx": 3894 + }, + { + "text": "Put the carrot to the front left of the pink cup with the left hand facing top right with the tip facing top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Using the left hand, place the carrot at the front left of the pink cup, with the tip facing top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Have the left hand set the carrot in front-left of the pink cup, oriented so its tip points top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "With the left hand, position the carrot to the front left of the pink cup, tip directed toward the top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Place the carrot at the front left of the pink cup, with the tip facing top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Set the carrot in front-left of the pink cup, oriented with its tip toward the top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Position the carrot to the front left of the pink cup so the tip points top right.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Using the left hand, place the carrot at the front left of the pink cup.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Have the left hand set the carrot in front-left of the pink cup.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "With the left hand, position the carrot to the front left of the pink cup.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Place the carrot at the front left of the pink cup.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Set the carrot in front-left of the pink cup.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Position the carrot next to the pink cup.", + "start_idx": 3894, + "end_idx": 3930 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "With the left hand, retrieve the pink cup from the table, approaching diagonally by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Take the pink cup from the table diagonally by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Retrieve the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "With the left hand, collect the pink cup from the table by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Take the pink cup from the table with the left hand.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Retrieve the pink cup from the table by the handle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Place the pink cup to the left of the carrot with the handle facing bottom left right side up using the left hand.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Using the left hand, set the pink cup to the carrot's left with the handle pointing bottom left and the cup right side up.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Have the left arm place the pink cup left of the carrot, keeping it upright and with the handle facing bottom left.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "With the left hand, position the pink cup to the left of the carrot, handle oriented bottom left and right side up.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Place the pink cup to the left of the carrot with the handle facing bottom left and right side up.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Set the pink cup left of the carrot, keeping the handle pointed bottom left and the cup upright.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Position the pink cup to the carrot's left with the handle directed bottom left and right side up.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Using the left hand, place the pink cup to the left of the carrot.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Have the left arm set the pink cup left of the carrot.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "With the left hand, position the pink cup to the carrot's left.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Put the pink cup to the left of the carrot.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Set the pink cup left of the carrot.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Place the pink cup to the carrot's left.", + "start_idx": 3965, + "end_idx": 4019 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "With the left hand, collect the pink cup from the table using the handle at a diagonal angle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Retrieve the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Take the pink cup from the table by the handle.", + "start_idx": 4170, + "end_idx": 4200 + }, + { + "text": "Put the pink cup to the right of the blue soda can with the handle facing backwards right side up using the left hand.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Using the left hand, place the pink cup to the right of the blue soda can, right side up, with its handle facing backward.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Have the left arm set the pink cup to the right of the blue soda can with the handle pointing backward, upright.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "With the left hand, position the pink cup upright to the right of the blue soda can, handle facing the back.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Place the pink cup to the right of the blue soda can, right side up, with the handle facing backward.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Set the pink cup to the right of the blue soda can upright, with its handle pointing backward.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Position the pink cup to the right of the blue soda can with the handle toward the back, right side up.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Using the left hand, put the pink cup to the right of the blue soda can.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Have the left arm place the pink cup to the right of the blue soda can.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "With the left hand, set the pink cup to the right of the blue soda can.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Place the pink cup to the right of the blue soda can.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Set the pink cup upright to the right of the blue soda can.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Put the pink cup to the right of the blue soda can with its handle facing backward.", + "start_idx": 4200, + "end_idx": 4245 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "With the left hand, secure the blue soda can from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "From the table, grasp the blue soda can by the top with a side hold from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Grab the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 4326, + "end_idx": 4350 + }, + { + "text": "Put the blue soda can to the top left side of the table with the left hand.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Using the left hand, place the blue soda can at the table's top left side, right side up with the front referenced.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Have the left arm set the blue soda can on the top left area of the table, keeping it right side up relative to the front.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "With the left hand, position the blue soda can on the table's upper left side, upright with the front as reference.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Place the blue soda can at the top left side of the table, right side up with the front referenced.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Set the blue soda can on the table's top left side, upright relative to the front.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Position the blue soda can on the upper left area of the table, keeping it right side up with the front as reference.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Using the left hand, put the blue soda can at the top left side of the table.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "With the left hand, set the blue soda can on the table's upper left area.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Have the left arm place the blue soda can at the table's top left side.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Put the blue soda can on the top left side of the table.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Set the blue soda can at the table's upper left area.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Place the blue soda can on the upper left side of the table.", + "start_idx": 4350, + "end_idx": 4392 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "With the left hand, take the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Using the left arm, grasp the carrot from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Have the left hand pick the carrot from the table with a side grasp at its bottom from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Grasp the carrot from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Have the left hand grasp the carrot from the table with a side hold at its bottom.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Pick up the carrot from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Using the left hand, take the carrot from the table from a diagonal angle.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Have the left hand pick up the carrot from the table at the bottom.", + "start_idx": 4392, + "end_idx": 4416 + }, + { + "text": "Put the carrot in front of the blue soda can with the left hand with its tip facing top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Using the left hand, place the carrot in front of the blue soda can with its tip pointing to the top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Have the left arm set the carrot in front of the blue soda can, tip oriented toward the top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "With the left hand, position the carrot before the blue soda can so its tip faces top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Place the carrot in front of the blue soda can with its tip pointing to the top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Set the carrot before the blue soda can with its tip facing the top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Position the carrot in front of the blue soda can, with the tip directed top left.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Using the left hand, put the carrot in front of the blue soda can.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Have the left arm place the carrot before the blue soda can.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "With the left hand, position the carrot in front of the blue soda can.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Place the carrot in front of the blue soda can.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Set the carrot before the blue soda can.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Position the carrot in front of the blue soda can.", + "start_idx": 4416, + "end_idx": 4458 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "With the left hand, collect the carrot from the table by gripping the middle at a diagonal angle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Collect the carrot from the table by gripping the middle at a diagonal angle.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "With the left hand, collect the carrot from the table.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Collect the carrot from the table.", + "start_idx": 4521, + "end_idx": 4545 + }, + { + "text": "Put the carrot in front of the pink cup with the left hand facing backwards.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Using the left hand, place the carrot in front of the pink cup with its tip facing backwards.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Have the left arm set the carrot in front of the pink cup, tip pointed backward.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "With the left hand, position the carrot before the pink cup so the tip faces backwards.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Place the carrot in front of the pink cup with its tip facing backwards.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Set the carrot before the pink cup, keeping the tip pointed backward.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Position the carrot in front of the pink cup with the tip facing backwards.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Using the left hand, place the carrot in front of the pink cup.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Have the left arm set the carrot before the pink cup.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "With the left hand, position the carrot in front of the pink cup.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Place the carrot in front of the pink cup.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Set the carrot before the pink cup.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Position the carrot in front of the pink cup.", + "start_idx": 4545, + "end_idx": 4593 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Have the left arm pick the blue soda can up from the table with a side grasp at the top on a diagonal approach.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top on a diagonal approach.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 4656, + "end_idx": 4683 + }, + { + "text": "Put the blue soda can to the left of the carrot with the left hand.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Have the left arm set the blue soda can down to the carrot's left.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Place the blue soda can to the left of the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Set the blue soda can down on the carrot's left side.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Position the blue soda can left of the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Move the blue soda can to the left of the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Arrange the blue soda can beside the carrot on its left.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Using the left hand, place the blue soda can by the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "With the left hand, set the blue soda can beside the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Have the left arm position the blue soda can next to the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Put the blue soda can beside the carrot.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Using the left hand, take hold of the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "With the left hand, secure the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Grasp the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Retrieve the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "With the left hand, take the pink cup from the table by its handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Have the left arm retrieve the pink cup from the table by the handle.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 4782, + "end_idx": 4818 + }, + { + "text": "Place the pink cup to the left of the canned goods with the handle facing bottom left right side up using the left hand.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Using the left hand, set the pink cup to the left of the canned goods, right side up with its handle pointing bottom left.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Have the left arm place the pink cup left of the canned goods, keeping it upright and the handle facing bottom left.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "With the left hand, position the pink cup to the left of the canned goods so it stays right side up and the handle faces bottom left.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Place the pink cup to the left of the canned goods, right side up with the handle facing bottom left.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Set the pink cup left of the canned goods, keeping it upright and the handle pointed bottom left.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Position the pink cup to the left of the canned goods with its handle toward bottom left, right side up.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Put the pink cup to the left of the canned goods.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Set the pink cup left of the canned goods.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Position the pink cup to the left of the canned goods.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Place the pink cup to the left of the canned goods with the left hand.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Using the left hand, put the pink cup left of the canned goods.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Have the left arm set the pink cup to the left of the canned goods.", + "start_idx": 4818, + "end_idx": 4860 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Have the left arm pick the blue soda can up from the table with a side grip at its top from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Take the blue soda can from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp at the top.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "With the left hand, take the blue soda can from the table from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Have the left arm grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 4923, + "end_idx": 4953 + }, + { + "text": "Put the blue soda can to the left of the pink cup with the left hand.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "With the left hand, position the blue soda can to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Place the blue soda can to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Set the blue soda can down to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Position the blue soda can to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "The blue soda can goes to the left of the pink cup.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Move the blue soda can beside the pink cup on its left side.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Put the blue soda can next to the pink cup, on the left side.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Using the left hand, move the blue soda can beside the pink cup on its left side.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Have the left arm place the blue soda can next to the pink cup, on the left side.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "With the left hand, set the blue soda can to the pink cup's left side.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Have the left arm grasp the canned goods from the table with a side hold at the top at a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "With the left hand, collect the canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "From the table, grasp the canned goods with a side hold on the top at a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Take the canned goods from the table at a diagonal angle with a side grasp on the top.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp on the top.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "With the left hand, collect the canned goods from the table using a side grip.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Using the left hand, grasp the canned goods from the table from a diagonal angle.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "From the table, take the canned goods with the left hand.", + "start_idx": 5052, + "end_idx": 5082 + }, + { + "text": "Put the canned goods in front of the carrot with the left hand.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Using the left hand, place the canned goods in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Have the left arm set the canned goods down in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "With the left hand, position the canned goods in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Put the canned goods in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Place the canned goods in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Set the canned goods in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Move the canned goods to a spot in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Arrange the canned goods in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "The canned goods should go in front of the carrot.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Put the canned goods there.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Place the canned goods with the left hand.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Set the canned goods down.", + "start_idx": 5082, + "end_idx": 5121 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Have the left arm grasp the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "With the left hand, secure the pink cup from the table via the handle at a diagonal angle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Grasp the pink cup from the table via the handle at a diagonal angle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "The pink cup from the table should be picked up by the handle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Take the pink cup from the table at a diagonal angle.", + "start_idx": 5121, + "end_idx": 5151 + }, + { + "text": "Put the pink cup to the center of the table with the left hand right side up with the front facing bottom right.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Using the left hand, place the pink cup at the center of the table upright with the front facing bottom right.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Have the left arm set the pink cup in the table center, right side up, with its front toward the bottom right.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "With the left hand, position the pink cup in the center of the table, keeping it upright and the front pointed bottom right.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Place the pink cup at the center of the table upright with the front facing bottom right.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Set the pink cup in the center of the table right side up with the front toward the bottom right.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Position the pink cup at the table center with its front directed to the bottom right, right side up.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Using the left hand, place the pink cup at the center of the table.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Have the left arm set the pink cup in the center of the table.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "With the left hand, position the pink cup in the table center.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Place the pink cup at the center of the table.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Set the pink cup in the center of the table.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Put the pink cup in the center of the table.", + "start_idx": 5151, + "end_idx": 5196 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold at the top at a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "With the left hand, secure the blue soda can from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Take the blue soda can from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "From the table, take the blue soda can using a side grip.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 5196, + "end_idx": 5226 + }, + { + "text": "Put the blue soda can to top left of the table with the left hand.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Using the left hand, place the blue soda can at the table's top left, upright with the front as reference.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Have the left arm set the blue soda can in the table's upper-left area, right side up relative to the front.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "With the left hand, position the blue soda can at the top left of the table, keeping it upright based on the front.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Place the blue soda can at the top left of the table.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Set the blue soda can in the table's upper-left area.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "The blue soda can goes to the table's top-left position.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Using the left hand, place the blue soda can at the top left of the table.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Have the left arm set the blue soda can in the table's upper-left area.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "With the left hand, position the blue soda can at the top left of the table.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Move the blue soda can to the table's top-left spot.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Using the left hand, place the blue soda can in the table's upper-left area.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Set the blue soda can at the top left of the table with the left hand.", + "start_idx": 5226, + "end_idx": 5265 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Using the left hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "With the left arm, grasp the carrot from the table at a diagonal angle by its middle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Have the left hand pick the carrot up from the table with a diagonal approach at the middle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding its middle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Grasp the carrot from the table by the middle at a diagonal angle.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "With the left arm, take the carrot from the table.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Have the left hand grasp the carrot from the table.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 5325, + "end_idx": 5352 + }, + { + "text": "Place the carrot to the right of the pink cup with the left hand with its tip facing top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Using the left hand, set the carrot to the right of the pink cup with its tip facing the top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Have the left arm place the carrot to the right of the pink cup, tip oriented toward the top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "With the left hand, position the carrot to the right of the pink cup so its tip points top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Place the carrot to the right of the pink cup with its tip facing the top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Set the carrot to the right of the pink cup, with the tip pointed top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Position the carrot to the right of the pink cup so the tip points to the top left.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Using the left hand, place the carrot to the right of the pink cup.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "With the left hand, set the carrot to the right of the pink cup.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Have the left arm position the carrot to the right of the pink cup.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Place the carrot to the right of the pink cup.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Set the carrot to the right of the pink cup.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Have the left hand place the carrot to the right of the pink cup.", + "start_idx": 5352, + "end_idx": 5421 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from the top using a side hold at a diagonal angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "With the left hand, secure the blue soda can from the table by the top with a side grasp on a diagonal approach.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Take the blue soda can from the table from the top with a side grasp at a diagonal angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "From the table, grasp the blue soda can at the top using a side hold with a diagonal approach.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top and a diagonal pick angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a diagonal approach.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Grasp the blue soda can from the table at the top with a diagonal angle.", + "start_idx": 5421, + "end_idx": 5445 + }, + { + "text": "Put the blue soda can in front of the white cup with the left hand.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Using the left hand, place the blue soda can in front of the white cup upright.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "With the left arm, set the blue soda can upright before the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Have the left hand position the blue soda can right side up in front of the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Place the blue soda can upright in front of the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Set the blue soda can right side up before the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Position the blue soda can in front of the white cup upright.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Using the left hand, put the blue soda can by the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "With the left arm, place the blue soda can near the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Have the left hand set the blue soda can before the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Put the blue soda can in front of the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Set the blue soda can before the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Place the blue soda can by the white cup.", + "start_idx": 5445, + "end_idx": 5496 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle with a diagonal pickup.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "With the left hand, secure the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "With the left hand, take the pink cup from the table.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Have the left arm grasp the pink cup from the table.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Take the pink cup from the table by its handle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Put the pink cup behind the carrot with the handle facing bottom right right side up with the left hand.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Using the left hand, place the pink cup behind the carrot, keeping it right side up with the handle facing bottom right.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Have the left arm set the pink cup behind the carrot, handle pointed bottom right and right side up.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "With the left hand, position the pink cup behind the carrot so the handle faces bottom right and the cup stays upright.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Place the pink cup behind the carrot with the handle facing bottom right and right side up.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Set the pink cup behind the carrot, keeping it upright with the handle pointed bottom right.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Position the pink cup behind the carrot so it is right side up and the handle faces bottom right.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "With the left hand, put the pink cup behind the carrot.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Using the left hand, place the pink cup behind the carrot.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Have the left arm set the pink cup behind the carrot.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Put the pink cup behind the carrot, keeping it right side up.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Position the pink cup behind the carrot with the handle facing bottom right.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Set the pink cup behind the carrot upright.", + "start_idx": 5586, + "end_idx": 5625 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "With the left hand, grasp the carrot from the table diagonally at the middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Take the carrot from the table diagonally from the middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle from its middle.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 5625, + "end_idx": 5646 + }, + { + "text": "Put the carrot to the center of the table with the left hand with the tip facing top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Using the left hand, place the carrot at the center of the table with its tip pointing to the top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Have the left arm set the carrot in the table center, tip directed toward the top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "With the left hand, position the carrot at the center of the table so the tip faces the top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Place the carrot at the center of the table with its tip pointing to the top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Set the carrot in the center of the table with the tip facing top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Position the carrot at the table center so its tip points to the top right.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Using the left hand, place the carrot at the center of the table.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "With the left hand, set the carrot in the middle of the table.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Have the left arm position the carrot at the table center.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Put the carrot in the center of the table.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Place the carrot at the center of the table.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Set the carrot in the middle of the table.", + "start_idx": 5646, + "end_idx": 5682 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Have the left arm pick the pink cup up from the table by the handle in a diagonal grasp.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle using a diagonal hold.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Take the pink cup from the table by the handle in a diagonal grasp.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Grasp the pink cup from the table at the handle with a diagonal hold.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Take the pink cup from the table with the left hand.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 5682, + "end_idx": 5700 + }, + { + "text": "Put the pink cup right side up at the center of the table with the left hand with the handle facing backwards.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Using the left hand, place the pink cup at the center of the table upright, with the handle facing backwards.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Have the left arm set the pink cup in the table center right side up, handle pointing backward.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "With the left hand, position the pink cup at the center of the table so it stays upright and the handle faces backwards.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Place the pink cup at the center of the table upright, with the handle facing backwards.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Set the pink cup in the center of the table right side up, handle facing backward.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Position the pink cup at the table center so it is upright with the handle toward the back.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Using the left hand, put the pink cup at the center of the table.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Have the left arm place the pink cup in the center of the table.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "With the left hand, set the pink cup down at the table center.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Put the pink cup at the center of the table.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Place the pink cup in the middle of the table.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Set the pink cup down at the table center.", + "start_idx": 5700, + "end_idx": 5739 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "With the left hand, take the carrot from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Using the left arm, pick the carrot up from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Have the left hand retrieve the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "The carrot should be picked up from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "With the left hand, pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Using the left arm, take the carrot from the table with a side grasp at the bottom.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Have the left hand retrieve the carrot from the table from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Pick up the carrot from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Using the left hand, take the carrot from the table from a diagonal angle.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "The carrot should be picked up from the table with a side grip at the bottom.", + "start_idx": 5739, + "end_idx": 5763 + }, + { + "text": "Put the carrot to the left of the pink cup with the left hand facing top left with the tip as the reference point.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Using the left hand, place the carrot to the left of the pink cup with its tip facing the top left.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Have the left arm set the carrot left of the pink cup, oriented top left from the tip.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "With the left hand, position the carrot to the left of the pink cup so the tip points top left.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Place the carrot to the left of the pink cup with its tip facing the top left.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Set the carrot left of the pink cup, oriented top left from the tip.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Position the carrot to the left of the pink cup so the tip points top left.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Using the left hand, put the carrot to the left of the pink cup.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Have the left arm place the carrot left of the pink cup.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "With the left hand, set the carrot to the left of the pink cup.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Put the carrot to the left of the pink cup.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Place the carrot left of the pink cup.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Set the carrot to the left of the pink cup.", + "start_idx": 5763, + "end_idx": 5796 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Have the left arm take the pink cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "With the left hand, retrieve the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Retrieve the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Take the pink cup from the table, holding the handle at a diagonal angle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Have the left arm take the pink cup from the table by its handle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "With the left hand, retrieve the pink cup from the table.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Take the pink cup from the table at a diagonal angle.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Retrieve the pink cup from the table.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Place the pink cup in front of the blue soda can with the handle facing backwards right side up using the left hand.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Using the left hand, set the pink cup in front of the blue soda can with the handle facing backward and upright.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Have the left arm place the pink cup ahead of the blue soda can, keeping it right side up and the handle pointed backward.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "With the left hand, position the pink cup before the blue soda can, upright with its handle facing backward.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Place the pink cup in front of the blue soda can with the handle facing backward and right side up.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Set the pink cup ahead of the blue soda can, keeping the handle backward and the cup upright.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Position the pink cup before the blue soda can, with its handle pointed backward and upright.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Put the pink cup in front of the blue soda can.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Set the pink cup ahead of the blue soda can.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Position the pink cup before the blue soda can.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Place the pink cup in front of the blue soda can with the left hand.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Using the left hand, set the pink cup ahead of the blue soda can.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Have the left arm position the pink cup before the blue soda can.", + "start_idx": 5898, + "end_idx": 5940 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach, holding it at the center.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally, gripping the middle.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Retrieve the carrot from the table with a diagonal approach, holding the center.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Take the carrot from the table diagonally, with the grasp at its middle.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 6066, + "end_idx": 6084 + }, + { + "text": "Put the carrot to the left of the blue soda can with the left hand with its tip facing top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Using the left hand, place the carrot to the left of the blue soda can with its tip pointing to the top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Have the left arm set the carrot left of the blue soda can, tip oriented toward the top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "With the left hand, position the carrot on the left side of the blue soda can, keeping its tip directed top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Place the carrot to the left of the blue soda can with its tip facing top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Set the carrot on the left side of the blue soda can, with the tip pointing top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Position the carrot left of the blue soda can, tip directed toward the top right.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Using the left hand, place the carrot to the left of the blue soda can.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "With the left hand, set the carrot on the left side of the blue soda can.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Have the left arm position the carrot left of the blue soda can.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Place the carrot to the left of the blue soda can.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Set the carrot on the left side of the blue soda can.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Have the left arm place the carrot to the left of the blue soda can.", + "start_idx": 6084, + "end_idx": 6120 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grip at the handle.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Using the left hand, take hold of the pink cup from the table with a diagonal grip at the handle.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Have the left hand grasp the pink cup from the table by the handle in a diagonal hold.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "With the left hand, secure the pink cup from the table using a diagonal grasp on the handle.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grip at the handle.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Take the pink cup from the table with a diagonal grasp on the handle.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Grasp the pink cup from the table by the handle with a diagonal hold.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "From the table, collect the pink cup with a diagonal grip at the handle.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Using the left hand, take the pink cup from the table.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Have the left hand collect the pink cup from the table.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "From the table, grasp the pink cup.", + "start_idx": 6120, + "end_idx": 6150 + }, + { + "text": "Put the pink cup in front of the carrot with the left hand right side up with the front facing bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Using the left hand, place the pink cup in front of the carrot, right side up, with its front facing bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Have the left arm set the pink cup in front of the carrot upright, with the front pointed toward the bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "With the left hand, position the pink cup in front of the carrot so it stays right side up and its front faces bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Place the pink cup in front of the carrot, right side up, with the front facing bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Set the pink cup in front of the carrot upright, with its front oriented toward the bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Position the pink cup in front of the carrot so it is right side up and the front points bottom left.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Using the left hand, put the pink cup in front of the carrot.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "With the left hand, set the pink cup in front of the carrot.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Have the left arm place the pink cup in front of the carrot.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Put the pink cup in front of the carrot.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Set the pink cup in front of the carrot.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Position the pink cup in front of the carrot.", + "start_idx": 6150, + "end_idx": 6186 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top at a diagonal angle.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Have the left hand take the blue soda can from the table with a top side grasp at a diagonal angle.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from the side at the top on a diagonal.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top at a diagonal angle.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Take the blue soda can from the table using a side grasp at the top on a diagonal.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Grasp the blue soda can from the table from the side at the top with a diagonal orientation.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Have the left hand grasp the blue soda can from the table.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle.", + "start_idx": 6186, + "end_idx": 6213 + }, + { + "text": "Put the blue soda can behind the canned goods with the left hand.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Using the left hand, place the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Have the left arm set the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "With the left hand, position the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Place the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Set the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Position the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Move the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "The blue soda can goes behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Arrange the blue soda can behind the canned goods with the left hand.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Using the left hand, move the blue soda can behind the canned goods.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Put the blue soda can behind the canned goods using the left hand.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Behind the canned goods, place the blue soda can.", + "start_idx": 6213, + "end_idx": 6249 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Using the left hand, take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Have the left arm grasp the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "With the left hand, pick the pink cup up from the table using the handle at a diagonal angle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Take the pink cup from the table using its handle at a diagonal angle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Have the left arm take the pink cup from the table by its handle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Take the pink cup from the table at a diagonal angle.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 6381, + "end_idx": 6411 + }, + { + "text": "Put the pink cup in front of the blue soda can with the handle facing bottom right using the left hand right side up.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Using the left hand, place the pink cup in front of the blue soda can, right side up, with the handle facing bottom right.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Have the left hand set the pink cup before the blue soda can, keeping it upright and the handle pointed bottom right.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "With the left hand, position the pink cup in front of the blue soda can so it stays right side up and its handle faces bottom right.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Place the pink cup in front of the blue soda can, right side up, with the handle facing bottom right.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Set the pink cup before the blue soda can, upright, with the handle pointed bottom right.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Position the pink cup in front of the blue soda can, keeping it right side up and the handle toward bottom right.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Using the left hand, put the pink cup in front of the blue soda can.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "With the left hand, place the pink cup before the blue soda can.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Have the left hand set the pink cup in front of the blue soda can.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Put the pink cup in front of the blue soda can.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Set the pink cup before the blue soda can.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Position the pink cup in front of the blue soda can.", + "start_idx": 6411, + "end_idx": 6444 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Retrieve the carrot from the table diagonally by the middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Take the carrot from the table by the middle.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Place the carrot to the left of the pink cup with the left hand facing top right with the tip as the orientation reference point.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Using the left hand, set the carrot to the left of the pink cup with its tip facing the top right.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Have the left arm place the carrot left of the pink cup, oriented top right at the tip.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "With the left hand, position the carrot to the pink cup's left, tip directed toward the top right.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Place the carrot to the left of the pink cup with its tip facing the top right.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Set the carrot left of the pink cup, with the tip oriented toward the top right.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Position the carrot to the left of the pink cup, keeping the tip aimed at the top right.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Using the left hand, place the carrot to the left of the pink cup.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Have the left arm set the carrot left of the pink cup.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "With the left hand, position the carrot to the pink cup's left.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Put the carrot to the left of the pink cup.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Using the left hand, place the carrot left of the pink cup.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Set the carrot to the left of the pink cup.", + "start_idx": 6474, + "end_idx": 6501 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal, gripping the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Take the carrot from the table on a diagonal while holding the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Have the left arm pick up the carrot from the table at a diagonal angle.", + "start_idx": 6642, + "end_idx": 6660 + }, + { + "text": "Put the carrot to the top left side of the table with the left hand with its tip facing top left.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Using the left hand, place the carrot on the table's top-left side with its tip pointing top left.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Have the left hand set the carrot at the table's top-left area, keeping the tip directed toward the top left.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "With the left hand, position the carrot at the top-left side of the table so its tip faces top left.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Place the carrot on the table's top-left side.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Set the carrot at the top-left area of the table.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Position the carrot on the top-left side of the table.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Put the carrot at the table's top-left side.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Using the left hand, place the carrot on the table's top-left side.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Set the carrot at the table's top-left area with the left hand.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Position the carrot on the table's top-left side with its tip facing top left.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Place the carrot at the table's top-left side.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Have the left hand put the carrot on the table's top-left side.", + "start_idx": 6660, + "end_idx": 6693 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Have the left arm grasp the blue soda can from the table by the top with a side hold from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "With the left hand, seize the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Grasp the blue soda can from the table by the top from a diagonal angle.", + "start_idx": 6693, + "end_idx": 6717 + }, + { + "text": "Place the blue soda can to the front left of the carrot with the left hand.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "With the left hand, set the blue soda can at the carrot's front left, right side up.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Using the left arm, position the blue soda can front-left of the carrot, keeping it upright.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Have the left hand place the blue soda can to the front left of the carrot in an upright orientation.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Place the blue soda can at the carrot's front left, keeping it upright.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Set the blue soda can to the front left of the carrot, right side up.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Position the blue soda can front-left of the carrot in an upright pose.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "With the left hand, place the blue soda can beside the carrot.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Using the left arm, set the blue soda can to the carrot's left.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Have the left hand position the blue soda can near the carrot.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Place the blue soda can at the carrot's front left.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Set the blue soda can to the front left of the carrot.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Position the blue soda can front-left of the carrot.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Have the left arm pick up the pink cup from the table with a diagonal grasp on the left lip.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the left side using a diagonal lip hold.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Pick up the pink cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Grasp the pink cup from the table with a diagonal lip hold on the left side.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Take the pink cup from the table at its left side with a diagonal lip grasp.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 6951, + "end_idx": 6978 + }, + { + "text": "Put the pink cup to the left side of the carrot with the handle facing bottom left right side up with the left hand.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Using the left hand, place the pink cup to the left of the carrot, handle facing bottom left and right side up.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Have the left arm set the pink cup on the carrot's left side with the handle pointed bottom left, right side up.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "With the left hand, position the pink cup left of the carrot, keeping it upright with the handle facing bottom left.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Place the pink cup to the left of the carrot with the handle facing bottom left and right side up.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Set the pink cup on the left side of the carrot, handle pointed bottom left and right side up.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Position the pink cup left of the carrot, upright with its handle facing bottom left.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Using the left hand, put the pink cup to the left of the carrot.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Have the left arm place the pink cup on the carrot's left side.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "With the left hand, set the pink cup left of the carrot.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Place the pink cup to the left of the carrot.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Using the left hand, position the pink cup to the left of the carrot.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Set the pink cup on the carrot's left side.", + "start_idx": 6978, + "end_idx": 7014 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach, holding it at the center.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally, gripping the middle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Take the carrot from the table with a diagonal approach, holding the middle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Retrieve the carrot from the table diagonally, gripping it at the center.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Take the carrot from the table at a diagonal angle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Grasp the carrot from the table at the middle.", + "start_idx": 7014, + "end_idx": 7035 + }, + { + "text": "Put the carrot to the center of the table with the left hand facing top right with the tip facing top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Using the left hand, place the carrot at the center of the table with its tip facing the top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Have the left arm set the carrot in the table's center, oriented so the tip points to the top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "With the left hand, position the carrot in the center of the table, keeping the tip directed toward the top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Place the carrot at the center of the table with its tip facing the top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Set the carrot in the center of the table so the tip points top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Position the carrot at the table center with the tip oriented toward the top right.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Put the carrot at the center of the table.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Place the carrot in the middle of the table.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Set the carrot down at the table's center.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "At the center of the table, place the carrot.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Using the left hand, put the carrot at the center of the table.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Have the left arm place the carrot in the middle of the table.", + "start_idx": 7035, + "end_idx": 7068 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a top side hold at a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "With the left hand, seize the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "From the table, pick up the blue soda can with the left hand from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Pick up the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 7068, + "end_idx": 7101 + }, + { + "text": "Put the blue soda can to the right of the carrot with the left hand.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Have the left arm set the blue soda can down to the carrot's right.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Place the blue soda can to the right of the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Set the blue soda can on the carrot's right side.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Position the blue soda can right of the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Using the left hand, place the blue soda can by the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "With the left hand, set the blue soda can near the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Have the left arm put the blue soda can next to the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Place the blue soda can beside the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Set the blue soda can by the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Position the blue soda can next to the carrot.", + "start_idx": 7101, + "end_idx": 7143 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Have the left arm pick the white cup up from the table by the handle in a diagonal grasp.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle with a diagonal hold.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Pick up the white cup from the table at the handle with a diagonal grasp.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Take the white cup from the table using a diagonal grasp at the handle.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Grasp the white cup from the table by the handle in a diagonal grip.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Take the white cup from the table with the left hand at the handle.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 7143, + "end_idx": 7176 + }, + { + "text": "Place the white cup to the front right of the pink cup with the handle facing bottom right right side up with the left hand.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Using the left hand, set the white cup front-right of the pink cup, handle pointing bottom right, right side up.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Have the left arm place the white cup to the pink cup's front right with the handle oriented bottom right, upright.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "With the left hand, position the white cup at the front-right of the pink cup, keeping it right side up and the handle facing bottom right.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Place the white cup to the front right of the pink cup with the handle facing bottom right and right side up.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Set the white cup at the front right of the pink cup, with the handle directed bottom right, right side up.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Position the white cup front-right of the pink cup, handle toward bottom right, upright.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Using the left hand, place the white cup to the front right of the pink cup.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Have the left arm set the white cup beside the pink cup at its front right.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "With the left hand, position the white cup at the pink cup's front right.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Place the white cup to the front right of the pink cup with the left hand.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Set the white cup at the pink cup's front right using the left hand.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Have the left arm place the white cup beside the pink cup at the front right.", + "start_idx": 7176, + "end_idx": 7212 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle with a diagonal pick angle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "With the left hand, grasp the pink cup from the table by the handle on a diagonal.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Grasp the pink cup from the table by the handle on a diagonal.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 7212, + "end_idx": 7230 + }, + { + "text": "Put the pink cup behind the carrot with the handle facing backwards right side up using the left hand.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Using the left hand, place the pink cup behind the carrot with its handle facing backward, right side up.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Have the left arm set the pink cup behind the carrot, keeping it upright with the handle pointed backward.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "With the left hand, position the pink cup behind the carrot so the handle faces backward and the cup stays right side up.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Place the pink cup behind the carrot with its handle facing backward and keep it right side up.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Set the pink cup behind the carrot, upright, with the handle pointed backward.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Position the pink cup behind the carrot so the handle faces backward, right side up.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Using the left hand, put the pink cup behind the carrot.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Have the left arm place the pink cup behind the carrot.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "With the left hand, set the pink cup behind the carrot.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Put the pink cup behind the carrot.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Place the pink cup behind the carrot, keeping it right side up.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Set the pink cup behind the carrot with the handle facing backward.", + "start_idx": 7230, + "end_idx": 7272 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Have the left arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "With the left hand, secure the white cup from the table by its handle at a diagonal angle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Grasp the white cup from the table by its handle at a diagonal angle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "With the left hand, take the white cup from the table by its handle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 7272, + "end_idx": 7317 + }, + { + "text": "Put the white cup to the left of the carrot with the handle facing backwards right side up using the left hand.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Using the left hand, place the white cup to the left of the carrot with the handle facing backward, right side up.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Have the left arm set the white cup left of the carrot, keeping it upright with the handle pointed backward.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "With the left hand, position the white cup to the carrot's left, upright and with its handle facing the back.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Place the white cup to the left of the carrot with the handle facing backward, right side up.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Set the white cup left of the carrot, keeping it upright with the handle pointed backward.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Position the white cup on the left side of the carrot, upright and with its handle toward the back.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Using the left hand, put the white cup to the left of the carrot.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Have the left arm place the white cup beside the carrot on its left side.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "With the left hand, set the white cup left of the carrot.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Put the white cup to the left of the carrot.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Place the white cup on the carrot's left side.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Set the white cup beside the carrot, on its left.", + "start_idx": 7317, + "end_idx": 7353 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "From a diagonal angle, have the left hand take the canned goods from the table with a side grasp at the top.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "With the left hand, retrieve the canned goods from the table using a top side grip from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "From a diagonal angle, take the canned goods from the table with a side grasp at the top.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Retrieve the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Have the left hand retrieve the canned goods from the table using a top side grip.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "With the left hand, take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "From the table, retrieve the canned goods with the left hand at the top from a diagonal angle.", + "start_idx": 7353, + "end_idx": 7374 + }, + { + "text": "Put the canned goods in front of the carrot with the left hand.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Using the left hand, place the canned goods in front of the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Have the left arm set the canned goods down in front of the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "With your left hand, position the canned goods before the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Place the canned goods in front of the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Set the canned goods before the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Position the canned goods in front of the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Put the canned goods by the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Move the canned goods to the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Transfer the canned goods next to the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Arrange the canned goods near the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Set the canned goods down before the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Place the canned goods near the carrot.", + "start_idx": 7374, + "end_idx": 7425 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Have the left arm pick the white cup off the table by the handle in a diagonal grasp.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "With the left hand, grasp the white cup from the table diagonally at the handle.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Take the white cup off the table by the handle with a diagonal grasp.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Grasp the white cup from the table at the handle in a diagonal hold.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Have the left arm take the white cup off the table.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Using the left hand, take the white cup off the table.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Grasp the white cup from the table at the handle.", + "start_idx": 7476, + "end_idx": 7500 + }, + { + "text": "Put the white cup to the left of the pink cup with the handle facing backwards right side up with the left hand.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink cup, upright, with its handle facing backward.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Have the left arm set the white cup left of the pink cup, keeping it right side up and the handle pointed backward.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "With the left hand, position the white cup on the pink cup's left side, right side up, handle facing the back.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Place the white cup to the left of the pink cup, keeping it upright and the handle facing backward.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Set the white cup on the left side of the pink cup, with the handle pointing backward and the cup right side up.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Position the white cup left of the pink cup, upright, with its handle directed backward.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink cup.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Have the left arm set the white cup on the left side of the pink cup.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "With the left hand, position the white cup left of the pink cup.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Put the white cup to the left of the pink cup.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Set the white cup on the pink cup's left side.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Place the white cup beside the pink cup on its left side.", + "start_idx": 7500, + "end_idx": 7539 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Have the left arm pick the carrot up from the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "With the left hand, grasp the carrot from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Take the carrot from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Grasp the carrot from the table by the bottom with a side hold from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Have the left arm take the carrot from the table with a side grasp on the bottom.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "With the left hand, grasp the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Using the left hand, pick up the carrot from the table from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Pick up the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Take the carrot from the table by the bottom.", + "start_idx": 7599, + "end_idx": 7611 + }, + { + "text": "Place the carrot to the left of the white cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Using the left hand, position the carrot to the left of the white cup with its tip facing forwards.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Have the left arm place the carrot left of the white cup, oriented forward from the tip.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "With the left hand, set the carrot to the white cup's left side, tip pointing forwards.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Place the carrot to the left of the white cup with its tip facing forwards.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Set the carrot left of the white cup, with the tip oriented forwards.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Position the carrot to the left of the white cup, tip facing forward.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Using the left hand, place the carrot to the left of the white cup.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "With the left hand, set the carrot left of the white cup.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Have the left arm position the carrot to the white cup's left side.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Place the carrot to the left of the white cup.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Set the carrot left of the white cup.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Position the carrot on the left side of the white cup.", + "start_idx": 7611, + "end_idx": 7647 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Have the left arm pick up the white cup from the table by the handle in a diagonal grasp.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "With the left hand, grasp the white cup from the table at the handle using a diagonal hold.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Pick up the white cup from the table with a diagonal grasp at the handle.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Take the white cup from the table by the handle in a diagonal grasp.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Grasp the white cup from the table at the handle with a diagonal hold.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Using the left hand, take the white cup from the table by the handle.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Pick up the white cup from the table at the handle.", + "start_idx": 7647, + "end_idx": 7671 + }, + { + "text": "Put the white cup in front of the carrot with the handle facing backwards right side up using the left hand.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Using the left hand, place the white cup in front of the carrot with the handle facing backwards, right side up.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Have the left arm set the white cup before the carrot, keeping it upright with the handle pointing backward.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "With the left hand, position the white cup in front of the carrot so the handle faces back and the cup stays right side up.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Place the white cup in front of the carrot with the handle facing backwards, right side up.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Set the white cup before the carrot, keeping the handle pointed backward and the cup upright.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Position the white cup in front of the carrot with the handle toward the back, upright.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Put the white cup in front of the carrot.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Set the white cup before the carrot.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Position the white cup in front of the carrot.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Have the left arm place the white cup in front of the carrot.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "With the left hand, set the white cup before the carrot.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Put the white cup in front of the carrot using the left hand.", + "start_idx": 7671, + "end_idx": 7704 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Have the left hand grasp the pink cup from the table at the handle with a diagonal hold.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "With the left hand, collect the pink cup from the table by the handle in a diagonal grasp.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Using the left hand, take the pink cup from the table.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Have the left hand collect the pink cup from the table.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 7704, + "end_idx": 7734 + }, + { + "text": "Put the pink cup to the left of the white cup with the handle facing bottom left right side up with the left hand.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Using the left hand, place the pink cup to the left of the white cup, handle facing bottom left and right side up.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Have the left hand set the pink cup left of the white cup with its handle pointing bottom left, right side up.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "With the left hand, position the pink cup to the left of the white cup, keeping the handle toward bottom left and the cup upright.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Place the pink cup to the left of the white cup with the handle facing bottom left and right side up.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Set the pink cup left of the white cup, with its handle pointing bottom left and the cup upright.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Position the pink cup to the left of the white cup, handle facing bottom left and right side up.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Using the left hand, place the pink cup to the left of the white cup.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Have the left hand put the pink cup left of the white cup.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "With the left hand, set the pink cup to the left of the white cup.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Put the pink cup to the left of the white cup.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Set the pink cup left of the white cup.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Place the pink cup to the left of the white cup.", + "start_idx": 7734, + "end_idx": 7770 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "From a diagonal angle, have the left hand seize the blue soda can from the table with a side hold at the top.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "The left hand should collect the blue soda can from the table using a side grip on its top from a diagonal approach.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "From a diagonal angle, grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "With the left hand, pick up the blue soda can from the table using a side grip.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Have the left hand take the blue soda can from the table with a side grasp.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "The left hand should grasp the blue soda can from the table using a side hold.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 7833, + "end_idx": 7863 + }, + { + "text": "Put the blue soda can to the right of the canned goods with the left hand.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Place the blue soda can to the right of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Set the blue soda can on the right side of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Position the blue soda can to the right of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "The blue soda can goes to the right of the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Using the left hand, put the blue soda can by the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "With the left hand, place the blue soda can next to the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Have the left arm position the blue soda can beside the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Put the blue soda can beside the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Set the blue soda can next to the canned goods.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Have the left arm pick the carrot up from the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "With the left hand, grasp the carrot from the table using a side hold at the bottom from a diagonal approach.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "From the table, take the carrot with a side grasp at the bottom at a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Grasp the carrot from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Have the left arm take the carrot from the table using a side grasp on the bottom.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Pick up the carrot from the table from a diagonal angle.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "From the table, take the carrot with the left hand.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 7901, + "end_idx": 7928 + }, + { + "text": "Put the carrot to the right of the blue soda can with the left hand facing right with the tip as the reference point.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Using the left hand, place the carrot to the right of the blue soda can with the tip facing right.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Have the left arm set the carrot to the right of the blue soda can, oriented rightward from the tip.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "With the left hand, position the carrot to the right of the blue soda can so its tip points right.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Place the carrot to the right of the blue soda can with the tip facing right.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Set the carrot to the right of the blue soda can, oriented rightward from the tip.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Position the carrot to the right of the blue soda can so the tip points right.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Using the left hand, put the carrot to the right of the blue soda can.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Have the left arm place the carrot to the right of the blue soda can.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "With the left hand, set the carrot to the right of the blue soda can.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Place the carrot to the right of the blue soda can.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Set the carrot to the right of the blue soda can.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Position the carrot to the right of the blue soda can.", + "start_idx": 7929, + "end_idx": 7965 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top and a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Have the left hand collect the canned goods from the table in a top side hold at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "With the left hand, secure the canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top and a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Get the canned goods from the table in a side hold on the top at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "With the left hand, take the canned goods from the table using a side grasp on the top.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Have the left hand pick up the canned goods from the table at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "With the left hand, take the canned goods from the table.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8052 + }, + { + "text": "Put the canned goods behind the carrot with the left hand.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Using the left hand, place the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Have the left arm set the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "With the left hand, position the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Put the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Place the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Set the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Move the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Arrange the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "The canned goods go behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Have the canned goods placed behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Behind the carrot, put the canned goods.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Position the canned goods behind the carrot.", + "start_idx": 8051, + "end_idx": 8087 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Have the left hand grasp the white cup from the table by the handle with a diagonal approach.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "With the left hand, secure the white cup from the table by its handle at a diagonal angle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "From the table, grasp the white cup by the handle at a diagonal angle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Using the left hand, pick up the white cup from the table by the handle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Have the left hand take the white cup from the table by its handle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "With the left hand, grasp the white cup from the table at a diagonal angle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 8088, + "end_idx": 8124 + }, + { + "text": "Put the white cup to the left of the carrot with the handle facing backwards right side up using the left hand.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Using the left hand, place the white cup to the left of the carrot with the handle facing backwards, right side up.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Have the left arm set the white cup left of the carrot, keeping it upright with the handle pointing backward.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "With the left hand, position the white cup on the carrot's left side, handle oriented backward and right side up.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Place the white cup to the left of the carrot with the handle facing backwards, right side up.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Set the white cup on the left side of the carrot, upright with the handle pointing backward.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Position the white cup left of the carrot, keeping it right side up with the handle toward the back.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Using the left hand, put the white cup to the left of the carrot.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Have the left arm place the white cup on the carrot's left side.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "With the left hand, set the white cup left of the carrot.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Place the white cup to the left of the carrot.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Set the white cup on the carrot's left side.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Position the white cup left of the carrot.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Have the left arm pick the pink cup off the table by the handle with a diagonal grip.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Grasp the pink cup off the table at the handle with a diagonal hold.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Take the pink cup from the table by the handle using a diagonal grip.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Have the left arm take the pink cup off the table.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Using the left hand, grasp the pink cup from the table.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Take the pink cup off the table.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Get the pink cup from the table.", + "start_idx": 8160, + "end_idx": 8196 + }, + { + "text": "Put the pink cup to the center of the table with the left hand right side up with the front facing backwards.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Using the left hand, place the pink cup at the center of the table right side up with the front facing backward.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Have the left hand set the pink cup in the table's center, upright and with the front oriented backward.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "With the left hand, position the pink cup in the center of the table, right side up and facing backward at the front.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Place the pink cup at the center of the table right side up with the front facing backward.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Set the pink cup in the center of the table upright, with the front toward the back.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Position the pink cup at the table's center right side up, front facing backward.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Using the left hand, put the pink cup at the center of the table.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Have the left hand place the pink cup in the middle of the table.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "With the left hand, set the pink cup at the table's center.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Put the pink cup in the center of the table.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Place the pink cup at the center of the table, right side up.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Set the pink cup in the middle of the table with the front facing backward.", + "start_idx": 8196, + "end_idx": 8235 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the left side and a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Have the left hand grasp the white cup from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp on its left side at a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the left side and a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Take the white cup from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Grasp the white cup from the table at the left side with a lip grip and a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the left side.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grasp.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Have the left hand grasp the white cup from the table.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Using the left hand, take the white cup from the table at the left side and a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle.", + "start_idx": 8235, + "end_idx": 8259 + }, + { + "text": "Place the white cup to the left of the pink cup with the handle facing backwards right side up with the left hand.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Using the left hand, set the white cup to the left of the pink cup with its handle facing backward, right side up.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "With the left hand, position the white cup left of the pink cup, keeping it upright and the handle facing back.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Have the left arm place the white cup to the pink cup's left with the handle pointed backward and the cup right side up.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Place the white cup to the left of the pink cup.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Set the white cup left of the pink cup.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Position the white cup to the pink cup's left side.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Put the white cup to the left of the pink cup.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink cup.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "With the left hand, set the white cup to the pink cup's left.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Have the left arm position the white cup left of the pink cup.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Place the white cup left of the pink cup, right side up.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Set the white cup to the left of the pink cup with the handle facing backward.", + "start_idx": 8259, + "end_idx": 8295 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Using the left hand, take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Have the left arm grasp the white cup from the table at the handle with a diagonal approach.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "With the left hand, secure the white cup from the table by the handle on a diagonal.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Grasp the white cup from the table at the handle on a diagonal.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Take the white cup from the table by its handle with a diagonal approach.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "With the left hand, pick up the white cup from the table by the handle.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Have the left arm take the white cup from the table at the handle.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Using the left hand, grasp the white cup from the table.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Take the white cup from the table by the handle.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Secure the white cup from the table.", + "start_idx": 8352, + "end_idx": 8379 + }, + { + "text": "Put the white cup to the front left of the carrot with the handle facing backwards using the left hand.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Using the left hand, place the white cup front-left of the carrot with its handle facing backward.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Have the left arm set the white cup to the carrot's front-left, handle pointed backward.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "With the left hand, position the white cup in front-left of the carrot, with the handle facing back.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Place the white cup to the front left of the carrot with the handle facing backwards.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Set the white cup front-left of the carrot with its handle pointing backward.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Position the white cup to the carrot's front-left, handle facing back.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Put the white cup to the front left of the carrot.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Set the white cup in front-left of the carrot.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Position the white cup near the carrot's front-left side.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Using the left hand, place the white cup to the front left of the carrot.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Have the left arm put the white cup beside the carrot at the front-left.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "With the left hand, set the white cup near the carrot.", + "start_idx": 8379, + "end_idx": 8415 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal angle, gripping the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Retrieve the carrot from the table on a diagonal angle, holding the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "The carrot from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "With the left hand, pick up the carrot from the table.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Using the left hand, retrieve the carrot from the table.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "The carrot from the table should be taken.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Put the carrot to the left of the pink cup with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Using the left hand, place the carrot to the left of the pink cup with its tip facing bottom left.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Have the left arm set the carrot to the left of the pink cup, oriented bottom-left from the tip.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "With the left hand, position the carrot left of the pink cup so the tip points to the bottom left.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Place the carrot to the left of the pink cup with its tip facing bottom left.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Set the carrot left of the pink cup, with the tip oriented toward the bottom left.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Position the carrot to the left of the pink cup so its tip faces bottom left.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Using the left hand, place the carrot to the left of the pink cup.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "With the left hand, set the carrot left of the pink cup.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Have the left arm position the carrot to the left of the pink cup.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Put the carrot to the left of the pink cup.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Arrange the carrot left of the pink cup.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Set the carrot down to the left of the pink cup.", + "start_idx": 8439, + "end_idx": 8481 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Have the left arm pick the pink cup up from the table by the handle with a diagonal grip.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Take the pink cup from the table by the handle with a diagonal grip.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Grasp the pink cup from the table at the handle using a diagonal hold.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Using the left hand, grasp the pink cup from the table.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 8547, + "end_idx": 8568 + }, + { + "text": "Put the pink cup to the left of the carrots with the handle facing bottom left right side up using the left hand.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Using the left hand, place the pink cup left of the carrots, right side up, with the handle pointing bottom left.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Have the left arm set the pink cup to the left of the carrots with its handle facing bottom left and the cup right side up.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "With the left hand, position the pink cup to the carrots' left, keeping it right side up and the handle directed bottom left.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Place the pink cup to the left of the carrots with the handle facing bottom left, right side up.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Set the pink cup left of the carrots, with its handle pointing bottom left and the cup upright.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Position the pink cup to the carrots' left, keeping the handle toward bottom left and the cup right side up.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Using the left hand, put the pink cup to the left of the carrots.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Have the left arm place the pink cup left of the carrots.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "With the left hand, set the pink cup to the carrots' left.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Put the pink cup to the left of the carrots.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Place the pink cup left of the carrots.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Set the pink cup to the carrots' left.", + "start_idx": 8568, + "end_idx": 8601 + }, + { + "text": "Pick up the canned goods from the table with the left hand from the top at a diagonal angle using a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Using the left hand, take the canned goods from the table from the top at a diagonal angle with a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Have the left arm grasp the canned goods from the table at the top diagonally using a side grip.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "With the left hand, secure the canned goods from the table from above at a diagonal angle in a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Pick up the canned goods from the table from the top at a diagonal angle using a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "From the table, collect the canned goods from the top at a diagonal angle with a side grip.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Take the canned goods from the table diagonally from the top using a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grip.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "With the left hand, grasp the canned goods from the table in a side grasp.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Pick up the canned goods from the table from the top at a diagonal angle.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "From the table, take the canned goods from above at a diagonal angle.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 8667, + "end_idx": 8691 + }, + { + "text": "Put the canned goods to the right of the carrot with the left hand.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Using the left hand, place the canned goods to the right of the carrot.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Have the left arm set the canned goods down to the carrot's right.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "With the left hand, position the canned goods on the right side of the carrot.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Place the canned goods to the right of the carrot.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Set the canned goods down to the carrot's right.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Position the canned goods on the right side of the carrot.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Move the canned goods to the right of the carrot.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "The canned goods should go to the carrot's right.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Using the left hand, place the canned goods.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Have the left arm set down the canned goods.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "With the left hand, move the canned goods.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Put the canned goods down.", + "start_idx": 8691, + "end_idx": 8733 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal top lip grasp.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal top lip grasp.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Have the left arm take the white cup from the table using a diagonal grasp on the top lip.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "With the left hand, grasp the white cup from the table by the top lip at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Pick up the white cup from the table using a diagonal top lip grasp.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Take the white cup from the table with a diagonal top lip grasp.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Grasp the white cup from the table by its top lip in a diagonal hold.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Put the white cup in front of the canned goods with the left hand right side up with the front facing bottom left.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Using the left hand, place the white cup in front of the canned goods right side up with the front facing bottom left.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Have the left arm set the white cup in front of the canned goods, keeping it upright with the front toward the bottom left.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "With the left hand, position the white cup in front of the canned goods so it is right side up and the front faces bottom left.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Place the white cup in front of the canned goods right side up with the front facing bottom left.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Set the white cup in front of the canned goods upright, with the front toward the bottom left.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Position the white cup in front of the canned goods so it stays right side up and faces bottom left at the front.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Using the left hand, put the white cup in front of the canned goods.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Have the left arm place the white cup in front of the canned goods.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "With the left hand, set the white cup in front of the canned goods.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Place the white cup in front of the canned goods.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Set the white cup in front of the canned goods.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Position the white cup in front of the canned goods.", + "start_idx": 8766, + "end_idx": 8793 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal, gripping the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Retrieve the carrot from the table on a diagonal while holding the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Take the carrot from the table at a diagonal angle by the middle.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "With the left hand, retrieve the carrot from the table.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 8793, + "end_idx": 8817 + }, + { + "text": "Put the carrot in front of the blue soda can with the left hand facing bottom right with the tip as reference.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Using the left hand, place the carrot in front of the blue soda can with the tip facing bottom right.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Have the left arm set the carrot in front of the blue soda can, oriented bottom right by its tip.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "With the left hand, position the carrot before the blue soda can so the tip points toward the bottom right.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Place the carrot in front of the blue soda can with the tip facing bottom right.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Set the carrot before the blue soda can, with its tip oriented toward the bottom right.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Position the carrot in front of the blue soda can so the tip points bottom right.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Using the left hand, put the carrot in front of the blue soda can.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "With the left hand, place the carrot before the blue soda can.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Have the left arm set the carrot in front of the blue soda can.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Put the carrot in front of the blue soda can.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Position the carrot before the blue soda can.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Set the carrot in front of the blue soda can.", + "start_idx": 8817, + "end_idx": 8859 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Using the right hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Have the right hand grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "With the right hand, take hold of the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Pick up the pink cup from the table with the right hand by the handle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Using the right hand, grasp the pink cup from the table by the handle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Have the right hand take the pink cup from the table by the handle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "At a diagonal angle, take the pink cup from the table with the right hand.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Put the pink cup in front of the canned goods with the handle facing backwards right side up using the right arm.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Using the right arm, place the pink cup in front of the canned goods, right side up, with the handle facing backward.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Have the right arm set the pink cup in front of the canned goods with its handle pointing backward and keep it upright.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "With the right arm, position the pink cup before the canned goods so the handle faces backward and the cup stays right side up.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Put the pink cup in front of the canned goods with the handle facing backward and right side up.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Place the pink cup before the canned goods, keeping the handle backward and the cup upright.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Set the pink cup in front of the canned goods so the handle points backward and it remains right side up.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Using the right arm, put the pink cup in front of the canned goods.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "With the right arm, place the pink cup before the canned goods.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Have the right arm position the pink cup in front of the canned goods.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Put the pink cup in front of the canned goods.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Place the pink cup before the canned goods.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Set the pink cup in front of the canned goods.", + "start_idx": 189, + "end_idx": 234 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally, gripping the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Retrieve the carrot from the table diagonally, holding the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Take the carrot from the table with a diagonal pickup at the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "From the table, take the carrot while grasping the middle.", + "start_idx": 342, + "end_idx": 372 + }, + { + "text": "Put the carrot to the right of the pink cup with the right hand facing left with the tip as the reference point.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Using the right hand, place the carrot to the right of the pink cup, facing left with the tip as the reference point.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Have the right arm set the carrot to the right of the pink cup so the tip faces left.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "With the right hand, position the carrot to the right of the pink cup, oriented leftward from the tip.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Place the carrot to the right of the pink cup, facing left with the tip as the reference point.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Set the carrot to the right of the pink cup so the tip faces left.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Position the carrot to the right of the pink cup with its tip pointing left.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Put the carrot to the right of the pink cup.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Move the carrot to the right of the pink cup.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Have the carrot placed to the right of the pink cup.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Using the right hand, place the carrot to the right of the pink cup.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "With the right hand, put the carrot to the right of the pink cup.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Have the right arm position the carrot to the right of the pink cup.", + "start_idx": 372, + "end_idx": 405 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Have the right arm grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "With the right hand, collect the pink cup from the table, gripping the handle at a diagonal angle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "From the table, grasp the pink cup by the handle at a diagonal angle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Have the right arm take the pink cup from the table.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "With the right hand, grasp the pink cup from the table.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Take the pink cup from the table with the right hand.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "From the table, collect the pink cup at a diagonal angle.", + "start_idx": 405, + "end_idx": 429 + }, + { + "text": "Put the pink cup behind the carrot with the handle facing backwards right side up with the front as the reference using the right hand.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Using the right hand, place the pink cup behind the carrot, right side up, with the handle facing backward relative to the front.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Have the right hand set the pink cup behind the carrot, keeping it upright and the handle pointing backward from the front.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "With the right hand, position the pink cup behind the carrot so it is right side up and its handle faces backward using the front as reference.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Place the pink cup behind the carrot, right side up, with the handle facing backward relative to the front.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Set the pink cup behind the carrot, keeping it upright and the handle pointed backward from the front.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Position the pink cup behind the carrot so it stays right side up with the handle facing backward.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Put the pink cup behind the carrot.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Set the pink cup behind the carrot.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Position the pink cup behind the carrot.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Place the pink cup behind the carrot with the right hand.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Using the right hand, put the pink cup behind the carrot.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Have the right hand place the pink cup behind the carrot.", + "start_idx": 429, + "end_idx": 468 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Have the right arm pick the carrot up from the table diagonally by the middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "With the right hand, retrieve the carrot from the table using a diagonal approach at its middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup at its middle.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Using the right hand, take the carrot from the table.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Have the right arm retrieve the carrot from the table.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 684, + "end_idx": 705 + }, + { + "text": "Put the carrot behind the blue soda can with the right hand facing top left with the tip as the reference point.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Using the right hand, place the carrot behind the blue soda can, with its tip facing top left.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Have the right arm set the carrot behind the blue soda can so the tip points toward the top left.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "With the right hand, position the carrot behind the blue soda can, tip oriented top left.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Place the carrot behind the blue soda can with its tip facing top left.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Set the carrot behind the blue soda can, keeping the tip oriented toward the top left.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Position the carrot behind the blue soda can so its tip points top left.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Using the right hand, put the carrot behind the blue soda can.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "With the right hand, place the carrot behind the blue soda can.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Have the right arm set the carrot behind the blue soda can.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Put the carrot behind the blue soda can.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Place the carrot behind the blue soda can.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Set the carrot behind the blue soda can.", + "start_idx": 705, + "end_idx": 741 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Have the right arm pick the carrot up from the table with a side grasp at the bottom in a diagonal orientation.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "With the right hand, grasp the carrot from the table using a side hold on the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Take the carrot from the table using a side grasp at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "From the table, grasp the carrot with a side hold at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Using the right hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Have the right arm take the carrot from the table using a side grasp on the bottom.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "With the right hand, grasp the carrot from the table using a side hold.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Pick up the carrot from the table with the right hand at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Using the right hand, take the carrot from the table diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "From the table, grasp the carrot at the bottom diagonally.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Put the carrot to the top side of the table with the right hand facing top left with the tip as the reference point.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Using the right hand, place the carrot on the table's top side with the tip facing top left.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Have the right hand set the carrot at the top side of the table, oriented top left from its tip.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "With the right hand, position the carrot on the table's top side so its tip points top left.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Place the carrot on the top side of the table with its tip facing top left.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Set the carrot at the table's top side, with the tip oriented toward the top left.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Position the carrot on the top side of the table so the tip points to the top left.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Using the right hand, put the carrot on the top side of the table.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "With the right hand, place the carrot at the table's top side.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Have the right hand set the carrot on the table's top side.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Put the carrot on the top side of the table.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Using the right hand, position the carrot at the top side of the table.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Set the carrot on the table's top side.", + "start_idx": 900, + "end_idx": 933 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Using the right hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Have the right arm grasp the pink cup from the table by the handle with a diagonal approach.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "With the right hand, take hold of the pink cup from the table at a diagonal angle, gripping the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Grasp the pink cup from the table with a diagonal approach by the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Have the right arm take the pink cup from the table by the handle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "With the right hand, grasp the pink cup from the table.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Take the pink cup from the table at a diagonal angle.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 1011, + "end_idx": 1035 + }, + { + "text": "Put the pink cup between the white cup and the blue soda can with the handle facing backwards right side up using the right hand.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Using the right hand, place the pink cup between the white cup and the blue soda can, handle facing backward and upright.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Have the right hand set the pink cup between the white cup and the blue soda can with its handle toward the back, right side up.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "With the right hand, position the pink cup between the white cup and the blue soda can so the handle points backward and it remains upright.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Place the pink cup between the white cup and the blue soda can with the handle facing backward and right side up.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Set the pink cup between the white cup and the blue soda can, keeping the handle toward the back and the cup upright.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Position the pink cup between the white cup and the blue soda can, upright with its handle facing backward.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Using the right hand, put the pink cup between the white cup and the blue soda can.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "With the right hand, place the pink cup between the white cup and the blue soda can.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Have the right hand position the pink cup between the white cup and the blue soda can.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Put the pink cup between the white cup and the blue soda can.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Set the pink cup between the white cup and the blue soda can.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Position the pink cup between the white cup and the blue soda can.", + "start_idx": 1035, + "end_idx": 1071 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Have the right arm pick the carrot up from the table with a side grip on its bottom at a diagonal approach.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "With the right hand, grasp the carrot from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Grasp the carrot from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "From a diagonal angle, take the carrot from the table with a side grip on the bottom.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Using the right hand, pick up the carrot from the table with a side grip at the bottom.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Have the right arm take the carrot from the table using a side grasp on its bottom.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "With the right hand, grasp the carrot from the table at the bottom.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Pick up the carrot from the table with the right hand from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Grasp the carrot from the table at the bottom from a diagonal angle.", + "start_idx": 1128, + "end_idx": 1158 + }, + { + "text": "Put the carrot to the center of the table with the right hand facing top right with the tip as the reference point.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Using the right hand, place the carrot at the center of the table with the tip facing top right.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Have the right hand set the carrot in the table's center, oriented top right from the tip.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "With the right hand, position the carrot at the center of the table so its tip points top right.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Place the carrot at the center of the table with the tip facing top right.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Set the carrot in the center of the table, with its tip oriented toward the top right.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Position the carrot at the table's center so the tip points top right.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Using the right hand, put the carrot at the center of the table.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Have the right hand place the carrot in the center of the table.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "With the right hand, set the carrot at the table's center.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Put the carrot at the center of the table.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Set the carrot in the middle of the table.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Position the carrot at the table's center.", + "start_idx": 1158, + "end_idx": 1203 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal grip on the handle.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal grip on the handle.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle in a diagonal hold.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "With the right hand, retrieve the white cup from the table using the handle in a diagonal grasp.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Pick up the white cup from the table using a diagonal grip on the handle.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Take the white cup from the table by the handle in a diagonal grasp.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Retrieve the white cup from the table with a diagonal hold on the handle.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "With the right hand, pick up the white cup from the table.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Using the right hand, grasp the white cup from the table.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Retrieve the white cup from the table.", + "start_idx": 1272, + "end_idx": 1296 + }, + { + "text": "Put the white cup in front of the carrot with the right hand right side up with the front facing bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Using the right hand, place the white cup in front of the carrot, right side up, with its front facing bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Have the right arm set the white cup in front of the carrot, upright, with the front pointed toward the bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "With the right hand, position the white cup in front of the carrot so it stays right side up and its front faces bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Place the white cup in front of the carrot, right side up, with the front facing bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Set the white cup in front of the carrot upright, with its front toward the bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Position the white cup in front of the carrot so it is right side up and the front points bottom left.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Put the white cup in front of the carrot with the right hand.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Using the right hand, place the white cup in front of the carrot.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Have the right arm set the white cup in front of the carrot.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Put the white cup in front of the carrot.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Place the white cup in front of the carrot.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Set the white cup in front of the carrot.", + "start_idx": 1296, + "end_idx": 1329 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal approach, gripping the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Take the carrot from the table on a diagonal approach, holding the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup at the middle.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Take the carrot from the table with the right arm.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Retrieve the carrot from the table using the right hand.", + "start_idx": 1329, + "end_idx": 1359 + }, + { + "text": "Put the carrot to the left of the white cup with the tip facing left using the right hand.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Using the right hand, place the carrot to the left of the white cup with its tip facing left.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Have the right hand set the carrot to the left of the white cup, tip pointing left.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Position the carrot to the left of the white cup with the tip oriented left, using the right hand.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Place the carrot to the left of the white cup with its tip facing left.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Set the carrot to the left of the white cup with the tip pointing left.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Position the carrot to the left of the white cup, tip directed left.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Using the right hand, put the carrot to the left of the white cup.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "With the right hand, place the carrot to the left of the white cup.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Have the right hand set the carrot to the left of the white cup.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Put the carrot to the left of the white cup.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Place the carrot beside the white cup on its left side.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Set the carrot on the left side of the white cup.", + "start_idx": 1359, + "end_idx": 1398 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Have the right arm pick up the white cup from the table by its handle at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "With the right hand, grasp the white cup from the table by the handle, keeping it diagonal.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Grasp the white cup from the table by the handle, maintaining a diagonal angle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "The white cup from the table should be taken with the right hand.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Have the right arm collect the white cup from the table at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Retrieve the white cup from the table by the handle.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "The white cup from the table should be picked up with the right hand.", + "start_idx": 1605, + "end_idx": 1626 + }, + { + "text": "Put the white cup behind the carrot with the right hand right side up with the front facing bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Using the right hand, place the white cup behind the carrot upright with its front facing bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Have the right arm set the white cup behind the carrot right side up, front facing bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "With the right hand, position the white cup behind the carrot so it is upright and its front points bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Place the white cup behind the carrot right side up with the front facing bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Set the white cup behind the carrot upright with its front toward bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Position the white cup behind the carrot with its front facing bottom right.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Using the right hand, put the white cup behind the carrot.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Have the right arm place the white cup behind the carrot.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "With the right hand, set the white cup behind the carrot.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Place the white cup behind the carrot.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Set the white cup behind the carrot upright.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Position the white cup behind the carrot right side up.", + "start_idx": 1626, + "end_idx": 1665 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Have the right hand grasp the canned goods from the table from the top with a side hold and a diagonal approach.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "With the right hand, take the canned goods off the table using a top side grip at a diagonal angle.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Take the canned goods off the table with a side grip at the top and a diagonal approach.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Grasp the canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Have the right hand take the canned goods from the table using a side hold at the top.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "With the right hand, grasp the canned goods from the table from the top using a side grip.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Pick up the canned goods from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Using the right hand, take the canned goods off the table with a diagonal approach from the top.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Grasp the canned goods from the table at the top with the right hand.", + "start_idx": 1851, + "end_idx": 1872 + }, + { + "text": "Put the canned goods to the right of the carrot with the right hand.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Using the right hand, place the canned goods to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Have the right arm set the canned goods to the carrot's right side.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "With the right hand, position the canned goods on the right side of the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Place the canned goods to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Set the canned goods on the carrot's right side.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Position the canned goods to the carrot's right.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Move the canned goods to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "The canned goods go to the right of the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Put the canned goods by the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Set down the canned goods near the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Place the canned goods beside the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Position the canned goods next to the carrot.", + "start_idx": 1872, + "end_idx": 1902 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Have the right arm collect the canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "With the right hand, secure the canned goods from the table in a side hold at the top from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Take the canned goods from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "From the table, collect the canned goods in a side hold at the top from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "With the right hand, collect the canned goods from the table.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Using the right hand, grasp the canned goods from the table from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Take the canned goods from the table with the right hand.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1967, + "end_idx": 1991 + }, + { + "text": "Put the canned goods in front of the carrot with the right hand.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Using the right hand, place the canned goods in front of the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Have the right arm set the canned goods down in front of the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "With your right hand, position the canned goods before the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Place the canned goods in front of the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Set the canned goods down before the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Position the canned goods in front of the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Put the canned goods before the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Move the canned goods to a spot in front of the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "The canned goods should go in front of the carrot.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "With the right hand, put the canned goods down.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Have the right arm place the canned goods.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Set the canned goods down with your right hand.", + "start_idx": 1992, + "end_idx": 2031 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Have the right arm pick the canned goods off the table using a top side grip from a diagonal approach.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Grasp the canned goods off the table at the top using a side hold from a diagonal approach.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "The canned goods should be picked up from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Use the right hand to take the canned goods from the table with a side grasp.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Have the right arm pick up the canned goods from the table with a side hold.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "From a diagonal angle, take the canned goods off the table with the right hand.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Using the right hand, grasp the canned goods from the table.", + "start_idx": 2088, + "end_idx": 2112 + }, + { + "text": "Put the canned goods to the center of the table with the right hand.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Using the right hand, place the canned goods at the center of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Have the right arm set the canned goods in the middle of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "With the right hand, position the canned goods at the table's center.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Place the canned goods at the center of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Set the canned goods in the middle of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "The canned goods should go to the center of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Move the canned goods to the table's center.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Put the canned goods in the center of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Arrange the canned goods at the center of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Transfer the canned goods to the middle of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Get the canned goods to the center of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "The task is to place the canned goods at the table's center.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding the middle.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "With the right hand, retrieve the carrot from the table at a diagonal angle by gripping the center.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Take the carrot from the table at a diagonal angle, holding it at the middle.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "From the table, collect the carrot at a diagonal angle, gripping the center.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Using the right hand, take the carrot from the table.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Have the right arm retrieve the carrot from the table.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "At a diagonal angle, take the carrot from the table.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "With the right hand, pick up the carrot from the table.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Put the carrot to the front right of the canned goods with the right hand with its tip facing top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Using the right hand, place the carrot at the front right of the canned goods with its tip pointing top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Have the right hand set the carrot in front-right of the canned goods, tip oriented toward the top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "With the right hand, position the carrot to the front right of the canned goods so its tip faces top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Place the carrot at the front right of the canned goods with its tip pointing top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Set the carrot in front-right of the canned goods, with the tip facing top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Position the carrot to the front right of the canned goods so the tip points top left.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Using the right hand, put the carrot at the front right of the canned goods.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "With the right hand, place the carrot to the front right of the canned goods.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Have the right hand set the carrot in front-right of the canned goods.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Put the carrot at the front right of the canned goods.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Position the carrot to the front right of the canned goods.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Set the carrot in front-right of the canned goods.", + "start_idx": 2235, + "end_idx": 2271 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a side hold on the top at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side grip on the top from a diagonal approach.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "From the table, take the canned goods using a side grasp on the top from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Retrieve the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Have the right arm take the canned goods from the table with a side grasp on the top.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold at the top.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Take the canned goods from the table with the right hand.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "From the table, grasp the canned goods at the top from a diagonal angle.", + "start_idx": 2469, + "end_idx": 2496 + }, + { + "text": "Put the canned goods in front of the white cup with the right hand.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Using the right hand, place the canned goods in front of the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Have the right arm set the canned goods down in front of the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "With the right hand, position the canned goods before the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Place the canned goods in front of the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Set the canned goods down in front of the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Position the canned goods before the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Put the canned goods before the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Arrange the canned goods in front of the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Leave the canned goods in front of the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Using the right hand, place the canned goods by the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "With the right hand, set the canned goods down before the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Have the right arm put the canned goods by the white cup.", + "start_idx": 2496, + "end_idx": 2541 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "From a diagonal angle, have the right hand seize the canned goods from the table with a side hold at the top.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side grip on the top from a diagonal approach.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "From a diagonal angle, pick up the canned goods from the table using a side hold at the top.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Retrieve the canned goods from the table with a side grip on the top from a diagonal approach.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "With the right hand, pick up the canned goods from the table using a side grip.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Have the right hand take the canned goods from the table with a side grasp.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Using the right hand, retrieve the canned goods from the table with a side hold.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "From a diagonal approach, take the canned goods from the table.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "With the right hand, pick up the canned goods from the table.", + "start_idx": 2616, + "end_idx": 2634 + }, + { + "text": "Put the canned goods to the right of the carrot with the right hand.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Using the right hand, place the canned goods to the right of the carrot.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Have the right arm set the canned goods down to the carrot's right side.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "With the right hand, position the canned goods just right of the carrot.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Place the canned goods to the right of the carrot.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Set the canned goods down to the carrot's right.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Position the canned goods on the right side of the carrot.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "The canned goods go to the right of the carrot.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Move the canned goods to the carrot's right side.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Using the right hand, place the canned goods.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Have the right arm set down the canned goods.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "With the right hand, position the canned goods.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Put the canned goods down.", + "start_idx": 2634, + "end_idx": 2676 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "With the right hand, secure the white cup from the table using the handle at a diagonal angle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Grasp the white cup from the table using the handle at a diagonal angle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Have the right arm take the white cup from the table by the handle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "With the right hand, grasp the white cup from the table by the handle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Have the right arm pick up the white cup from the table.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Put the white cup in front of the carrot with the right hand right side up with the front facing bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Using the right hand, place the white cup in front of the carrot, right side up, with the front facing bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Have the right arm set the white cup in front of the carrot, keeping it upright and the front pointed bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "With the right hand, position the white cup in front of the carrot so it stays right side up and its front faces bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Place the white cup in front of the carrot, right side up, with the front facing bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Set the white cup in front of the carrot, upright, with the front pointed bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Position the white cup in front of the carrot so it is right side up and the front faces bottom left.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Using the right hand, put the white cup in front of the carrot.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Have the right arm place the white cup in front of the carrot.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "With the right hand, set the white cup in front of the carrot.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Put the white cup in front of the carrot.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "In front of the carrot, place the white cup.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "The white cup goes in front of the carrot.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the top from a diagonal angle.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Have the right arm take the white cup off the table with a top lip grasp from a diagonal approach.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "With the right hand, grasp the white cup from the table at the top using a lip hold from a diagonal angle.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Pick up the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "From the table, take the white cup at the top with a lip grasp from a diagonal approach.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Grasp the white cup off the table with a top lip hold from a diagonal angle.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "With the right hand, pick up the white cup from the table using a lip grip.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Have the right arm take the white cup from the table with a top lip grasp.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Using the right hand, grasp the white cup from the table with a lip hold.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Pick up the white cup from the table with the right hand from a diagonal angle.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "From the table, take the white cup at the top with the right hand.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Grasp the white cup off the table.", + "start_idx": 2982, + "end_idx": 3009 + }, + { + "text": "Put the white cup to the right of the blue soda can with the handle facing bottom left right side up using the right arm.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Using the right arm, place the white cup to the right of the blue soda can, handle facing bottom left and upright.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Have the right arm set the white cup to the right of the blue soda can, with its handle pointed bottom left and right side up.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "With the right arm, position the white cup to the right of the blue soda can, keeping the handle toward bottom left and the cup upright.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Place the white cup to the right of the blue soda can, with the handle facing bottom left and right side up.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Set the white cup to the right of the blue soda can, handle facing bottom left and upright.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Position the white cup to the right of the blue soda can, keeping it right side up with the handle at bottom left.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Using the right arm, put the white cup to the right of the blue soda can.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "With the right arm, place the white cup to the right of the blue soda can.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Have the right arm position the white cup to the right of the blue soda can.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Put the white cup to the right of the blue soda can.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Set the white cup to the right of the blue soda can.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "The white cup goes to the right of the blue soda can.", + "start_idx": 3009, + "end_idx": 3048 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Have the right arm pick the carrot off the table on a diagonal, holding it at the center.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Take the carrot off the table on a diagonal, holding the center.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Retrieve the carrot from the table diagonally by its middle.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Have the right arm take the carrot off the table.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Take the carrot off the table diagonally.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Using the right hand, grasp the carrot from the table at the middle.", + "start_idx": 3048, + "end_idx": 3084 + }, + { + "text": "Put the carrot behind the white cup with the tip facing forwards using the right hand.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Using the right hand, place the carrot behind the white cup with its tip facing forwards.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Have the right hand set the carrot behind the white cup, tip pointed forward.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "With the right hand, position the carrot behind the white cup so the tip faces forward.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Place the carrot behind the white cup with its tip facing forwards.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Set the carrot behind the white cup with the tip pointed forward.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Position the carrot behind the white cup so its tip faces forward.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Put the carrot behind the white cup.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Using the right hand, place the carrot behind the white cup.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "With the right hand, set the carrot behind the white cup.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Have the right hand put the carrot behind the white cup.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Position the carrot behind the white cup.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Set the carrot behind the white cup.", + "start_idx": 3084, + "end_idx": 3123 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a top side grip at a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "With the right hand, collect the canned goods from the table using a side hold at the top from a diagonal approach.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "From the table, collect the canned goods with a side hold at the top from a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Have the right arm take the canned goods from the table using a side grasp at the top.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "With the right hand, collect the canned goods from the table.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Take the canned goods from the table using a side grip at the top.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "From the table, collect the canned goods with the right hand.", + "start_idx": 3180, + "end_idx": 3210 + }, + { + "text": "Put the canned goods to the right of the blue soda can with the right hand.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Using the right hand, place the canned goods to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Have the right arm set the canned goods down to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "With the right hand, position the canned goods on the right side of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Place the canned goods to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Set the canned goods down to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Position the canned goods on the right side of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Move the canned goods to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Arrange the canned goods to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "The canned goods should go to the right of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Put the canned goods on the right side of the blue soda can.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Set the canned goods beside the blue soda can on its right side.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Place the canned goods next to the blue soda can, on the right.", + "start_idx": 3210, + "end_idx": 3249 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Using the right hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "With the right hand, take hold of the white cup from the table at a diagonal angle using the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle by the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Remove the white cup from the table with the right hand by the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Have the right arm take the white cup from the table by the handle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3321, + "end_idx": 3348 + }, + { + "text": "Put the white cup to the front right of the canned goods with the right hand right side up with the front facing backwards.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Using the right hand, place the white cup at the front right of the canned goods, upright, with its front facing backward.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Have the right arm set the white cup to the canned goods' front-right, right side up and front turned backward.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "With the right hand, position the white cup at the front right of the canned goods, keeping it upright and facing backward.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Place the white cup at the front right of the canned goods, upright, with its front facing backward.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Set the white cup to the front right of the canned goods, right side up and facing backward.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Position the white cup at the canned goods' front-right, with the front turned backward.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Put the white cup to the front right of the canned goods.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Arrange the white cup at the front right of the canned goods.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "The white cup goes to the canned goods' front-right.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Using the right hand, place the white cup at the front right of the canned goods.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Have the right arm set the white cup by the canned goods' front-right.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "With the right hand, position the white cup to the front right of the canned goods.", + "start_idx": 3348, + "end_idx": 3393 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Have the right arm pick the blue soda can off the table with a top side grip from a diagonal approach.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "With the right hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "From the table, grasp the blue soda can at the top with a side hold from a diagonal angle.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Take the blue soda can off the table with a side grasp at the top from a diagonal approach.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "With the right hand, take the blue soda can off the table.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Have the right arm grasp the blue soda can from the table.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Using the right hand, collect the blue soda can from the table from a diagonal angle.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Get the blue soda can off the table.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Put the blue soda can behind the canned goods with the right hand.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Using the right hand, place the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Have the right hand set the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "With the right hand, position the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Place the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Set the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Position the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Move the blue soda can behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "The blue soda can goes behind the canned goods.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Put the blue soda can with the right hand.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Using the right hand, set the blue soda can down.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Have the right hand place the blue soda can.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Place the blue soda can.", + "start_idx": 3669, + "end_idx": 3723 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal top lip grasp.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal grasp on the top lip.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Have the right arm pick up the white cup from the table using a diagonal top-rim hold.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "With the right hand, grasp the white cup from the table at the top lip on a diagonal.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Pick up the white cup from the table using a diagonal top lip grasp.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Take the white cup from the table with a diagonal grasp on the top lip.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "From the table, grasp the white cup at the top lip on a diagonal.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "From the table, take the white cup.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Have the arm grasp the white cup from the table.", + "start_idx": 3723, + "end_idx": 3753 + }, + { + "text": "Put the white cup to the right of the canned goods with the right hand right side up with the front facing bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods, right side up, with the front facing bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods, upright, with the front pointed toward the bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "With the right hand, position the white cup to the right of the canned goods so it stays right side up and the front faces bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Place the white cup to the right of the canned goods, right side up, with the front facing bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Set the white cup to the right of the canned goods, upright, with the front pointed toward the bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Position the white cup to the right of the canned goods so it is right side up and the front faces bottom right.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "With the right hand, set the white cup to the right of the canned goods.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Have the right arm position the white cup to the right of the canned goods.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Put the white cup to the right of the canned goods.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Place the white cup upright to the right of the canned goods.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Using the right hand, put the white cup to the right of the canned goods, upright.", + "start_idx": 3753, + "end_idx": 3786 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Have the right hand grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "With the right hand, pick the pink cup up from the table, approaching diagonally by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Pick up the pink cup from the table with the right hand by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Using the right hand, take the pink cup from the table by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Have the right hand grasp the pink cup from the table by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "With the right hand, take the pink cup from the table diagonally.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Grasp the pink cup from the table by the handle.", + "start_idx": 3786, + "end_idx": 3819 + }, + { + "text": "Put the pink cup to the left of the canned goods with the handle facing forwards right side up using the right hand.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Using the right hand, place the pink cup to the left of the canned goods, upright with the handle facing front.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Have the right hand set the pink cup left of the canned goods, keeping it right side up and the handle pointed forward.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "With the right hand, position the pink cup to the left of the canned goods, handle facing forwards and upright.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Place the pink cup to the left of the canned goods, keeping it upright with the handle facing front.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Set the pink cup left of the canned goods, with the handle pointed forward and right side up.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Position the pink cup to the left of the canned goods, upright and with its handle facing forwards.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Using the right hand, place the pink cup to the left of the canned goods.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Have the right hand set the pink cup left of the canned goods.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "With the right hand, position the pink cup to the left of the canned goods.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Place the pink cup to the left of the canned goods.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Set the pink cup left of the canned goods.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Position the pink cup to the left of the canned goods.", + "start_idx": 3819, + "end_idx": 3870 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a top side grip at a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Have the right arm take the canned goods from the table using a side grasp at the top.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "With the right hand, grasp the canned goods from the table using a side hold at the top.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Have the right arm take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Pick up the canned goods from the table at the top from a diagonal angle.", + "start_idx": 4020, + "end_idx": 4044 + }, + { + "text": "Put the canned goods to the right of the carrot with the right hand.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Using the right hand, place the canned goods to the right of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Have the right arm set the canned goods down to the carrot's right.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "With the right hand, position the canned goods on the right side of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Place the canned goods to the right of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Set the canned goods on the carrot's right side.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Position the canned goods to the right of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Put the canned goods on the right side of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Move the canned goods to the right of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "The canned goods go to the right of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Arrange the canned goods on the carrot's right.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Place the canned goods beside the carrot on its right side.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Set the canned goods down right of the carrot.", + "start_idx": 4044, + "end_idx": 4086 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "From a diagonal angle, have the right hand take the blue soda can off the table using a side grasp at the top.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "With the right hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "From a diagonal angle, take the blue soda can off the table with a side grasp at the top.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Have the right hand take the blue soda can off the table.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "From a diagonal angle, take the blue soda can off the table.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Place the blue soda can behind the carrot with the right hand.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Using the right hand, set the blue soda can behind the carrot upright.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Have the right arm place the blue soda can behind the carrot, standing upright.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "With the right hand, position the blue soda can behind the carrot in an upright orientation.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Place the blue soda can behind the carrot upright.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Set the blue soda can behind the carrot, standing upright.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Position the blue soda can behind the carrot in an upright pose.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Using the right hand, place the blue soda can behind the carrot.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "With the right hand, set the blue soda can behind the carrot.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Have the right arm position the blue soda can behind the carrot.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Put the blue soda can behind the carrot.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Set the blue soda can behind the carrot.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Position the blue soda can behind the carrot.", + "start_idx": 4119, + "end_idx": 4170 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle with a diagonal approach.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "With the right hand, retrieve the white cup from the table by its handle at a diagonal angle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Pick up the white cup from the table by the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Take the white cup from the table by its handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Retrieve the white cup from the table using the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Get the white cup from the table by the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Have the right arm take the white cup from the table by its handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "With the right hand, get the white cup from the table using the handle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Take the white cup from the table with a diagonal approach.", + "start_idx": 4245, + "end_idx": 4272 + }, + { + "text": "Put the white cup on the top side of the table with the right hand right side up front.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Using the right hand, place the white cup on the top side of the table, right side up with the front facing forward.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Have the right arm set the white cup on the table's top side, keeping it right side up and front-facing.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "With the right hand, position the white cup on the top side of the table in a right-side-up, front-facing orientation.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Place the white cup on the top side of the table.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Set the white cup on the table's top side.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Position the white cup on the top side of the table.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Put the white cup on the top side of the table.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Using the right hand, place the white cup on the top side of the table.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Have the right arm set the white cup on the table's top side.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "With the right hand, position the white cup on the top side of the table.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Place the white cup on the top side of the table, right side up and front-facing.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Set the white cup on the table's top side in a right-side-up, front-facing orientation.", + "start_idx": 4272, + "end_idx": 4326 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a top side grip at a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold on the top from a diagonal approach.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Retrieve the canned goods from the table with a side hold on the top from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "With the right hand, retrieve the canned goods from the table.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "From a diagonal angle, take the canned goods from the table.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 4458, + "end_idx": 4482 + }, + { + "text": "Put the canned goods to the right side of the table with the right hand.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Using the right hand, place the canned goods on the table's right side.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Have the right arm set the canned goods down at the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "With the right hand, position the canned goods on the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Place the canned goods on the table's right side.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Set the canned goods down at the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Move the canned goods to the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "The canned goods should go on the table's right side.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Position the canned goods at the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Have the canned goods placed on the table's right side.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Put the canned goods on the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Set the canned goods on the table's right side.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Move the canned goods onto the right side of the table.", + "start_idx": 4482, + "end_idx": 4521 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Have the right arm pick the canned goods up from the table, grasping the top with a side hold at a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top using a side grasp from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Take the canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "With the right hand, grasp the canned goods from the table.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Using the right hand, take the canned goods from the table at the top.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 4593, + "end_idx": 4617 + }, + { + "text": "Put the canned goods to the right of the blue soda can with the right hand.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Using the right hand, place the canned goods to the right of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Have the right arm set the canned goods down to the right of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "With the right hand, position the canned goods on the right side of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Place the canned goods to the right of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Set the canned goods on the right side of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Position the canned goods to the right of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "The canned goods go to the right of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Move the canned goods to the right of the blue soda can.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Using the right hand, place the canned goods.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Have the right arm set down the canned goods.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "With the right hand, position the canned goods.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Place the canned goods.", + "start_idx": 4617, + "end_idx": 4656 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "With the right hand, collect the carrot from the table on a diagonal approach, gripping the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Take the carrot from the table on a diagonal approach, holding the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "From the table, collect the carrot at a diagonal angle by the middle.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Using the right hand, take the carrot from the table.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Have the right arm collect the carrot from the table.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "From the table, collect the carrot.", + "start_idx": 4728, + "end_idx": 4746 + }, + { + "text": "Put the carrot in front of the white cup with the right hand facing forwards with the tip as the reference point.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Using the right hand, place the carrot in front of the white cup with its tip facing forward.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Have the right arm set the carrot in front of the white cup, oriented forward by the tip.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "With the right hand, position the carrot before the white cup so the tip points forward.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Place the carrot in front of the white cup with its tip facing forward.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Set the carrot before the white cup, with the tip oriented forward.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Position the carrot in front of the white cup so its tip faces forward.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Using the right hand, put the carrot in front of the white cup.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Have the right arm place the carrot before the white cup.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "With the right hand, set the carrot in front of the white cup.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Put the carrot before the white cup.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Place the carrot in front of the white cup.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Set the carrot before the white cup.", + "start_idx": 4746, + "end_idx": 4782 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Have the right arm pick the carrot up from the table with a diagonal approach at its middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "With the right hand, collect the carrot from the table diagonally by the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle in the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Using the right hand, pick up the carrot from the table grasping the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "With the right hand, take the carrot from the table by the middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Have the right arm collect the carrot from the table at its middle.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Take the carrot from the table with the right hand.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 4860, + "end_idx": 4884 + }, + { + "text": "Put the carrot in front of the pink cup with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Using the right hand, place the carrot in front of the pink cup with its tip facing bottom right.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Have the right arm set the carrot in front of the pink cup, oriented bottom right from the tip.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "With the right hand, position the carrot before the pink cup so the tip points bottom right.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Place the carrot in front of the pink cup with its tip facing bottom right.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Set the carrot before the pink cup with the tip oriented toward the bottom right.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Position the carrot in front of the pink cup so its tip faces bottom right.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Put the carrot in front of the pink cup.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Set the carrot before the pink cup.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Position the carrot in front of the pink cup.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Using the right hand, place the carrot in front of the pink cup.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Have the right arm set the carrot before the pink cup.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "With the right hand, position the carrot in front of the pink cup.", + "start_idx": 4884, + "end_idx": 4923 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Retrieve the carrot from the table diagonally by the middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Take the carrot from the table by the middle.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 4992, + "end_idx": 5019 + }, + { + "text": "Put the carrot to the left of the canned goods with the right hand with its tip facing right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Using the right hand, place the carrot left of the canned goods with its tip pointing right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Have the right arm set the carrot to the left of the canned goods, tip oriented to the right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "With the right hand, position the carrot left of the canned goods so its tip faces right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Place the carrot to the left of the canned goods with its tip facing right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Set the carrot left of the canned goods with the tip pointing right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Position the carrot to the left of the canned goods, tip to the right.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Using the right hand, put the carrot to the left of the canned goods.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Have the right arm place the carrot left of the canned goods.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "With the right hand, set the carrot to the left of the canned goods.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Put the carrot left of the canned goods.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Position the carrot to the left of the canned goods.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Have the carrot placed left of the canned goods.", + "start_idx": 5019, + "end_idx": 5052 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Using the right hand, pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Have the right arm take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "With the right hand, grasp the white cup from the table by the handle, keeping a diagonal angle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle by the handle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Grasp the white cup from the table by the handle at a diagonal angle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Have the right arm take the white cup from the table by its handle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Take the white cup from the table by its handle.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "With the right hand, pick up the white cup from the table.", + "start_idx": 5265, + "end_idx": 5289 + }, + { + "text": "Put the white cup to the left of the carrot with the handle facing backwards right side up with the front as reference using the right hand.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Using the right hand, place the white cup left of the carrot, handle facing backward, upright, with the front as reference.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Have the right arm set the white cup to the carrot's left, upright with its handle pointing backward relative to the front.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "With the right hand, position the white cup on the left side of the carrot, right side up, handle facing backward from the front.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Place the white cup to the left of the carrot, with the handle facing backward and right side up.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Set the white cup on the carrot's left side, upright, with the handle pointing backward.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Position the white cup left of the carrot, handle directed backward, upright.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Using the right hand, put the white cup to the left of the carrot.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Have the right arm place the white cup on the left side of the carrot.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Set the white cup to the carrot's left with the right hand.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Place the white cup beside the carrot on its left.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Have the right arm set the white cup beside the carrot.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Position the white cup on the left side of the carrot with the right hand.", + "start_idx": 5289, + "end_idx": 5325 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Have the right arm pick the canned goods up from the table using a top side grip at a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "With the right hand, grasp the canned goods from the table by the top with a side hold from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Take the canned goods from the table with a top side grasp from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp at the top.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Have the right arm grasp the canned goods from the table by the top with a side hold.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "With the right hand, take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Pick up the canned goods from the table at the top from a diagonal angle.", + "start_idx": 5496, + "end_idx": 5520 + }, + { + "text": "Put the canned goods to the right of the blue soda can with the right hand.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Using the right hand, place the canned goods to the right of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Have the right arm set the canned goods just right of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "With the right hand, position the canned goods on the right side of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Place the canned goods to the right of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Set the canned goods just to the right of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Position the canned goods on the right side of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "The canned goods go to the right of the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Move the canned goods next to the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Using the right hand, place the canned goods by the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Have the right arm set the canned goods beside the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "With the right hand, position the canned goods near the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Put the canned goods by the blue soda can.", + "start_idx": 5520, + "end_idx": 5562 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Have the right arm pick up the blue soda can from the table using a top side grip on a diagonal.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "With the right hand, secure the blue soda can from the table in a diagonal side hold at the top.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Get the blue soda can from the table in a diagonal side grip at the top.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "With the right hand, take the blue soda can from the table using a side grasp at the top.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Have the right arm get the blue soda can from the table in a side hold at the top.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table diagonally.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Pick up the blue soda can from the table with the right hand diagonally.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 5796, + "end_idx": 5820 + }, + { + "text": "Put the blue soda can to the left of the carrot with the right hand.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Using the right hand, place the blue soda can to the left of the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Have the right arm set the blue soda can down to the carrot's left.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "With the right hand, position the blue soda can on the left side of the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Place the blue soda can to the left of the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Set the blue soda can down to the left of the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "The blue soda can goes on the carrot's left.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Using the right hand, place the blue soda can by the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "With the right hand, set the blue soda can down near the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Have the right arm put the blue soda can next to the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Put the blue soda can by the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Set the blue soda can near the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Have the blue soda can placed beside the carrot.", + "start_idx": 5820, + "end_idx": 5865 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the top from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "With the right hand, take the white cup from the table using a lip grasp at the top from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Using the right hand, grasp the white cup from the table by its top rim from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Have the right hand pick the white cup up from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Grasp the white cup from the table by the top rim with a lip grasp from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "With the right hand, pick up the white cup from the table using a lip grip at the top.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grasp.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Have the right hand grasp the white cup from the table by the top rim.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Pick up the white cup from the table with the right hand from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Using the right hand, take the white cup from the table at the top from a diagonal angle.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Grasp the white cup from the table with the right hand.", + "start_idx": 5940, + "end_idx": 5964 + }, + { + "text": "Place the white cup in front of the carrot with the handle facing backwards right side up using the right arm.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Using the right arm, set the white cup in front of the carrot, handle facing backward and right side up.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Have the right arm place the white cup before the carrot with its handle pointed backward, upright.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "With the right arm, position the white cup in front of the carrot, keeping the handle to the back and the cup upright.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Place the white cup in front of the carrot with the handle facing backward.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Set the white cup before the carrot with its handle pointed to the back.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Position the white cup in front of the carrot, handle toward the rear.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Put the white cup in front of the carrot.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Place the white cup before the carrot.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Set the white cup down in front of the carrot.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "With the right arm, place the white cup in front of the carrot.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Using the right arm, set the white cup before the carrot.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Have the right arm position the white cup in front of the carrot.", + "start_idx": 5964, + "end_idx": 5994 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "With the right hand, pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Using the right hand, take the canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Have the right arm grasp the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "The canned goods should be picked up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "With the right hand, pick up the canned goods from the table using a side grip.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Using the right hand, take the canned goods off the table with a side grasp.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Have the right arm grasp the canned goods from the table with a side hold.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "With the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Using the right hand, take the canned goods off the table at the top from a diagonal angle.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 5994, + "end_idx": 6027 + }, + { + "text": "Put the canned goods to the right of the white cup with the right hand.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Have the right arm set the canned goods down to the right of the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "With the right hand, position the canned goods on the white cup's right side.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Place the canned goods to the right of the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Set the canned goods on the right side of the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "The canned goods go to the right of the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Position the canned goods beside the white cup on its right side.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Arrange the canned goods to the white cup's right.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Put the canned goods next to the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Set the canned goods by the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Place the canned goods beside the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Have the canned goods placed to the right of the white cup.", + "start_idx": 6027, + "end_idx": 6066 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp at the top.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a diagonal lip grasp at the top.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Have the right hand take the white cup from the table by the top with a diagonal lip grasp.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "With the right hand, grasp the white cup from the table at the top using a diagonal lip hold.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the top.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp at the top.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Grasp the white cup from the table at the top with a diagonal lip hold.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "With the right hand, pick up the white cup from the table.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Using the right hand, grasp the white cup from the table.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 6249, + "end_idx": 6279 + }, + { + "text": "Put the white cup to the right of the canned goods with the right hand right side up with the front facing bottom right.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods, upright, with the front facing bottom right.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods right side up, front oriented toward the bottom right.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "With the right hand, position the white cup to the right of the canned goods so it stays upright and its front points bottom right.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Place the white cup to the right of the canned goods, upright, with the front facing bottom right.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Set the white cup to the right of the canned goods right side up, with the front toward the bottom right.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Position the white cup to the right of the canned goods with its front directed to the bottom right, upright.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Using the right hand, put the white cup to the right of the canned goods.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "With the right hand, place the white cup to the right of the canned goods.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Put the white cup to the right of the canned goods.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Place the white cup to the right of the canned goods.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Set the white cup to the right of the canned goods.", + "start_idx": 6279, + "end_idx": 6312 + }, + { + "text": "Pick up the canned goods from the table with the right hand from the top at a diagonal angle using a side grasp.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Using the right hand, take the canned goods from the table from the top at a diagonal angle with a side grasp.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Have the right arm collect the canned goods from the table, approaching from the top diagonally with a side grip.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top on a diagonal using a side hold.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Pick up the canned goods from the table from the top at a diagonal angle using a side grasp.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Grasp the canned goods from the table at the top diagonally with a side grip.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Take the canned goods from the table from the top at a diagonal angle with a side hold.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from the top at a diagonal angle.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Have the right arm take the canned goods from the table from the top diagonally.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "With the right hand, collect the canned goods from the table from the top at a diagonal angle.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grasp.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Have the right arm grasp the canned goods from the table using a side grip.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Take the canned goods from the table from the top diagonally.", + "start_idx": 6312, + "end_idx": 6339 + }, + { + "text": "Put the canned goods on the right side of the table with the right hand.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Using the right hand, place the canned goods on the table's right side.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Have the right arm set the canned goods down on the right side of the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "With the right hand, position the canned goods at the table's right side.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Place the canned goods on the right side of the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Set the canned goods down on the table's right side.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Move the canned goods to the right side of the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Transfer the canned goods onto the right side of the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "The canned goods go on the table's right side.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Using the right hand, place the canned goods on the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Have the right arm set the canned goods down on the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "With the right hand, move the canned goods onto the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Put the canned goods on the table.", + "start_idx": 6339, + "end_idx": 6381 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Have the right arm take the blue soda can from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "With the right hand, grasp the blue soda can from the table by the top using a side hold from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Take the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "With the right hand, pick up the blue soda can from the table using a side grip.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Using the right hand, grasp the blue soda can from the table.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Pick up the blue soda can from the table with the right hand from a diagonal angle.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Take the blue soda can from the table at the top with the right hand.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "With the right hand, pick up the blue soda can from the table.", + "start_idx": 6501, + "end_idx": 6525 + }, + { + "text": "Place the blue soda can to the center of the table with the right hand.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Using the right hand, set the blue soda can at the center of the table upright.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Have the right arm place the blue soda can in the table center, keeping it right side up.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "With the right hand, position the blue soda can at the center of the table in an upright orientation.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Place the blue soda can at the center of the table.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Set the blue soda can in the center of the table.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Have the blue soda can placed at the table center.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Using the right hand, place the blue soda can at the center of the table.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Set the blue soda can at the center of the table upright.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Position the blue soda can in the table center right side up.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "At the center of the table, place the blue soda can.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Using the right hand, set the blue soda can in the center of the table.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Have the right arm place the blue soda can at the center of the table.", + "start_idx": 6525, + "end_idx": 6567 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Have the right hand grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "With the right hand, collect the pink cup from the table using the handle at a diagonal angle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "From the table, grasp the pink cup by the handle at a diagonal angle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Pick up the pink cup from the table with the right hand.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Using the right hand, take the pink cup from the table.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Have the right hand grasp the pink cup from the table.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "From the table, take the pink cup with the right hand.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 6567, + "end_idx": 6600 + }, + { + "text": "Put the pink cup to the right of the white cup with the handle facing bottom right right side up using the right hand.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Using the right hand, place the pink cup to the right of the white cup, right side up, with its handle facing bottom right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Have the right arm set the pink cup to the white cup's right, keeping it upright and the handle pointed bottom right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "With the right hand, position the pink cup on the right side of the white cup, upright, handle oriented toward the bottom right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Place the pink cup to the right of the white cup, right side up, with the handle facing bottom right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Set the pink cup on the right side of the white cup, upright, with its handle pointed bottom right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Position the pink cup to the white cup's right, keeping it upright and the handle toward bottom right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Put the pink cup to the right of the white cup.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Set the pink cup on the right side of the white cup.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Position the pink cup to the white cup's right.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Using the right hand, place the pink cup to the right of the white cup.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Have the right arm set the pink cup on the right side of the white cup.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Put the pink cup to the right of the white cup with the right hand.", + "start_idx": 6600, + "end_idx": 6642 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the top with a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at the top at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Have the right arm grasp the white cup from the table with a top lip hold, angled diagonally.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "With the right hand, secure the white cup from the table using a lip grasp at the top on a diagonal.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Take the white cup from the table with a lip grip at the top at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Grasp the white cup from the table using a top lip hold at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "The white cup should be picked from the table with a lip grasp at the top, diagonally angled.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "With the right hand, pick up the white cup from the table using a lip grip at the top.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Have the right arm take the white cup from the table with a top lip hold.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Using the right hand, grasp the white cup from the table with a lip grasp.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Pick up the white cup from the table at the top with a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "From the table, take the white cup with the right hand at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "The white cup should be grasped from the table at the top with the right hand.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Put the white cup to the front right of the carrot with the right hand right side up with the front facing bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Using the right hand, place the white cup front-right of the carrot, right side up, with its front facing bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Have the right arm set the white cup to the carrot's front right, upright, with the front oriented toward the bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "With the right hand, position the white cup at the front right of the carrot, right side up and front facing bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Place the white cup to the front right of the carrot, right side up, with the front facing bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Set the white cup front-right of the carrot, upright, with its front toward the bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Position the white cup at the carrot's front right, right side up, front facing bottom right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Using the right hand, put the white cup to the front right of the carrot.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Have the right arm place the white cup at the carrot's front right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "With the right hand, set the white cup front-right of the carrot.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Put the white cup to the front right of the carrot.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Position the white cup at the carrot's front right.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Set the white cup front-right of the carrot.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Pick up the pink cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Using the right hand, take the pink cup from the table with a diagonal lip grip at the top.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Have the right arm pick the pink cup up from the table by the top edge with a diagonal lip grasp.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "With the right hand, grasp the pink cup from the table at the top using a diagonal grip on the lip.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Pick up the pink cup from the table with a diagonal lip grip at the top.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Take the pink cup from the table, grasping the top with a diagonal lip hold.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "From the table, pick up the pink cup by the top in a diagonal lip grasp.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Have the right arm take the pink cup from the table.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "With the right hand, grasp the pink cup from the table.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Using the right hand, pick up the pink cup with a diagonal lip grip at the top.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Take the pink cup from the table with a diagonal lip grasp at the top.", + "start_idx": 6804, + "end_idx": 6840 + }, + { + "text": "Put the pink cup right side up at the center of the table with the handle facing bottom right using the right arm.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Using the right arm, place the pink cup upright at the center of the table with the handle pointing to the bottom right.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Have the right arm set the pink cup at the table center, right side up, with its handle directed bottom right.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "With the right arm, position the pink cup in the center of the table upright, handle facing the bottom right.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Place the pink cup upright at the center of the table with the handle pointing bottom right.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Set the pink cup right side up in the middle of the table, with its handle facing bottom right.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Position the pink cup at the center of the table upright, handle directed to the bottom right.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Using the right arm, put the pink cup at the center of the table.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "With the right arm, place the pink cup in the middle of the table.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Have the right arm set the pink cup down at the table center.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Put the pink cup at the center of the table.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Place the pink cup in the middle of the table.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Set the pink cup down at the table center.", + "start_idx": 6840, + "end_idx": 6870 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Have the right arm pick the canned goods up from the table, applying a side grip at the top on a diagonal.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "From a diagonal angle, grasp the canned goods from the table at the top with a side hold.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Have the right arm take the canned goods from the table using a side grasp.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "With the right hand, grasp the canned goods from the table using a side hold.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Take the canned goods from the table with the right hand.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Grasp the canned goods from the table from a diagonal angle.", + "start_idx": 6870, + "end_idx": 6909 + }, + { + "text": "Put the canned goods to the right of the carrot with the right hand.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Using the right hand, place the canned goods to the right of the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Have the right arm set the canned goods down to the carrot's right.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "With the right hand, position the canned goods on the right side of the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Place the canned goods to the right of the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Set the canned goods down to the right of the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Position the canned goods on the carrot's right side.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "The canned goods go to the right of the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Move the canned goods to the carrot's right.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Put the canned goods beside the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Set the canned goods next to the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Using the right hand, place the canned goods beside the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Have the right arm set the canned goods next to the carrot.", + "start_idx": 6909, + "end_idx": 6951 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Have the right arm pick up the blue soda can from the table, gripping its top from a diagonal angle with a side hold.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "With the right hand, grasp the blue soda can off the table using a side grip on the top at a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Take the blue soda can off the table with a side hold on the top from a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side grip from a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Have the right arm take the blue soda can off the table using a side hold.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "With the right hand, grasp the blue soda can from the table using a side grasp.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Pick up the blue soda can from the table with the right hand from a diagonal angle.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Take the blue soda can off the table with the right hand.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 7425, + "end_idx": 7443 + }, + { + "text": "Put the blue soda can to the right of the pink cup with the right hand.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Place the blue soda can to the right of the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Set the blue soda can down on the right side of the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Position the blue soda can to the pink cup's right.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Move the blue soda can beside the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Using the right hand, place the blue soda can by the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Have the right arm set the blue soda can beside the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Put the blue soda can next to the pink cup with the right hand.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Place the blue soda can beside the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Set the blue soda can next to the pink cup.", + "start_idx": 7443, + "end_idx": 7476 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a lateral grip on the top at a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "With the right hand, grasp the canned goods from the table using a side hold at the top from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Take the canned goods from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Grasp the canned goods from the table with a lateral hold at the top from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Have the right arm pick up the canned goods from the table with a lateral hold.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Using the right hand, grasp the canned goods from the table.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 7539, + "end_idx": 7560 + }, + { + "text": "Put the canned goods in frot of the blue soda can with the right hand.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Using the right hand, place the canned goods in front of the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Have the right arm set the canned goods in front of the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "With the right hand, position the canned goods before the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Place the canned goods in front of the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Set the canned goods before the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Position the canned goods ahead of the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "The canned goods go in front of the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Put the canned goods before the blue soda can.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Using the right hand, place the canned goods.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Have the right arm set down the canned goods.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "With the right hand, position the canned goods.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "The canned goods should be placed with the right hand.", + "start_idx": 7560, + "end_idx": 7599 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Have the right arm pick the canned goods off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "With the right hand, grasp the canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Take the canned goods off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Have the right arm take the canned goods off the table with a side grasp on the top.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "With the right hand, grasp the canned goods from the table using a side hold at the top.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Pick up the canned goods from the table with the right hand at the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Using the right hand, take the canned goods from the table from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Grasp the canned goods from the table at the top from a diagonal angle.", + "start_idx": 7770, + "end_idx": 7797 + }, + { + "text": "Put the canned goods to the right of the white cup with the right hand.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white cup.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Have the right arm set the canned goods down to the white cup's right side.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "With your right hand, position the canned goods on the right side of the white cup.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Place the canned goods to the right of the white cup.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Set the canned goods on the right side of the white cup.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Move the canned goods to the white cup's right.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "The canned goods go to the right of the white cup.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Position the canned goods beside the white cup on its right side.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Have the canned goods placed to the right of the white cup.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Using the right hand, place the canned goods.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "With your right hand, set down the canned goods.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Have the right arm move the canned goods.", + "start_idx": 7796, + "end_idx": 7832 + }, + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the top using a side grip.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Have the right hand take the blue soda can from the table, approaching diagonally and holding the top with a side grasp.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "With the right hand, collect the blue soda can from the table at a diagonal angle by gripping the top with a side hold.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Take the blue soda can from the table diagonally, securing the top with a side grasp.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Get the blue soda can from the table at a diagonal angle with a side hold on the top.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table, grasping the top with a side grip.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "With the right hand, take the blue soda can from the table by the top using a side grasp.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Have the right hand collect the blue soda can from the table with a side hold on the top.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table at a diagonal angle, grasping the top.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Take the blue soda can from the table, gripping the top with a side grasp.", + "start_idx": 7965, + "end_idx": 7989 + }, + { + "text": "Put the blue soda can to the right of the carrot with the right hand.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Have the right arm set the blue soda can to the right of the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "With the right hand, position the blue soda can on the carrot's right side.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Place the blue soda can to the right of the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Set the blue soda can on the right side of the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Position the blue soda can to the carrot's right.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Move the blue soda can to the right of the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Using the right hand, place the blue soda can by the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "With the right hand, set the blue soda can next to the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Have the right arm position the blue soda can beside the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Place the blue soda can beside the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Set the blue soda can next to the carrot.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Have the right hand pick the carrot off the table on a diagonal, holding it at the center.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Take the carrot off the table on a diagonal, holding the center.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Retrieve the carrot from the table diagonally by its middle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "With the right hand, take the carrot off the table.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Have the right hand retrieve the carrot from the table.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Using the right hand, grab the carrot from the table at a diagonal angle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Take the carrot from the table by the middle.", + "start_idx": 8295, + "end_idx": 8319 + }, + { + "text": "Put the carrot in front of the pink cup with the right hand with its tip facing top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Using the right hand, place the carrot in front of the pink cup with its tip facing the top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Have the right arm set the carrot in front of the pink cup, tip oriented toward the top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "With the right hand, position the carrot before the pink cup so its tip points top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Place the carrot in front of the pink cup with its tip facing the top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Set the carrot before the pink cup with the tip pointing top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Position the carrot in front of the pink cup so its tip points toward the top left.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Using the right hand, put the carrot in front of the pink cup.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Have the right arm place the carrot before the pink cup.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "With the right hand, position the carrot in front of the pink cup.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Place the carrot in front of the pink cup.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Set the carrot before the pink cup.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Position the carrot in front of the pink cup.", + "start_idx": 8319, + "end_idx": 8352 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Using the right hand, collect the canned goods from the table with a side hold at the top, approached diagonally.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Have the right arm pick the canned goods off the table with a side grip on the top from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Remove the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Take the canned goods off the table using a side grasp at the top from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "The canned goods should be picked up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "With the right hand, pick up the canned goods from the table.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Using the right hand, take the canned goods from the table.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Have the right arm collect the canned goods off the table.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Using the right hand, remove the canned goods from the table with a side grip at the top.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Take the canned goods off the table.", + "start_idx": 8481, + "end_idx": 8508 + }, + { + "text": "Put the canned goods to the front right of the pink cup with the right hand.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Using the right hand, place the canned goods at the front-right of the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Have the right arm set the canned goods down in front of and to the right of the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "With the right hand, position the canned goods to the pink cup's front right.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Place the canned goods at the front-right of the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Set the canned goods down in front of and to the right of the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Position the canned goods to the front right of the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Move the canned goods to the pink cup's front-right side.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "The canned goods go at the front right of the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Using the right hand, place the canned goods by the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "With the right hand, set the canned goods next to the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Have the right arm place the canned goods by the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Put the canned goods near the pink cup.", + "start_idx": 8508, + "end_idx": 8547 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Have the right hand pick the blue soda can off the table, applying a side grip at the top on a diagonal.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "With the right hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Grasp the blue soda can off the table with a side hold at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Have the right hand take the blue soda can off the table.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Using the right hand, take the blue soda can from the table from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Grasp the blue soda can off the table at the top with the right hand.", + "start_idx": 8601, + "end_idx": 8625 + }, + { + "text": "Place the blue soda can to the center of the table with the right hand.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Using the right hand, set the blue soda can at the center of the table upright.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Have the right arm place the blue soda can in the table center, keeping it upright.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "With the right hand, position the blue soda can at the center of the table right side up.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Place the blue soda can at the center of the table.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Set the blue soda can in the center of the table.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Position the blue soda can at the table center.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Put the blue soda can at the center of the table.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Place the blue soda can at the center of the table with the right hand.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Using the right hand, set the blue soda can in the table center.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Have the right arm place the blue soda can at the center of the table.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Set the blue soda can at the center of the table upright.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Position the blue soda can in the center of the table right side up.", + "start_idx": 8625, + "end_idx": 8667 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Retrieve the carrot from the table by grasping the middle at a diagonal angle.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Pick up the carrot from the table diagonally.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Take the carrot from the table with the right hand.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 8859, + "end_idx": 8886 + }, + { + "text": "Put the carrot to the right of the blue soda can with the right hand facing bottom left by the tip.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Using the right hand, place the carrot to the right of the blue soda can with its tip facing bottom left.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Have the right hand set the carrot to the right of the blue soda can, tip oriented toward the bottom left.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "With the right hand, position the carrot to the right of the blue soda can so the tip points bottom left.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Place the carrot to the right of the blue soda can with its tip facing bottom left.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Set the carrot to the right of the blue soda can, with the tip oriented toward the bottom left.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Position the carrot to the right of the blue soda can so its tip points bottom left.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Using the right hand, place the carrot to the right of the blue soda can.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Have the right hand set the carrot to the right of the blue soda can.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "With the right hand, position the carrot to the right of the blue soda can.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Put the carrot to the right of the blue soda can.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Arrange the carrot to the right of the blue soda can.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Set the carrot to the right of the blue soda can.", + "start_idx": 8886, + "end_idx": 8922 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Have the right arm take the white cup from the table using a diagonal lip grasp on its right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "With the right hand, grasp the white cup from the table via a diagonal lip hold on the right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Grasp the white cup from the table by the lip with a diagonal hold on the right side.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Using a diagonal lip grasp on the right side, pick up the white cup from the table.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 8922, + "end_idx": 8946 + }, + { + "text": "Put the white cup in front of the carrot with the right hand right side up with the front facing backwards.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Using the right hand, place the white cup in front of the carrot upright with its front facing backward.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Have the right arm set the white cup in front of the carrot right side up, front oriented backward.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "With the right hand, position the white cup before the carrot so it stays upright and its front faces backward.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Place the white cup in front of the carrot upright with its front facing backward.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Set the white cup before the carrot right side up with the front facing backward.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Position the white cup in front of the carrot with its front directed backward.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Put the white cup in front of the carrot.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Place the white cup before the carrot.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Set the white cup in front of the carrot with the right hand.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Using the right hand, put the white cup in front of the carrot.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Have the right arm place the white cup before the carrot.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "With the right hand, position the white cup in front of the carrot.", + "start_idx": 8946, + "end_idx": 8988 + }, + { + "text": "Return both arms to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Bring both arms back to the home position.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Move both arms to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Have both arms return to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Return the arms to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Move the arms back to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Bring the arms to the home position.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Send the arms home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Set the arms back to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Have the arms move to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Return both manipulators to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Move both manipulators back to home.", + "start_idx": 8988, + "end_idx": 9021 + }, + { + "text": "Bring both manipulators home.", + "start_idx": 8988, + "end_idx": 9021 + } + ] + }, + "2026-03-17-02-13-58-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 human data collection", + "total_frames": 9154, + "num_annotations": 3774, + "annotations": [ + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Have the left arm take the red marker from the table diagonally by its middle section.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left hand, retrieve the red marker from the table at a diagonal angle, holding the middle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle while holding its middle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Put the red marker in front of the blue marker with the left hand with its tip facing bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Using the left hand, place the red marker in front of the blue marker with its tip pointing to the bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Have the left arm set the red marker in front of the blue marker, keeping the tip directed bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "With the left hand, position the red marker before the blue marker so its tip faces the bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Place the red marker in front of the blue marker with its tip pointing to the bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Set the red marker before the blue marker with the tip directed bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Position the red marker in front of the blue marker so the tip faces bottom left.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Using the left hand, put the red marker in front of the blue marker.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "With the left hand, place the red marker before the blue marker.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Have the left arm position the red marker in front of the blue marker.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Put the red marker in front of the blue marker.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Set the red marker before the blue marker.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Position the red marker in front of the blue marker.", + "start_idx": 45, + "end_idx": 81 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Have the left hand pick up the pink cup from the table by the handle in a diagonal grasp.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle using a diagonal hold.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Take the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Retrieve the pink cup from the table by the handle.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Have the left hand take the pink cup from the table by the handle.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 81, + "end_idx": 99 + }, + { + "text": "Put the pink cup in between the red marker and the blue plate with the handle facing backwards with the left hand.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Using the left hand, place the pink cup between the red marker and the blue plate, with its handle facing backward.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Have the left arm set the pink cup down between the red marker and the blue plate so the handle points backward.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "With the left hand, position the pink cup between the red marker and the blue plate, keeping the handle facing backward.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Place the pink cup between the red marker and the blue plate with its handle facing backward.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Set the pink cup down between the red marker and the blue plate, with the handle pointing backward.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Position the pink cup in between the red marker and the blue plate so its handle faces backward.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Using the left hand, put the pink cup between the red marker and the blue plate.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "With the left hand, set the pink cup down between the red marker and the blue plate.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Have the left arm place the pink cup in between the red marker and the blue plate.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Place the pink cup between the red marker and the blue plate.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Set the pink cup down in between the red marker and the blue plate.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Have the pink cup placed between the red marker and the blue plate.", + "start_idx": 99, + "end_idx": 135 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle in a diagonal grip.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "With the left hand, secure the pink cup from the table via a diagonal handle grasp.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Take the pink cup from the table by the handle in a diagonal grip.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Grasp the pink cup from the table at the handle using a diagonal hold.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Use the left hand to take the pink cup from the table.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Have the left arm collect the pink cup from the table.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "The pink cup from the table should be grasped.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Put the pink cup on top of the pink plate with the left hand with the front facing backwards.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Using the left hand, place the pink cup on top of the pink plate with the front facing backward.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Have the left arm set the pink cup atop the pink plate so the front faces backward.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "With the left hand, position the pink cup on the pink plate, front facing backward.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Place the pink cup on top of the pink plate with the front facing backward.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Set the pink cup atop the pink plate so the front points backward.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "The pink cup goes on the pink plate with its front facing backward.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Using the left hand, put the pink cup on top of the pink plate.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Have the left arm place the pink cup atop the pink plate.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "With the left hand, set the pink cup on the pink plate.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Put the pink cup on top of the pink plate.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Set the pink cup atop the pink plate.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "The pink cup goes on the pink plate.", + "start_idx": 216, + "end_idx": 255 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Have the left arm pick up the red marker from the table with a side grip at its bottom from a diagonal approach.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "With the left hand, grasp the red marker from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Grasp the red marker from the table with a side hold at the bottom from a diagonal approach.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Have the left arm take the red marker from the table using a side grasp at its bottom.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "With the left hand, grasp the red marker from the table from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Pick up the red marker from the table with the left hand from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Take the red marker from the table using a side grip at the bottom.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "From the table, grasp the red marker at the bottom from a diagonal angle.", + "start_idx": 255, + "end_idx": 279 + }, + { + "text": "Place the red marker inside the bowl with the left hand facing bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Using the left hand, place the red marker in the bowl with its tip facing bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Have the left arm set the red marker inside the bowl, tip pointed toward the bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "With the left hand, position the red marker in the bowl so the tip faces bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Put the red marker inside the bowl with its tip facing bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Set the red marker in the bowl, keeping the tip pointed bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Position the red marker inside the bowl so the tip points toward the bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Using the left hand, place the red marker inside the bowl.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "With the left hand, set the red marker in the bowl.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Have the left arm put the red marker inside the bowl.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Place the red marker in the bowl.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Using the left hand, position the red marker in the bowl.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Set the red marker inside the bowl with the tip facing bottom left.", + "start_idx": 279, + "end_idx": 315 + }, + { + "text": "Pick up the blue marker from the tabke with the left hand at a diagonal angle grasping the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Using the left hand, pick up the blue marker from the tabke at a diagonal angle by grasping the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Have the left arm take the blue marker from the tabke, approaching diagonally and holding it at the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "With the left hand, grasp the middle of the blue marker from the tabke and pick it up at a diagonal angle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Pick up the blue marker from the tabke at a diagonal angle, grasping the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Take the blue marker from the tabke diagonally by holding its middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Grasp the middle of the blue marker from the tabke and pick it up at a diagonal angle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Retrieve the blue marker from the tabke with a diagonal approach, holding the center.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Using the left hand, pick up the blue marker from the tabke by grasping the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Have the left arm take the blue marker from the tabke, holding it at the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "With the left hand, collect the blue marker from the tabke at a diagonal angle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Pick up the blue marker from the tabke, grasping the middle.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Take the blue marker from the tabke.", + "start_idx": 315, + "end_idx": 342 + }, + { + "text": "Put the blue marker to the right of the blue plate with the left hand with its tip facing top right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Using the left hand, place the blue marker to the right of the blue plate with its tip pointing to the top right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Have the left arm set the blue marker to the right of the blue plate, tip oriented toward the upper right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "With the left hand, position the blue marker to the right of the blue plate so its tip faces the top right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Place the blue marker to the right of the blue plate with its tip facing the top right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Set the blue marker to the right of the blue plate, with the tip pointing upper right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Position the blue marker to the right of the blue plate so the tip faces the top right.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Using the left hand, place the blue marker to the right of the blue plate.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Have the left arm set the blue marker to the right of the blue plate.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "With the left hand, position the blue marker to the right of the blue plate.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Place the blue marker to the right of the blue plate.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Set the blue marker to the right of the blue plate.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Position the blue marker to the right of the blue plate.", + "start_idx": 342, + "end_idx": 378 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side hold at the bottom left on a diagonal angle.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp at the bottom left with a diagonal approach.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Grasp the red bag of chips from the table with a side hold at the bottom left and a diagonal approach.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Take the red bag of chips from the table using a side grasp at the bottom left on a diagonal angle.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table using a side hold.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Have the left hand take the red bag of chips from the table with a side grasp.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table at the bottom left with a diagonal pick angle.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Pick up the red bag of chips from the table at the bottom left with a diagonal approach.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Put the red bag of chips in front of the pink bowl with the left hand facing backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Using the left hand, place the red bag of chips in front of the pink bowl, facing backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Have the left arm set the red bag of chips before the pink bowl with its front facing backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "With the left hand, position the red bag of chips in front of the pink bowl so it faces backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Place the red bag of chips in front of the pink bowl with its front facing backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Set the red bag of chips before the pink bowl, facing backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Position the red bag of chips in front of the pink bowl so the front points backwards.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Using the left hand, put the red bag of chips in front of the pink bowl.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "With the left hand, place the red bag of chips before the pink bowl.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Have the left arm set the red bag of chips in front of the pink bowl.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Put the red bag of chips in front of the pink bowl.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Set the red bag of chips before the pink bowl.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Position the red bag of chips in front of the pink bowl.", + "start_idx": 543, + "end_idx": 573 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Have the left arm take the blue plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "With the left hand, grasp the blue plate from the table by the bottom-left edge using a diagonal lip grip.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Pick up the blue plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Take the blue plate from the table with a diagonal lip grip at the bottom-left area.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Grasp the blue plate from the table diagonally at the bottom left with a lip grip.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Using the left hand, pick up the blue plate from the table.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Have the left arm take the blue plate from the table.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "With the left hand, grasp the blue plate from the table.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Pick up the blue plate from the table with the left hand.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Take the blue plate from the table using a diagonal grasp at the bottom left.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Grasp the blue plate from the table.", + "start_idx": 573, + "end_idx": 597 + }, + { + "text": "Put the blue plate to the right of the red bag of chips with the left hand right side up front.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Using the left hand, place the blue plate to the right of the red bag of chips, right side up with the front facing forward.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Have the left arm set the blue plate to the right of the red bag of chips, keeping it right side up with its front forward.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "With the left hand, position the blue plate to the right of the red bag of chips so it stays right side up and front-facing.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Place the blue plate to the right of the red bag of chips, right side up with the front facing forward.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Set the blue plate to the right of the red bag of chips, keeping it right side up with its front forward.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Position the blue plate to the right of the red bag of chips so it is right side up and front-facing.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Using the left hand, place the blue plate to the right of the red bag of chips.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Have the left arm set the blue plate to the right of the red bag of chips.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "With the left hand, position the blue plate to the right of the red bag of chips.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Put the blue plate to the right of the red bag of chips.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Set the blue plate to the right of the red bag of chips.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Position the blue plate to the right of the red bag of chips.", + "start_idx": 597, + "end_idx": 642 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Have the left hand take the pink plate from the table, gripping the bottom left lip diagonally.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "With the left hand, grasp the pink plate from the table by the bottom left lip at a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Grasp the pink plate from the table by the bottom left lip at a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Take the pink plate from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Have the left hand take the pink plate from the table by the bottom left lip.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "With the left hand, grasp the pink plate from the table at a diagonal angle using a lip hold.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Take the pink plate from the table with the left hand using a lip grip.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Grasp the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 699, + "end_idx": 714 + }, + { + "text": "Put the pink plate in between the red bag of chips and the blue marker with the left hand right side up with the front as the orientation reference point.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Using the left hand, place the pink plate between the red bag of chips and the blue marker, right side up with the front as the reference point.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Have the left arm set the pink plate in between the red bag of chips and the blue marker, keeping it right side up relative to the front.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "With the left hand, position the pink plate between the red bag of chips and the blue marker so its front serves as the orientation reference and it stays right side up.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Place the pink plate between the red bag of chips and the blue marker, right side up with the front as the reference point.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Set the pink plate in between the red bag of chips and the blue marker, keeping it right side up relative to the front.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Position the pink plate between the red bag of chips and the blue marker with its front as the orientation reference, right side up.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Using the left hand, place the pink plate between the red bag of chips and the blue marker.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "With the left hand, set the pink plate in between the red bag of chips and the blue marker.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Have the left arm position the pink plate between the red bag of chips and the blue marker.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Put the pink plate between the red bag of chips and the blue marker.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Place the pink plate in between the red bag of chips and the blue marker.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Set the pink plate between the red bag of chips and the blue marker.", + "start_idx": 714, + "end_idx": 750 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Have the left arm pick up the pink plate from the table by the bottom left using a lip grasp diagonally.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "With the left hand, grasp the pink plate from the table at the bottom left with a diagonal lip grip.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Grasp the pink plate from the table at the bottom left using a diagonal lip grip.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Take the pink plate from the table by the bottom left with the lip grasp at a diagonal.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip grasp.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Using the left hand, grasp the pink plate from the table.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Pick up the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Take the pink plate from the table with the left hand at the bottom left on a diagonal.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Grasp the pink plate from the table using a lip grip.", + "start_idx": 750, + "end_idx": 777 + }, + { + "text": "Place the pink plate on top of the pink plate with the left hand right side up with the front as the orientation reference point.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Using the left hand, set the pink plate on top of the pink plate right side up, with the front as the orientation reference point.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "With the left arm, position the pink plate atop the pink plate right side up, using the front as the orientation reference point.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Have the left hand place the pink plate onto the pink plate right side up, referenced to the front.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Place the pink plate on top of the pink plate right side up, with the front as the orientation reference point.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Set the pink plate atop the pink plate right side up, using the front as the orientation reference point.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Position the pink plate onto the pink plate right side up, referenced to the front.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Using the left hand, place the pink plate on top of the pink plate.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "With the left arm, set the pink plate atop the pink plate.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Have the left hand position the pink plate onto the pink plate.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Place the pink plate on top of the pink plate.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Set the pink plate atop the pink plate.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Position the pink plate onto the pink plate.", + "start_idx": 777, + "end_idx": 813 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Have the left arm pick the red bag of chips up from the table using a left-side grip at a diagonal angle.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table from the left side using a diagonal side hold.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip on the left at a diagonal angle.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Take the red bag of chips from the table with a left-side side grasp at a diagonal angle.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Grasp the red bag of chips from the table from the left with a side hold at a diagonal angle.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "With the left hand, take the red bag of chips from the table.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Have the left arm pick up the red bag of chips from the table.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Using the left hand, grasp the red bag of chips from the table.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Take the red bag of chips from the table.", + "start_idx": 813, + "end_idx": 837 + }, + { + "text": "Put the red bag of chips to the top side of the table with the left hand facing backwards.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Using the left hand, place the red bag of chips on the top side of the table with its front facing backward.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Have the left arm set the red bag of chips at the top side of the table, oriented with the front toward the back.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With the left hand, position the red bag of chips on the table's top side so its front faces backward.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Place the red bag of chips on the top side of the table with its front facing backward.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Set the red bag of chips at the top side of the table, with the front oriented backward.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "The red bag of chips goes on the top side of the table, front facing backward.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Using the left hand, put the red bag of chips on the top side of the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With the left hand, set the red bag of chips at the top side of the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Have the left arm place the red bag of chips on the table's top side.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Place the red bag of chips on the top side of the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Set the red bag of chips at the top side of the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "The red bag of chips goes on the table's top side.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left diagonally.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip at the bottom left diagonally.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Have the left arm take the blue plate from the table with a lip grasp at the bottom left diagonal.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "With the left hand, grasp the blue plate from the table using a lip hold at the bottom left diagonal.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Pick up the blue plate from the table with a lip grip at the bottom left diagonally.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Grasp the blue plate from the table using a lip hold at the bottom left diagonal.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Take the blue plate from the table with a lip grasp at the bottom left diagonal.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Have the left arm take the blue plate from the table using a lip grasp.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "With the left hand, grasp the blue plate from the table with a lip hold.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Using the left hand, pick up the blue plate from the table at the bottom left diagonally.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "With the left hand, take the blue plate from the table at the bottom left diagonal.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Pick up the blue plate from the table.", + "start_idx": 864, + "end_idx": 888 + }, + { + "text": "Place the blue plate behind the pink bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Using the left hand, set the blue plate behind the pink bowl right side up, with the front as the reference point.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Have the left arm place the blue plate behind the pink bowl in an upright orientation, referenced to the front.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "With the left hand, position the blue plate behind the pink bowl so it is right side up using the front as the orientation reference.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Place the blue plate behind the pink bowl right side up, with the front as the reference point.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Set the blue plate behind the pink bowl in a right-side-up orientation relative to the front.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Position the blue plate behind the pink bowl upright, using the front as the orientation reference.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Using the left hand, place the blue plate behind the pink bowl.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Have the left arm set the blue plate behind the pink bowl.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "With the left hand, position the blue plate behind the pink bowl.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Place the blue plate behind the pink bowl.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Set the blue plate behind the pink bowl.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Position the blue plate behind the pink bowl.", + "start_idx": 888, + "end_idx": 930 + }, + { + "text": "Pick up the pink bowl from the pink plate with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Using the left hand, take the pink bowl from the pink plate with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Have the left arm grasp the pink bowl from the pink plate with a lip hold at the bottom left, diagonally oriented.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "With the left hand, secure the pink bowl from the pink plate using the lip grasp at the bottom left with a diagonal approach.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Remove the pink bowl from the pink plate using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Take the pink bowl off the pink plate with a lip hold at the bottom left on a diagonal.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Grasp the pink bowl from the pink plate using the lip grasp at the bottom left with diagonal orientation.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Using the left hand, pick up the pink bowl from the pink plate with a lip grip.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Have the left arm take the pink bowl from the pink plate using a lip hold.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "With the left hand, remove the pink bowl from the pink plate using the lip grasp.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Pick up the pink bowl from the pink plate with the left hand at the bottom left with a diagonal angle.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Using the left hand, take the pink bowl from the pink plate.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Remove the pink bowl from the pink plate at the bottom left with a diagonal angle.", + "start_idx": 981, + "end_idx": 1005 + }, + { + "text": "Place the pink bowl right side up to the right of the blue marker with the left hand.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "With the left hand, set the pink bowl upright to the right of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Using the left arm, position the pink bowl right side up on the blue marker's right side.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Have the left hand place the pink bowl in an upright orientation to the right of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Place the pink bowl right side up to the right of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Set the pink bowl upright on the right side of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Position the pink bowl to the right of the blue marker, keeping it right side up.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Place the pink bowl to the right of the blue marker with the left hand.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Using the left hand, set the pink bowl on the right side of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Have the left arm position the pink bowl to the right of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Put the pink bowl to the right of the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Set the pink bowl upright beside the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Using the left hand, place the pink bowl beside the blue marker.", + "start_idx": 1005, + "end_idx": 1044 + }, + { + "text": "Pick up the red marker from the pink bowl with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Using the left hand, take the red marker from the pink bowl at a diagonal angle, grasping the middle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "With the left hand, retrieve the red marker from the pink bowl on a diagonal, holding it at the center.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Have the left arm pick the red marker out of the pink bowl at a diagonal angle by the middle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Pick up the red marker from the pink bowl at a diagonal angle, grasping the middle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Take the red marker out of the pink bowl on a diagonal, holding the middle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Retrieve the red marker from the pink bowl at a diagonal angle by its center.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Using the left hand, pick up the red marker from the pink bowl.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "With the left hand, take the red marker out of the pink bowl.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Have the left arm retrieve the red marker from the pink bowl.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Pick up the red marker from the pink bowl.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Using the left hand, pick up the red marker from the pink bowl at a diagonal angle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Take the red marker from the pink bowl by the middle.", + "start_idx": 1044, + "end_idx": 1059 + }, + { + "text": "Put the red marker in between the pink plate and pink cup with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Using the left hand, place the red marker between the pink plate and the pink cup with the tip facing backward.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Have the left arm set the red marker between the pink plate and pink cup, oriented backward relative to its tip.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "With the left hand, position the red marker in between the pink plate and the pink cup so the tip points backward.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Place the red marker between the pink plate and the pink cup with the tip facing backward.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Set the red marker in between the pink plate and pink cup with the tip oriented backward.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Position the red marker between the pink plate and the pink cup so its tip faces backward.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Using the left hand, put the red marker between the pink plate and the pink cup.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "With the left hand, set the red marker in between the pink plate and pink cup.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Have the left arm place the red marker between the pink plate and the pink cup.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Put the red marker between the pink plate and the pink cup.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Set the red marker in between the pink plate and pink cup.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Position the red marker between the pink plate and the pink cup.", + "start_idx": 1059, + "end_idx": 1104 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the left grasp location and a diagonal pick angle.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip at the left grasp location and a diagonal pick angle.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side hold at the left grasp point and a diagonal approach.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp on the left side at a diagonal angle.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Pick up the red bag of chips from the table with a side grip at the left grasp location and a diagonal pick angle.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Take the red bag of chips from the table using a side grasp at the left grasp point and a diagonal approach.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Grasp the red bag of chips from the table with a side hold on the left side at a diagonal angle.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Have the left hand take the red bag of chips from the table.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Take the red bag of chips from the table using the left hand.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Grasp the red bag of chips from the table.", + "start_idx": 1155, + "end_idx": 1176 + }, + { + "text": "Place the red bag of chips on top of the table with the left hand facing backwards.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Using the left hand, set the red bag of chips on top of the table with its front facing backwards.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Have the left arm place the red bag of chips on top of the table, front turned backward.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "With the left hand, position the red bag of chips on the table top so the front faces backwards.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Place the red bag of chips on top of the table with its front facing backwards.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Set the red bag of chips on the table top with the front turned backward.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Position the red bag of chips on top of the table so it faces backwards.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Using the left hand, place the red bag of chips on top of the table.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "With the left hand, set the red bag of chips on the table top.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Have the left arm put the red bag of chips on top of the table.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Place the red bag of chips on top of the table.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Set the red bag of chips on the table top.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Put the red bag of chips on top of the table.", + "start_idx": 1176, + "end_idx": 1203 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "With the left hand, take the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Using the left arm, pick the blue marker up from the table on a diagonal, holding it at the center.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Have the left hand retrieve the blue marker from the table diagonally, gripping the middle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Take the blue marker from the table diagonally, holding the middle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle with a grip on the center.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "With the left hand, pick up the blue marker from the table.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Using the left arm, take the blue marker from the table.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Have the left hand retrieve the blue marker from the table.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Grab the blue marker from the table by the middle.", + "start_idx": 1203, + "end_idx": 1224 + }, + { + "text": "Put the blue marker to the right of the red marker with the left hand with its tip facing bottom left.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Using the left hand, place the blue marker to the right of the red marker with its tip pointing toward the bottom left.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Have the left arm set the blue marker down to the right of the red marker, tip facing bottom left.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "With the left hand, position the blue marker to the right of the red marker so its tip faces the bottom-left direction.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Place the blue marker to the right of the red marker with its tip pointing toward the bottom left.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Set the blue marker to the right of the red marker, with the tip facing bottom left.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Position the blue marker to the right of the red marker so the tip points bottom left.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Using the left hand, place the blue marker to the right of the red marker.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Have the left arm set the blue marker down to the right of the red marker.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "With the left hand, position the blue marker to the right of the red marker.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Put the blue marker to the right of the red marker.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Set the blue marker down to the right of the red marker.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Position the blue marker to the right of the red marker.", + "start_idx": 1224, + "end_idx": 1260 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Have the left arm grasp the blue plate from the table with a bottom-left lip hold at a diagonal angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "With the left hand, retrieve the blue plate from the table using a lip grasp on the bottom left at a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Retrieve the blue plate from the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Take the blue plate from the table using a lip hold at the bottom left with a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "With the left hand, take the blue plate from the table using a lip grasp.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Have the left arm retrieve the blue plate from the table with a bottom-left lip hold.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Pick up the blue plate from the table with the left hand at the bottom left and a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Using the left hand, grasp the blue plate from the table at the bottom left and a diagonal angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Get the blue plate from the table with a diagonal pick angle.", + "start_idx": 1320, + "end_idx": 1335 + }, + { + "text": "Put the blue plate in between the pink bowl and pink plate with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Using the left hand, place the blue plate between the pink bowl and the pink plate, right side up with the front as the orientation reference point.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the left arm set the blue plate in between the pink bowl and pink plate, keeping it right side up relative to the front.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "With the left hand, position the blue plate between the pink bowl and pink plate right side up, using the front as the orientation reference point.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Place the blue plate between the pink bowl and the pink plate, right side up with the front as the orientation reference point.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Set the blue plate in between the pink bowl and pink plate, keeping it right side up relative to the front.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Position the blue plate between the pink bowl and pink plate with the front as the orientation reference point, right side up.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Using the left hand, place the blue plate between the pink bowl and the pink plate.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the left arm put the blue plate in between the pink bowl and pink plate.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "With the left hand, set the blue plate between the pink bowl and pink plate.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Put the blue plate between the pink bowl and the pink plate.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Position the blue plate in between the pink bowl and pink plate.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Have the blue plate placed between the pink bowl and the pink plate.", + "start_idx": 1335, + "end_idx": 1371 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the bottom.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by the bottom rim in a diagonal lip hold.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Grasp the pink bowl from the table by the bottom rim with a diagonal lip hold.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 1371, + "end_idx": 1401 + }, + { + "text": "Put the pink bowl to the top left of the table with the left hand.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Using the left hand, place the pink bowl at the table's top left, right side up with its front oriented correctly.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Have the left arm set the pink bowl in the table's top-left area, keeping it upright and aligned from the front.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "With the left hand, position the pink bowl at the top left of the table, upright and front-facing.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Place the pink bowl at the top left of the table, right side up with its front oriented correctly.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Set the pink bowl in the table's top-left area, upright and aligned from the front.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Position the pink bowl at the table's top left, keeping it right side up and front-facing.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Using the left hand, put the pink bowl at the top left of the table.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Have the left arm place the pink bowl in the table's top-left area.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "With the left hand, set the pink bowl at the table's top left.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Put the pink bowl at the top left of the table.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Place the pink bowl in the table's top-left area.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Set the pink bowl at the table's top left.", + "start_idx": 1401, + "end_idx": 1431 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Have the left arm grasp the pink cup's handle from the table at a diagonal angle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "With the left hand, take hold of the pink cup by the handle from the table at a diagonal angle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Grasp the pink cup's handle and pick it up from the table at a diagonal angle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "From the table, pick up the pink cup by the handle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Take hold of the pink cup by its handle from the table.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Have the left arm take the pink cup from the table by its handle.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 1431, + "end_idx": 1461 + }, + { + "text": "Put the pink cup to the left side of the blue plate with the left hand right side up with the front facing backwards.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Using the left hand, place the pink cup to the left of the blue plate, right side up, with its front facing backward.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Have the left arm set the pink cup on the left side of the blue plate, keeping it upright and its front facing backward.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "With the left hand, position the pink cup left of the blue plate, right side up and front facing backward.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Place the pink cup to the left of the blue plate, right side up, with its front facing backward.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Set the pink cup on the left side of the blue plate, keeping it upright and its front facing backward.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Position the pink cup left of the blue plate, with the front facing backward and right side up.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Using the left hand, place the pink cup to the left of the blue plate.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Have the left arm set the pink cup on the left side of the blue plate.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "With the left hand, position the pink cup left of the blue plate.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Put the pink cup to the left of the blue plate.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Set the pink cup on the left side of the blue plate.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Place the pink cup left of the blue plate.", + "start_idx": 1461, + "end_idx": 1500 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Have the left arm grasp the blue plate from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "With the left hand, secure the blue plate from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Take the blue plate from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Grasp the blue plate from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Have the left arm take the blue plate from the table using a lip hold.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "With the left hand, grasp the blue plate from the table using a lip grasp.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Pick up the blue plate from the table at the bottom left from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Take the blue plate from the table with the left hand from a diagonal angle.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Grasp the blue plate from the table at the bottom left.", + "start_idx": 1500, + "end_idx": 1521 + }, + { + "text": "Put the blue plate to the right of the pink bowl with the left hand right side up front.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink bowl, right side up with the front oriented correctly.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Have the left arm set the blue plate to the right of the pink bowl, keeping it right side up and front-facing.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "With the left hand, position the blue plate to the right of the pink bowl so it is right side up with the front at the front.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Place the blue plate to the right of the pink bowl, keeping it right side up with the front oriented correctly.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Set the blue plate to the right of the pink bowl, right side up and front-facing.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Position the blue plate to the right of the pink bowl so it stays right side up with the front at the front.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink bowl.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Have the left arm set the blue plate to the right of the pink bowl.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "With the left hand, position the blue plate to the right of the pink bowl.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Place the blue plate to the right of the pink bowl.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Set the blue plate to the right of the pink bowl.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Position the blue plate to the right of the pink bowl.", + "start_idx": 1521, + "end_idx": 1563 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grip at the bottom left.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Have the left arm grasp the pink plate from the table using a bottom-left diagonal lip hold.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "With the left hand, secure the pink plate from the table by its bottom-left edge in a diagonal lip grip.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grip at the bottom left.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Take the pink plate from the table with a diagonal lip hold at the bottom left.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Grasp the pink plate from the table at the bottom left using a diagonal lip grip.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Using a diagonal lip grip at the bottom left, collect the pink plate from the table.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "With the left hand, pick up the pink plate from the table.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Using the left hand, grasp the pink plate from the table.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 1680, + "end_idx": 1707 + }, + { + "text": "Put the pink plate in front of the blue plate with the left hand right side up front.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Using the left hand, place the pink plate in front of the blue plate, right side up at the front.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Have the left arm set the pink plate in front of the blue plate with its front right side up.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "With the left hand, position the pink plate before the blue plate, front facing right side up.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Place the pink plate in front of the blue plate, right side up at the front.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Set the pink plate before the blue plate with its front right side up.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Position the pink plate in front of the blue plate, front side right side up.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Using the left hand, put the pink plate in front of the blue plate.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "With the left arm, place the pink plate before the blue plate.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Have the left hand set the pink plate in front of the blue plate.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Put the pink plate in front of the blue plate.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Arrange the pink plate before the blue plate.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "The pink plate goes in front of the blue plate.", + "start_idx": 1707, + "end_idx": 1746 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "With the left hand, take hold of the pink cup from the table by the handle in a diagonal orientation.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Take the pink cup from the table by the handle in a diagonal orientation.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Grasp the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Remove the pink cup from the table by the handle in a diagonal position.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "With the left hand, take the pink cup from the table by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Take the pink cup from the table by the handle.", + "start_idx": 1746, + "end_idx": 1773 + }, + { + "text": "Put the pink cup on top of the blue plate with the left hand right side up with the front facing backwards.", + "start_idx": 1773, + "end_idx": 1812 + }, + { + "text": "Using the left hand, place the pink cup on top of the blue plate upright with its front facing backward.", + "start_idx": 1773, + "end_idx": 1812 + }, + { + "text": "Have the left arm set the pink cup atop the blue plate right side up, front oriented to the back.", + "start_idx": 1773, + "end_idx": 1812 + }, + { + "text": "With the left hand, position the pink cup on the blue plate upside-facing? no", + "start_idx": 1773, + "end_idx": 1812 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Have the left arm pick the red marker off the table using a bottom side grip at a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "With the left hand, grasp the red marker from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Take the red marker off the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Grasp the red marker from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Have the left arm take the red marker off the table.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "With the left hand, grasp the red marker from the table.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Pick up the red marker from the table with the left hand from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Using the left hand, take the red marker off the table at the bottom.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Grab the red marker from the table at the bottom from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1836 + }, + { + "text": "Put the red marker on top of the pink plate with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Using the left hand, place the red marker on top of the pink plate with the tip facing bottom left.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Have the left arm set the red marker onto the pink plate, oriented bottom left by its tip.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "With the left hand, position the red marker on the pink plate so the tip points bottom left.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Place the red marker on top of the pink plate with the tip facing bottom left.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Set the red marker onto the pink plate, with its tip oriented toward the bottom left.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Position the red marker on the pink plate so its tip points bottom left.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Using the left hand, put the red marker on top of the pink plate.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "With the left hand, set the red marker onto the pink plate.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Have the left arm place the red marker on the pink plate.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Put the red marker on top of the pink plate.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Set the red marker onto the pink plate.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Position the red marker on the pink plate.", + "start_idx": 1836, + "end_idx": 1875 + }, + { + "text": "Pick up the red marker from the pink plate with the left hand by the bottom at a diagonal angle using a side grasp.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "With the left hand, take the red marker from the pink plate by the bottom at a diagonal angle using a side grasp.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Using the left arm, grasp the red marker from the pink plate at its bottom diagonally with a side grip.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Have the left hand pick the red marker off the pink plate by the bottom at a diagonal angle with a side hold.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Pick up the red marker from the pink plate by the bottom at a diagonal angle using a side grasp.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Grasp the red marker off the pink plate at its bottom diagonally with a side grip.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Take the red marker from the pink plate by the bottom at a diagonal angle with a side hold.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "With the left hand, pick up the red marker from the pink plate by the bottom using a side grasp.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Using the left arm, take the red marker from the pink plate at its bottom with a side grip.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Have the left hand grasp the red marker off the pink plate by the bottom with a side hold.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "With the left hand, pick up the red marker from the pink plate by the bottom at a diagonal angle.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Using the left arm, take the red marker from the pink plate at its bottom diagonally.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Have the left hand grasp the red marker off the pink plate by the bottom.", + "start_idx": 1997, + "end_idx": 2015 + }, + { + "text": "Put the red marker to the left of the pink plate with the left hand facing backwards with the tip as the reference point.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Using the left hand, place the red marker to the left of the pink plate with the tip facing backwards.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Have the left arm set the red marker left of the pink plate, oriented backward relative to its tip.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "With the left hand, position the red marker on the pink plate's left side, with the tip pointing backward.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Place the red marker to the left of the pink plate with the tip facing backwards.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Set the red marker left of the pink plate, keeping the tip oriented backward.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Position the red marker on the left side of the pink plate with its tip pointing backward.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Put the red marker to the left of the pink plate.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Place the red marker on the left side of the pink plate.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Set the red marker left of the pink plate.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Put the red marker to the left of the pink plate with the left hand.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Using the left hand, place the red marker on the pink plate's left side.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Have the left arm set the red marker to the left of the pink plate.", + "start_idx": 2016, + "end_idx": 2049 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grip at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Using the left hand, grasp the pink plate from the table with a lip hold at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Have the left arm retrieve the pink plate from the table with a lip grip at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Take the pink plate from the table using a lip grip at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "The pink plate from the table should be grasped with a lip hold at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "From the side, secure the pink plate from the table with a lip grip at the bottom left.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip hold.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip grip.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Pick up the pink plate from the table at the bottom left from the side.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "From the side, take the pink plate from the table at the bottom left.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 2049, + "end_idx": 2067 + }, + { + "text": "Put the pink plate on the top side of the table with the left hand right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Using the left hand, place the pink plate on the top side of the table right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Have the left arm set the pink plate onto the table's top side, keeping it right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "With the left hand, position the pink plate on the top side of the table so it stays right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Place the pink plate on the top side of the table right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Set the pink plate onto the table's top side right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Position the pink plate on the top side of the table right side up.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Using the left hand, put the pink plate on the top side of the table.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Have the left arm place the pink plate onto the table's top side.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "With the left hand, set the pink plate on the top side of the table.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Put the pink plate on the top side of the table.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Place the pink plate on the table's top side.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Set the pink plate onto the top side of the table.", + "start_idx": 2067, + "end_idx": 2112 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Have the left arm pick up the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle on a diagonal.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Take the pink cup from the table by the handle using a diagonal grasp.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Grasp the pink cup from the table at the handle with a diagonal hold.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "The pink cup should be taken from the table with the left hand.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 2112, + "end_idx": 2139 + }, + { + "text": "Put the pink cup in front of the blue plate with the left hand right side up with the front facing backwards.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Using the left hand, place the pink cup in front of the blue plate, right side up, with its front facing backward.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Have the left arm set the pink cup before the blue plate, keeping it upright and with the front toward the back.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "With the left hand, position the pink cup in front of the blue plate so it stays right side up and its front faces backward.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Place the pink cup in front of the blue plate, right side up, with the front facing backward.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Set the pink cup before the blue plate, keeping it upright and oriented with the front toward the back.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Position the pink cup in front of the blue plate so it is right side up and facing backward at the front.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Using the left hand, place the pink cup in front of the blue plate.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "With the left hand, set the pink cup before the blue plate.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Have the left arm position the pink cup in front of the blue plate.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Put the pink cup in front of the blue plate.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Set the pink cup before the blue plate.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Position the pink cup in front of the blue plate.", + "start_idx": 2139, + "end_idx": 2172 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip at the bottom left, angled diagonally.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Have the left arm grasp the blue plate from the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "With the left hand, secure the blue plate from the table using a bottom-left lip grasp at a diagonal.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Take the blue plate from the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Grasp the blue plate from the table using a lip grasp at the bottom left, diagonally oriented.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "With the left hand, take the blue plate from the table using a lip grasp.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Have the left arm grasp the blue plate from the table with a lip hold.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Using the left hand, pick up the blue plate from the table at the bottom left with a diagonal angle.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "With the left hand, grasp the blue plate from the table at the bottom-left edge, diagonally.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Pick up the blue plate from the table at the bottom left with a diagonal angle.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Put the blue plate to the right of the pink cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink cup, right side up with the front as the reference point.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Have the left arm set the blue plate to the right of the pink cup, keeping it right side up relative to the front.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "With the left hand, position the blue plate right of the pink cup in a right-side-up orientation using the front as the reference point.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Place the blue plate to the right of the pink cup, keeping it right side up with the front as the reference point.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Set the blue plate right of the pink cup, right side up relative to the front.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Position the blue plate to the right of the pink cup with the front as the orientation reference, right side up.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink cup.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Have the left arm set the blue plate right of the pink cup.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "With the left hand, position the blue plate to the right of the pink cup.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Place the blue plate to the right of the pink cup.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Set the blue plate right of the pink cup.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Position the blue plate beside the pink cup on its right.", + "start_idx": 2250, + "end_idx": 2289 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by the bottom using a lip grasp on a diagonal.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "With the left hand, secure the pink bowl from the table via the bottom using a lip grip at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom with a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Take the pink bowl from the table with a lip grasp at the bottom at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Grasp the pink bowl from the table by the bottom using a lip grip on a diagonal.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "With the left hand, pick up the pink bowl from the table using a lip grip at the bottom.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Using the left hand, take the pink bowl from the table by the bottom with a lip grasp.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "With the left hand, pick up the pink bowl from the table at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Take the pink bowl from the table by the bottom at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2319 + }, + { + "text": "Put the pink bowl to the left of the pink plate with the left hand.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Have the left arm set the pink bowl on the left side of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "With the left hand, position the pink bowl left of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Place the pink bowl to the left of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Set the pink bowl on the left side of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Position the pink bowl left of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Move the pink bowl to the left of the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Have the robot place the pink bowl beside the pink plate on its left side.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Using the left hand, put the pink bowl by the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Have the left arm place the pink bowl beside the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Set the pink bowl next to the pink plate with the left hand.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Put the pink bowl beside the pink plate.", + "start_idx": 2319, + "end_idx": 2358 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Using the left hand, pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Have the left hand take the pink cup off the table by grasping the handle diagonally.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "With the left hand, collect the pink cup from the table using a diagonal handle grasp.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Take the pink cup off the table with a diagonal grasp at the handle.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "The pink cup should be picked up from the table with a diagonal handle grasp.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Using the left hand, take the pink cup off the table.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Have the left hand collect the pink cup from the table.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Remove the pink cup from the table.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "With the left hand, pick up the pink cup from the table.", + "start_idx": 2358, + "end_idx": 2388 + }, + { + "text": "Put the pink cup behind the red marker with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Using the left hand, place the pink cup behind the red marker, handle facing backward, right side up relative to the front.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Have the left arm set the pink cup behind the red marker with its handle pointed backward, upright with the front as reference.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "With the left hand, position the pink cup behind the red marker so the handle faces backward and it stays right side up using the front as reference.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Place the pink cup behind the red marker with the handle facing backward, right side up with the front as reference.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Set the pink cup behind the red marker, keeping the handle pointed backward and the cup upright relative to the front.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Position the pink cup behind the red marker so its handle faces backward and it remains right side up from the front reference.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Using the left hand, put the pink cup behind the red marker.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Have the left arm place the pink cup behind the red marker.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "With the left hand, set the pink cup behind the red marker.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Place the pink cup behind the red marker.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Set the pink cup behind the red marker.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Position the pink cup behind the red marker.", + "start_idx": 2388, + "end_idx": 2421 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Have the left arm pick the red marker up from the table diagonally at the middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "With the left hand, retrieve the red marker from the table, holding it at a diagonal angle by the middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Retrieve the red marker from the table while holding its middle at a diagonal angle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Have the left arm retrieve the red marker from the table.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Using the left hand, grasp the red marker from the table.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Take the red marker from the table by the middle.", + "start_idx": 2421, + "end_idx": 2439 + }, + { + "text": "Put the red marker to the left of the blue plate with the left hand with its tip facing left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue plate with its tip pointing left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Have the left arm set the red marker left of the blue plate, keeping the tip oriented left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "With the left hand, position the red marker on the blue plate's left side so the tip faces left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Place the red marker to the left of the blue plate.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Set the red marker on the left side of the blue plate.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Position the red marker left of the blue plate.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Using the left hand, put the red marker to the left of the blue plate.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Have the left arm place the red marker on the blue plate's left side.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "With the left hand, set the red marker left of the blue plate.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Place the red marker to the left of the blue plate with its tip pointing left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Set the red marker on the blue plate's left side with the tip facing left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Position the red marker left of the blue plate so its tip points left.", + "start_idx": 2439, + "end_idx": 2469 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Have the left arm pick up the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Take the pink cup from the table with a diagonal hold on the handle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Grasp the pink cup from the table by the handle with a diagonal grip.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Retrieve the pink cup from the table at the handle with a diagonal grasp.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Put the pink cup to the left of the pink bowl with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Using the left hand, place the pink cup to the left of the pink bowl, right side up, with the handle facing backward relative to the front.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Have the left hand set the pink cup left of the pink bowl, keeping it upright and the handle pointing backward from the front.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "With the left hand, position the pink cup to the left of the pink bowl so it is right side up and its handle faces backward using the front as reference.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Place the pink cup to the left of the pink bowl, right side up, with the handle facing backward from the front.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Set the pink cup left of the pink bowl, keeping it upright and the handle directed backward relative to the front.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Position the pink cup to the left of the pink bowl with its handle facing backward, using the front as reference.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Put the pink cup left of the pink bowl with the handle pointing backward from the front.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Arrange the pink cup to the left of the pink bowl.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Place the pink cup left of the pink bowl.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Set the pink cup to the left of the pink bowl.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Put the pink cup to the left of the pink bowl, right side up, with the handle facing backward from the front.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Position the pink cup left of the pink bowl, keeping it upright and the handle facing backward.", + "start_idx": 2493, + "end_idx": 2529 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "With the left hand, pick up the blue plate from the table using a lip grip at the left side with a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Using a lip grip, have the left hand take the blue plate from the table at the left side with a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "From the table, grasp the blue plate with the left hand in a lip hold on the left side at a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the left side with a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Take the blue plate from the table with a lip grip on the left side at a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Grasp the blue plate from the table at the left side with a diagonal angle using a lip grip.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "With the left hand, pick up the blue plate from the table using a lip grip at the left side.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Have the left hand grasp the blue plate from the table at the left side with a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Pick up the blue plate from the table at the left side with a diagonal angle.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Using the left hand, pick up the blue plate from the table at the left side.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Take the blue plate from the table.", + "start_idx": 2529, + "end_idx": 2553 + }, + { + "text": "Put the blue plate to the left of the pink cup with the left hand right side up with the front as the reference point.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Using the left hand, place the blue plate to the left of the pink cup, right side up with the front as the reference point.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Have the left arm set the blue plate left of the pink cup, keeping it right side up relative to the front.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "With the left hand, position the blue plate to the pink cup's left, oriented right side up using the front as the reference point.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Place the blue plate to the left of the pink cup.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Set the blue plate left of the pink cup.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Position the blue plate to the pink cup's left.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Move the blue plate to the left of the pink cup.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Using the left hand, place the blue plate to the left of the pink cup.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Have the left arm set the blue plate left of the pink cup.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "With the left hand, position the blue plate to the pink cup's left.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Place the blue plate left of the pink cup, keeping it right side up.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Set the blue plate to the left of the pink cup with the front as the reference point.", + "start_idx": 2553, + "end_idx": 2589 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle with a diagonal pickup.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "With the left hand, collect the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Grasp the pink cup from the table by its handle with a diagonal pickup.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "With the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Using the left hand, take the pink cup from the table at a diagonal angle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Have the left arm pick up the pink cup from the table at a diagonal angle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Take the pink cup from the table by the handle.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 2589, + "end_idx": 2610 + }, + { + "text": "Put the pink cup in front of the blue plate with the handle facing backwards right side up with the left hand.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Using the left hand, place the pink cup in front of the blue plate with the handle facing backward, right side up.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Have the left arm set the pink cup before the blue plate, keeping the handle pointed backward and the cup upright.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "With the left hand, position the pink cup in front of the blue plate so the handle faces backward and it remains right side up.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Place the pink cup in front of the blue plate with the handle facing backward, right side up.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Set the pink cup before the blue plate, with its handle pointed backward and the cup upright.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Position the pink cup in front of the blue plate, keeping the handle to the back and the cup right side up.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Using the left hand, put the pink cup in front of the blue plate.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Have the left arm place the pink cup before the blue plate.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "With the left hand, set the pink cup in front of the blue plate.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Put the pink cup in front of the blue plate.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Place the pink cup before the blue plate.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Set the pink cup in front of the blue plate.", + "start_idx": 2610, + "end_idx": 2643 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left diagonally.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left diagonally.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a lip hold at the bottom-left diagonal.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp on the bottom left diagonal.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left diagonally.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom-left diagonal.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Grasp the pink bowl from the table using a lip grasp on the bottom left diagonal.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "From the table, take the pink bowl with the left hand using a lip grasp.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a lip hold.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left diagonally.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left diagonal.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Take the pink bowl from the table at the bottom left diagonal.", + "start_idx": 2643, + "end_idx": 2676 + }, + { + "text": "Put the pink bowl to the right of the blue plate with the left hand.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Using the left hand, place the pink bowl to the right of the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Have the left arm set the pink bowl to the right of the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "With the left hand, position the pink bowl on the blue plate's right side.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Place the pink bowl to the right of the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Set the pink bowl on the right side of the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Position the pink bowl to the blue plate's right.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "With the left hand, place the pink bowl by the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Using the left hand, set the pink bowl next to the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Have the left arm place the pink bowl beside the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Put the pink bowl by the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Set the pink bowl beside the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Position the pink bowl next to the blue plate.", + "start_idx": 2676, + "end_idx": 2706 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Have the left hand take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "With a diagonal approach, the left hand should retrieve the red marker from the table by gripping its middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Take the red marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "From the table, grasp the red marker in the middle and pick it up.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Using the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "With the left hand, take the red marker from the table by its middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Have the left hand retrieve the red marker from the table, holding the middle.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 2760, + "end_idx": 2778 + }, + { + "text": "Put the red marker behind the pink plate with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Using the left hand, place the red marker behind the pink plate with the tip facing bottom left.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Have the left arm set the red marker behind the pink plate, oriented bottom left by its tip.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "With the left hand, position the red marker behind the pink plate so the tip points bottom left.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Place the red marker behind the pink plate with the tip facing bottom left.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Set the red marker behind the pink plate, with the tip oriented toward the bottom left.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Position the red marker behind the pink plate so its tip points bottom left.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Using the left hand, put the red marker behind the pink plate.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "With the left hand, place the red marker behind the pink plate.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Have the left arm set the red marker behind the pink plate.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Place the red marker behind the pink plate.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Set the red marker behind the pink plate.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Position the red marker behind the pink plate.", + "start_idx": 2778, + "end_idx": 2814 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Have the left hand take the pink bowl from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a bottom lip grip on a diagonal.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Take the pink bowl from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Grasp the pink bowl from the table using a bottom lip grip on a diagonal.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp at the bottom.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Have the left hand grasp the pink bowl from the table by the bottom edge with a lip grip.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at a diagonal angle.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "With the left hand, take the pink bowl from the table on a diagonal.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 2865, + "end_idx": 2886 + }, + { + "text": "Place the pink bowl to the left of the pink plate with the left hand right side up.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Using the left hand, set the pink bowl to the left of the pink plate right side up.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Have the left arm place the pink bowl left of the pink plate with its right side up.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the pink plate, right side up.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Place the pink bowl to the left of the pink plate.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Set the pink bowl on the left side of the pink plate.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Position the pink bowl left of the pink plate.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the pink plate.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Have the left arm set the pink bowl left of the pink plate.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the pink plate.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Place the pink bowl with its right side up.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Set the pink bowl down right side up.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Position the pink bowl upright.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Using the left hand, pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle, keeping it at a diagonal angle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "With the left hand, grasp the pink cup from the table by the handle in a diagonal orientation.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Grasp the pink cup from the table by the handle in a diagonal position.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Take the pink cup from the table by the handle while angled diagonally.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Have the left arm take the pink cup from the table by the handle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "With the left hand, grasp the pink cup from the table at a diagonal angle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Pick up the pink cup from the table with the left hand at a diagonal angle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Take the pink cup from the table by the handle.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Grasp the pink cup from the table.", + "start_idx": 2922, + "end_idx": 2946 + }, + { + "text": "Put the pink cup behind the pink bowl with the left hand right side up with the front facing backwards.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Using the left hand, place the pink cup behind the pink bowl right side up with its front facing backward.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Have the left arm set the pink cup behind the pink bowl, keeping it upright and the front pointed backward.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "With the left hand, position the pink cup behind the pink bowl so it is right side up and facing backward.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Place the pink cup behind the pink bowl right side up with the front facing backward.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Set the pink cup behind the pink bowl, keeping it upright with the front toward the back.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Position the pink cup behind the pink bowl so it stays right side up and its front points backward.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Put the pink cup behind the pink bowl.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Set the pink cup behind the pink bowl.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Position the pink cup behind the pink bowl.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Using the left hand, place the pink cup behind the pink bowl.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Have the left arm set the pink cup behind the pink bowl.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "With the left hand, put the pink cup behind the pink bowl.", + "start_idx": 2946, + "end_idx": 2982 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom with a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip at the bottom at a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Have the left arm grasp the blue plate from the table by the bottom edge with a lip grasp, diagonally oriented.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "With the left hand, secure the blue plate from the table using a bottom lip hold at a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Take the blue plate from the table using a lip grip at the bottom with a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Grasp the blue plate from the table with a bottom lip hold at a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "The blue plate from the table should be picked up with a lip grasp at the bottom on a diagonal.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip at the bottom.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Have the left arm take the blue plate from the table using a lip grasp at the bottom.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "With the left hand, secure the blue plate from the table by the bottom edge.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Pick up the blue plate from the table with the left hand at a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Take the blue plate from the table at a diagonal angle.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "The blue plate from the table should be grasped by the bottom edge.", + "start_idx": 2982, + "end_idx": 2988 + }, + { + "text": "Place the blue plate to the right of the pink plate with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Using the left hand, set the blue plate to the right of the pink plate right side up, with the front as the orientation reference point.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Have the left arm place the blue plate to the right of the pink plate, keeping it right side up relative to the front.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "With the left hand, position the blue plate to the right of the pink plate in a right-side-up orientation using the front as the reference point.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Place the blue plate to the right of the pink plate right side up, using the front as the orientation reference point.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Set the blue plate to the right of the pink plate, keeping it right side up with the front as the reference point.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Position the blue plate to the right of the pink plate in a right-side-up orientation relative to the front.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink plate.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Have the left arm set the blue plate to the right of the pink plate.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "With the left hand, position the blue plate to the right of the pink plate.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Place the blue plate to the right of the pink plate.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Set the blue plate to the right of the pink plate.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Put the blue plate to the right of the pink plate.", + "start_idx": 2988, + "end_idx": 3024 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Have the left arm pick up the pink cup from the table by the handle with a diagonal grip.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Take the pink cup from the table by the handle using a diagonal grip.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Grasp the pink cup from the table at the handle with a diagonal hold.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "From the table, take the pink cup.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "The pink cup should be grasped from the table.", + "start_idx": 3078, + "end_idx": 3096 + }, + { + "text": "Put the pink cup to the left of the pink bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Using the left hand, place the pink cup to the left of the pink bowl with its handle facing backward and upright.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Have the left hand set the pink cup left of the pink bowl, keeping it right side up with the handle toward the back.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "With the left hand, position the pink cup to the pink bowl's left, upright and with the handle facing backward.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Place the pink cup to the left of the pink bowl with the handle facing backward and right side up.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Set the pink cup left of the pink bowl, keeping it upright with the handle toward the back.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Position the pink cup to the left of the pink bowl, with its handle facing backward and upright.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Put the pink cup to the left of the pink bowl.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Set the pink cup on the left side of the pink bowl.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Have the pink cup placed to the left of the pink bowl.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Using the left hand, put the pink cup to the left of the pink bowl.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "With the left hand, set the pink cup on the left side of the pink bowl.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Have the left hand place the pink cup to the pink bowl's left.", + "start_idx": 3096, + "end_idx": 3135 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom right on a diagonal.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "With the left hand, take hold of the pink bowl from the table using a lip grasp at the bottom right diagonally.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Take the pink bowl from the table using a lip hold at the bottom right on a diagonal.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Grasp the pink bowl from the table with a lip grasp at the bottom right diagonally.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "With the left hand, grasp the pink bowl from the table with a lip grasp.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Take the pink bowl from the table with the left hand.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Using a lip grip, grasp the pink bowl from the table.", + "start_idx": 3189, + "end_idx": 3204 + }, + { + "text": "Put the pink bowl to the left of the red bag of chips with the left hand.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Have the left arm set the pink bowl to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "With the left hand, position the pink bowl to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Place the pink bowl to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Set the pink bowl to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Position the pink bowl to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "The pink bowl goes to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Move the pink bowl beside the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Put the pink bowl next to the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Have the pink bowl placed to the left of the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Set the pink bowl beside the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Position the pink bowl next to the red bag of chips.", + "start_idx": 3204, + "end_idx": 3246 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Have the left hand grasp the pink cup on the table diagonally at its handle.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "With the left hand, collect the pink cup from the table by grasping the handle at a diagonal angle.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Take the pink cup from the table by grasping the handle diagonally.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "The pink cup on the table should be picked up with a diagonal handle grasp.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Use the left hand to pick up the pink cup from the table.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "With the left hand, take the pink cup from the table.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Have the left hand collect the pink cup on the table.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Take the pink cup from the table with the left hand.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "The pink cup on the table should be picked up by grasping the handle diagonally.", + "start_idx": 3300, + "end_idx": 3324 + }, + { + "text": "Put the pink cup to the left of the blue plate with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Using the left hand, place the pink cup to the left of the blue plate, right side up with the handle facing backward using the front as reference.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Have the left arm set the pink cup left of the blue plate, keeping it upright and the handle pointed backward relative to the front.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "With the left hand, position the pink cup to the blue plate's left, right side up and with the handle facing backward from the front.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Place the pink cup to the left of the blue plate, right side up with the handle facing backward using the front as reference.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Set the pink cup left of the blue plate, keeping it upright with the handle pointed backward relative to the front.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Position the pink cup to the left of the blue plate, with the handle facing backward and the front as reference.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Using the left hand, put the pink cup to the left of the blue plate.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Have the left arm place the pink cup left of the blue plate.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "With the left hand, set the pink cup to the blue plate's left.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Put the pink cup to the left of the blue plate.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Place the pink cup left of the blue plate, right side up.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Set the pink cup to the left of the blue plate with the handle facing backward.", + "start_idx": 3324, + "end_idx": 3357 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grasp at the bottom at a diagonal angle.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Have the left arm pick up the red bag of chips from the table with a bottom side grip held diagonally.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table using a side hold at the bottom in a diagonal orientation.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom with a diagonal angle.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Grasp the red bag of chips from the table with a side hold at the bottom diagonally.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Take the red bag of chips from the table with a bottom side grasp at a diagonal.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Have the left arm take the red bag of chips from the table.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand at the bottom with a diagonal angle.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Take the red bag of chips from the table with the left hand using a side grip.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Grasp the red bag of chips from the table at the bottom with a diagonal angle.", + "start_idx": 3423, + "end_idx": 3438 + }, + { + "text": "Put the red bag of chips in front of the pink bowl with the left hand facing backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Using the left hand, place the red bag of chips in front of the pink bowl with it facing backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Have the left arm set the red bag of chips before the pink bowl, oriented backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "With the left hand, position the red bag of chips in front of the pink bowl so it faces backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Place the red bag of chips in front of the pink bowl with it facing backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Set the red bag of chips before the pink bowl facing backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Position the red bag of chips in front of the pink bowl so it faces backwards.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Using the left hand, place the red bag of chips in front of the pink bowl.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Have the left arm set the red bag of chips before the pink bowl.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "With the left hand, position the red bag of chips in front of the pink bowl.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Place the red bag of chips in front of the pink bowl.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Set the red bag of chips before the pink bowl.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Position the red bag of chips in front of the pink bowl.", + "start_idx": 3438, + "end_idx": 3471 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grasp at the bottom with a diagonal pick angle.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grasp at the bottom and a diagonal pick angle.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Have the left hand take the pink bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "With the left hand, grasp the pink bowl from the table at the bottom using a lip grip with a diagonal approach.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Pick up the pink bowl from the table with a lip grasp at the bottom and a diagonal pick angle.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Take the pink bowl from the table using a lip grip at the bottom with a diagonal approach.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Grasp the pink bowl from the table at the bottom with a lip hold and a diagonal pick angle.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grasp at the bottom.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "With the left hand, take the pink bowl from the table using a bottom lip grip.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Have the left hand grasp the pink bowl from the table at the bottom with a lip hold.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal pick angle.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Take the pink bowl from the table using a lip grasp at the bottom.", + "start_idx": 3519, + "end_idx": 3540 + }, + { + "text": "Put the pink bowl to the bottom side of the table with the left hand.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "With the left hand, place the pink bowl at the bottom side of the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Using the left arm, set the pink bowl on the bottom side of the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Have the left hand position the pink bowl at the table's bottom side.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Place the pink bowl at the bottom side of the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Set the pink bowl on the bottom side of the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Position the pink bowl at the table's bottom side.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "The pink bowl goes on the bottom side of the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Move the pink bowl to the bottom side of the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Using the left hand, place the pink bowl on the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "With the left arm, set the pink bowl down by the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Put the pink bowl on the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Set the pink bowl down by the table.", + "start_idx": 3540, + "end_idx": 3579 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Have the left arm pick the blue marker off the table diagonally from the middle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "With the left hand, retrieve the blue marker from the table at a diagonal angle by holding its middle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Take the blue marker off the table diagonally from the middle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Retrieve the blue marker from the table while holding the middle at a diagonal angle.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Take the blue marker off the table with the left hand.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Retrieve the blue marker from the table diagonally.", + "start_idx": 3579, + "end_idx": 3597 + }, + { + "text": "Place the blue marker to the center of the table with the left hand with its tip facing left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Using the left hand, set the blue marker at the center of the table with its tip pointing left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Have the left arm place the blue marker in the table's center, tip directed to the left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "With the left hand, position the blue marker at the center of the table so its tip faces left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Place the blue marker at the center of the table with its tip facing left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Set the blue marker in the center of the table with the tip pointing left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Position the blue marker at the table's center, keeping its tip directed left.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Using the left hand, place the blue marker at the center of the table.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "With the left hand, set the blue marker in the center of the table.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Have the left arm position the blue marker at the table's center.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Place the blue marker at the center of the table.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Set the blue marker in the center of the table.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Put the blue marker in the table's center.", + "start_idx": 3597, + "end_idx": 3633 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "With the left hand, collect the pink bowl from the table using the lip grip at the bottom left on a diagonal.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Take the pink bowl from the table using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "The pink bowl should be picked up from the table using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Remove the pink bowl from the table with the left hand using a lip grip.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Have the left hand take the pink bowl from the table.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Using a lip grip, take the pink bowl from the table.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Grab the pink bowl from the table.", + "start_idx": 3633, + "end_idx": 3654 + }, + { + "text": "Put the pink bowl in front of the red bag of chips with the left hand.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Using the left hand, place the pink bowl in front of the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Have the left arm set the pink bowl down in front of the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "With the left hand, position the pink bowl before the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Place the pink bowl in front of the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Set the pink bowl down in front of the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Position the pink bowl before the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "The pink bowl goes in front of the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Using the left hand, put the pink bowl by the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "With the left hand, place the pink bowl next to the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Have the left arm set the pink bowl beside the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Put the pink bowl by the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Set the pink bowl next to the red bag of chips.", + "start_idx": 3654, + "end_idx": 3690 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side hold on the left side at a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Grasp the red bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Take the red bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "With the left hand, pick up the red bag of chips from the table using a side grip.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Have the left hand take the red bag of chips from the table with a side grasp.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Using the left hand, grasp the red bag of chips from the table.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Pick up the red bag of chips from the table at the left in a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "From the table, take the red bag of chips at a diagonal angle.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 3690, + "end_idx": 3711 + }, + { + "text": "Put the red bag of chips to the bottom left side of the table with the left hand facing backwards.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Using the left hand, place the red bag of chips on the bottom left side of the table with its front facing backwards.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Have the left arm set the red bag of chips at the table's bottom left side, front facing backward.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "With the left hand, position the red bag of chips at the bottom left area of the table, oriented with the front backwards.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Place the red bag of chips on the bottom left side of the table with its front facing backwards.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Set the red bag of chips at the table's bottom left side, front facing backward.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Position the red bag of chips on the bottom left area of the table, with the front turned backward.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Using the left hand, place the red bag of chips on the bottom left side of the table.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "With the left hand, set the red bag of chips at the table's bottom left side.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Have the left arm put the red bag of chips on the bottom left area of the table.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Place the red bag of chips on the bottom left side of the table.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Set the red bag of chips at the table's bottom left side.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Have the red bag of chips placed on the bottom left area of the table.", + "start_idx": 3711, + "end_idx": 3747 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left diagonally.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left diagonal.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Have the left arm grasp the pink plate from the table using a lip hold at the bottom left diagonally.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "With the left hand, retrieve the pink plate from the table in a bottom-left diagonal lip grasp.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left diagonally.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Take the pink plate from the table with a lip hold at the bottom left diagonal.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Retrieve the pink plate from the table in a bottom-left diagonal lip grasp.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Have the left arm take the pink plate from the table using a lip hold.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip grasp.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Pick up the pink plate from the table with a lip grip.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Retrieve the pink plate from the table.", + "start_idx": 3747, + "end_idx": 3780 + }, + { + "text": "Put the pink plate on the bottom side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Using the left hand, place the pink plate on the bottom side of the table right side up with the front as the reference point.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Have the left arm set the pink plate on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "With the left hand, position the pink plate on the bottom side of the table so it is right side up using the front as reference.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Place the pink plate on the bottom side of the table right side up with the front as the reference point.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Set the pink plate on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Position the pink plate on the bottom side of the table so it is right side up using the front as reference.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Using the left hand, put the pink plate on the bottom side of the table.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Have the left arm place the pink plate on the bottom side of the table.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "With the left hand, set the pink plate on the bottom side of the table.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Place the pink plate on the bottom side of the table.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Set the pink plate on the bottom side of the table.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Put the pink plate on the bottom side of the table.", + "start_idx": 3780, + "end_idx": 3822 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Have the left arm take the blue marker from the table, grasping its bottom from the side at a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "With the left hand, retrieve the blue marker from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Pick up the blue marker from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Take the blue marker from the table by its bottom with a side grasp at a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "The blue marker should be picked up from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Take the blue marker from the table with the left hand using a side grip.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "The blue marker should be picked up from the table at the bottom with a diagonal angle.", + "start_idx": 3822, + "end_idx": 3849 + }, + { + "text": "Put the blue marker to the left side of the table with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Using the left hand, place the blue marker on the table's left side with the tip facing backwards.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Have the left arm set the blue marker at the left side of the table, oriented backwards relative to the tip.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "With the left hand, position the blue marker to the left of the table so the tip faces backwards.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Place the blue marker on the left side of the table with the tip facing backwards.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Set the blue marker to the table's left side, keeping the tip oriented backwards.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Position the blue marker at the left side of the table with its tip facing backwards.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Using the left hand, put the blue marker on the left side of the table.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "With the left hand, set the blue marker to the table's left side.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Have the left arm place the blue marker at the left side of the table.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Put the blue marker on the left side of the table.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Using the left hand, place the blue marker to the left of the table.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Set the blue marker at the table's left side.", + "start_idx": 3849, + "end_idx": 3891 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Have the left hand take the pink bowl from the table with a bottom diagonal lip grasp.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "The pink bowl should be grasped from the table by the left hand using a diagonal lip hold at the bottom.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "The pink bowl from the table should be picked up using a diagonal lip hold at the bottom.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "With the left hand, pick up the pink bowl from the table.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Use the left hand to take the pink bowl from the table.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Have the left hand grasp the pink bowl from the table.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "The pink bowl should be picked up from the table.", + "start_idx": 3890, + "end_idx": 3914 + }, + { + "text": "Put the pink bowl in between the red bag of chips and the blue marker with the left hand.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Using the left hand, place the pink bowl between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Have the left arm set the pink bowl in between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "With the left hand, position the pink bowl between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Place the pink bowl between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Set the pink bowl in between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Position the pink bowl between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Arrange the pink bowl in between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Using the left hand, place the pink bowl.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Have the left arm set down the pink bowl.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "With the left hand, position the pink bowl.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Put the pink bowl between the red bag of chips and the blue marker.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Set the pink bowl down.", + "start_idx": 3915, + "end_idx": 3957 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Using the left hand, take the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Have the left arm grasp the blue marker from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "With the left hand, secure the blue marker from the table by the bottom in a side grasp from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Grab the blue marker from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "From the table, collect the blue marker with a side grasp at the bottom from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Have the left arm take the blue marker from the table with a side grasp at its bottom.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "With the left hand, grasp the blue marker from the table from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Pick up the blue marker from the table with the left hand from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Using the left hand, take the blue marker from the table at the bottom from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Grasp the blue marker from the table at its bottom from a diagonal angle.", + "start_idx": 3957, + "end_idx": 3981 + }, + { + "text": "Place the blue marker on top of the pink plate with the left hand with its tip facing left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Using the left hand, set the blue marker on top of the pink plate with its tip facing left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Have the left arm place the blue marker onto the pink plate, tip pointing left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "With the left hand, position the blue marker atop the pink plate so the tip faces left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Place the blue marker on top of the pink plate with its tip facing left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Set the blue marker atop the pink plate with the tip pointing left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Position the blue marker on the pink plate so its tip faces left.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Using the left hand, place the blue marker on top of the pink plate.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "With the left hand, set the blue marker atop the pink plate.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Have the left arm put the blue marker onto the pink plate.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Place the blue marker on top of the pink plate.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Set the blue marker on the pink plate.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Put the blue marker atop the pink plate.", + "start_idx": 3980, + "end_idx": 4013 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "The pink plate should be grasped from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Have the left arm take the pink plate from the table using a lip hold.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip grasp.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Pick up the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Take the pink plate from the table from the bottom-left area on a diagonal.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "The pink plate should be grasped from the table at the bottom left with a diagonal angle.", + "start_idx": 4185, + "end_idx": 4224 + }, + { + "text": "Put the pink plate to the left of the pink cup with the left hand right side up with the front as the reference point.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Using the left hand, place the pink plate to the left of the pink cup, right side up with the front as the reference point.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Have the left arm set the pink plate left of the pink cup, keeping it right side up relative to the front.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "With the left hand, position the pink plate to the left of the pink cup so it is right side up using the front as the reference point.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Place the pink plate to the left of the pink cup.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Set the pink plate to the left of the pink cup.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Position the pink plate left of the pink cup.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Using the left hand, place the pink plate to the left of the pink cup.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Have the left arm set the pink plate left of the pink cup.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "With the left hand, position the pink plate to the left of the pink cup.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Put the pink plate by the pink cup, right side up with the front as the reference point.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Set the pink plate next to the pink cup with the front as the reference point.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Place the pink plate by the pink cup with the left hand.", + "start_idx": 4224, + "end_idx": 4269 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grip on the bottom-left edge from a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Grasp the pink plate from the table using a lip grip on the bottom-left area from a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip hold.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a lip grip.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Using the left hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "With the left hand, take the pink plate from the table at a diagonal approach.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 4485, + "end_idx": 4509 + }, + { + "text": "Place the pink plate behind the pink bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Using the left hand, set the pink plate behind the pink bowl right side up, using the front as the orientation reference point.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Have the left arm place the pink plate behind the pink bowl with its right side up, referenced to the front.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "With the left hand, position the pink plate behind the pink bowl right side up, taking the front as the orientation reference point.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Place the pink plate behind the pink bowl right side up, using the front as the orientation reference point.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Set the pink plate behind the pink bowl with its right side up, referenced to the front.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Position the pink plate behind the pink bowl right side up relative to the front.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Using the left hand, place the pink plate behind the pink bowl.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Have the left arm set the pink plate behind the pink bowl.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "With the left hand, position the pink plate behind the pink bowl.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Put the pink plate behind the pink bowl.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Set the pink plate behind the pink bowl.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Position the pink plate behind the pink bowl.", + "start_idx": 4509, + "end_idx": 4554 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom right with a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grip at the bottom right on a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side hold at the bottom right, approaching diagonally.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "With the left hand, secure the red bag of chips from the table using a side grasp at the bottom right with a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom right with a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Take the red bag of chips from the table with a side grasp at the bottom right on a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Grasp the red bag of chips from the table using a side hold at the bottom right with a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side hold.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Pick up the red bag of chips from the table at the bottom right with a diagonal approach.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Take the red bag of chips from the table.", + "start_idx": 4701, + "end_idx": 4719 + }, + { + "text": "Put the red bag of chips on the top side of the table with the left hand facing bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Using the left hand, place the red bag of chips on the top side of the table with its front facing bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Have the left arm set the red bag of chips on the top side of the table, front oriented toward the bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "With the left hand, position the red bag of chips on the top side of the table so the front points bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Place the red bag of chips on the top side of the table with its front facing bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Set the red bag of chips on the top side of the table, front toward the bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Position the red bag of chips on the top side of the table with the front angled bottom left.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Using the left hand, put the red bag of chips on the top side of the table.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "With the left hand, set the red bag of chips on the top side of the table.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Have the left arm place the red bag of chips on the top side of the table.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Put the red bag of chips on the top side of the table.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Set the red bag of chips on the top side of the table.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Position the red bag of chips on the top side of the table.", + "start_idx": 4719, + "end_idx": 4761 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Have the left arm pick the pink bowl off the table using a bottom lip grasp at a diagonal angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by its bottom lip at a diagonal pick angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Take the pink bowl off the table by its bottom lip at a diagonal angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Grasp the pink bowl from the table using a lip hold at the bottom with a diagonal approach.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Have the left arm take the pink bowl off the table using a bottom lip grasp.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "With the left hand, collect the pink bowl from the table at a diagonal pick angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom with a diagonal pick angle.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Using the left hand, take the pink bowl off the table by the bottom lip.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Get the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 4815, + "end_idx": 4836 + }, + { + "text": "Put the pink bowl behind the pink plate with the left hand right side up with the front as the orientation reference.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Using the left hand, place the pink bowl behind the pink plate, right side up with the front as the reference.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Have the left arm set the pink bowl behind the pink plate with its right side up, using the front as the orientation reference.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "With the left hand, position the pink bowl behind the pink plate so it is right side up relative to the front.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Place the pink bowl behind the pink plate, right side up with the front as the orientation reference.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Set the pink bowl behind the pink plate with its right side up, using the front as the reference point.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Position the pink bowl behind the pink plate so it stays right side up relative to the front.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Using the left hand, place the pink bowl behind the pink plate.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Have the left arm set the pink bowl behind the pink plate.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "With the left hand, position the pink bowl behind the pink plate.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Place the pink bowl behind the pink plate.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Set the pink bowl behind the pink plate.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Put the pink bowl behind the pink plate.", + "start_idx": 4836, + "end_idx": 4887 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Using the left hand, take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Have the left arm grasp the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "With the left hand, seize the pink cup from the table using the handle on a diagonal.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Take the pink cup from the table by its handle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Grasp the pink cup from the table at the handle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Retrieve the pink cup from the table by the handle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Using the left hand, pick up the pink cup from the table by the handle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "With the left hand, take the pink cup from the table at a diagonal angle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Have the left arm grasp the pink cup from the table by the handle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 4887, + "end_idx": 4923 + }, + { + "text": "Put the pink cup on the bottom left side of the table with the handle facing backwards using the left hand right side up with the front as the reference point.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Using the left hand, place the pink cup on the bottom left side of the table, right side up, with the handle facing backwards from the front reference point.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Have the left arm set the pink cup on the table's bottom left side, upright, with the handle pointing backward relative to the front.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "With the left hand, position the pink cup at the bottom left of the table, right side up, handle oriented backward using the front as reference.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Place the pink cup on the bottom left side of the table, right side up, with the handle facing backwards from the front.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Set the pink cup at the table's bottom left, upright, with the handle pointing backward relative to the front.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Position the pink cup on the bottom left of the table, right side up, handle facing backward using the front reference point.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Using the left hand, put the pink cup on the bottom left side of the table.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Have the left arm place the pink cup at the bottom left of the table.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "With the left hand, set the pink cup on the table's bottom left side.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Put the pink cup on the bottom left side of the table.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Set the pink cup at the bottom left of the table.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Place the pink cup on the table's bottom left side.", + "start_idx": 4923, + "end_idx": 4965 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grip at the bottom left at a diagonal angle.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side hold on the bottom-left area, angled diagonally.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "With the left hand, seize the red bag of chips from the table using a side grasp at the bottom left on a diagonal.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Take the red bag of chips from the table with a side grasp at the bottom-left area at a diagonal.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Grasp the red bag of chips from the table using a side hold at the bottom left diagonally.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Have the left hand collect the red bag of chips from the table with a side hold.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Using the left hand, grasp the red bag of chips from the table at the bottom-left area on a diagonal.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Take the red bag of chips from the table at the bottom left with a diagonal angle.", + "start_idx": 4965, + "end_idx": 4992 + }, + { + "text": "Put the red bag of chips on top of the blue plate with the left hand facing left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Using the left hand, place the red bag of chips on top of the blue plate with its front facing left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Have the left arm set the red bag of chips atop the blue plate, front pointed left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "With the left hand, position the red bag of chips on the blue plate so the front faces left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Set the red bag of chips on top of the blue plate.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Place the red bag of chips atop the blue plate.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Put the red bag of chips onto the blue plate.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Using the left hand, place the red bag of chips on top of the blue plate.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Have the left arm set the red bag of chips atop the blue plate.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "With the left hand, put the red bag of chips on the blue plate.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Position the red bag of chips on top of the blue plate with its front facing left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Arrange the red bag of chips atop the blue plate facing left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Set the red bag of chips on the blue plate so the front points left.", + "start_idx": 4992, + "end_idx": 5025 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle from the middle.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Have the left arm grasp the red marker from the table diagonally at its middle.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "With the left hand, retrieve the red marker from the table at a diagonal angle, grasping it at the middle.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Take the red marker from the table diagonally from the middle.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Retrieve the red marker from the table, grasping it at the middle with a diagonal approach.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 5133, + "end_idx": 5157 + }, + { + "text": "Put the red marker in between the pink cup and the blue plate with the left hand facing forwards with the tip facing forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Using the left hand, place the red marker between the pink cup and the blue plate with its tip facing forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Have the left arm set the red marker between the pink cup and the blue plate, oriented so the tip faces forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "With the left hand, position the red marker in between the pink cup and the blue plate, keeping the tip pointed forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Place the red marker between the pink cup and the blue plate with its tip facing forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Set the red marker in between the pink cup and the blue plate so the tip points forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Position the red marker between the pink cup and the blue plate, with the tip facing forwards.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Using the left hand, put the red marker between the pink cup and the blue plate.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "With the left hand, set the red marker in between the pink cup and the blue plate.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Have the left arm place the red marker between the pink cup and the blue plate.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Put the red marker between the pink cup and the blue plate.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Set the red marker in between the pink cup and the blue plate.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Position the red marker between the pink cup and the blue plate.", + "start_idx": 5157, + "end_idx": 5190 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip grasp at the bottom left on a diagonal approach.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Using the left hand, grasp the pink plate from the table with a diagonal pick angle at the bottom left using a lip grip.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left on a diagonal angle.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Take the pink plate from the table with a lip grip at the bottom left and a diagonal approach.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grasp.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Using the left hand, take the pink plate from the table at the bottom left on a diagonal approach.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Have the left arm pick up the pink plate from the table at the bottom left with a diagonal pick angle.", + "start_idx": 5190, + "end_idx": 5214 + }, + { + "text": "Put the pink plate in between the red bag of chips and the blue marker with the left hand right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Using the left hand, place the pink plate between the red bag of chips and the blue marker, right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Have the left arm set the pink plate in between the red bag of chips and the blue marker with its right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "With the left hand, position the pink plate between the red bag of chips and the blue marker so it stays right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Place the pink plate between the red bag of chips and the blue marker, right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Set the pink plate in between the red bag of chips and the blue marker with its right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Position the pink plate between the red bag of chips and the blue marker, keeping it right side up.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Using the left hand, put the pink plate between the red bag of chips and the blue marker.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "With the left hand, set the pink plate in between the red bag of chips and the blue marker.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Have the left arm place the pink plate between the red bag of chips and the blue marker.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Put the pink plate in between the red bag of chips and the blue marker.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Place the pink plate between the red bag of chips and the blue marker.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Set the pink plate in between the red bag of chips and the blue marker.", + "start_idx": 5214, + "end_idx": 5259 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Have the left hand take the pink bowl from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "With the left hand, grasp the pink bowl from the table at the bottom using a lip hold and a diagonal approach.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Take the pink bowl from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Grasp the pink bowl from the table at the bottom using a lip hold and a diagonal approach.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "With the left hand, take the pink bowl from the table by the bottom edge.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Have the left hand grasp the pink bowl from the table using a lip hold.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Take the pink bowl from the table at the bottom with a diagonal pick angle.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "With a lip grip at the bottom, pick up the pink bowl from the table.", + "start_idx": 5259, + "end_idx": 5280 + }, + { + "text": "Place the pink bowl on top of the pink plate with the left hand.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Using the left hand, set the pink bowl on top of the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Have the left arm place the pink bowl onto the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "With the left hand, position the pink bowl atop the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Place the pink bowl on top of the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Set the pink bowl onto the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Position the pink bowl atop the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Put the pink bowl on the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "The pink bowl goes on top of the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Using the left hand, place the pink bowl on the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "With the left hand, set the pink bowl atop the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Have the left arm put the pink bowl on the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "The left hand should place the pink bowl on the pink plate.", + "start_idx": 5280, + "end_idx": 5316 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Have the left hand grasp the pink cup from the table diagonally by the handle.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "With the left hand, pick the pink cup up from the table by its handle in a diagonal grasp.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Grasp the pink cup from the table diagonally at the handle.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Take the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Retrieve the pink cup from the table with a diagonal hold on the handle.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "With the left hand, take the pink cup from the table.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Have the left hand retrieve the pink cup from the table.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Get the pink cup from the table.", + "start_idx": 5316, + "end_idx": 5358 + }, + { + "text": "Put the pink cup on top of the pink bowl with the handle facing bottom left using the left hand.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Using the left hand, place the pink cup on top of the pink bowl with the handle pointing to the bottom left.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Have the left arm set the pink cup atop the pink bowl, with its handle directed toward the bottom left.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "With the left hand, position the pink cup on the pink bowl so the handle faces the bottom left.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Place the pink cup on top of the pink bowl with the handle facing bottom left.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Set the pink cup atop the pink bowl with the handle pointing bottom left.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Position the pink cup on the pink bowl so its handle is directed to the bottom left.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Using the left hand, put the pink cup on top of the pink bowl.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "With the left hand, place the pink cup atop the pink bowl.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Have the left arm set the pink cup on the pink bowl.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Put the pink cup on top of the pink bowl.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Set the pink cup atop the pink bowl.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Using the left hand, place the pink cup on the pink bowl.", + "start_idx": 5358, + "end_idx": 5421 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Have the left arm pick the red marker up from the table, holding it at a diagonal angle around the middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "With the left hand, retrieve the red marker from the table in a diagonal orientation, gripping its middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle while holding the middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Take the red marker from the table in a diagonal orientation by grasping the middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Retrieve the red marker from the table, keeping it diagonal and holding its middle.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 5421, + "end_idx": 5457 + }, + { + "text": "Place the red marker on top of the pink cup with the left hand right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Using the left hand, set the red marker on top of the pink cup with its tip right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Have the left arm place the red marker atop the pink cup, keeping the tip right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "With the left hand, position the red marker on the pink cup so the tip is right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Place the red marker on top of the pink cup.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Set the red marker atop the pink cup.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Position the red marker on the pink cup.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Using the left hand, place the red marker on top of the pink cup.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Have the left arm set the red marker atop the pink cup.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "With the left hand, position the red marker on the pink cup.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Place the red marker on top of the pink cup with its tip right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Set the red marker atop the pink cup, tip right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Position the red marker on the pink cup so the tip is right side up.", + "start_idx": 5457, + "end_idx": 5499 + }, + { + "text": "Pick up the red bag of chips from the blue plate with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Using the left hand, take the red bag of chips from the blue plate with a side grasp from the left at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Have the left arm pick the red bag of chips off the blue plate using a side grip from the left on a diagonal.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "With the left hand, retrieve the red bag of chips from the blue plate in a left-side grasp at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Pick up the red bag of chips from the blue plate using a side grip from the left at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Take the red bag of chips off the blue plate with a side grasp from the left at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Retrieve the red bag of chips from the blue plate in a side hold from the left at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "With the left hand, pick up the red bag of chips from the blue plate using a side grip.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Using the left hand, take the red bag of chips from the blue plate with a side grasp.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Have the left arm collect the red bag of chips from the blue plate with a side hold.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "With the left hand, pick up the red bag of chips from the blue plate at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Pick up the red bag of chips from the blue plate from the left at a diagonal angle.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Take the red bag of chips off the blue plate.", + "start_idx": 5562, + "end_idx": 5586 + }, + { + "text": "Place the red bag of chips behind the blue plate with the left hand facing left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Using the left hand, set the red bag of chips behind the blue plate with its front facing left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Have the left arm place the red bag of chips behind the blue plate, front turned to the left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "With the left hand, position the red bag of chips behind the blue plate so the front points left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Place the red bag of chips behind the blue plate.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Set the red bag of chips behind the blue plate.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Position the red bag of chips behind the blue plate.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Using the left hand, place the red bag of chips behind the blue plate.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Have the left arm set the red bag of chips behind the blue plate.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "With the left hand, position the red bag of chips behind the blue plate.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Place the red bag of chips behind the blue plate facing left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Set the red bag of chips behind the blue plate with its front to the left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Position the red bag of chips behind the blue plate, front facing left.", + "start_idx": 5586, + "end_idx": 5631 + }, + { + "text": "Pick up the pink cup from the pink bowl with the left hand at a diagonal angle by the handle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Using the left hand, take the pink cup from the pink bowl at a diagonal angle by the handle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Have the left arm grasp the pink cup from the pink bowl by its handle at a diagonal angle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "With the left hand, retrieve the pink cup from the pink bowl, approaching diagonally at the handle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Pick up the pink cup from the pink bowl at a diagonal angle by the handle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Take the pink cup from the pink bowl by the handle at a diagonal angle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Retrieve the pink cup from the pink bowl, grasping the handle at a diagonal angle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "With the left hand, pick up the pink cup from the pink bowl.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Using the left hand, take the pink cup from the pink bowl.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Have the left arm retrieve the pink cup from the pink bowl.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Pick up the pink cup from the pink bowl with the left hand at a diagonal angle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "From the pink bowl, take the pink cup with the left hand at a diagonal angle.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Using the left hand, grasp the pink cup from the pink bowl.", + "start_idx": 5631, + "end_idx": 5670 + }, + { + "text": "Put the pink cup to the left of the blue plate with the handle facing left right side up with the left hand.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Using the left hand, place the pink cup to the left of the blue plate, right side up, with its handle facing left.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Have the left hand set the pink cup left of the blue plate, keeping it upright and the handle pointed left.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "With the left hand, position the pink cup on the left side of the blue plate, right side up and handle facing left.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Place the pink cup to the left of the blue plate, right side up, with the handle facing left.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Set the pink cup on the left of the blue plate, keeping it upright and the handle pointed left.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Position the pink cup left of the blue plate, with its handle facing left and right side up.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Using the left hand, place the pink cup to the left of the blue plate.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Have the left hand set the pink cup on the left side of the blue plate.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "With the left hand, position the pink cup beside the blue plate on its left.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Put the pink cup to the left of the blue plate.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Set the pink cup on the left side of the blue plate.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Place the pink cup left of the blue plate.", + "start_idx": 5670, + "end_idx": 5724 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left diagonal.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip at the bottom left diagonal.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Have the left arm grasp the blue plate from the table using a lip hold at the bottom left diagonal.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "With the left hand, take the blue plate from the table by the bottom left diagonal using a lip grasp.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom left diagonal.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Take the blue plate from the table with a lip hold at the bottom left diagonal.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Grasp the blue plate from the table at the bottom left diagonal using a lip grip.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "With the left hand, take the blue plate from the table using a lip grasp.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Have the left arm grasp the blue plate from the table.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Pick up the blue plate from the table with the left hand.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Take the blue plate from the table at the bottom left diagonal.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Grasp the blue plate from the table.", + "start_idx": 5856, + "end_idx": 5913 + }, + { + "text": "Place the blue plate to the left of the red bag of chips with the left hand right side up with the front as the reference point.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Using the left hand, set the blue plate to the left of the red bag of chips right side up, using the front as the reference point.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Have the left arm place the blue plate left of the red bag of chips, keeping it right side up with the front as reference.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "With the left hand, position the blue plate to the left of the red bag of chips right side up, based on the front.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Place the blue plate to the left of the red bag of chips right side up, using the front as the reference point.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Set the blue plate left of the red bag of chips right side up, with the front as the reference.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Position the blue plate to the left of the red bag of chips right side up relative to the front.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Using the left hand, place the blue plate to the left of the red bag of chips.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Have the left arm set the blue plate left of the red bag of chips.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "With the left hand, position the blue plate to the left of the red bag of chips.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Place the blue plate to the left of the red bag of chips.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Using the left hand, put the blue plate left of the red bag of chips.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Set the blue plate to the left of the red bag of chips right side up.", + "start_idx": 5913, + "end_idx": 5946 + }, + { + "text": "Pick up the red marker from the pink cup with the left hand using a side grip at the top and at a diagonal angle.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Using the left hand, take the red marker from the pink cup with a side grip at the top and at a diagonal angle.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Have the left arm remove the red marker from the pink cup using a side grasp on the top at a diagonal angle.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "With the left hand, grasp the red marker from the pink cup in a side hold at the top, angled diagonally.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Pick up the red marker from the pink cup using a side grip at the top and at a diagonal angle.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Take the red marker out of the pink cup with a side grasp on the top at a diagonal angle.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Grasp the red marker from the pink cup in a side hold at the top, angled diagonally.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Using the left hand, pick up the red marker from the pink cup with a side grip at the top.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Have the left arm take the red marker from the pink cup using a side grasp on the top.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "With the left hand, remove the red marker from the pink cup in a side hold at the top.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Using the left hand, pick up the red marker from the pink cup at a diagonal angle.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Have the left arm take the red marker from the pink cup diagonally from the top.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Pick up the red marker from the pink cup.", + "start_idx": 5946, + "end_idx": 5958 + }, + { + "text": "Put the red marker in front of the red bag of chips with the left hand with its tip facing top left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Using the left hand, place the red marker in front of the red bag of chips with its tip pointing to the top left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Have the left arm set the red marker in front of the red bag of chips, tip oriented top left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "With the left hand, position the red marker before the red bag of chips so the tip faces the upper left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Place the red marker in front of the red bag of chips with its tip facing top left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Set the red marker before the red bag of chips with its tip pointing upper left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Position the red marker in front of the red bag of chips, tip directed to the top left.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Using the left hand, put the red marker in front of the red bag of chips.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Have the left arm place the red marker before the red bag of chips.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "With the left hand, position the red marker in front of the red bag of chips.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Put the red marker in front of the red bag of chips.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Place the red marker before the red bag of chips.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Set the red marker in front of the red bag of chips.", + "start_idx": 5958, + "end_idx": 5982 + }, + { + "text": "Pick up the pink cup from the table by the handle with the left hand.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Using the left hand, grasp the pink cup by its handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Have the left arm take hold of the pink cup at the handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "With the left hand, pick the pink cup up by the handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Grab the pink cup by the handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Take hold of the pink cup at the handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Pick up the pink cup using the handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "The pink cup should be grasped by the handle.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Seize the pink cup with the left hand.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Using the left hand, pick up the pink cup.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Have the left arm take the pink cup.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Pick up the pink cup.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Take the pink cup.", + "start_idx": 5982, + "end_idx": 6021 + }, + { + "text": "Put the pink cup to the left side of the blue cup with the handle facing backwards right side up using the left hand.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Using the left hand, place the pink cup to the left of the blue cup, handle facing backward and upright.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Have the left hand set the pink cup on the blue cup's left side, with the handle pointing backward and the cup right side up.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "With the left hand, position the pink cup left of the blue cup so the handle faces backward and it remains upright.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Place the pink cup to the left of the blue cup with the handle facing backward and upright.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Set the pink cup on the left side of the blue cup, with the handle pointing backward and right side up.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Position the pink cup left of the blue cup, keeping the handle turned backward and the cup upright.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Using the left hand, put the pink cup to the left of the blue cup.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "With the left hand, set the pink cup on the blue cup's left side.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Have the left hand place the pink cup beside the blue cup on its left.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Put the pink cup to the left of the blue cup.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Place the pink cup beside the blue cup on its left side.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Set the pink cup on the left side of the blue cup.", + "start_idx": 6021, + "end_idx": 6048 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Have the left arm grasp the blue plate from the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "With the left hand, secure the blue plate from the table using a lip grasp at the bottom left on a diagonal approach.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Grasp the blue plate from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "The blue plate should be taken from the table with a lip grasp at the bottom left from a diagonal approach.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Using the left hand, pick up the blue plate from the table.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Have the left arm take the blue plate from the table.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "The blue plate should be picked up from the table with the left hand.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Pick up the blue plate from the table from a diagonal angle.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Using the left hand, grasp the blue plate from the table at the bottom left.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Take the blue plate from the table.", + "start_idx": 6048, + "end_idx": 6063 + }, + { + "text": "Place the blue plate in between the pink and blue plate with the left hand right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Using the left hand, set the blue plate between the pink plate and the blue plate, right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Have the left arm place the blue plate in between the pink and blue plate with its right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "With the left hand, position the blue plate between the pink and blue plate so it stays right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Place the blue plate between the pink plate and the blue plate, right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Set the blue plate in between the pink and blue plate with its right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Position the blue plate between the pink plate and the blue plate, keeping it right side up.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Using the left hand, place the blue plate between the pink plate and the blue plate.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "With the left hand, set the blue plate in between the pink and blue plate.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Have the left arm position the blue plate between the pink plate and the blue plate.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Put the blue plate between the pink plate and the blue plate.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Set the blue plate in between the pink and blue plate.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Position the blue plate between the pink plate and the blue plate.", + "start_idx": 6063, + "end_idx": 6108 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grasp at the bottom left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Have the left arm pick up the red bag of chips from the table using a side grip on the bottom-left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table in a side hold at the bottom left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Take the red bag of chips from the table with a side grasp at the bottom-left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Grasp the red bag of chips from the table in a side hold at the bottom left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Have the left arm take the red bag of chips from the table using a side grasp.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table in a side hold.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table at the bottom left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Have the left arm take the red bag of chips from the table at the bottom-left diagonal.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 6108, + "end_idx": 6132 + }, + { + "text": "Put the red bag of chips to the left of the red marker with the left hand facing bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the red marker with its front facing bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Have the left arm set the red bag of chips to the left of the red marker, front pointed toward the bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "With the left hand, position the red bag of chips left of the red marker, keeping the front facing bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Place the red bag of chips to the left of the red marker with its front facing bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Set the red bag of chips left of the red marker, with the front oriented toward the bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Position the red bag of chips to the left of the red marker, front facing bottom left.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the red marker.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "With the left hand, set the red bag of chips left of the red marker.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Have the left arm position the red bag of chips to the left of the red marker.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Place the red bag of chips to the left of the red marker.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Set the red bag of chips left of the red marker.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Position the red bag of chips to the left of the red marker.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Using the left hand, take hold of the pink cup by its handle at a diagonal angle.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Have the left hand pick the pink cup up by the handle with a diagonal approach.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "With the left hand, grasp the pink cup at the handle on a diagonal.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Pick up the pink cup by the handle at a diagonal angle.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Grasp the pink cup by its handle with a diagonal approach.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Take the pink cup by the handle on a diagonal.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Using the left hand, pick up the pink cup by the handle.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "With the left hand, take hold of the pink cup at the handle.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Have the left hand grasp the pink cup by its handle.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Pick up the pink cup at a diagonal angle.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Take the pink cup with a diagonal approach.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Using the left hand, pick up the pink cup.", + "start_idx": 6162, + "end_idx": 6186 + }, + { + "text": "Put the pink cup at the center of the table with the left hand right side up with the front as the reference point.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Using the left hand, place the pink cup at the center of the table right side up, using the front as the reference point.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Have the left arm set the pink cup in the table center, keeping it right side up relative to the front.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "With the left hand, position the pink cup at the center of the table in a right-side-up orientation with the front as the reference.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Place the pink cup at the center of the table right side up, using the front as the reference point.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Set the pink cup in the center of the table right side up relative to the front.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Position the pink cup at the table center with the front as the reference, right side up.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Using the left hand, put the pink cup at the center of the table.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Have the left arm place the pink cup in the center of the table.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "With the left hand, set the pink cup at the table center.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Place the pink cup at the center of the table.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Set the pink cup in the center of the table.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Position the pink cup at the table center.", + "start_idx": 6186, + "end_idx": 6225 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Have the left hand grasp the red marker from the table diagonally at its middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "With the left hand, take the red marker from the table using a diagonal pickup from the middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Grasp the red marker from the table diagonally from the middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Take the red marker from the table at a diagonal angle from its middle.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "With the left hand, grasp the red marker from the table.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Get the red marker from the table.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Remove the red marker from the table.", + "start_idx": 6285, + "end_idx": 6303 + }, + { + "text": "Put the red marker behind the red bag of chips with the left hand with its tip facing top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Using the left hand, place the red marker behind the red bag of chips with its tip pointing to the top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Have the left arm set the red marker behind the red bag of chips, tip oriented toward the top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "With the left hand, position the red marker behind the red bag of chips so its tip faces the top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Place the red marker behind the red bag of chips with its tip facing the top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Set the red marker behind the red bag of chips, keeping its tip pointed top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Position the red marker behind the red bag of chips so the tip points toward the top right.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Using the left hand, put the red marker behind the red bag of chips.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "With the left hand, set the red marker behind the red bag of chips.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Have the left arm place the red marker behind the red bag of chips.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Put the red marker behind the red bag of chips.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Position the red marker behind the red bag of chips.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Set the red marker behind the red bag of chips.", + "start_idx": 6303, + "end_idx": 6339 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "From a diagonal angle, have the left hand grasp the red bag of chips on the table with a side hold at the bottom left.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "With the left hand, secure the red bag of chips from the table using a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "From a diagonal angle, grasp the red bag of chips on the table with a side hold at the bottom left.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Take the red bag of chips from the table with a side grasp on the bottom-left corner from a diagonal angle.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Have the left hand take the red bag of chips from the table using a side grasp.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table in a side hold.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table at the bottom left from a diagonal angle.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Grab the red bag of chips from the table with a side grip.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Take the red bag of chips from the table.", + "start_idx": 6339, + "end_idx": 6369 + }, + { + "text": "Put the red bag of chips behind the pink cup with the left hand facing left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Using the left hand, place the red bag of chips behind the pink cup with its front facing left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Have the left arm set the red bag of chips behind the pink cup, front pointed left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "With the left hand, position the red bag of chips behind the pink cup so the front faces left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Place the red bag of chips behind the pink cup with its front facing left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Set the red bag of chips behind the pink cup, front pointed left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Position the red bag of chips behind the pink cup so the front faces left.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Put the red bag of chips behind the pink cup.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Place the red bag of chips behind the pink cup.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Set the red bag of chips behind the pink cup with the left hand.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Using the left hand, put the red bag of chips behind the pink cup.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Have the left arm place the red bag of chips behind the pink cup.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Position the red bag of chips behind the pink cup.", + "start_idx": 6369, + "end_idx": 6405 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "At a diagonal angle, have the left hand take the red marker from the table by its middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "The red marker on the table should be grasped at the middle with the left hand and picked up diagonally.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Grasp the middle of the red marker on the table and pick it up at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "With the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Have the left hand take the red marker from the table by its middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "The red marker from the table should be picked up with the left hand, grasping the middle.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Take the red marker from the table with the left hand.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Grasp the red marker from the table and pick it up.", + "start_idx": 6405, + "end_idx": 6432 + }, + { + "text": "Put the red marker to the right of the red bag of chips with the left hand with its tip facing top right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Using the left hand, place the red marker to the right of the red bag of chips with its tip pointing to the top right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Have the left arm set the red marker to the right of the red bag of chips, tip oriented toward the top right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "With the left hand, position the red marker to the right of the red bag of chips so its tip faces the upper right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Place the red marker to the right of the red bag of chips with its tip facing the top right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Set the red marker to the right of the red bag of chips, with the tip pointed top right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Position the red marker to the right of the red bag of chips so the tip points toward the upper right.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Using the left hand, place the red marker to the right of the red bag of chips.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "With the left hand, set the red marker to the right of the red bag of chips.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Have the left arm position the red marker to the right of the red bag of chips.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Put the red marker to the right of the red bag of chips.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Place the red marker by the right side of the red bag of chips.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Have the red marker placed to the right of the red bag of chips.", + "start_idx": 6432, + "end_idx": 6465 + }, + { + "text": "Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Using the left hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Have the left arm pick up the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "With the left hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Take the pink cup from the table by the handle with a diagonal grasp.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Grasp the pink cup from the table at the handle in a diagonal grip.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Using the left hand, pick up the pink cup from the table.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Have the left arm take the pink cup from the table.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "With the left hand, grasp the pink cup from the table.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Pick up the pink cup from the table with the left hand.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Take the pink cup from the table by the handle.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Grab the pink cup from the table.", + "start_idx": 6528, + "end_idx": 6549 + }, + { + "text": "Put the pink cup to the center of the table with the left hand right side up with the front as the reference point.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Using the left hand, place the pink cup at the center of the table right side up, with the front as the reference point.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Have the left arm set the pink cup in the table center, right side up relative to the front.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "With the left hand, position the pink cup at the center of the table so it is right side up, using the front as the reference point.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Place the pink cup at the center of the table right side up, with the front as the reference point.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Set the pink cup in the center of the table right side up, using the front as the reference point.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Position the pink cup at the table center right side up relative to the front.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Using the left hand, put the pink cup at the center of the table.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Have the left arm place the pink cup in the center of the table.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "With the left hand, set the pink cup down at the table center.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Put the pink cup at the center of the table.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Place the pink cup in the center of the table right side up.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "At the center of the table, position the pink cup.", + "start_idx": 6549, + "end_idx": 6588 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Take the pink bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "The pink bowl should be grasped from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Have the left arm collect the pink bowl from the table with a lip hold.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Take the pink bowl from the table with the left hand using a lip grip.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "The pink bowl should be picked up from the table at the bottom left with a diagonal angle.", + "start_idx": 6639, + "end_idx": 6663 + }, + { + "text": "Put the pink bowl in front of the pink cup with the left hand.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Using the left hand, place the pink bowl in front of the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Have the left arm set the pink bowl down in front of the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "With the left hand, position the pink bowl before the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Place the pink bowl in front of the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Set the pink bowl down in front of the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Position the pink bowl before the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Put the pink bowl by the pink cup with the left hand.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Using the left hand, place the pink bowl near the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Have the left arm put the pink bowl next to the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Place the pink bowl by the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Set the pink bowl down near the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Put the pink bowl next to the pink cup.", + "start_idx": 6663, + "end_idx": 6699 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a diagonal lip grasp at the left.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Have the left hand take the blue plate from the table using a left-side diagonal lip grasp.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "With a diagonal lip grasp at the left, the left hand should grasp the blue plate from the table.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Pick up the blue plate from the table using a diagonal lip grasp at the left.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Take the blue plate from the table with a left-side diagonal lip grasp.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Grasp the blue plate from the table using a diagonal lip grasp on the left side.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Pick up the blue plate from the table with the left hand.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Using the left hand, take the blue plate from the table.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Have the left hand grasp the blue plate from the table.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Pick up the blue plate from the table.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Take the blue plate from the table.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Have the left hand pick up the blue plate from the table.", + "start_idx": 6759, + "end_idx": 6777 + }, + { + "text": "Put the blue plate to the right of the pink bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink bowl, right side up with the front as the orientation reference point.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Have the left arm set the blue plate to the right of the pink bowl in a right-side-up orientation, using the front as the reference point.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "With the left hand, position the blue plate to the right of the pink bowl so it is right side up, referenced to the front.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Place the blue plate to the right of the pink bowl right side up with the front as the orientation reference point.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Set the blue plate to the right of the pink bowl in a right-side-up position using the front as the orientation reference point.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Position the blue plate to the right of the pink bowl, keeping it right side up relative to the front.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Using the left hand, place the blue plate to the right of the pink bowl.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "With the left hand, set the blue plate to the right of the pink bowl.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Have the left arm position the blue plate to the right of the pink bowl.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Put the blue plate to the right of the pink bowl.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Arrange the blue plate to the right of the pink bowl.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Move the blue plate to the right of the pink bowl.", + "start_idx": 6777, + "end_idx": 6816 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Using the left hand, take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Have the left arm grasp the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "With the left hand, collect the pink cup from the table using the handle at a diagonal angle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Grasp the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Take the pink cup from the table using the handle at a diagonal angle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "From the table, pick up the pink cup by the handle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Grasp the pink cup from the table with the left hand by the handle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Using the left hand, take the pink cup from the table by its handle.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Have the left arm pick up the pink cup from the table.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Take the pink cup from the table with the left hand.", + "start_idx": 6816, + "end_idx": 6843 + }, + { + "text": "Put the pink cup on top of the blue plate with the left hand right side up with the front facing bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Using the left hand, place the pink cup onto the blue plate right side up with the front facing bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Have the left arm set the pink cup on the blue plate, keeping it upright and with the front toward the bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "With the left hand, position the pink cup atop the blue plate so it stays right side up and its front points bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Place the pink cup on top of the blue plate, right side up with the front facing bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Set the pink cup onto the blue plate, keeping it upright and the front toward the bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Position the pink cup atop the blue plate so it is right side up with the front pointed bottom left.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Put the pink cup on top of the blue plate with the left hand.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Using the left hand, set the pink cup onto the blue plate.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Have the left arm place the pink cup atop the blue plate.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Place the pink cup on top of the blue plate.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Set the pink cup onto the blue plate.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Put the pink cup on the blue plate.", + "start_idx": 6843, + "end_idx": 6882 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Have the left hand take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "With the left hand, collect the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Take the red marker from the table at a diagonal angle, holding the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "From the table, collect the red marker with a diagonal pickup by grasping its middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Pick up the red marker from the table with the left hand, grasping the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Using the left hand, take the red marker from the table by the middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Have the left hand collect the red marker from the table, holding its middle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "With the left hand, take the red marker from the table diagonally.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6939, + "end_idx": 6966 + }, + { + "text": "Place the red marker inside the pink bowl with the left hand upside down with the tip as the orientation reference point.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Using the left hand, place the red marker inside the pink bowl upside down, with the tip as the reference point.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Have the left arm put the red marker into the pink bowl in an upside-down orientation, referenced by the tip.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "With the left hand, set the red marker in the pink bowl so it is upside down relative to the tip.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Place the red marker inside the pink bowl upside down, with the tip as the reference point.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Put the red marker into the pink bowl in an upside-down position, using the tip as the reference point.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Set the red marker in the pink bowl so the tip defines an upside-down orientation.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Using the left hand, place the red marker inside the pink bowl.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "With the left hand, put the red marker into the pink bowl.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Have the left arm set the red marker in the pink bowl.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Place the red marker inside the pink bowl.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Put the red marker into the pink bowl.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Set the red marker in the pink bowl.", + "start_idx": 6966, + "end_idx": 6999 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "With the left arm, grasp the red bag of chips from the table using a side hold on the bottom left at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Have the left hand pick the red bag of chips from the table with a side grasp at the bottom left, angled diagonally.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Take the red bag of chips from the table with a side hold on the bottom left at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Grasp the red bag of chips from the table with a side grasp at the bottom left and a diagonal approach.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "With the left arm, take the red bag of chips from the table using a side hold.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Have the left hand grasp the red bag of chips from the table with a side grasp.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Take the red bag of chips from the table from the bottom left at a diagonal angle.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table.", + "start_idx": 6999, + "end_idx": 7023 + }, + { + "text": "Put the red bag of chips to the left of the pink bowl with the left hand facing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the pink bowl with its front facing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Have the left arm set the red bag of chips left of the pink bowl, front pointing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "With the left hand, position the red bag of chips on the left side of the pink bowl, facing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Place the red bag of chips to the left of the pink bowl with its front facing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Set the red bag of chips left of the pink bowl, facing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Position the red bag of chips on the left side of the pink bowl with the front pointing left.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the pink bowl.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Have the left arm set the red bag of chips left of the pink bowl.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "With the left hand, position the red bag of chips on the left side of the pink bowl.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Put the red bag of chips to the left of the pink bowl.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Place the red bag of chips to the left of the pink bowl.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Set the red bag of chips on the left side of the pink bowl.", + "start_idx": 7023, + "end_idx": 7059 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Using the left hand, take the blue plate from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Have the left arm grasp the blue plate from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "With the left hand, secure the blue plate from the table using a lip grasp at the bottom left at a diagonal angle.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Take the blue plate from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Grasp the blue plate from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Have the left arm take the blue plate from the table using a lip grasp.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "With the left hand, grasp the blue plate from the table using a lip hold.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Using the left hand, pick up the blue plate from the table at the bottom left with a diagonal angle.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Have the left arm take the blue plate from the table at the bottom left on a diagonal.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "With the left hand, grasp the blue plate from the table.", + "start_idx": 7125, + "end_idx": 7152 + }, + { + "text": "Put the blue plate to the left of the pink cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Using the left hand, place the blue plate to the left of the pink cup, right side up, with the front as the orientation reference point.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Have the left arm set the blue plate to the left of the pink cup, keeping it right side up relative to the front.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "With the left hand, position the blue plate left of the pink cup, oriented right side up using the front as the reference point.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Place the blue plate to the left of the pink cup, right side up, with the front as the orientation reference point.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Set the blue plate left of the pink cup, keeping it right side up relative to the front.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Position the blue plate to the left of the pink cup with the front as the orientation reference point.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Using the left hand, place the blue plate to the left of the pink cup.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "With the left hand, set the blue plate left of the pink cup.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Have the left arm position the blue plate to the left of the pink cup.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Place the blue plate to the left of the pink cup.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Set the blue plate left of the pink cup.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Position the blue plate to the left of the pink cup.", + "start_idx": 7152, + "end_idx": 7185 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Have the left hand take the red marker off the table at a diagonal angle, holding it at the middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally, gripping its middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Take the red marker off the table diagonally, holding the middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle with a grasp at the middle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Have the left hand take the red marker off the table.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Take the red marker off the table at a diagonal angle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 7185, + "end_idx": 7215 + }, + { + "text": "Put the red marker in between the pink bowl and blue plate with the left hand facing forwards with the tip as the reference point.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Using the left hand, place the red marker between the pink bowl and the blue plate, with its tip facing forwards.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Have the left arm set the red marker in between the pink bowl and blue plate, oriented forwards from the tip.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "With the left hand, position the red marker between the pink bowl and blue plate so the tip points forwards.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Place the red marker between the pink bowl and the blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Set the red marker in between the pink bowl and blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "The red marker goes between the pink bowl and the blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Position the red marker between the pink bowl and blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Using the left hand, put the red marker between the pink bowl and blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "With the left hand, place the red marker in between the pink bowl and blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Have the left arm put the red marker between the pink bowl and blue plate.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Place the red marker between the pink bowl and blue plate with its tip facing forwards.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Set the red marker in between the pink bowl and blue plate, tip facing forwards.", + "start_idx": 7215, + "end_idx": 7242 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Have the left arm take the pink bowl off the table with a bottom lip grasp from a diagonal approach.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a lip hold at the bottom on a diagonal.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Take the pink bowl off the table with a bottom lip grasp from a diagonal approach.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold at the bottom on the diagonal.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Have the left arm take the pink bowl off the table using a bottom lip grasp.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "With the left hand, grasp the pink bowl from the table with a lip hold at the bottom.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "With the left hand, take the pink bowl off the table on a diagonal.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Place the pink bowl on the top side of the table with the left hand.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Using the left hand, set the pink bowl on the top side of the table upright.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Have the left arm place the pink bowl on the table's top side, right side up.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "With the left hand, position the pink bowl on the top side of the table in an upright orientation.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Place the pink bowl on the top side of the table.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Set the pink bowl on the table's top side.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Position the pink bowl on the top side of the table.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Move the pink bowl onto the top side of the table.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Using the left hand, place the pink bowl on the top side of the table.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "With the left hand, set the pink bowl on the table's top side.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Have the left arm position the pink bowl on the top side of the table.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Put the pink bowl on the top side of the table upright.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Using the left hand, place the pink bowl upright on the top side of the table.", + "start_idx": 7272, + "end_idx": 7314 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Have the left arm collect the red marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Take the red marker from the table with a diagonal pickup, holding its middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Have the left arm collect the red marker from the table.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "From the table, take the red marker with the left hand at a diagonal angle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Using the left hand, retrieve the red marker from the table at a diagonal angle.", + "start_idx": 7314, + "end_idx": 7335 + }, + { + "text": "Put the red marker to the left of the blue plate with the left hand with its tip facing bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue plate with its tip pointing bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Have the left arm set the red marker left of the blue plate, tip facing the bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "With your left hand, position the red marker on the left side of the blue plate so its tip points bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Place the red marker to the left of the blue plate with its tip pointing bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Set the red marker left of the blue plate, with the tip facing bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Position the red marker on the left side of the blue plate, tip aimed at the bottom right.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Using the left hand, put the red marker to the left of the blue plate.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "With the left hand, place the red marker on the left side of the blue plate.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Have the left arm set the red marker left of the blue plate.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Put the red marker to the left of the blue plate.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Place the red marker on the left side of the blue plate.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Set the red marker left of the blue plate.", + "start_idx": 7335, + "end_idx": 7365 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grip at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Have the left arm grasp the red bag of chips from the table in a side hold at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "With the left hand, secure the red bag of chips from the table using a side grasp at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Take the red bag of chips from the table with a side grasp at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "The red bag of chips should be picked up from the table in a side hold at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Have the left arm take the red bag of chips from the table using a side grasp.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table in a side hold.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Take the red bag of chips from the table with the left hand.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "The red bag of chips should be grasped from the table at the bottom-left diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Put the red bag of chips to the left of the red marker with the left hand facing left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the red marker with its front facing left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Have the left arm set the red bag of chips to the left of the red marker, front pointed left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "With the left hand, position the red bag of chips left of the red marker so the front faces left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Place the red bag of chips to the left of the red marker.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Set the red bag of chips left of the red marker.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Position the red bag of chips to the left of the red marker.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the red marker.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Have the left arm set the red bag of chips to the left of the red marker.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "With the left hand, position the red bag of chips left of the red marker.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Place the red bag of chips to the left of the red marker with its front facing left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Set the red bag of chips left of the red marker, front pointed left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Position the red bag of chips to the left of the red marker so the front faces left.", + "start_idx": 7401, + "end_idx": 7434 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Have the left arm take the blue plate from the table with a lip grasp on the bottom-left edge, diagonally oriented.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "With the left hand, grasp the blue plate from the table by the bottom left using a lip hold at a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Pick up the blue plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Take the blue plate from the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Grasp the blue plate from the table by the bottom left with a lip hold, diagonally.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "With the left hand, pick up the blue plate from the table using a lip grip.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Have the left arm take the blue plate from the table with a lip grasp.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Using the left hand, grasp the blue plate from the table with a lip hold.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Pick up the blue plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "With the left hand, take the blue plate from the table at the bottom left diagonally.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Pick up the blue plate from the table at the bottom left with a diagonal angle.", + "start_idx": 7515, + "end_idx": 7530 + }, + { + "text": "Put the blue plate right side up with its front to the top side of the table using the left hand.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Using the left hand, place the blue plate right side up with its front facing the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Have the left hand set the blue plate on the top side of the table, right side up and front toward the top side.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "With the left arm, position the blue plate on the table's top side so it is upright and its front faces the top side.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Place the blue plate right side up with its front facing the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Set the blue plate on the top side of the table, right side up with the front toward the top side.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Position the blue plate on the top side of the table so it stays upright and its front points to the top side.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Using the left hand, put the blue plate on the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "With the left hand, place the blue plate at the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Have the left hand set the blue plate on the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Put the blue plate on the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Place the blue plate at the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Set the blue plate on the top side of the table.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Have the left arm grasp the red marker on the table diagonally at its middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "With the left hand, take the red marker off the table using a diagonal pickup from the middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Take the red marker off the table diagonally from the middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Grasp the red marker on the table from the middle at a diagonal angle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Have the left arm take the red marker off the table.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "With the left hand, grasp the red marker on the table.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Take the red marker off the table from the middle.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Grasp the red marker on the table diagonally.", + "start_idx": 7569, + "end_idx": 7593 + }, + { + "text": "Put the red marker to the left of the blue plate with the tip facing left using the left hand.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue plate with its tip pointing left.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Have the left arm set the red marker left of the blue plate, tip facing left.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "With the left hand, position the red marker on the blue plate's left side, with the tip oriented left.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Place the red marker to the left of the blue plate.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Set the red marker on the left side of the blue plate.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Position the red marker left of the blue plate.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue plate.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "With the left hand, set the red marker on the blue plate's left side.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Have the left arm position the red marker left of the blue plate.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Put the red marker with its tip facing left.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Set down the red marker with the tip pointing left.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Position the red marker so its tip faces left.", + "start_idx": 7593, + "end_idx": 7629 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grip at the bottom left and a diagonal angle.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Have the left arm grasp the red bag of chips from the table by its bottom-left area with a diagonal side hold.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "With the left hand, secure the red bag of chips from the table using a side grasp at the bottom left on a diagonal.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Take the red bag of chips from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Grasp the red bag of chips from the table by the bottom-left area with a diagonal side hold.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "The red bag of chips from the table should be picked up with a side grasp at the bottom left on a diagonal.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Have the left arm grab the red bag of chips from the table with a side hold.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Pick up the red bag of chips from the table at the bottom left with a diagonal angle.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "The red bag of chips from the table should be grasped at the bottom-left area on a diagonal.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Take the red bag of chips from the table with the left hand.", + "start_idx": 7629, + "end_idx": 7659 + }, + { + "text": "Put the red bag of chips in between the pink and blue plate with the left hand facing top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Using the left hand, place the red bag of chips between the pink and blue plate with its front facing top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Have the left arm set the red bag of chips in between the pink and blue plate, front pointed top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "With the left hand, position the red bag of chips between the pink and blue plate so the front faces top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Place the red bag of chips between the pink and blue plate.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Set the red bag of chips in between the pink and blue plate.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Position the red bag of chips between the pink and blue plate.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Using the left hand, put the red bag of chips between the pink and blue plate.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Have the left arm place the red bag of chips in between the pink and blue plate.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "With the left hand, set the red bag of chips between the pink and blue plate.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Put the red bag of chips between the pink and blue plate with its front facing top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Position the red bag of chips in between the pink and blue plate, front toward top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Set the red bag of chips between the pink and blue plate so the front points top left.", + "start_idx": 7659, + "end_idx": 7692 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Have the left arm grasp the red marker from the table by the top with a side hold from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "From a diagonal angle, the left hand should seize the red marker from the table with a side grasp at the top.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Pick up the red marker from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "From the table, grasp the red marker with a side hold at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Take the red marker from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a side grip at the top.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "With the left hand, collect the red marker from the table using a side grip at the top.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Have the left arm take the red marker from the table with a side grasp at the top.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Using the left hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Pick up the red marker from the table with the left hand from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Take the red marker from the table by the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7718 + }, + { + "text": "Put the red marker in front of the blue plate with the left hand facing top left with the tip as the reference point.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Using the left hand, place the red marker in front of the blue plate with the tip facing top left.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Have the left arm set the red marker in front of the blue plate, oriented top left by its tip.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "With the left hand, position the red marker before the blue plate so the tip points top left.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Place the red marker in front of the blue plate with the tip facing top left.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Set the red marker before the blue plate, with its tip oriented top left.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Position the red marker in front of the blue plate so its tip points top left.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Using the left hand, put the red marker in front of the blue plate.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "With the left hand, place the red marker before the blue plate.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Have the left arm position the red marker in front of the blue plate.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Put the red marker in front of the blue plate.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Set the red marker before the blue plate.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Position the red marker in front of the blue plate.", + "start_idx": 7719, + "end_idx": 7761 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Have the left arm pick the red bag of chips up from the table with a side grip on the bottom-left area at a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table using a side hold at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Take the red bag of chips from the table with a side grasp on the bottom-left area from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Grasp the red bag of chips from the table with a side hold at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Have the left arm take the red bag of chips from the table.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "From the table, take the red bag of chips with the left hand at the bottom-left area from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Grasp the red bag of chips from the table at the bottom left from a diagonal angle.", + "start_idx": 7818, + "end_idx": 7845 + }, + { + "text": "Put the red bag of chips to the left of the blue plate with the left hand facing bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the blue plate with its front facing bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Have the left arm set the red bag of chips left of the blue plate, front pointed toward the bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "With the left hand, position the red bag of chips to the left of the blue plate so the front faces bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Place the red bag of chips to the left of the blue plate with its front facing bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Set the red bag of chips left of the blue plate, with the front oriented toward the bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Position the red bag of chips to the left of the blue plate so its front points bottom left.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Using the left hand, place the red bag of chips to the left of the blue plate.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "With the left hand, set the red bag of chips left of the blue plate.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Have the left arm position the red bag of chips to the left of the blue plate.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Place the red bag of chips to the left of the blue plate.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Set the red bag of chips left of the blue plate.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Position the red bag of chips to the left of the blue plate.", + "start_idx": 7845, + "end_idx": 7881 + }, + { + "text": "Pick up the blue plate from the table with the left hand using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Have the left arm take the blue plate from the table by the bottom-left edge with a lip grasp on a diagonal.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "With the left hand, secure the blue plate from the table using a lip grip at the bottom left on a diagonal approach.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Pick up the blue plate from the table with a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Take the blue plate from the table by the bottom-left area using a lip grip from a diagonal angle.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "From the table, grasp the blue plate with a lip grasp at the bottom left on a diagonal.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Using the left hand, pick up the blue plate from the table with a lip grasp.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Have the left arm take the blue plate from the table with a lip grip.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "With the left hand, secure the blue plate from the table using a lip grasp.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Pick up the blue plate from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Using the left hand, take the blue plate from the table by the bottom-left area on a diagonal.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Have the blue plate picked up from the table at the bottom left from a diagonal angle.", + "start_idx": 7881, + "end_idx": 7905 + }, + { + "text": "Put the blue plate in front of the red bag of chips with the left hand right side up.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Using the left hand, place the blue plate in front of the red bag of chips, right side up.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Have the left arm set the blue plate before the red bag of chips with its right side up.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "With the left hand, position the blue plate in front of the red bag of chips so it remains right side up.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Place the blue plate in front of the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Set the blue plate before the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Position the blue plate in front of the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Put the blue plate before the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Using the left hand, place the blue plate by the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "With the left hand, set the blue plate near the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Have the left arm position the blue plate by the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Place the blue plate by the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Set the blue plate near the red bag of chips.", + "start_idx": 7905, + "end_idx": 7944 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Have the left arm take the red marker from the table with a diagonal approach, holding it at the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach, holding the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "From the table, take the red marker with the left hand.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Get the red marker from the table.", + "start_idx": 8013, + "end_idx": 8034 + }, + { + "text": "Put the red marker to the right of the blue plate with the left hand with its tip facing bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Using the left hand, place the red marker to the right of the blue plate with its tip pointing bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Have the left arm set the red marker to the right of the blue plate, tip oriented toward the bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "With the left hand, position the red marker right of the blue plate so its tip faces bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Place the red marker to the right of the blue plate with its tip facing bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Set the red marker right of the blue plate, with the tip directed toward the bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Position the red marker to the right of the blue plate so the tip points bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Using the left hand, put the red marker to the right of the blue plate.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "With the left hand, position the red marker right of the blue plate.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Have the left arm place the red marker to the right of the blue plate.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Arrange the red marker with its tip facing bottom left to the right of the blue plate.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "The red marker goes to the right of the blue plate, tip pointing bottom left.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Set the red marker right of the blue plate.", + "start_idx": 8034, + "end_idx": 8076 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a lip hold at the bottom left diagonally.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "With the left hand, take the pink bowl off the table using a lip grasp at the bottom left with a diagonal angle.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Take the pink bowl off the table with a lip hold at the bottom left diagonally.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Grasp the pink bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Remove the pink bowl from the table with the left hand using a lip grip.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Using the left hand, take the pink bowl off the table with a lip grasp.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Have the left hand pick up the pink bowl from the table with a lip hold.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "With the left hand, grasp the pink bowl from the table at the bottom left diagonally.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Take the pink bowl off the table from the bottom left with a diagonal angle.", + "start_idx": 8139, + "end_idx": 8157 + }, + { + "text": "Put the pink bowl to the left of the blue plate with the left hand.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the blue plate, right side up from the front.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Have the left arm set the pink bowl to the left of the blue plate with its front facing forward and upright.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "With the left hand, position the pink bowl left of the blue plate in an upright orientation, front forward.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Place the pink bowl to the left of the blue plate, right side up from the front.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Set the pink bowl left of the blue plate with its front facing forward and upright.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Position the pink bowl to the left of the blue plate in an upright orientation.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Using the left hand, put the pink bowl to the left of the blue plate.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Have the left arm place the pink bowl left of the blue plate.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "With the left hand, set the pink bowl beside the blue plate on its left side.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Put the pink bowl to the left of the blue plate.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Arrange the pink bowl on the left side of the blue plate.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "The pink bowl belongs to the left of the blue plate.", + "start_idx": 8156, + "end_idx": 8202 + }, + { + "text": "Put the red bag of chips from the table down with the left hand facing left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Using the left hand, place the red bag of chips from the table with its front facing left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Have the left arm set down the red bag of chips from the table, front turned to the left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "With the left hand, position the red bag of chips from the table so the front points left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Place the red bag of chips from the table with its front facing left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Set down the red bag of chips from the table, front to the left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Position the red bag of chips from the table so its front faces left.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Using the left hand, put down the red bag of chips from the table.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Have the left arm place the red bag of chips from the table down.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "With the left hand, set the red bag of chips from the table in place.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Put down the red bag of chips from the table.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Set the red bag of chips from the table down.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Position the red bag of chips from the table.", + "start_idx": 8202, + "end_idx": 8229 + }, + { + "text": "Place the red bag of chips on top of the blue plate with the left hand facing left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Using the left hand, set the red bag of chips on top of the blue plate with its front facing left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Have the left arm place the red bag of chips onto the blue plate, front oriented to the left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "With the left hand, position the red bag of chips atop the blue plate so the front points left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Place the red bag of chips on top of the blue plate with its front facing left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Set the red bag of chips onto the blue plate, front facing left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Position the red bag of chips atop the blue plate with the front to the left.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Using the left hand, place the red bag of chips on top of the blue plate.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "With the left hand, set the red bag of chips onto the blue plate.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Have the left arm put the red bag of chips atop the blue plate.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Place the red bag of chips on top of the blue plate.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Set the red bag of chips onto the blue plate.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Put the red bag of chips atop the blue plate.", + "start_idx": 8229, + "end_idx": 8265 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Have the left arm take the red marker from the table diagonally by its middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "With the left hand, retrieve the red marker from the table at a diagonal angle, holding the center.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle, holding its center.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Pick up the red marker from the table with the left hand, grasping the middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Using the left hand, take the red marker from the table by the middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Have the left arm retrieve the red marker from the table, holding its center.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "With the left hand, take the red marker from the table diagonally.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Retrieve the red marker from the table by its middle.", + "start_idx": 8265, + "end_idx": 8289 + }, + { + "text": "Put the red marker to the left of the pink cup with the left hand with its tip facing top right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Using the left hand, place the red marker to the left of the pink cup with its tip pointing to the top right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Have the left arm set the red marker to the left of the pink cup, tip oriented toward the top right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "With the left hand, position the red marker left of the pink cup, keeping its tip directed to the upper right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Place the red marker to the left of the pink cup with its tip facing top right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Set the red marker left of the pink cup with its tip pointing to the upper right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Position the red marker to the left of the pink cup, tip directed top right.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Using the left hand, put the red marker to the left of the pink cup.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "With the left hand, place the red marker left of the pink cup.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Have the left arm position the red marker to the left of the pink cup.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Put the red marker to the left of the pink cup.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Set the red marker left of the pink cup.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Position the red marker to the left of the pink cup.", + "start_idx": 8289, + "end_idx": 8328 + }, + { + "text": "Pick up the red bag of chips from the blue plate with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "With the left hand, take the red bag of chips from the blue plate using a side grip at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Using the left hand, grasp the red bag of chips from the blue plate with a side hold at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Have the left arm retrieve the red bag of chips from the blue plate with a side grip at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Pick up the red bag of chips from the blue plate using a side grip at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Grasp the red bag of chips from the blue plate with a side hold at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Take the red bag of chips off the blue plate using a side grip at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "With the left hand, pick up the red bag of chips from the blue plate using a side grip.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Using the left hand, take the red bag of chips from the blue plate with a side hold.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Have the left arm grasp the red bag of chips from the blue plate.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Pick up the red bag of chips from the blue plate at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "From the blue plate, take the red bag of chips with the left hand at the bottom left from a diagonal angle.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Using the left hand, remove the red bag of chips from the blue plate.", + "start_idx": 8394, + "end_idx": 8412 + }, + { + "text": "Put the red bag of chips in between the blue plate and red marker with the left hand facing left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Using the left hand, place the red bag of chips between the blue plate and the red marker with its front facing left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Have the left arm set the red bag of chips between the blue plate and red marker, front pointing left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "With the left hand, position the red bag of chips in between the blue plate and red marker so the front faces left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Place the red bag of chips between the blue plate and the red marker with its front facing left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Set the red bag of chips in between the blue plate and red marker, front pointing left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Position the red bag of chips between the blue plate and the red marker so the front faces left.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Using the left hand, put the red bag of chips between the blue plate and the red marker.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "With the left hand, place the red bag of chips in between the blue plate and red marker.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Have the left arm set the red bag of chips between the blue plate and red marker.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Put the red bag of chips between the blue plate and the red marker.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Place the red bag of chips in between the blue plate and red marker.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Set the red bag of chips between the blue plate and red marker.", + "start_idx": 8412, + "end_idx": 8439 + }, + { + "text": "Pick up the blue plate to the left of the red bag of chips with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Using the left hand, grasp the blue plate left of the red bag of chips with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Have the left arm take hold of the blue plate to the left of the red bag of chips using a bottom-left lip grasp on a diagonal.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "With the left hand, pick the blue plate left of the red bag of chips via a lip grip at the bottom left, diagonally.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Pick up the blue plate to the left of the red bag of chips using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Take the blue plate left of the red bag of chips with a lip grasp at the bottom left on a diagonal.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "The blue plate to the left of the red bag of chips should be picked up with a lip grip at the bottom left, diagonally.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Using the left hand, pick up the blue plate to the left of the red bag of chips with a lip grip.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "With the left hand, take the blue plate left of the red bag of chips using a lip grasp.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Have the left arm grasp the blue plate to the left of the red bag of chips with a lip grip.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Using the left hand, pick up the blue plate to the left of the red bag of chips at the bottom left with a diagonal angle.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Pick up the blue plate left of the red bag of chips with the left hand at a diagonal angle.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Take the blue plate to the left of the red bag of chips with a lip grip.", + "start_idx": 8439, + "end_idx": 8463 + }, + { + "text": "Place the blue plate in front of the pink plate with the left hand right side up with the front as the reference point.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Using the left hand, set the blue plate in front of the pink plate right side up, with the front as the reference point.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Have the left arm place the blue plate in front of the pink plate, keeping it right side up relative to the front.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "With the left hand, position the blue plate before the pink plate right side up, using the front as the reference point.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Place the blue plate in front of the pink plate right side up, with the front as the reference point.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Position the blue plate in front of the pink plate, keeping it right side up relative to the front.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Set the blue plate before the pink plate right side up, using the front as the reference point.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "With the left hand, place the blue plate in front of the pink plate.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Have the left arm position the blue plate before the pink plate.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Using the left hand, set the blue plate in front of the pink plate.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Put the blue plate in front of the pink plate.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Position the blue plate before the pink plate.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Have the blue plate placed in front of the pink plate.", + "start_idx": 8463, + "end_idx": 8514 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom-right lip hold at a diagonal angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "With the left hand, retrieve the pink bowl from the table using a lip grasp on the bottom right at a diagonal approach.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom right and a diagonal approach.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Retrieve the pink bowl from the table using a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "With the left hand, retrieve the pink bowl from the table.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom right with a diagonal pick angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "From the table, take the pink bowl with the left hand at a diagonal angle from the bottom right.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Pick up the pink bowl from the table at the bottom right with a diagonal pick angle.", + "start_idx": 8514, + "end_idx": 8550 + }, + { + "text": "Put the pink bowl to the left of the pink cup with the left hand.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Have the left arm set the pink bowl just left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Place the pink bowl to the left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Set the pink bowl just left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Position the pink bowl on the left side of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Move the pink bowl to the left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Put the pink bowl by the left side of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Leave the pink bowl to the left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Set the pink bowl left of the pink cup.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Place the pink bowl beside the pink cup on its left side.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Put the pink bowl on the pink cup's left side.", + "start_idx": 8550, + "end_idx": 8595 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left, at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "With the left hand, secure the pink bowl from the table by the bottom left using a lip grip at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "The pink bowl from the table should be taken with a lip grip at the bottom left, diagonally angled.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip hold on the bottom-left area.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Have the left hand grasp the pink bowl from the table by the bottom left using a lip grip.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at a diagonal angle.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Take the pink bowl from the table using a lip grip at the bottom left.", + "start_idx": 8733, + "end_idx": 8766 + }, + { + "text": "Put the pink bowl to the top left side of the table with the left hand.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Using the left hand, place the pink bowl on the table's top-left side, right side up from the front.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Have the left arm set the pink bowl at the top left area of the table with its front-facing upright orientation.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "With the left hand, position the pink bowl on the table's upper-left side, keeping it right side up relative to the front.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Place the pink bowl on the top left side of the table, right side up from the front.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Set the pink bowl at the table's top-left side with its front-oriented upright placement.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Position the pink bowl on the upper-left part of the table, maintaining a right-side-up orientation from the front.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Put the pink bowl on the top left side of the table.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Arrange the pink bowl at the table's upper-left side.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "The pink bowl goes on the top-left area of the table.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Using the left hand, place the pink bowl on the top left side of the table.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "With the left hand, set the pink bowl at the table's upper-left side.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Have the left arm put the pink bowl on the top-left part of the table.", + "start_idx": 8766, + "end_idx": 8808 + }, + { + "text": "Pick up the red bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Using the left hand, take the red bag of chips from the table with a side grasp at the bottom-left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Have the left arm pick up the red bag of chips from the table using a side hold at the bottom-left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "With the left hand, grasp the red bag of chips from the table in a side grip at the bottom-left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom-left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Take the red bag of chips from the table with a side grasp at the bottom-left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "The red bag of chips should be picked up from the table in a side hold at the bottom-left diagonal.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "With the left hand, take the red bag of chips from the table using a side grasp.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Have the left arm grasp the red bag of chips from the table with a side hold.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Using the left hand, pick up the red bag of chips from the table.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Take the red bag of chips from the table with the left hand.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "The red bag of chips should be picked up from the table.", + "start_idx": 8868, + "end_idx": 8886 + }, + { + "text": "Put the red bag of chips in front of the pink bowl with the left hand.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Using the left hand, place the red bag of chips in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "With the left arm, set the red bag of chips in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Have the left hand put the red bag of chips in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Place the red bag of chips in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Set the red bag of chips in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Put the red bag of chips before the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "The red bag of chips goes in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Position the red bag of chips in front of the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Using the left hand, place the red bag of chips by the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "With the left arm, set the red bag of chips before the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Put the red bag of chips by the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "The red bag of chips should be placed before the pink bowl.", + "start_idx": 8886, + "end_idx": 8925 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Using the right hand, take the red bag of chips from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Have the right hand pick up the red bag of chips from the table, gripping its right side diagonally.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table using a side hold on the right at a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip on the right at a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Take the red bag of chips from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Grasp the red bag of chips from the table by its right side at a diagonal angle.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "With the right hand, take the red bag of chips from the table using a side grasp.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Have the right hand grasp the red bag of chips from the table from the side.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table at a diagonal angle on the right.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Take the red bag of chips from the table from the right side.", + "start_idx": 135, + "end_idx": 156 + }, + { + "text": "Put the red bag of chips on top of the blue platet with the right hand facing backwards.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Using the right hand, place the red bag of chips on top of the blue platet with its front facing backwards.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Have the right arm set the red bag of chips atop the blue platet, front facing backwards.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "With the right hand, position the red bag of chips on the blue platet so the front faces backward.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Place the red bag of chips on top of the blue platet with its front facing backwards.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Set the red bag of chips atop the blue platet, front facing backwards.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Position the red bag of chips on the blue platet so it faces backward.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Using the right hand, place the red bag of chips on top of the blue platet.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "With the right hand, set the red bag of chips atop the blue platet.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Have the right arm position the red bag of chips on the blue platet.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Put the red bag of chips on top of the blue platet.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Set the red bag of chips on the blue platet.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Place the red bag of chips atop the blue platet.", + "start_idx": 156, + "end_idx": 189 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Have the right arm pick up the pink bowl from the table using a diagonal lip grasp at the bowl's bottom right.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "With the right hand, grasp the pink bowl from the table in a bottom-right diagonal lip hold.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Grasp the pink bowl from the table in a diagonal lip hold at the bottom right.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 378, + "end_idx": 405 + }, + { + "text": "Place the pink bowl to the left of the pink plate with the right hand.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Using the right hand, set the pink bowl to the left of the pink plate.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Have the right arm place the pink bowl on the left side of the pink plate.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "With the right hand, position the pink bowl left of the pink plate.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Place the pink bowl to the left of the pink plate.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Set the pink bowl on the left side of the pink plate.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Position the pink bowl left of the pink plate.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Put the pink bowl beside the pink plate on its left.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Arrange the pink bowl to the pink plate's left.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Using the right hand, place the pink bowl beside the pink plate on its left.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Have the right arm set the pink bowl next to the pink plate on the left side.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "With the right hand, put the pink bowl to the pink plate's left.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Place the pink bowl next to the pink plate on the left side.", + "start_idx": 405, + "end_idx": 459 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Have the right hand collect the blue marker from the table diagonally by the middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "With the right hand, retrieve the blue marker from the table in a diagonal hold at its center.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup at its center.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Using the right hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "With the right hand, take the blue marker from the table by its middle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Have the right hand retrieve the blue marker from the table at the center.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Using the right hand, collect the blue marker from the table diagonally.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 459, + "end_idx": 483 + }, + { + "text": "Put the blue marker to the right of the blue plate with the right hand with its tip facing bottom left.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Using the right hand, place the blue marker to the right of the blue plate with its tip pointing bottom left.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Have the right arm set the blue marker to the right of the blue plate, tip directed toward the bottom left.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "With the right hand, position the blue marker on the right side of the blue plate, its tip facing bottom left.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Place the blue marker to the right of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Set the blue marker on the right side of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Position the blue marker to the right of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Using the right hand, put the blue marker to the right of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "With the right hand, place the blue marker on the right side of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Have the right arm position the blue marker to the right of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Place the blue marker to the right of the blue plate with its tip facing bottom left.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Set the blue marker on the right side of the blue plate, tip pointing bottom left.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Put the blue marker to the right of the blue plate.", + "start_idx": 483, + "end_idx": 519 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Using the right hand, take hold of the pink cup by its handle at a diagonal angle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Have the right arm pick up the pink cup from the table, grasping the handle diagonally.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "With the right hand, collect the pink cup from the table by the handle at a diagonal orientation.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Grasp the pink cup by the handle at a diagonal angle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Retrieve the pink cup from the table by its handle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Take hold of the pink cup from the table using the handle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "With the right hand, grasp the pink cup by the handle.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Have the right arm take the pink cup from the table.", + "start_idx": 642, + "end_idx": 657 + }, + { + "text": "Put the pink cup to the right of the blue marker with the right hand right side up with the front as the orientation reference point.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Using the right hand, place the pink cup to the right of the blue marker right side up, with the front as the orientation reference point.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Have the right arm set the pink cup to the right of the blue marker in an upright orientation, referenced to its front.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "With the right hand, position the pink cup to the right of the blue marker upright, using the front as the reference point.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Place the pink cup to the right of the blue marker right side up, with the front as the orientation reference point.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Set the pink cup to the right of the blue marker upright, using the front as the reference point.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Position the pink cup to the right of the blue marker in a right-side-up orientation, referenced to the front.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Using the right hand, place the pink cup to the right of the blue marker.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Have the right arm set the pink cup to the right of the blue marker.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "With the right hand, position the pink cup to the right of the blue marker.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Place the pink cup to the right of the blue marker.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Set the pink cup to the right of the blue marker.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Position the pink cup to the right of the blue marker.", + "start_idx": 657, + "end_idx": 699 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Have the right arm take the blue marker from the table with a diagonal approach, holding it at the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Take the blue marker from the table with a diagonal approach, holding the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Have the right arm take the blue marker from the table.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Take the blue marker from the table by the middle.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 930, + "end_idx": 948 + }, + { + "text": "Put the blue marker to the left of the pink bowl with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Using the right hand, place the blue marker to the left of the pink bowl, facing bottom right with the tip as the reference point.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Have the right hand set the blue marker left of the pink bowl, with the tip oriented toward the bottom right.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "With the right hand, position the blue marker to the left of the pink bowl so the tip faces bottom right.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Place the blue marker to the left of the pink bowl with the tip facing bottom right.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Set the blue marker left of the pink bowl, oriented bottom right from the tip.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Position the blue marker to the left of the pink bowl so its tip points bottom right.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Put the blue marker with the tip facing bottom right to the left of the pink bowl.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Using the right hand, place the blue marker to the left of the pink bowl.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Have the right hand put the blue marker left of the pink bowl.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "With the right hand, set the blue marker to the left of the pink bowl.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Place the blue marker to the left of the pink bowl.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Set the blue marker left of the pink bowl.", + "start_idx": 948, + "end_idx": 981 + }, + { + "text": "Pick up the pink cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Have the right arm take hold of the pink cup from the table with a diagonal handle grasp.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "With the right hand, grasp the pink cup off the table diagonally at the handle.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Pick up the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Take the pink cup from the table using a diagonal handle grasp.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Grasp the pink cup off the table at the handle with a diagonal hold.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Have the right arm take the pink cup from the table.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "With the right hand, grasp the pink cup off the table.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the pink cup from the table at the handle.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Take the pink cup from the table with the right hand.", + "start_idx": 1104, + "end_idx": 1119 + }, + { + "text": "Put the pink cup to the right of the blue plate with the handle facing backwards right side up using the right hand.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Using the right hand, place the pink cup to the right of the blue plate, right side up, with the handle facing backward.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Have the right hand set the pink cup to the blue plate's right, keeping it upright and the handle pointed backward.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "With the right hand, position the pink cup on the right side of the blue plate, right side up, handle facing back.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Place the pink cup to the right of the blue plate, right side up, with the handle facing backward.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Set the pink cup on the right side of the blue plate, keeping it upright with the handle pointed backward.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Position the pink cup to the blue plate's right, with the handle facing back and the cup right side up.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Using the right hand, put the pink cup to the right of the blue plate.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "With the right hand, place the pink cup on the blue plate's right side.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Have the right hand set the pink cup to the right of the blue plate.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Put the pink cup to the right of the blue plate.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Set the pink cup on the right side of the blue plate.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Position the pink cup to the blue plate's right.", + "start_idx": 1119, + "end_idx": 1155 + }, + { + "text": "Pick up the red bag of chips from the pink plate with the right hand using a side grip at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Using the right hand, take the red bag of chips from the pink plate with a side grasp at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Have the right arm pick the red bag of chips off the pink plate using a side grip at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "With the right hand, grasp the red bag of chips from the pink plate in a side hold at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Pick up the red bag of chips from the pink plate using a side grip at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Take the red bag of chips off the pink plate with a side grasp at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Grasp the red bag of chips from the pink plate in a side hold at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the pink plate.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Have the right arm take the red bag of chips off the pink plate.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "With the right hand, grasp the red bag of chips from the pink plate.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Pick up the red bag of chips from the pink plate at the top right diagonal.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Take the red bag of chips off the pink plate with the right hand.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Grasp the red bag of chips from the pink plate.", + "start_idx": 1260, + "end_idx": 1290 + }, + { + "text": "Put the red bag of chips from to the right of the blue marker with the right hand facing backwards.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Using the right hand, place the red bag of chips from to the right of the blue marker with its front facing backwards.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Have the right arm put the red bag of chips from to the right of the blue marker so the front faces backward.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "With the right hand, position the red bag of chips from to the right of the blue marker, front facing backwards.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Place the red bag of chips from to the right of the blue marker with its front facing backwards.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Set the red bag of chips from to the right of the blue marker so the front faces backward.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Position the red bag of chips from to the right of the blue marker with the front facing backwards.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Using the right hand, place the red bag of chips from to the right of the blue marker.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Have the right arm set the red bag of chips from to the right of the blue marker.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "With the right hand, position the red bag of chips from to the right of the blue marker.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Put the red bag of chips from to the right of the blue marker.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Set the red bag of chips from to the right of the blue marker.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Position the red bag of chips from to the right of the blue marker.", + "start_idx": 1290, + "end_idx": 1320 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "With the right hand, collect the red marker from the table diagonally by the middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Have the right hand pick the red marker off the table at a diagonal angle by its middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Take the red marker off the table diagonally by its middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Get the red marker from the table at a diagonal angle, holding the middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping its middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "With the right hand, take the red marker off the table by the middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Have the right hand collect the red marker from the table at a diagonal angle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Take the red marker off the table diagonally.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Get the red marker from the table by the middle.", + "start_idx": 1563, + "end_idx": 1581 + }, + { + "text": "Put the red marker on the top side of the table with the right hand with the tip facing bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Using the right hand, place the red marker on the top side of the table with its tip pointing to the bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Have the right hand set the red marker on the table's top side, tip oriented toward the bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "With the right hand, position the red marker on the top edge of the table so the tip faces bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Place the red marker on the top side of the table with its tip facing bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Set the red marker on the top side of the table with the tip directed toward the bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Position the red marker on the top side of the table, keeping its tip pointed bottom left.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Using the right hand, put the red marker on the top side of the table.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Have the right hand place the red marker on the top side of the table.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "With the right hand, set the red marker on the table's top side.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Put the red marker on the top side of the table.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Position the red marker on the table's top side.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Have the right hand put the red marker on the top side of the table.", + "start_idx": 1581, + "end_idx": 1617 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Have the right hand pick the blue marker up from the table diagonally by the middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "With the right hand, retrieve the blue marker from the table, holding it at a diagonal angle around the middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Retrieve the blue marker from the table while keeping it diagonal and holding its middle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "With the right hand, take the blue marker from the table.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Have the right hand retrieve the blue marker from the table.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 1617, + "end_idx": 1641 + }, + { + "text": "Put the blue marker on the top side of the table with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Using the right hand, place the blue marker on the table's top side with the tip facing bottom right.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Have the right arm set the blue marker on the top side of the table, oriented bottom right from the tip.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "With the right hand, position the blue marker on the top edge of the table so its tip points bottom right.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Place the blue marker on the top side of the table.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Set the blue marker on the table's top side.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Position the blue marker on the top edge of the table.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Using the right hand, place the blue marker on the top side of the table.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Have the right arm set the blue marker on the table's top side.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "With the right hand, position the blue marker on the top edge of the table.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Place the blue marker on the top side of the table with the tip facing bottom right.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Set the blue marker on the table's top side, tip toward bottom right.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Position the blue marker on the top edge of the table so the tip points bottom right.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Have the right hand take the blue marker from the table diagonally by its middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "With the right hand, retrieve the blue marker from the table at a diagonal angle, holding the middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Take the blue marker from the table diagonally by its middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle while holding the middle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "From the table, pick up the blue marker with the right hand.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Use the right hand to take the blue marker from the table.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Have the right hand retrieve the blue marker from the table.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Put the blue marker inside the bowl with the right hand facing bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Using the right hand, place the blue marker in the bowl with the tip facing bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Have the right arm set the blue marker inside the bowl so its tip points bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "With the right hand, deposit the blue marker into the bowl, tip directed toward the bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Place the blue marker inside the bowl with its tip facing bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Set the blue marker in the bowl so the tip points bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Put the blue marker into the bowl, with the tip oriented toward the bottom right.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Put the blue marker inside the bowl with the right hand.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Using the right hand, place the blue marker into the bowl.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Have the right arm put the blue marker in the bowl.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Place the blue marker in the bowl.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Set the blue marker inside the bowl.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Put the blue marker into the bowl.", + "start_idx": 1896, + "end_idx": 1932 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grip on the right side.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grip on the right side.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Have the right arm take the red bag of chips from the table using a right-side side grasp.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table in a side hold on its right side.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip on the right side.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Take the red bag of chips from the table with a side grasp on the right side.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Grasp the red bag of chips from the table with a side hold on its right side.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Have the right arm take the red bag of chips from the table.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Take the red bag of chips from the table.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Grasp the red bag of chips from the table.", + "start_idx": 1932, + "end_idx": 1968 + }, + { + "text": "Put the red bag of chips to the right of the pink plate with the right hand facing backwards.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Using the right hand, place the red bag of chips to the right of the pink plate with its front facing backwards.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Have the right hand set the red bag of chips to the right of the pink plate, front facing backward.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "With the right hand, position the red bag of chips to the right of the pink plate so the front faces backwards.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Place the red bag of chips to the right of the pink plate with its front facing backwards.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Set the red bag of chips to the right of the pink plate, front facing backward.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Position the red bag of chips to the right of the pink plate with the front facing backwards.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Using the right hand, place the red bag of chips to the right of the pink plate.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Have the right hand set the red bag of chips to the right of the pink plate.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "With the right hand, position the red bag of chips to the right of the pink plate.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Place the red bag of chips to the right of the pink plate.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Set the red bag of chips to the right of the pink plate.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Position the red bag of chips to the right of the pink plate.", + "start_idx": 1967, + "end_idx": 1997 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grip at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Using the right hand, take the red bag of chips from the table with a side grasp at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Have the right hand pick the red bag of chips up from the table using a side hold at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "With the right hand, secure the red bag of chips from the table in a side grip at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Take the red bag of chips from the table with a side grasp at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Get hold of the red bag of chips from the table in a side hold at the bottom right diagonal.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Have the right hand take the red bag of chips from the table using a side grasp.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table in a side hold.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Take the red bag of chips from the table with the right hand.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Get the red bag of chips off the table with the right hand.", + "start_idx": 2172, + "end_idx": 2190 + }, + { + "text": "Put the red bag of chips to the front left of the pink plate with the right hand facing backwards.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Using the right hand, place the red bag of chips at the front left of the pink plate, facing backwards.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Have the right hand set the red bag of chips to the pink plate's front left with its orientation facing backwards.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "With the right hand, position the red bag of chips in front-left of the pink plate, facing backwards.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Place the red bag of chips at the front left of the pink plate.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Set the red bag of chips to the front left of the pink plate.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "The red bag of chips goes at the front left of the pink plate.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Position the red bag of chips beside the pink plate with the right hand.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Using the right hand, place the red bag of chips by the pink plate.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Have the right hand put the red bag of chips next to the pink plate.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Put the red bag of chips to the front left of the pink plate with the right hand.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Set the red bag of chips by the pink plate facing backwards.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Place the red bag of chips beside the pink plate.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the right side from a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the right side from a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "With the right hand, secure the pink plate from the table using a lip grasp on its right side from a diagonal approach.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Take the pink plate from the table with a lip grip at the right side from a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Grasp the pink plate from the table using a lip hold on the right side at a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "The pink plate from the table should be picked up with a lip grasp at the right side from a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Have the right arm take the pink plate from the table.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "With the right hand, grasp the pink plate from the table.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Pick up the pink plate from the table at the right side from a diagonal angle.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "From the table, collect the pink plate with the right hand.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "The pink plate from the table should be grasped from the right side.", + "start_idx": 2706, + "end_idx": 2724 + }, + { + "text": "Put the pink plate to the right of the red marker with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Using the right hand, place the pink plate to the right of the red marker, right side up with the front as the reference point.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Have the right arm set the pink plate to the right of the red marker, keeping it right side up relative to the front.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "With the right hand, position the pink plate to the right of the red marker so it stays right side up using the front as the reference point.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Place the pink plate to the right of the red marker, right side up with the front as the reference point.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Set the pink plate to the right of the red marker, keeping it right side up relative to the front.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Position the pink plate to the right of the red marker with its front as the orientation reference, right side up.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Using the right hand, place the pink plate to the right of the red marker.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Have the right arm set the pink plate to the right of the red marker.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "With the right hand, position the pink plate to the right of the red marker.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Put the pink plate to the right of the red marker.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Place the pink plate to the right of the red marker.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Set the pink plate to the right of the red marker.", + "start_idx": 2724, + "end_idx": 2760 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grasp at the right in a diagonal direction.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grasp at the right in a diagonal direction.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Have the right arm take the red bag of chips from the table using a side grasp on the right diagonally.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table from the right side using a diagonal side hold.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Pick up the red bag of chips from the table with a side grasp at the right in a diagonal direction.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Take the red bag of chips from the table using a side grasp on the right diagonally.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Grasp the red bag of chips from the table from the right side with a diagonal approach.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grasp.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "With the right hand, take the red bag of chips from the table using a side hold.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Have the right arm grasp the red bag of chips from the table with a side grip.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table at the right in a diagonal direction.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "With the right hand, take the red bag of chips from the table from the right side diagonally.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 2811, + "end_idx": 2835 + }, + { + "text": "Put the red bag of chips to the red marker with the right hand facing backwards.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Using the right hand, place the red bag of chips by the red marker with its front facing backward.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Have the right arm set the red bag of chips next to the red marker, front facing backwards.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "With the right hand, position the red bag of chips at the red marker so the front faces backward.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Place the red bag of chips beside the red marker with its front facing backward.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Set the red bag of chips by the red marker, front facing backwards.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Position the red bag of chips next to the red marker with the front facing backward.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Using the right hand, place the red bag of chips by the red marker.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "With the right hand, set the red bag of chips beside the red marker.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Have the right arm position the red bag of chips next to the red marker.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Put the red bag of chips at the red marker.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Place the red bag of chips by the red marker.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Set the red bag of chips beside the red marker.", + "start_idx": 2835, + "end_idx": 2865 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "With the right hand, retrieve the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Take the red marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Retrieve the red marker from the table by grasping its middle at a diagonal angle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 3024, + "end_idx": 3048 + }, + { + "text": "Put the red marker on top of the blue plate with the right hand with its tip facing bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Using the right hand, place the red marker on top of the blue plate with its tip pointing to the bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Have the right hand set the red marker atop the blue plate, keeping the tip directed bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "With the right hand, position the red marker on the blue plate so its tip faces the bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Place the red marker on top of the blue plate with its tip facing bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Set the red marker atop the blue plate with the tip pointed to the bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Position the red marker on the blue plate so the tip points bottom right.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Using the right hand, put the red marker on top of the blue plate.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "With the right hand, set the red marker atop the blue plate.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Have the right hand place the red marker on the blue plate.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Put the red marker on top of the blue plate.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Set the red marker on the blue plate.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Position the red marker atop the blue plate.", + "start_idx": 3048, + "end_idx": 3078 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand using a side grip from the right at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Using the right hand, take the red bag of chips from the table with a side grasp from the right at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Have the right arm pick up the red bag of chips from the table in a right-side grip at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "With the right hand, grasp the red bag of chips from the table using a side hold from the right on a diagonal.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Pick up the red bag of chips from the table using a side grip from the right at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Take the red bag of chips from the table with a side grasp from the right at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Grasp the red bag of chips from the table in a side hold from the right at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table with a side grip.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "With the right hand, take the red bag of chips from the table using a side grasp.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Have the right arm grasp the red bag of chips from the table with a right-side hold.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand from the right at a diagonal angle.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Take the red bag of chips from the table.", + "start_idx": 3135, + "end_idx": 3150 + }, + { + "text": "Put the red bag of chips behind the pink bowl with the right hand facing backwards.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Using the right hand, place the red bag of chips behind the pink bowl with its front facing backwards.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Have the right arm set the red bag of chips behind the pink bowl, front oriented backward.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "With the right hand, position the red bag of chips behind the pink bowl so the front faces backwards.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Place the red bag of chips behind the pink bowl with its front facing backwards.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Set the red bag of chips behind the pink bowl, front facing backward.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Position the red bag of chips behind the pink bowl with the front oriented backwards.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Using the right hand, put the red bag of chips behind the pink bowl.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Have the right arm place the red bag of chips behind the pink bowl.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "With the right hand, set the red bag of chips behind the pink bowl.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Put the red bag of chips behind the pink bowl.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Place the red bag of chips behind the pink bowl, front facing backwards.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Set the red bag of chips behind the pink bowl with the right hand.", + "start_idx": 3150, + "end_idx": 3189 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "From a diagonal angle, have the right hand take the pink plate from the table with a lip grasp at the bottom right.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "With the right hand, grasp the pink plate from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "From a diagonal angle, grasp the pink plate from the table with a lip hold on the bottom right.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Take the pink plate from the table using a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip grasp.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Have the right hand grasp the pink plate from the table with a lip hold.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Using the right hand, pick up the pink plate from the table.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "From the table, take the pink plate with the right hand.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 3246, + "end_idx": 3261 + }, + { + "text": "Put the pink plate right side up with the front facing the top side of the table using the right hand.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Using the right hand, place the pink plate right side up with its front toward the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Have the right hand set the pink plate down upright, front facing the table's top side.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "With the right hand, position the pink plate right side up so the front points to the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Place the pink plate right side up with its front toward the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Set the pink plate down upright with the front facing the table's top side.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Position the pink plate right side up so its front points toward the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Put the pink plate on the table's top side.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Using the right hand, put the pink plate on the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "With the right hand, place the pink plate on the table's top side.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Have the right hand set the pink plate on the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Put the pink plate right side up on the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Position the pink plate with its front facing the top side of the table.", + "start_idx": 3261, + "end_idx": 3300 + }, + { + "text": "Pick up the blue plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Using the right hand, take the blue plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Have the right hand grasp the blue plate from the table with a lip hold on the bottom-right edge at a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "With the right hand, retrieve the blue plate from the table using a lip grasp at the bottom right from a diagonal approach.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "From the table, grasp the blue plate with a lip hold at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "The blue plate should be taken from the table with a lip grasp on the bottom-right area at a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Using the right hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "With the right hand, take the blue plate from the table using a lip grasp.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Have the right hand remove the blue plate from the table with a lip hold.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Using the right hand, grasp the blue plate from the table at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "From the table, take the blue plate with the right hand at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Pick up the blue plate from the table at the bottom right from a diagonal angle.", + "start_idx": 3357, + "end_idx": 3384 + }, + { + "text": "Place the blue plate on the top side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Using the right hand, set the blue plate on the top side of the table right side up, with the front as the orientation reference point.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Have the right arm place the blue plate onto the table's top side, keeping it right side up relative to the front.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "With the right hand, position the blue plate on the upper surface of the table, right side up using the front as reference.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Place the blue plate on the top side of the table right side up, with the front as the orientation reference point.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Set the blue plate on the table's top side, keeping it right side up relative to the front.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Position the blue plate on the upper side of the table with the front as the orientation reference point.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Place the blue plate on the top side of the table.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Set the blue plate onto the table's top side.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Put the blue plate on the upper surface of the table.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Place the blue plate on the top side of the table with the right hand.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Using the right hand, set the blue plate on the table's top side.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Have the right arm place the blue plate onto the upper surface of the table.", + "start_idx": 3384, + "end_idx": 3423 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "With the right arm, grasp the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Have the right hand pick the pink cup off the table, approaching diagonally at the handle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Take the pink cup off the table by the handle at a diagonal angle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Grasp the pink cup from the table by its handle with a diagonal approach.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "With the right arm, take the pink cup from the table at a diagonal angle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Have the right hand grasp the pink cup off the table at a diagonal angle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "From the table, take the pink cup with the right hand by the handle.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 3471, + "end_idx": 3483 + }, + { + "text": "Put the pink cup on the right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Using the right hand, place the pink cup on the right side of the table upright with its front facing backward.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Have the right arm set the pink cup on the table's right side, right side up, with the front oriented backward.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "With the right hand, position the pink cup on the right side of the table, keeping it upright and the front facing backwards.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Place the pink cup on the right side of the table upright with the front facing backwards.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Set the pink cup on the table's right side right side up, with the front pointing backward.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Position the pink cup on the right side of the table with its front facing backwards.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Using the right hand, put the pink cup on the right side of the table.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "With the right hand, set the pink cup on the table's right side.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Have the right arm place the pink cup on the right side of the table.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Put the pink cup on the right side of the table.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Place the pink cup upright on the right side of the table.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Set the pink cup on the table's right side with the front facing backwards.", + "start_idx": 3483, + "end_idx": 3519 + }, + { + "text": "Pick up the blue plate from the table with the right hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Using the right hand, pick up the blue plate from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Have the right arm take the blue plate from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "With the right hand, grasp the blue plate from the table at the bottom using a lip hold on a diagonal.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Pick up the blue plate from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Grasp the blue plate from the table by the bottom with a lip hold at a diagonal angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Take the blue plate from the table at the bottom using a lip grasp on a diagonal.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Using the right hand, pick up the blue plate from the table with a lip grip at the bottom.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Have the right arm take the blue plate from the table using a lip grasp at the bottom.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "With the right hand, grasp the blue plate from the table by the bottom using a lip hold.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Using the right hand, pick up the blue plate from the table at the bottom with a diagonal pick angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Have the right arm take the blue plate from the table by the bottom on a diagonal.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Pick up the blue plate from the table at the bottom with a diagonal pick angle.", + "start_idx": 4014, + "end_idx": 4050 + }, + { + "text": "Put the blue plate in between the pink plate and the pink cup with the right hand right side up with the front as the reference point.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Using the right hand, place the blue plate between the pink plate and the pink cup, right side up with the front as the reference point.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Have the right arm set the blue plate in between the pink plate and the pink cup, keeping it right side up relative to the front.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "With the right hand, position the blue plate between the pink plate and the pink cup so it is right side up using the front as the reference point.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Place the blue plate between the pink plate and the pink cup, right side up with the front as the reference point.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Set the blue plate in between the pink plate and the pink cup, keeping it right side up relative to the front.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Position the blue plate between the pink plate and the pink cup so the front defines a right-side-up orientation.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Using the right hand, put the blue plate between the pink plate and the pink cup.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "With the right hand, set the blue plate in between the pink plate and the pink cup.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Have the right arm place the blue plate between the pink plate and the pink cup.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Put the blue plate between the pink plate and the pink cup.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Arrange the blue plate in between the pink plate and the pink cup.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "The blue plate goes between the pink plate and the pink cup.", + "start_idx": 4050, + "end_idx": 4110 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Using the right hand, take hold of the pink cup by its handle at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "With the right hand, grasp the pink cup's handle from the table at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Have the right arm pick the pink cup up from the table by the handle at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Grasp the pink cup by the handle from the table at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "From the table, collect the pink cup by its handle at a diagonal angle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "With the right hand, take the pink cup from the table by its handle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Have the right arm grasp the pink cup by the handle from the table.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "From the table, take the pink cup by its handle.", + "start_idx": 4110, + "end_idx": 4137 + }, + { + "text": "Put the pink cup behind the blue plate with the handle facing backwards right side up with the right hand.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Using the right hand, place the pink cup behind the blue plate with its handle facing backward, right side up.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Have the right arm set the pink cup behind the blue plate, keeping it upright and the handle pointing backward.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "With the right hand, position the pink cup behind the blue plate so the handle faces backward and it stays right side up.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Place the pink cup behind the blue plate with the handle facing backward, right side up.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Set the pink cup behind the blue plate, keeping the handle backward and the cup upright.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Position the pink cup behind the blue plate so it is right side up and the handle points backward.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Using the right hand, put the pink cup behind the blue plate.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "With the right hand, place the pink cup behind the blue plate.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Have the right arm move the pink cup behind the blue plate.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Put the pink cup behind the blue plate.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Set the pink cup behind the blue plate.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Position the pink cup behind the blue plate.", + "start_idx": 4137, + "end_idx": 4185 + }, + { + "text": "Pick up the blue plate from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Using the right hand, take the blue plate from the table with a lip grip at the bottom right on a diagonal angle.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Have the right arm grasp the blue plate from the table with a lip hold at the bottom right diagonally.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "With the right hand, secure the blue plate from the table using a lip grasp at the bottom right at a diagonal angle.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Using a lip grasp at the bottom right with a diagonal angle, take the blue plate from the table.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Have the blue plate taken from the table with a lip hold at the bottom right on the diagonal.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Pick up the blue plate from the table with the right hand using a lip grip.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "With the right hand, grasp the blue plate from the table using a lip hold.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Have the right arm take the blue plate from the table with a lip grasp.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Pick up the blue plate from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "With the right hand, take the blue plate from the table at the bottom right diagonally.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Have the blue plate picked up from the table using a lip grip.", + "start_idx": 4269, + "end_idx": 4290 + }, + { + "text": "Put the blue plate to the right of the pink cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Using the right hand, place the blue plate to the right of the pink cup, right side up with the front as the reference point.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Have the right arm set the blue plate to the right of the pink cup, keeping it right side up relative to the front.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "With the right hand, position the blue plate right of the pink cup, right side up using the front as the orientation reference.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Place the blue plate to the right of the pink cup, right side up with the front as the reference point.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Set the blue plate right of the pink cup, keeping it right side up relative to the front.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Position the blue plate to the right of the pink cup with its front as the orientation reference, right side up.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Using the right hand, place the blue plate to the right of the pink cup.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Have the right arm set the blue plate right of the pink cup.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "With the right hand, position the blue plate to the right of the pink cup.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Place the blue plate to the right of the pink cup.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Set the blue plate right of the pink cup.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Position the blue plate to the right of the pink cup.", + "start_idx": 4290, + "end_idx": 4338 + }, + { + "text": "Pick up the pink cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Using the right hand, take the pink cup from the table with a diagonal grasp at the handle.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Have the right arm pick up the pink cup from the table by the handle with a diagonal grip.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "With the right hand, grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Pick up the pink cup from the table using a diagonal grasp at the handle.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Take the pink cup from the table by the handle with a diagonal grip.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Grasp the pink cup from the table at the handle in a diagonal hold.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Use a diagonal grasp at the handle to pick up the pink cup from the table.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "The pink cup from the table should be taken at the handle with a diagonal grip.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Pick up the pink cup from the table with the right hand.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Using the right hand, take the pink cup from the table.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "The pink cup from the table should be grasped.", + "start_idx": 4338, + "end_idx": 4371 + }, + { + "text": "Put the pink cup in front of the pink plate with the right hand right side up with the front facing the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Using the right hand, place the pink cup in front of the pink plate right side up with its front facing the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Have the right hand set the pink cup in front of the pink plate, keeping it upright and the front pointed to the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "With the right hand, position the pink cup before the pink plate right side up, with the front oriented toward the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Place the pink cup in front of the pink plate right side up with its front facing the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Set the pink cup before the pink plate upright with the front pointed to the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Position the pink cup in front of the pink plate, keeping it right side up and its front toward the bottom right.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Using the right hand, place the pink cup in front of the pink plate.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Have the right hand set the pink cup before the pink plate.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "With the right hand, position the pink cup in front of the pink plate.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Put the pink cup in front of the pink plate.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Set the pink cup before the pink plate.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Using the right hand, put the pink cup in front of the pink plate right side up.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "With the right hand, take the blue marker from the table at a diagonal angle by the middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Using the right arm, grasp the blue marker from the table diagonally at its middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Have the right hand collect the blue marker from the table, angled diagonally and held at the middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle by the middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "From the table, grasp the blue marker diagonally at its middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Take the blue marker from the table, keeping a diagonal angle and holding the middle.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "With the right hand, pick up the blue marker from the table.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Using the right arm, take the blue marker from the table.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Have the right hand grasp the blue marker from the table.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "From the table, collect the blue marker.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 4410, + "end_idx": 4443 + }, + { + "text": "Put the blue marker to the right of the pink cup with the right hand with its tip facing top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Using the right hand, place the blue marker to the right of the pink cup with its tip pointing to the top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Have the right arm set the blue marker to the right of the pink cup, tip oriented toward the top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "With the right hand, position the blue marker to the right of the pink cup so the tip faces top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Place the blue marker to the right of the pink cup with its tip pointing to the top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Set the blue marker to the right of the pink cup, with the tip facing top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Position the blue marker to the right of the pink cup so its tip points top left.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Using the right hand, put the blue marker to the right of the pink cup.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Have the right arm place the blue marker to the right of the pink cup.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "With the right hand, set the blue marker to the right of the pink cup.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Put the blue marker to the right of the pink cup.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Place the blue marker beside the pink cup.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Position the blue marker to the right of the pink cup.", + "start_idx": 4443, + "end_idx": 4485 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Have the right hand collect the red marker from the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "With the right hand, grasp the red marker from the table from the side at the bottom using a diagonal approach.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Take the red marker from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "From the table, collect the red marker with a side hold on the bottom at a diagonal angle.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "From the table, grasp the red marker with the right hand.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Pick up the red marker from the table with the right hand at the bottom with a diagonal pick angle.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "With the right hand, collect the red marker from the table using a side grip.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Take the red marker from the table at the bottom.", + "start_idx": 4554, + "end_idx": 4581 + }, + { + "text": "Put the red marker in front of the blue plate with the right hand with its tip facing forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Using the right hand, place the red marker in front of the blue plate with its tip facing forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Have the right arm set the red marker before the blue plate, tip pointed forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "With the right hand, position the red marker in front of the blue plate so its tip faces forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Place the red marker in front of the blue plate with its tip facing forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Set the red marker before the blue plate with the tip pointed forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Position the red marker in front of the blue plate so the tip faces forwards.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Using the right hand, place the red marker in front of the blue plate.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Have the right arm set the red marker before the blue plate.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "With the right hand, position the red marker in front of the blue plate.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Put the red marker in front of the blue plate.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Set the red marker before the blue plate.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Position the red marker in front of the blue plate.", + "start_idx": 4581, + "end_idx": 4614 + }, + { + "text": "Pick up the blue plate from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Using the right hand, pick up the blue plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Have the right hand grasp the blue plate from the table using a lip grasp at the bottom-right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "With the right hand, take the blue plate off the table with a lip grip on the bottom-right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Pick up the blue plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Take the blue plate from the table with a lip grasp at the bottom-right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Grasp the blue plate off the table with a lip grip on the bottom right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Using the right hand, pick up the blue plate from the table with a lip grip.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "The blue plate should be taken from the table with the right hand using a lip grasp.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "With the right hand, remove the blue plate from the table using a lip grip.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Pick up the blue plate from the table with the right hand at the bottom right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Using the right hand, take the blue plate from the table.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Pick up the blue plate from the table at the bottom right diagonal.", + "start_idx": 4614, + "end_idx": 4644 + }, + { + "text": "Put the blue plate in between the red bag of chips and the blue plate with the right hand right side up with the front as the reference point.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Using the right hand, place the blue plate between the red bag of chips and the blue plate, right side up with the front as reference.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Have the right arm set the blue plate in between the red bag of chips and the blue plate, keeping it right side up relative to the front.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "With the right hand, position the blue plate between the red bag of chips and the blue plate, oriented right side up using the front as the reference point.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Place the blue plate in between the red bag of chips and the blue plate, right side up with the front as the reference point.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Set the blue plate between the red bag of chips and the blue plate, keeping it right side up relative to the front.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Position the blue plate in between the red bag of chips and the blue plate, with the front as the reference point and right side up.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Using the right hand, put the blue plate between the red bag of chips and the blue plate.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "With the right hand, place the blue plate in between the red bag of chips and the blue plate.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Have the right arm position the blue plate between the red bag of chips and the blue plate.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Put the blue plate between the red bag of chips and the blue plate.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Set the blue plate in between the red bag of chips and the blue plate.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Position the blue plate between the red bag of chips and the blue plate.", + "start_idx": 4644, + "end_idx": 4701 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Have the right arm pick the blue marker off the table with a diagonal approach, holding it at the center.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Take the blue marker off the table diagonally, holding the center.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Have the right arm take the blue marker off the table.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Have the blue marker picked up from the table.", + "start_idx": 4761, + "end_idx": 4779 + }, + { + "text": "Put the blue marker to the right of the red bag of chips with the right hand with its tip facing top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Using the right hand, place the blue marker to the right of the red bag of chips with its tip pointing to the top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Have the right hand set the blue marker to the right of the red bag of chips, tip oriented toward the top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "With the right hand, position the blue marker to the right of the red bag of chips so its tip faces the top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Place the blue marker to the right of the red bag of chips with its tip pointing to the top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Set the blue marker to the right of the red bag of chips, with the tip facing top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Position the blue marker to the right of the red bag of chips so the tip points top right.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Using the right hand, place the blue marker to the right of the red bag of chips.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "With the right hand, set the blue marker to the right of the red bag of chips.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Have the right hand position the blue marker to the right of the red bag of chips.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Put the blue marker to the right of the red bag of chips.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Arrange the blue marker to the right of the red bag of chips.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "The blue marker should go to the right of the red bag of chips.", + "start_idx": 4779, + "end_idx": 4815 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by gripping the middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach, holding its middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Take the red marker from the table diagonally by the middle.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Get the red marker from the table.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 5025, + "end_idx": 5043 + }, + { + "text": "Place the red marker to the left of the blue marker with the right hand with its tip facing top right.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Using the right hand, set the red marker to the left of the blue marker with its tip pointing to the upper right.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Have the right hand place the red marker left of the blue marker, tip directed toward the top right.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "With the right hand, position the red marker on the left side of the blue marker, keeping its tip facing upper right.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Put the red marker to the left of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Position the red marker left of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Set the red marker on the left side of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Arrange the red marker to the left of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Using the right hand, place the red marker to the left of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "With the right hand, set the red marker on the left side of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Have the right hand position the red marker left of the blue marker.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Place the red marker left of the blue marker with its tip facing top right.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Set the red marker to the left of the blue marker, tip pointing to the upper right.", + "start_idx": 5043, + "end_idx": 5082 + }, + { + "text": "Pick up the blue marker from the table with the right hand at the middle using a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Using the right hand, take the blue marker from the table at the middle with a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Have the right arm grasp the blue marker from the table at its middle using a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "With the right hand, collect the blue marker from the table by the middle at a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Pick up the blue marker from the table at the middle using a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Take the blue marker from the table at its middle with a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "The blue marker should be grasped from the table at the middle using a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at the middle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Have the right arm take the blue marker from the table at its middle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "With the right hand, grasp the blue marker from the table.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Pick up the blue marker from the table at the middle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Take the blue marker from the table using a diagonal angle.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "The blue marker should be grasped from the table.", + "start_idx": 5082, + "end_idx": 5103 + }, + { + "text": "Put the blue marker to the bottom side of the table with the right hand with its tip facing top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Using the right hand, place the blue marker on the bottom side of the table with its tip pointing to the top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Have the right arm set the blue marker at the bottom side of the table, tip oriented toward the top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "With the right hand, position the blue marker on the table's bottom side so the tip faces top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Place the blue marker on the bottom side of the table with its tip facing top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Set the blue marker at the bottom side of the table with the tip pointing top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Position the blue marker on the table's bottom side, keeping its tip toward the top left.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Using the right hand, put the blue marker on the bottom side of the table.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Have the right arm place the blue marker at the bottom side of the table.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "With the right hand, set the blue marker on the table's bottom side.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Place the blue marker on the bottom side of the table.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Set the blue marker at the bottom side of the table.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Position the blue marker on the table's bottom side.", + "start_idx": 5103, + "end_idx": 5133 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the top left using a side grip.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, gripping the top left with a side grasp.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Have the right hand pick the blue marker off the table diagonally, holding its top left with a side grip.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "With the right hand, retrieve the blue marker from the table at a diagonal angle by grasping the top left in a side hold.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the top left with a side grip.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Take the blue marker off the table diagonally, securing the top left with a side grasp.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle, using a side grip on the top left.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "With the right hand, take the blue marker off the table by grasping the top left.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Have the right hand retrieve the blue marker from the table at a diagonal angle.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the top left.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Take the blue marker off the table using a side grip.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 5499, + "end_idx": 5523 + }, + { + "text": "Put the blue marker behind the pink plate with the tip facing forwards using the right hand.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Using the right hand, place the blue marker behind the pink plate with its tip pointing forward.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Have the right hand set the blue marker behind the pink plate, tip facing forwards.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "With the right hand, position the blue marker behind the pink plate so the tip faces forward.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Place the blue marker behind the pink plate with its tip pointing forward.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Set the blue marker behind the pink plate, with the tip facing forwards.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Position the blue marker behind the pink plate so its tip faces forward.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Put the blue marker behind the pink plate using the right hand.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Using the right hand, place the blue marker behind the pink plate.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Have the right hand set the blue marker behind the pink plate.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Place the blue marker behind the pink plate.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Set the blue marker behind the pink plate.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Behind the pink plate, position the blue marker.", + "start_idx": 5523, + "end_idx": 5562 + }, + { + "text": "Pick up the pink bowl from the pink plate with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Using the right hand, remove the pink bowl from the pink plate with a lip grip at the bottom right, keeping a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Have the right hand take the pink bowl off the pink plate with a bottom-right lip grasp at a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "With the right hand, grasp the pink bowl from the pink plate using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Take the pink bowl off the pink plate with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Remove the pink bowl from the pink plate using a lip grasp on the bottom right with a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Grasp the pink bowl from the pink plate with a lip hold at the bottom right, angled diagonally.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Using the right hand, pick up the pink bowl from the pink plate.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Have the right hand take the pink bowl off the pink plate.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "With the right hand, remove the pink bowl from the pink plate.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Take the pink bowl off the pink plate with the right hand at a diagonal angle.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Pick up the pink bowl from the pink plate with the right hand.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Using a lip grip, take the pink bowl off the pink plate.", + "start_idx": 5724, + "end_idx": 5745 + }, + { + "text": "Place the pink bowl to the center side of the table with the right hand.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "With the right hand, set the pink bowl at the center side of the table upright, front-facing.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Have the right arm place the pink bowl on the center side of the table, keeping it right side up with the front forward.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Using the right hand, position the pink bowl at the table's center side right side up, with its front facing ahead.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Place the pink bowl at the center side of the table, keeping it right side up with the front facing ahead.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Set the pink bowl on the center side of the table upright, front-forward.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Position the pink bowl at the table's center side right side up, with its front oriented forward.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "With the right hand, place the pink bowl at the center side of the table.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Using the right hand, set the pink bowl on the center side of the table.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Have the right arm position the pink bowl at the table's center side.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Put the pink bowl at the center side of the table.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Set the pink bowl on the center side of the table.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Position the pink bowl at the table's center side.", + "start_idx": 5745, + "end_idx": 5793 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "With the right hand, secure the pink plate from the table by the bottom right using a lip grasp from a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Grasp the pink plate from the table at the bottom right with a lip grasp from a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip hold.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Have the right arm pick up the pink plate from the table with a lip grasp.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Using the right hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Take the pink plate from the table with the right hand at the bottom right.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 5793, + "end_idx": 5817 + }, + { + "text": "Put the pink plate in front of the pink bowl with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Using the right hand, place the pink plate in front of the pink bowl right side up, with the front as the orientation reference point.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Have the right arm set the pink plate in front of the pink bowl, keeping it right side up relative to the front.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "With the right hand, position the pink plate before the pink bowl right side up, using the front as the reference point.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Place the pink plate in front of the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Set the pink plate before the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Position the pink plate in front of the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Using the right hand, put the pink plate in front of the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Have the right arm place the pink plate before the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Put the pink plate in front of the pink bowl right side up.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Set the pink plate before the pink bowl with the front as the orientation reference point.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Using the right hand, place the pink plate in front of the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "With the right hand, set the pink plate before the pink bowl.", + "start_idx": 5817, + "end_idx": 5856 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "With the right hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Using the right hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Have the right arm pick the blue marker off the table at a diagonal angle, holding the middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Take the blue marker off the table diagonally by its middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Retrieve the blue marker from the table at a diagonal angle while holding the middle.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "With the right hand, pick up the blue marker from the table.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Using the right hand, take the blue marker off the table.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Have the right arm retrieve the blue marker from the table.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Have the robot retrieve the blue marker from the table.", + "start_idx": 6225, + "end_idx": 6249 + }, + { + "text": "Put the blue marker on top of the blue plate with the right hand with its tip facing top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Using the right hand, place the blue marker on top of the blue plate with its tip pointing to the top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Have the right hand set the blue marker atop the blue plate, tip oriented toward the top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "With the right hand, position the blue marker on the blue plate so its tip faces the top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Place the blue marker on top of the blue plate with its tip pointing to the top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Set the blue marker atop the blue plate, keeping its tip directed toward the top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Position the blue marker on the blue plate so the tip faces top left.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Using the right hand, place the blue marker on top of the blue plate.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "With the right hand, set the blue marker atop the blue plate.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Have the right hand position the blue marker on the blue plate.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Put the blue marker on top of the blue plate.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Set the blue marker atop the blue plate.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Position the blue marker on the blue plate.", + "start_idx": 6249, + "end_idx": 6285 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "With the right hand, pick up the pink bowl from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Using a lip grip, have the right hand take the pink bowl from the table at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "From a diagonal angle, the right hand should grasp the pink bowl from the table with a lip grip at the bottom right.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Take the pink bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "From a diagonal angle, grasp the pink bowl from the table using a lip grip at the bottom right.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Have the right hand take the pink bowl from the table using a lip grasp.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using the bowl's lip.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "From a diagonal angle, the right hand should take the pink bowl from the table at the bottom right.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Pick up the pink bowl from the table at the bottom right from a diagonal angle.", + "start_idx": 6465, + "end_idx": 6486 + }, + { + "text": "Put the pink bowl to the right of the bue with the right hand.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the bue, right side up with the front oriented forward.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Have the right arm set the pink bowl to the right of the bue, keeping it right side up and the front facing forward.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "With the right hand, position the pink bowl to the right of the bue so it stays right side up with the front forward.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Place the pink bowl to the right of the bue, keeping it right side up with the front facing forward.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Set the pink bowl to the right of the bue, right side up and front forward.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Position the pink bowl to the right of the bue with its front facing forward.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the bue.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "With the right hand, set the pink bowl to the right of the bue.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Have the right arm position the pink bowl to the right of the bue.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Place the pink bowl to the right of the bue.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Set the pink bowl to the right of the bue.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Position the pink bowl to the right of the bue.", + "start_idx": 6486, + "end_idx": 6528 + }, + { + "text": "Pick up the blue marker from the blue plate with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Using the right hand, pick up the blue marker from the blue plate at a diagonal angle, grasping the middle.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Have the right hand take the blue marker from the blue plate with a diagonal approach and a middle grasp.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "With the right hand, collect the blue marker from the blue plate, angled diagonally and holding its middle.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Pick up the blue marker from the blue plate at a diagonal angle, grasping the middle.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Take the blue marker from the blue plate with a diagonal approach, holding the middle.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Grasp the blue marker from the blue plate at a diagonal angle by the middle.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Using the right hand, pick up the blue marker from the blue plate.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Have the right hand take the blue marker from the blue plate.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "With the right hand, grasp the blue marker from the blue plate.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Pick up the blue marker from the blue plate.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Take the blue marker from the blue plate.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Remove the blue marker from the blue plate.", + "start_idx": 6588, + "end_idx": 6606 + }, + { + "text": "Put the blue marker behind the blue plate with the right hand facing forwards with the tip as the reference point.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Using the right hand, place the blue marker behind the blue plate with the tip facing forwards.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Have the right arm set the blue marker behind the blue plate, oriented forward from its tip.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "With the right hand, position the blue marker behind the blue plate so the tip points forwards.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Place the blue marker behind the blue plate with the tip facing forwards.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Set the blue marker behind the blue plate with the tip oriented forwards.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Position the blue marker behind the blue plate so its tip points forward.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Using the right hand, put the blue marker behind the blue plate.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "With the right hand, place the blue marker behind the blue plate.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Have the right arm set the blue marker behind the blue plate.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Put the blue marker behind the blue plate.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Position the blue marker behind the blue plate.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Set the blue marker behind the blue plate.", + "start_idx": 6606, + "end_idx": 6639 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Have the right hand take the pink plate from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "With the right hand, grasp the pink plate from the table using a bottom lip hold at a diagonal approach.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Take the pink plate from the table by the bottom edge with a lip grasp at a diagonal angle.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Grasp the pink plate from the table using a bottom lip hold and a diagonal approach.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Have the right hand take the pink plate from the table using a lip grasp at the bottom.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the bottom edge.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Pick up the pink plate from the table with the right hand at a diagonal angle.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Using the right hand, take the pink plate from the table.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Grasp the pink plate from the table by the bottom edge.", + "start_idx": 6699, + "end_idx": 6717 + }, + { + "text": "Put the pink plate to the right of the blue marker with the right hand right side up with the front as the orientation reference point.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue marker, right side up with the front as the reference point.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Have the right arm set the pink plate to the right of the blue marker, keeping it right side up relative to the front.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "With the right hand, position the pink plate to the right of the blue marker so it is right side up using the front as the orientation reference.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Place the pink plate to the right of the blue marker, right side up with the front as the reference point.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Set the pink plate to the right of the blue marker, keeping it right side up relative to the front.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Position the pink plate to the right of the blue marker so it stays right side up with the front as the reference point.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Using the right hand, place the pink plate to the right of the blue marker.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Have the right arm set the pink plate to the right of the blue marker.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "With the right hand, position the pink plate to the right of the blue marker.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Put the pink plate to the right of the blue marker.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Arrange the pink plate to the right of the blue marker.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Have the plate placed to the right of the blue marker.", + "start_idx": 6717, + "end_idx": 6759 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Have the right hand collect the blue marker from the table with a diagonal pickup, holding it at the center.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "With the right hand, secure the blue marker from the table at a slant by grasping the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the center.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "From the table, collect the blue marker at a slant while grasping the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Using the right hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Have the right hand take the blue marker from the table by the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "With the right hand, collect the blue marker from the table, holding its center.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Using the right hand, take the blue marker from the table.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "From the table, grasp the blue marker at the middle.", + "start_idx": 6882, + "end_idx": 6903 + }, + { + "text": "Put the blue marker on top of the pink plate with the right hand with its tip facing top right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Using the right hand, place the blue marker on top of the pink plate with its tip pointing to the top right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Have the right arm set the blue marker onto the pink plate, tip directed toward the top right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "With the right hand, position the blue marker atop the pink plate so its tip faces the upper right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Place the blue marker on top of the pink plate with its tip facing the top right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Set the blue marker atop the pink plate, with the tip pointing upper right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Position the blue marker on the pink plate so the tip points to the top right.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Using the right hand, put the blue marker on top of the pink plate.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Have the right arm place the blue marker atop the pink plate.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "With the right hand, set the blue marker onto the pink plate.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Put the blue marker on top of the pink plate.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Rest the blue marker atop the pink plate.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "The blue marker goes on the pink plate.", + "start_idx": 6903, + "end_idx": 6939 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Using the right hand, take hold of the pink cup by its handle from the table at a diagonal angle.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Have the right arm grasp the pink cup's handle on the table at a diagonal angle.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "With the right hand, seize the pink cup from the table by the handle, angled diagonally.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Take the pink cup by its handle from the table.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Grasp the pink cup's handle and remove it from the table.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "With the right hand, take the pink cup by its handle from the table.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Have the right arm retrieve the pink cup by the handle from the table.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "From the table, take the pink cup at a diagonal angle.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 7059, + "end_idx": 7080 + }, + { + "text": "Put the pink cup in front of the pink plate with the right hand right side up with the front as the reference point.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Using the right hand, place the pink cup in front of the pink plate right side up, with the front as the reference point.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Have the right hand set the pink cup in front of the pink plate, keeping it right side up relative to the front.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "With the right hand, position the pink cup in front of the pink plate so it is right side up using the front as the reference point.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Place the pink cup in front of the pink plate right side up, with the front as the reference point.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Set the pink cup in front of the pink plate, keeping it right side up relative to the front.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Position the pink cup in front of the pink plate so it is right side up using the front as the reference point.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Using the right hand, place the pink cup in front of the pink plate.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Have the right hand set the pink cup in front of the pink plate.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "With the right hand, position the pink cup in front of the pink plate.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Place the pink cup in front of the pink plate.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Set the pink cup right side up in front of the pink plate.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Position the pink cup in front of the pink plate with the front as the reference point.", + "start_idx": 7080, + "end_idx": 7125 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right using a diagonal lip grasp.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "With the right hand, take the pink bowl from the table at the bottom right using a diagonal lip grasp.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Using the right hand, grasp the pink bowl from the table at the bottom right with a diagonal lip hold.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Have the right hand pick the pink bowl up from the table at the bottom right with a diagonal lip grip.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Pick up the pink bowl from the table at the bottom right using a diagonal lip grasp.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Take the pink bowl from the table at the bottom right with a diagonal lip hold.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "The pink bowl from the table should be grasped at the bottom right using a diagonal lip grip.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a diagonal lip grasp.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "With the right hand, take the pink bowl from the table using a diagonal lip hold.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a diagonal lip grip.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Using the right hand, take the pink bowl from the table at the bottom right.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "The pink bowl from the table should be grasped with a diagonal lip grip.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Put the pink bowl to the right of the pink cup with the right hand right side up.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink cup, right side up.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Have the right arm set the pink bowl to the right of the pink cup with its open side facing up.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "With the right hand, position the pink bowl to the right of the pink cup in an upright orientation.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Place the pink bowl to the right of the pink cup, right side up.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Set the pink bowl to the right of the pink cup with its top facing upward.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Position the pink bowl to the right of the pink cup in an upright position.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink cup.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Have the right arm set the pink bowl to the right of the pink cup.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "With the right hand, position the pink bowl to the right of the pink cup.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Place the pink bowl to the right of the pink cup.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Set the pink bowl to the right of the pink cup.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Position the pink bowl to the right of the pink cup.", + "start_idx": 7464, + "end_idx": 7515 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Using the right hand, take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Have the right arm grasp the pink cup on the table by the handle, angled diagonally.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "With the right hand, collect the pink cup from the table via the handle at a diagonal slant.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "From the table, grasp the pink cup using the handle at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Have the right arm take the pink cup from the table by its handle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "With the right hand, grasp the pink cup from the table by the handle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle with the right hand.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal slant.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "From the table, grasp the pink cup at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7782 + }, + { + "text": "Put the pink cup in front of the red bag of chips with the right hand right side up with the front as the orientation reference point.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Using the right hand, place the pink cup in front of the red bag of chips, right side up with the front as the reference point.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Have the right arm set the pink cup in front of the red bag of chips, keeping it right side up relative to the front.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "With the right hand, position the pink cup before the red bag of chips, oriented right side up using the front as the reference point.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Place the pink cup in front of the red bag of chips, right side up with the front as the reference point.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Set the pink cup before the red bag of chips, keeping it right side up relative to the front.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Position the pink cup in front of the red bag of chips, with the front as the reference point and right side up.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Using the right hand, put the pink cup in front of the red bag of chips.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Have the right arm place the pink cup before the red bag of chips.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "With the right hand, set the pink cup in front of the red bag of chips.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Place the pink cup in front of the red bag of chips.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Set the pink cup before the red bag of chips.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Position the pink cup in front of the red bag of chips.", + "start_idx": 7781, + "end_idx": 7823 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a bottom lip grip, angled diagonally.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "With the right hand, secure the pink bowl from the table using the lip at its bottom on a diagonal.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Grasp the pink bowl from the table with a bottom lip hold at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Take the pink bowl from the table with the lip at its bottom, diagonally oriented.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Have the right arm take the pink bowl from the table using the lip at its bottom.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "With the right hand, grasp the pink bowl from the table at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Take the pink bowl from the table using a lip grip at the bottom.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "From the table, grasp the pink bowl at a diagonal angle.", + "start_idx": 7944, + "end_idx": 7971 + }, + { + "text": "Put the pink bowl to the right of the red bag of chips with the right hand.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Have the right hand set the pink bowl on the right side of the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "With the right hand, position the pink bowl to the red bag of chips' right.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Place the pink bowl to the right of the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Set the pink bowl on the right side of the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "The pink bowl goes to the right of the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Position the pink bowl beside the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Using the right hand, put the pink bowl by the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "With the right hand, set the pink bowl beside the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Have the right hand place the pink bowl next to the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Place the pink bowl by the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Set the pink bowl next to the red bag of chips.", + "start_idx": 7971, + "end_idx": 8013 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Using the right hand, take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "With the right arm, grasp the pink cup on the table at the handle at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Have the right hand pick the pink cup up from the table by the handle, keeping a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Take the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "From the table, grasp the pink cup at the handle on a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Pick up the pink cup on the table by the handle at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "With the right arm, take the pink cup from the table at the handle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Have the right hand grasp the pink cup from the table by its handle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "From the table, take the pink cup at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Grasp the pink cup from the table with the right hand.", + "start_idx": 8076, + "end_idx": 8097 + }, + { + "text": "Put the pink cup in front of the pink plate with the handle facing backwards right side up using the right arm.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Using the right arm, place the pink cup in front of the pink plate with the handle facing backward and right side up.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Have the right arm set the pink cup before the pink plate, handle pointing backward, upright.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "With the right arm, position the pink cup in front of the pink plate so the handle faces backward and it stays right side up.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Place the pink cup in front of the pink plate with the handle facing backward and right side up.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Set the pink cup before the pink plate, with its handle pointing backward and the cup upright.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Position the pink cup in front of the pink plate, keeping the handle backward and the cup right side up.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Using the right arm, put the pink cup in front of the pink plate.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "With the right arm, place the pink cup before the pink plate.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Have the right arm position the pink cup in front of the pink plate.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Put the pink cup in front of the pink plate.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Set the pink cup before the pink plate.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Position the pink cup in front of the pink plate.", + "start_idx": 8096, + "end_idx": 8138 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Have the right arm grasp the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "With the right hand, retrieve the pink cup from the table, approaching diagonally at the handle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Pick up the pink cup from the table at a diagonal angle by the handle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Take the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Retrieve the pink cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Using the right hand, pick up the pink cup from the table.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Have the right arm take the pink cup from the table.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "With the right hand, grasp the pink cup from the table.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Using the right hand, remove the pink cup from the table by the handle.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Take the pink cup from the table.", + "start_idx": 8328, + "end_idx": 8349 + }, + { + "text": "Put the pink cup to the left of the pink plate with the handle facing backwards right side up using the right hand.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Using the right hand, place the pink cup to the left of the pink plate with the handle facing backward, right side up.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Have the right hand set the pink cup left of the pink plate, keeping it upright and the handle pointing backward.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "With the right hand, position the pink cup to the left of the pink plate so the handle faces the back and the cup stays right side up.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Place the pink cup to the left of the pink plate with the handle facing backward and right side up.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Set the pink cup left of the pink plate, with the handle pointing backward and the cup upright.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Position the pink cup to the left of the pink plate, keeping the handle toward the back and the cup upright.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Using the right hand, put the pink cup to the left of the pink plate.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "With the right hand, place the pink cup left of the pink plate.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Have the right hand set the pink cup to the left of the pink plate.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Place the pink cup to the left of the pink plate.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Set the pink cup left of the pink plate.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Position the pink cup to the left of the pink plate.", + "start_idx": 8349, + "end_idx": 8394 + }, + { + "text": "Pick up the blue plate from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Using the right hand, pick up the blue plate from the table with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Have the right arm take the blue plate from the table with a lip grasp on the bottom right, held diagonally.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "With the right hand, grasp the blue plate from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Pick up the blue plate from the table with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Take the blue plate from the table using a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Grasp the blue plate from the table by the bottom-right lip, keeping a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Using a lip grip, pick up the blue plate from the table at the bottom right.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Take the blue plate from the table with a lip grasp on the bottom right.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Secure the blue plate from the table with the lip at the bottom right.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Pick up the blue plate from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "With the right hand, take the blue plate from the table using a lip grip.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Have the right arm grasp the blue plate from the table at the bottom right.", + "start_idx": 8595, + "end_idx": 8625 + }, + { + "text": "Place the blue plate to the bottom right side of the table with the right hand right side up front.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Using the right hand, set the blue plate at the table's bottom-right side, right side up with the front facing forward.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Have the right arm place the blue plate on the bottom right side of the table, keeping it right side up and front-facing.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "With the right hand, position the blue plate at the bottom-right area of the table, oriented right side up with the front ahead.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Place the blue plate on the bottom right side of the table.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Set the blue plate at the table's bottom-right side.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Position the blue plate on the table's bottom-right area.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Using the right hand, place the blue plate on the bottom right side of the table.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Have the right arm set the blue plate at the table's bottom-right side.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "With the right hand, position the blue plate at the bottom-right area of the table.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Place the blue plate on the bottom right side of the table, right side up with the front facing forward.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Set the blue plate at the table's bottom-right side, keeping it right side up and front-facing.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Position the blue plate on the table's bottom-right area, right side up with the front ahead.", + "start_idx": 8625, + "end_idx": 8664 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Have the right hand pick the red marker up from the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "With the right hand, grasp the red marker from the table using a side hold at its bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Grasp the red marker from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp on the bottom.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Have the right hand grasp the red marker from the table at its bottom with a side hold.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Using the right hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Take the red marker from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Grasp the red marker from the table at its bottom from a diagonal angle.", + "start_idx": 8664, + "end_idx": 8688 + }, + { + "text": "Put the red marker on top of the blue plate with the right hand with its tip facing left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Using the right hand, place the red marker on top of the blue plate with its tip pointing left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Have the right hand set the red marker atop the blue plate so the tip faces left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "With the right hand, position the red marker on the blue plate, tip directed to the left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Place the red marker on top of the blue plate with its tip facing left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Set the red marker atop the blue plate with the tip pointing left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Position the red marker on the blue plate so its tip points left.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Using the right hand, put the red marker on top of the blue plate.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "With the right hand, set the red marker atop the blue plate.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Have the right hand place the red marker on the blue plate.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Put the red marker on top of the blue plate.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Set the red marker atop the blue plate.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Place the red marker on the blue plate.", + "start_idx": 8688, + "end_idx": 8733 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Have the right hand grasp the pink cup on the table at the handle with a diagonal approach.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "With the right hand, take hold of the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Pick up the pink cup from the table by its handle at a diagonal angle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "From the table, grasp the pink cup by the handle at a diagonal angle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Take the pink cup off the table by its handle with a diagonal approach.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "With the right hand, take the pink cup from the table at the handle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Have the right hand pick up the pink cup from the table by its handle.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Pick up the pink cup from the table.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "From the table, take the pink cup with the right hand.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Have the right hand pick up the pink cup from the table.", + "start_idx": 8808, + "end_idx": 8832 + }, + { + "text": "Put the pink cup to the bottom side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Using the right hand, place the pink cup on the bottom side of the table, right side up, with the front facing backward.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Have the right arm set the pink cup at the bottom side of the table, keeping it upright and the front toward the back.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "With the right hand, position the pink cup on the table's bottom side, right side up and facing backward at the front.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Place the pink cup on the bottom side of the table.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Set the pink cup at the bottom side of the table.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "The pink cup goes on the bottom side of the table.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Position the pink cup on the bottom side of the table.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Using the right hand, place the pink cup on the bottom side of the table.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "With the right hand, set the pink cup at the bottom side of the table.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Have the right arm position the pink cup on the table's bottom side.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Place the pink cup on the bottom side of the table, right side up.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Set the pink cup at the bottom side of the table with the front facing backward.", + "start_idx": 8832, + "end_idx": 8868 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Have the right arm take the pink plate from the table, gripping the bottom-left edge with a lip grasp diagonally.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "With the right hand, grasp the pink plate from the table using a lip hold on the bottom left at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Take the pink plate from the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "The pink plate should be picked up from the table with a lip hold at the bottom left, diagonally.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Have the right arm take the pink plate from the table.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "With the right hand, grasp the pink plate from the table.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Pick up the pink plate from the table at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Take the pink plate from the table with the right hand at the bottom left.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "The pink plate should be picked up from the table.", + "start_idx": 8925, + "end_idx": 8958 + }, + { + "text": "Put the pink plate in between the red bag of chips and pick cup with the right hand right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Using the right hand, place the pink plate between the red bag of chips and the pick cup with its right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Have the right arm set the pink plate in between the red bag of chips and the pick cup, right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "With the right hand, position the pink plate between the red bag of chips and the pick cup so it is right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Place the pink plate between the red bag of chips and the pick cup with its right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Set the pink plate in between the red bag of chips and the pick cup, keeping it right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Position the pink plate between the red bag of chips and the pick cup right side up.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Using the right hand, place the pink plate between the red bag of chips and the pick cup.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "With the right hand, set the pink plate in between the red bag of chips and the pick cup.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Have the right arm position the pink plate between the red bag of chips and the pick cup.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Put the pink plate between the red bag of chips and the pick cup.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Set the pink plate in between the red bag of chips and the pick cup.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Position the pink plate between the red bag of chips and the pick cup.", + "start_idx": 8958, + "end_idx": 9030 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Using the right hand, take hold of the pink cup by its handle from the table at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "With the right hand, grasp the pink cup on the table by the handle, keeping it at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Have the right hand pick the pink cup up from the table by the handle at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Pick up the pink cup from the table by the handle at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "From the table, take the pink cup by the handle at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "The pink cup should be picked up from the table by its handle at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Using the right hand, pick up the pink cup from the table by the handle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "With the right hand, take the pink cup from the table by its handle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Have the right hand grasp the pink cup from the table by the handle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Pick up the pink cup from the table with the right hand at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Using the right hand, take the pink cup from the table at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Pick up the pink cup from the table by the handle.", + "start_idx": 9030, + "end_idx": 9066 + }, + { + "text": "Put the pink cup right side up on the top side of the table with the handle facing backwards using the right arm.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Using the right arm, place the pink cup upright on the top side of the table with the handle facing backward.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Have the right arm set the pink cup on the table's top side, right side up, with its handle facing backward.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "With the right arm, position the pink cup upright on the top side of the table, handle pointing backward.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Place the pink cup upright on the top side of the table with the handle facing backward.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Set the pink cup right side up on the top side of the table, with its handle toward the back.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Position the pink cup on the table's top side, upright and with the handle pointing backward.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Using the right arm, put the pink cup on the top side of the table.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "With the right arm, place the pink cup on the table's top side.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Have the right arm set the pink cup on the top side of the table.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Put the pink cup on the top side of the table.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Place the pink cup upright on the top side of the table.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Set the pink cup on the table's top side with the handle facing backward.", + "start_idx": 9066, + "end_idx": 9126 + }, + { + "text": "Return to home with both hands.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Using both hands, return to the home position.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Have both arms move back to the home position.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "With both hands, go back to home.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Return to the home position.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Move back to home position.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Go to the home position.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Bring the robot back home.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Home position next.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Reset to home.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Return home now.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Move to home.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Back to home position.", + "start_idx": 9126, + "end_idx": 9156 + } + ] + }, + "2026-03-17-02-20-38-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 human data collection", + "total_frames": 8795, + "num_annotations": 3766, + "annotations": [ + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "With the right hand, collect the green bowl from the table using a diagonal lip grip at the bowl's bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Using a diagonal lip grasp, pick up the green bowl from the table.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "From the table, take the green bowl with a lip grip.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Get the green bowl from the table using the right hand.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Using the right hand, grasp the green bowl from the table.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Take the green bowl from the table at the bottom left.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "With the right hand, pick up the green bowl from the table.", + "start_idx": 297, + "end_idx": 327 + }, + { + "text": "Put the green bowl to the right of the screwdriver with the right hand.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Using the right hand, place the green bowl to the right of the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Have the right arm set the green bowl down to the screwdriver's right.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "With the right hand, position the green bowl on the right side of the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Place the green bowl to the right of the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Set the green bowl on the screwdriver's right side.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Position the green bowl to the right of the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Move the green bowl so it is to the right of the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Using the right hand, put the green bowl by the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "With the right hand, place the green bowl next to the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Have the right arm set the green bowl beside the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Put the green bowl beside the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Set the green bowl next to the screwdriver.", + "start_idx": 327, + "end_idx": 369 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "With the right hand, retrieve the asparagus from the table at a diagonal angle by grasping its middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by grasping its middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "With the right hand, take the asparagus from the table by the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Have the right arm retrieve the asparagus from the table, holding it at the middle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Take the asparagus from the table with the right hand at a diagonal pickup angle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Get the asparagus from the table at a diagonal angle.", + "start_idx": 423, + "end_idx": 438 + }, + { + "text": "Place the asparagus behind the blue stuffed toy with the right hand facing left with the tip as the orientation reference point.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Using the right hand, set the asparagus behind the blue stuffed toy with the tip facing left.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Have the right arm place the asparagus behind the blue stuffed toy, oriented leftward by its tip.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "With the right hand, position the asparagus behind the blue stuffed toy so the tip points left.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Place the asparagus behind the blue stuffed toy with the tip facing left.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Set the asparagus behind the blue stuffed toy with the tip oriented to the left.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Position the asparagus behind the blue stuffed toy so its tip points left.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Using the right hand, place the asparagus behind the blue stuffed toy.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Have the right arm set the asparagus behind the blue stuffed toy.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "With the right hand, position the asparagus behind the blue stuffed toy.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Put the asparagus behind the blue stuffed toy.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Place the asparagus behind the blue stuffed toy.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Set the asparagus behind the blue stuffed toy.", + "start_idx": 438, + "end_idx": 477 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Have the right arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "With the right hand, collect the green mug from the table via the handle at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "From the table, grasp the green mug by the handle at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "With the right hand, take the green mug from the table at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Have the right arm collect the green mug from the table by the handle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Take the green mug from the table at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Grasp the green mug from the table by the handle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Put the green mug to the right of the green bowl with handle facing backwards right side up using the right hand.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Using the right hand, place the green mug to the right of the green bowl with the handle facing backward, right side up.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Have the right hand set the green mug to the right of the green bowl, keeping it upright with its handle pointing backward.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "With the right hand, position the green mug upright to the right of the green bowl so the handle faces the back.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Place the green mug to the right of the green bowl with the handle facing backward, right side up.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Set the green mug to the right of the green bowl, keeping it upright and with the handle toward the back.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Position the green mug upright to the right of the green bowl so its handle points backward.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Using the right hand, place the green mug to the right of the green bowl.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "With the right hand, set the green mug down to the right of the green bowl.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Have the right hand position the green mug to the right of the green bowl.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Put the green mug upright to the right of the green bowl.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Set the green mug to the right of the green bowl with the handle facing backward.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Using the right hand, place the green mug upright to the right of the green bowl.", + "start_idx": 645, + "end_idx": 681 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Have the right arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "With the right hand, take hold of the green mug from the table by its handle at a diagonal angle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Pick up the green mug from the table with the right hand by the handle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Using the right hand, take the green mug from the table by its handle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Have the right arm grasp the green mug from the table.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "At a diagonal angle, pick up the green mug from the table.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "With the right hand, pick up the green mug from the table.", + "start_idx": 903, + "end_idx": 918 + }, + { + "text": "Put the green mug to the right of the screwdriver with the right hand right side up with the front facing backwards.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Using the right hand, place the green mug to the screwdriver's right, right side up, with the front facing backward.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Have the right arm set the green mug to the right of the screwdriver, keeping it upright and its front pointed backward.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "The green mug goes to the right of the screwdriver with the right hand, positioned right side up and facing backward.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Place the green mug to the right of the screwdriver, right side up, with the front facing backward.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Set the green mug down to the screwdriver's right, upright, with its front pointed backward.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Put the green mug on the right side of the screwdriver, keeping it right side up and facing backward.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Using the right hand, place the green mug to the right of the screwdriver.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Have the right arm put the green mug on the screwdriver's right side.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "The green mug should be placed to the right of the screwdriver with the right hand.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Position the green mug to the right of the screwdriver.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Set the green mug to the right of the screwdriver, right side up.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "With the right hand, put the green mug to the right of the screwdriver, right side up.", + "start_idx": 918, + "end_idx": 954 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Have the right arm take the green bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the bottom-right edge in a diagonal lip hold.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Grasp the green bowl from the table at the bottom right with a diagonal lip hold.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Remove the green bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 998, + "end_idx": 1010 + }, + { + "text": "Put the green bowl to the right of the green mug with the right hand.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Using the right hand, place the green bowl to the right of the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Have the right arm set the green bowl to the green mug's right side.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "With the right hand, position the green bowl on the right side of the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Place the green bowl to the right of the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Set the green bowl on the right side of the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Position the green bowl at the green mug's right side.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Arrange the green bowl to the right of the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Move the green bowl so it is to the right of the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Using the right hand, place the green bowl by the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "With the right hand, set the green bowl next to the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Have the right arm position the green bowl beside the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Place the green bowl beside the green mug.", + "start_idx": 1011, + "end_idx": 1050 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Have the right arm pick up the green bowl from the table with a bottom diagonal lip grip.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "With the right hand, grasp the green bowl from the table using a diagonal lip hold at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "The green bowl should be grasped from the table with a diagonal lip hold at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Take the green bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "The green bowl should be picked up from the table.", + "start_idx": 1098, + "end_idx": 1119 + }, + { + "text": "Dump the blue stuffed toy in front of the green mug with the right hand.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Using the right hand, dump the blue stuffed toy in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Have the right arm place the blue stuffed toy in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "With the right hand, set the blue stuffed toy down in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Dump the blue stuffed toy in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Place the blue stuffed toy in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Set the blue stuffed toy down in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Put the blue stuffed toy in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Move the blue stuffed toy to a spot in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "The blue stuffed toy goes in front of the green mug.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Using the right hand, place the blue stuffed toy.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "With the right hand, set down the blue stuffed toy.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Have the right arm move the blue stuffed toy.", + "start_idx": 1119, + "end_idx": 1149 + }, + { + "text": "Put the green bowl behind the green mug with the right hand right side up.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Using the right hand, place the green bowl behind the green mug right side up.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Have the right arm set the green bowl behind the green mug in an upright orientation.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "With the right hand, position the green bowl behind the green mug so it stays right side up.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Place the green bowl behind the green mug right side up.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Set the green bowl behind the green mug in an upright position.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Position the green bowl behind the green mug, keeping it upright.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Using the right hand, put the green bowl behind the green mug.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "With the right hand, place the green bowl behind the green mug.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Have the right arm set the green bowl behind the green mug.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Put the green bowl behind the green mug.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Set the green bowl behind the green mug.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Position the green bowl behind the green mug.", + "start_idx": 1149, + "end_idx": 1194 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle, holding its middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Have the right hand pick the screwdriver up from the table diagonally by the middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table, grasping the middle at a diagonal angle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Retrieve the screwdriver from the table, holding the middle at a diagonal angle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Pick up the screwdriver from the table with the right hand, grasping the middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Using the right hand, take the screwdriver from the table by the middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Have the right hand retrieve the screwdriver from the table, holding its middle.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Pick up the screwdriver from the table with the right hand.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Using the right hand, take the screwdriver from the table.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Retrieve the screwdriver from the table.", + "start_idx": 1353, + "end_idx": 1377 + }, + { + "text": "Put the screwdriver to the right side of the stuffed toy with the right hand with its tip facing top left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Using the right hand, place the screwdriver to the stuffed toy's right with its tip pointing to the top left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Have the right arm set the screwdriver on the right side of the stuffed toy, tip directed top left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "With the right hand, position the screwdriver to the right of the stuffed toy so the tip faces the upper left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Place the screwdriver to the right of the stuffed toy with its tip facing top left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Set the screwdriver on the stuffed toy's right side, with the tip pointing upper left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Position the screwdriver to the right of the stuffed toy, keeping its tip aimed at the top left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Using the right hand, put the screwdriver to the right of the stuffed toy.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "With the right hand, place the screwdriver on the stuffed toy's right side.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Have the right arm set the screwdriver to the right of the stuffed toy.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Put the screwdriver to the right of the stuffed toy.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Using the right hand, position the screwdriver beside the stuffed toy.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Place the screwdriver beside the stuffed toy with its tip pointing top left.", + "start_idx": 1377, + "end_idx": 1410 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Have the right hand take the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "With the right hand, retrieve the green mug from the table by its handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Retrieve the green mug from the table by its handle at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Pick up the green mug from the table with the right hand by the handle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "With the right hand, take the green mug from the table by the handle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Have the right hand retrieve the green mug from the table by its handle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Take the green mug from the table with the right hand.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Retrieve the green mug from the table.", + "start_idx": 1410, + "end_idx": 1434 + }, + { + "text": "Put the green mug between the eggplant and the blue stuffed toy with handle facing backwards right side up with the right hand.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Using the right hand, place the green mug between the eggplant and the blue stuffed toy, with the handle facing backward and the mug upright.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Have the right arm set the green mug between the eggplant and the blue stuffed toy, handle pointing backward, right side up.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "With the right hand, position the green mug between the eggplant and the blue stuffed toy so the handle faces the back and it stays upright.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Place the green mug between the eggplant and the blue stuffed toy with the handle facing backward and right side up.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Set the green mug between the eggplant and the blue stuffed toy, keeping the handle pointed backward and the mug upright.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Position the green mug between the eggplant and the blue stuffed toy, with its handle to the back and the mug right side up.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Using the right hand, place the green mug between the eggplant and the blue stuffed toy.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Have the right arm set the green mug between the eggplant and the blue stuffed toy.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "With the right hand, position the green mug between the eggplant and the blue stuffed toy.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Put the green mug between the eggplant and the blue stuffed toy.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Place the green mug between the eggplant and the blue stuffed toy.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Set the green mug between the eggplant and the blue stuffed toy.", + "start_idx": 1434, + "end_idx": 1467 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally by its middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally by its middle.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Have the right arm pick up the blue stuffed toy from the table.", + "start_idx": 1521, + "end_idx": 1539 + }, + { + "text": "Put the blue stuffed toy inside the green bowl with the right hand facing top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Using the right hand, place the blue stuffed toy in the green bowl with its front facing top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Have the right arm put the blue stuffed toy inside the green bowl, front oriented toward the top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "With the right hand, set the blue stuffed toy into the green bowl so the front points top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Place the blue stuffed toy inside the green bowl with its front facing top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Set the blue stuffed toy in the green bowl with the front toward the top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Put the blue stuffed toy into the green bowl, front pointing top left.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Using the right hand, place the blue stuffed toy inside the green bowl.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "With the right hand, set the blue stuffed toy into the green bowl.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Have the right arm put the blue stuffed toy in the green bowl.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Place the blue stuffed toy inside the green bowl.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Set the blue stuffed toy into the green bowl.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Have the blue stuffed toy placed in the green bowl.", + "start_idx": 1539, + "end_idx": 1563 + }, + { + "text": "Pick up the screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Using the right hand, take the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Have the right arm grasp the screwdriver from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Pick up the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Take the screwdriver from the table at the bottom with a side grasp from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Retrieve the screwdriver from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table with a side grip at the bottom.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "With the right hand, grasp the screwdriver from the table at the bottom using a side grip.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Have the right arm take the screwdriver from the table by the bottom with a side grasp.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Using the right hand, retrieve the screwdriver from the table from a diagonal angle.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "With the right hand, take the screwdriver from the table at the bottom.", + "start_idx": 1623, + "end_idx": 1650 + }, + { + "text": "Place the screwdriver to the right of the eggplant with the right hand facing left with the tip as the orientation reference point.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Using the right hand, set the screwdriver to the right of the eggplant with the tip facing left.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Have the right arm place the screwdriver right of the eggplant, oriented left using the tip as the reference point.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "With the right hand, position the screwdriver to the eggplant's right, tip pointed left.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Place the screwdriver to the right of the eggplant.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Set the screwdriver down to the right of the eggplant.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Position the screwdriver right of the eggplant.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the eggplant.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Have the right arm set the screwdriver to the right of the eggplant.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Put the screwdriver to the right of the eggplant with the right hand.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Place the screwdriver to the right of the eggplant facing left.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Set the screwdriver to the right of the eggplant with the tip facing left.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Position the screwdriver right of the eggplant, oriented left from the tip.", + "start_idx": 1650, + "end_idx": 1695 + }, + { + "text": "Pick up the green mug from the table with the right hand using a diagonal grip on the handle.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a diagonal grip on the handle.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Have the right arm take the green mug from the table by the handle in a diagonal grasp.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "With the right hand, grasp the green mug from the table on its handle using a diagonal hold.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Pick up the green mug from the table with a diagonal grip on the handle.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Take the green mug from the table by the handle in a diagonal grasp.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Grasp the green mug from the table on the handle with a diagonal hold.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Using the right hand, take the green mug from the table.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Have the right arm grasp the green mug from the table.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Have the right arm pick up the green mug from the table.", + "start_idx": 1935, + "end_idx": 1962 + }, + { + "text": "Put the green mug to the right of the juice pouch with the right hand right side up with the front facing bottom right.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Using the right hand, place the green mug to the right of the juice pouch, right side up, with the front facing bottom right.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Have the right arm set the green mug to the right of the juice pouch upright, front directed toward the bottom right.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "With the right hand, position the green mug on the right side of the juice pouch, right side up and facing bottom right at the front.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Place the green mug to the right of the juice pouch, right side up, with the front facing bottom right.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Set the green mug on the right side of the juice pouch, upright, with the front toward the bottom right.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Position the green mug to the right of the juice pouch, keeping it right side up with the front facing bottom right.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Using the right hand, put the green mug to the right of the juice pouch.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Have the right arm place the green mug on the right side of the juice pouch.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "With the right hand, set the green mug to the right of the juice pouch.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Put the green mug to the right of the juice pouch.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Place the green mug on the right side of the juice pouch.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Set the green mug to the right of the juice pouch.", + "start_idx": 1962, + "end_idx": 2004 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold at the bottom right on a diagonal angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "With the right hand, secure the green bowl from the table using a lip grasp at the bottom right with a diagonal approach.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Take the green bowl from the table with a lip hold at the bottom right and a diagonal approach.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "The green bowl should be grasped from the table with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip grasp.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Have the right arm collect the green bowl from the table with a lip hold.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the bottom right with a diagonal pick angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Take the green bowl from the table with the right hand using a lip grip.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Using a lip grip, pick up the green bowl from the table.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Put the green bowl to the right of the juice pouch with the right hand.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Using the right hand, place the green bowl to the right of the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Have the right arm set the green bowl down to the right of the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "With the right hand, position the green bowl on the juice pouch's right side.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Place the green bowl to the right of the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Set the green bowl on the right side of the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Position the green bowl beside the juice pouch on its right.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Move the green bowl to the juice pouch's right side.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Using the right hand, place the green bowl by the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Have the right arm set the green bowl beside the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Put the green bowl next to the juice pouch on the right.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "With the right hand, position the green bowl beside the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Arrange the green bowl to the right of the juice pouch.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a diagonal lip hold at its bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "With the right hand, collect the green bowl from the table in a diagonal lip grasp at the bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Grasp the green bowl from the table using a diagonal lip hold at its bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "The green bowl should be picked up from the table with a diagonal lip grasp at the bottom.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Take the green bowl from the table using the right hand.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "The green bowl should be grasped from the table with the right hand.", + "start_idx": 2376, + "end_idx": 2388 + }, + { + "text": "Dump the blue stuffed toy behind the juice pouch with the right hand.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Using the right hand, dump the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Have the right arm place the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "With the right hand, put the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Dump the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Place the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Set the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Position the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "The blue stuffed toy goes behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Move the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Put the blue stuffed toy behind the juice pouch.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Put the green bowl to the left of the screwdriver with the right hand.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Using the right hand, place the green bowl to the left of the screwdriver, right side up with its front oriented as specified.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Have the right arm set the green bowl to the screwdriver's left, keeping it upright and aligned from the front.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "With the right hand, position the green bowl left of the screwdriver, upright with the front serving as the reference.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Place the green bowl to the left of the screwdriver, keeping it upright and aligned from the front.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Set the green bowl to the screwdriver's left, right side up with the front as the reference.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Position the green bowl left of the screwdriver, upright and oriented from the front.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Using the right hand, put the green bowl to the left of the screwdriver.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "With the right hand, set the green bowl to the screwdriver's left.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Have the right arm place the green bowl left of the screwdriver.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Put the green bowl to the left of the screwdriver.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Set the green bowl to the screwdriver's left.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Position the green bowl left of the screwdriver.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Have the right hand take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally by the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally, holding the middle.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Have the right hand take the blue stuffed toy from the table.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 2667, + "end_idx": 2700 + }, + { + "text": "Put the blue stuffed toy on the right side of the table with the right hand facing top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Using the right hand, place the blue stuffed toy on the right side of the table with its front facing the top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Have the right arm set the blue stuffed toy on the table's right side, front oriented toward the top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "With the right hand, position the blue stuffed toy on the right side of the table so its front points top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Place the blue stuffed toy on the right side of the table with its front facing the top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Set the blue stuffed toy on the table's right side, front pointing toward the top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Position the blue stuffed toy on the right side of the table with the front aimed at the top left.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Using the right hand, place the blue stuffed toy on the right side of the table.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Have the right arm set the blue stuffed toy on the table's right side.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "With the right hand, position the blue stuffed toy on the right side of the table.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Place the blue stuffed toy on the right side of the table.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Set the blue stuffed toy on the table's right side.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Position the blue stuffed toy on the table's right side.", + "start_idx": 2700, + "end_idx": 2733 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Have the right arm pick the asparagus off the table with a diagonal approach at the middle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "With the right hand, collect the asparagus from the table by gripping its middle at a diagonal angle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Take the asparagus off the table with a diagonal approach, holding the middle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Have the right arm take the asparagus off the table.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "With the right hand, collect the asparagus from the table.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Have the right arm pick up the asparagus from the table at a diagonal angle.", + "start_idx": 2931, + "end_idx": 2946 + }, + { + "text": "Put the asparagus between the screwdriver and the blue stuffed toy with the right hand facing bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Using the right hand, place the asparagus between the screwdriver and the blue stuffed toy with the tip facing bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Have the right arm set the asparagus between the screwdriver and the blue stuffed toy, tip oriented toward the bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "With the right hand, position the asparagus between the screwdriver and the blue stuffed toy so its tip points bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Place the asparagus between the screwdriver and the blue stuffed toy with the tip facing bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Set the asparagus between the screwdriver and the blue stuffed toy, with its tip directed toward the bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Position the asparagus between the screwdriver and the blue stuffed toy so the tip points bottom left.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Using the right hand, put the asparagus between the screwdriver and the blue stuffed toy.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "With the right hand, place the asparagus between the screwdriver and the blue stuffed toy.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Have the right arm set the asparagus between the screwdriver and the blue stuffed toy.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Put the asparagus between the screwdriver and the blue stuffed toy.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Set the asparagus between the screwdriver and the blue stuffed toy.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Position the asparagus between the screwdriver and the blue stuffed toy.", + "start_idx": 2946, + "end_idx": 2988 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally, grasping its middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Retrieve the blue stuffed toy from the table, grasping the middle at a diagonal angle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table by grasping the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table at the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Have the right arm retrieve the blue stuffed toy from the table, holding its middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table diagonally.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Get the blue stuffed toy from the table by grasping the middle.", + "start_idx": 3306, + "end_idx": 3339 + }, + { + "text": "Put the blue stuffed toy to the right of the screwdriver with the right hand facing top left.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the screwdriver with its front facing top left.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Have the right arm set the blue stuffed toy to the screwdriver's right, front facing the top left.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "With the right hand, position the blue stuffed toy on the right side of the screwdriver, with the front oriented top left.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Place the blue stuffed toy to the right of the screwdriver.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Set the blue stuffed toy on the right side of the screwdriver.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Position the blue stuffed toy to the screwdriver's right.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the screwdriver.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "With the right hand, set the blue stuffed toy on the right side of the screwdriver.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Have the right arm position the blue stuffed toy to the screwdriver's right.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Place the blue stuffed toy to the right of the screwdriver with its front facing top left.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Set the blue stuffed toy on the right side of the screwdriver, front facing top left.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Have the right arm place the blue stuffed toy to the right of the screwdriver.", + "start_idx": 3339, + "end_idx": 3366 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Have the right hand grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "From a diagonal angle, the right hand should pick the juice pouch off the table with a side grasp at the top.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table at the top with a side hold.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Take the juice pouch off the table at the top using a side grasp from a diagonal angle.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side hold.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Have the right hand secure the juice pouch from the table with a side grasp.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Take the juice pouch off the table.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Have the robot grasp the juice pouch from the table.", + "start_idx": 3366, + "end_idx": 3393 + }, + { + "text": "Put the juice pouch on the center of the table with the right hand right side up front.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Using the right hand, place the juice pouch on the center of the table right side up with the front facing forward.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Have the right arm set the juice pouch at the center of the table, keeping it right side up and front-facing.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "With the right hand, position the juice pouch on the center of the table so it is upright with the front toward the front.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Place the juice pouch on the center of the table right side up with the front facing forward.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Set the juice pouch at the center of the table, keeping it upright with the front toward the front.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Position the juice pouch on the center of the table with its front facing forward and right side up.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Using the right hand, place the juice pouch on the center of the table.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Have the right arm set the juice pouch at the center of the table.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "With the right hand, position the juice pouch on the center of the table.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Put the juice pouch on the center of the table.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Set the juice pouch at the center of the table.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Position the juice pouch on the center of the table.", + "start_idx": 3393, + "end_idx": 3432 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Have the right hand take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Retrieve the blue stuffed toy from the table at a diagonal angle by grasping its middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table, grasping the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table by the middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Have the right hand retrieve the blue stuffed toy from the table, holding its middle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table diagonally.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 3663, + "end_idx": 3690 + }, + { + "text": "Put the blue stuffed toy inside the green bowl with the right hand facing top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Using the right hand, place the blue stuffed toy inside the green bowl with its front facing top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Have the right arm put the blue stuffed toy into the green bowl, front oriented toward the top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "With the right hand, set the blue stuffed toy in the green bowl so the front points top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Place the blue stuffed toy inside the green bowl with its front facing top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Set the blue stuffed toy into the green bowl, front pointing toward the top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Put the blue stuffed toy in the green bowl with the front oriented top left.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Using the right hand, place the blue stuffed toy inside the green bowl.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Have the right arm put the blue stuffed toy into the green bowl.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "With the right hand, set the blue stuffed toy in the green bowl.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Place the blue stuffed toy inside the green bowl.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Set the blue stuffed toy into the green bowl.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Put the blue stuffed toy in the green bowl.", + "start_idx": 3690, + "end_idx": 3714 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Have the right hand grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "From a diagonal angle, take the juice pouch off the table with the right hand in a side grip at the top.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "From a diagonal angle, grasp the juice pouch off the table at the top with a side hold.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Take the juice pouch from the table at the top with a side grip from a diagonal angle.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Using a side grip at the top, pick up the juice pouch from the table with the right hand.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side hold at the top.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Have the right hand collect the juice pouch from the table with a side grip.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Using the right hand, grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Take the juice pouch from the table at the top.", + "start_idx": 4070, + "end_idx": 4091 + }, + { + "text": "Put the juice pouch on the right side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Using the right hand, place the juice pouch on the right side of the table right side up, with the front as the orientation reference point.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Have the right arm set the juice pouch on the table's right side, keeping it right side up relative to the front.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the table in a right-side-up orientation using the front as reference.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Place the juice pouch on the right side of the table right side up, with the front as the orientation reference point.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Set the juice pouch on the table's right side, keeping it right side up relative to the front.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Position the juice pouch on the right side of the table in a right-side-up orientation using the front as reference.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Using the right hand, place the juice pouch on the right side of the table.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Have the right arm set the juice pouch on the table's right side.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the table.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Put the juice pouch on the right side of the table.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Set the juice pouch on the table's right side.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Position the juice pouch on the right side of the table.", + "start_idx": 4092, + "end_idx": 4134 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Using a lip grip at the bottom right, have the right hand pick the green bowl from the table at a diagonal angle.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "The right hand should grasp the green bowl from the table with a lip hold at the bottom right on a diagonal approach.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Take the green bowl from the table with a lip hold at the bottom right at a diagonal angle.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "The green bowl should be picked up from the table using a lip grip at the bottom right with a diagonal approach.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Using the right hand, grasp the green bowl from the table with a lip hold.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Have the right hand take the green bowl from the table with a lip grip.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the bottom right with a diagonal pick angle.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Using the right hand, take the green bowl from the table on a diagonal approach.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "The green bowl should be grasped from the table with a lip grip.", + "start_idx": 4470, + "end_idx": 4485 + }, + { + "text": "Dump the blue stuffed toy behind the green mug with the right hand.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Using the right hand, dump the blue stuffed toy behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Have the right arm place the blue stuffed toy behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "With the right hand, set the blue stuffed toy down behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Dump the blue stuffed toy behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Place the blue stuffed toy behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Set the blue stuffed toy behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Position the blue stuffed toy behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Move the blue stuffed toy to a spot behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Behind the green mug, put the blue stuffed toy.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Have the blue stuffed toy deposited behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Using the blue stuffed toy, place it behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "The blue stuffed toy goes behind the green mug.", + "start_idx": 4485, + "end_idx": 4524 + }, + { + "text": "Put the green bowl on the bottom side of the table with the right hand.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Using the right hand, place the green bowl on the bottom side of the table right side up.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Have the right arm set the green bowl on the bottom side of the table, upright from the front reference.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "With the right hand, position the green bowl on the bottom side of the table so it is right side up.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Place the green bowl on the bottom side of the table right side up.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Set the green bowl on the bottom side of the table, upright from the front.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Position the green bowl on the bottom side of the table so it stays right side up.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Using the right hand, put the green bowl on the bottom side of the table.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "With the right hand, place the green bowl on the bottom side of the table.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Have the right arm set the green bowl on the bottom side of the table.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Put the green bowl on the bottom side of the table.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Set the green bowl on the bottom side of the table.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Position the green bowl on the bottom side of the table.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Have the right arm grasp the juice pouch from the table by the top with a side hold at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "With the right hand, secure the juice pouch from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Take the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Grasp the juice pouch from the table by the top with a side grip from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Have the right arm take the juice pouch from the table.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "With the right hand, grasp the juice pouch from the table.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Grasp the juice pouch from the table by the top from a diagonal angle.", + "start_idx": 4803, + "end_idx": 4818 + }, + { + "text": "Put the juice pouch to the right of the green bowl with the right hand right side up with the front as the reference point.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the green bowl, right side up with the front as the reference point.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Have the right arm set the juice pouch to the green bowl's right, keeping it right side up relative to the front.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the green bowl, oriented right side up using the front as reference.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Place the juice pouch to the right of the green bowl, right side up with the front as the reference point.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Set the juice pouch on the green bowl's right side, keeping it right side up relative to the front.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Position the juice pouch to the right of the green bowl, with the front as reference and the pouch right side up.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Using the right hand, put the juice pouch to the right of the green bowl.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "With the right hand, set the juice pouch on the right side of the green bowl.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Have the right arm place the juice pouch to the green bowl's right.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Place the juice pouch to the right of the green bowl.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Set the juice pouch on the right side of the green bowl.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Position the juice pouch to the green bowl's right.", + "start_idx": 4818, + "end_idx": 4851 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Have the right hand take the juice pouch from the table, grasping the top with a side hold from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Take the juice pouch from the table, using a side grasp on the top from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "From the table, retrieve the juice pouch with a side hold at the top from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Have the right hand take the juice pouch from the table using a side grasp on the top.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Pick up the juice pouch from the table with the right hand at the top from a diagonal angle.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "From the table, take the juice pouch at the top.", + "start_idx": 4971, + "end_idx": 4992 + }, + { + "text": "Put the juice pouch to the right of the eggplant with the right hand right side up.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the eggplant with its right side up.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Have the right arm set the juice pouch to the eggplant's right, keeping it right side up.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the eggplant, right side up.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Place the juice pouch to the right of the eggplant.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Set the juice pouch on the eggplant's right side.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Position the juice pouch to the right of the eggplant.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Put the juice pouch beside the eggplant on its right.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the eggplant.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Have the right arm set the juice pouch on the eggplant's right side.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "With the right hand, position the juice pouch beside the eggplant.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Place the juice pouch to the right of the eggplant with its right side up.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Set the juice pouch beside the eggplant, keeping it right side up.", + "start_idx": 4992, + "end_idx": 5028 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Using the right hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Have the right arm pick the eggplant up from the table diagonally at its middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "With the right hand, retrieve the eggplant from the table, holding it at a diagonal angle by the middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Take the eggplant from the table diagonally by the middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal hold at its middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "With the right hand, retrieve the eggplant from the table.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Take the eggplant from the table at a diagonal angle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Retrieve the eggplant from the table by the middle.", + "start_idx": 5205, + "end_idx": 5235 + }, + { + "text": "Put the eggplant behind the juice pouch with the right hand facing top left with the tip as the reference point.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Using the right hand, place the eggplant behind the juice pouch with its tip facing the top left.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Have the right arm set the eggplant behind the juice pouch, oriented top left by the tip.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "With the right hand, position the eggplant behind the juice pouch so the tip points toward the top left.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Place the eggplant behind the juice pouch with its tip facing the top left.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Set the eggplant behind the juice pouch, with the tip oriented toward the top left.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Position the eggplant behind the juice pouch so its tip faces top left.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Using the right hand, put the eggplant behind the juice pouch.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "With the right hand, place the eggplant behind the juice pouch.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Have the right arm set the eggplant behind the juice pouch.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Put the eggplant behind the juice pouch.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Place the eggplant behind the juice pouch.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Set the eggplant behind the juice pouch.", + "start_idx": 5235, + "end_idx": 5274 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Have the right hand grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "From a diagonal angle, pick up the juice pouch from the table with the right hand using a side grasp at the top.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table at the top with a side hold.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Take the juice pouch from the table at the top using a side grasp from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "With the right hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Using the right hand, take the juice pouch from the table at the top.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Have the right hand grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Using the right hand, take the juice pouch from the table.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Pick up the juice pouch from the table at the top.", + "start_idx": 5379, + "end_idx": 5400 + }, + { + "text": "Place the juice pouch to the right of the green mug with the right hand right side up with the front as the reference point.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Using the right hand, set the juice pouch to the right of the green mug, right side up with the front as the reference point.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Have the right arm place the juice pouch to the right of the green mug, keeping it right side up relative to the front.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "With the right hand, position the juice pouch to the right of the green mug so the front defines a right-side-up orientation.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Place the juice pouch to the right of the green mug, right side up with the front as the reference point.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Set the juice pouch to the right of the green mug, keeping it right side up relative to the front.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Position the juice pouch to the right of the green mug so it is right side up based on the front.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the green mug.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Have the right arm set the juice pouch to the right of the green mug.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "With the right hand, position the juice pouch to the right of the green mug.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Place the juice pouch to the right of the green mug.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Set the juice pouch beside the green mug on its right.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Have the juice pouch placed on the right side of the green mug.", + "start_idx": 5400, + "end_idx": 5430 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "The green bowl should be picked up from the table by the right hand in a diagonal lip grasp at the bottom right.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Remove the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "With the right hand, pick up the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Take the green bowl from the table using the right hand.", + "start_idx": 5499, + "end_idx": 5529 + }, + { + "text": "Dump the blue stuffed toy from the bowl behind the screwdriver with the right hand.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Using the right hand, empty the blue stuffed toy out of the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "With the right arm, tip the blue stuffed toy from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Have the right hand remove the blue stuffed toy from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Dump the blue stuffed toy from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Take the blue stuffed toy out of the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Remove the blue stuffed toy from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Get the blue stuffed toy out of the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Empty the blue stuffed toy from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Have the blue stuffed toy taken from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "From the bowl behind the screwdriver, dump the blue stuffed toy.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Using the right hand, remove the blue stuffed toy from the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "With the right arm, get the blue stuffed toy out of the bowl behind the screwdriver.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Put the green bowl to the right of the screwdriver with the right hand.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Using the right hand, place the green bowl to the right of the screwdriver, right side up from the front.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Have the right arm set the green bowl to the screwdriver's right, keeping it right side up relative to the front.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "With the right hand, position the green bowl on the right side of the screwdriver, upright from the front.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Place the green bowl to the right of the screwdriver, right side up from the front.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Set the green bowl on the screwdriver's right side, keeping it right side up relative to the front.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Position the green bowl to the right of the screwdriver, upright from the front.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Using the right hand, put the green bowl to the right of the screwdriver.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Have the right arm place the green bowl on the screwdriver's right side.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "With the right hand, set the green bowl to the screwdriver's right.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Put the green bowl to the right of the screwdriver.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Set the green bowl on the screwdriver's right side.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Position the green bowl to the screwdriver's right.", + "start_idx": 5547, + "end_idx": 5595 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Using the right hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Have the right hand pick the eggplant off the table with a diagonal approach at the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "With the right hand, collect the eggplant from the table, contacting it diagonally at the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Take the eggplant off the table with a diagonal approach, holding the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Get the eggplant from the table at a diagonal angle by the middle.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "With the right hand, take the eggplant off the table.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Have the right hand collect the eggplant from the table.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Take the eggplant off the table.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 5715, + "end_idx": 5751 + }, + { + "text": "Put the eggplant to the right of the green bowl with the right hand with its tip facing right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Using the right hand, place the eggplant to the right of the green bowl with its tip pointing right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Have the right arm set the eggplant to the right of the green bowl, tip facing right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "With the right hand, position the eggplant to the right of the green bowl so its tip faces right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Place the eggplant to the right of the green bowl with its tip pointing right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Set the eggplant to the right of the green bowl, keeping the tip facing right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Position the eggplant to the right of the green bowl so that its tip points right.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Using the right hand, place the eggplant to the right of the green bowl.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Have the right arm set the eggplant to the right of the green bowl.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "With the right hand, position the eggplant to the right of the green bowl.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Place the eggplant to the right of the green bowl.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Set the eggplant with the right hand so it is to the right of the green bowl.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Put the eggplant to the right of the green bowl.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "With the right hand, grasp the asparagus at its middle and remove it from the table at a diagonal angle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Grasp the asparagus at the middle and remove it from the table at a diagonal angle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "With the right hand, remove the asparagus from the table.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Grasp the asparagus from the table at the middle.", + "start_idx": 6213, + "end_idx": 6231 + }, + { + "text": "Put the asparagus behind the green bowl with the right hand with its tip facing top left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Using the right hand, place the asparagus behind the green bowl with its tip pointing to the top left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Have the right hand set the asparagus behind the green bowl, tip directed toward the top left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "With the right hand, position the asparagus behind the green bowl so its tip faces the upper left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Place the asparagus behind the green bowl with its tip facing the top left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Set the asparagus behind the green bowl with its tip pointing upper left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Position the asparagus behind the green bowl, leaving the tip directed to the top left.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Using the right hand, put the asparagus behind the green bowl.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Have the right hand place the asparagus behind the green bowl.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "With the right hand, set the asparagus behind the green bowl.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Put the asparagus behind the green bowl.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Position the asparagus behind the green bowl.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Set the asparagus behind the green bowl.", + "start_idx": 6231, + "end_idx": 6276 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal angle by gripping the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "From the table, retrieve the asparagus at a diagonal angle by gripping the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "From the table, retrieve the asparagus by gripping the middle.", + "start_idx": 6561, + "end_idx": 6579 + }, + { + "text": "Put the asparagus to the left of the green bowl with the right hand with the tip facing left.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Using the right hand, place the asparagus to the left of the green bowl with its tip pointing left.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Have the right arm set the asparagus left of the green bowl, tip oriented to the left.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "With the right hand, position the asparagus on the left side of the green bowl, keeping the tip facing left.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Place the asparagus to the left of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Set the asparagus on the left side of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Position the asparagus left of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Move the asparagus to the left of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Using the right hand, place the asparagus to the left of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Have the right arm set the asparagus on the left side of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "With the right hand, position the asparagus left of the green bowl.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Place the asparagus to the left of the green bowl with its tip pointing left.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Set the asparagus on the left side of the green bowl, tip facing left.", + "start_idx": 6579, + "end_idx": 6612 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Have the right arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "With the right hand, retrieve the eggplant from the table on a diagonal, gripping its middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Using the right hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "With the right hand, take the eggplant from the table by the middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Have the right arm collect the eggplant from the table, holding its middle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "With the right hand, retrieve the eggplant from the table on a diagonal.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 6612, + "end_idx": 6642 + }, + { + "text": "Put the eggplant behind the green bowl with the right hand facing top left by the tip.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Using the right hand, place the eggplant behind the green bowl with its tip facing the top left.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Have the right hand set the eggplant behind the green bowl, oriented so the tip points top left.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "With the right hand, position the eggplant behind the green bowl, tip directed toward the top left.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Place the eggplant behind the green bowl with its tip facing the top left.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Set the eggplant behind the green bowl so the tip points to the top left.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Position the eggplant behind the green bowl with the tip oriented top left.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Using the right hand, put the eggplant behind the green bowl.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Have the right hand place the eggplant behind the green bowl.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "With the right hand, set the eggplant behind the green bowl.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Place the eggplant behind the green bowl.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Set the eggplant behind the green bowl.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Position the eggplant behind the green bowl.", + "start_idx": 6642, + "end_idx": 6687 + }, + { + "text": "Pick up the green mug from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Using the right hand, take the green mug from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Have the right hand grasp the green mug from the table by the bottom-right edge with a lip grasp at a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "With the right hand, retrieve the green mug from the table using a lip hold on the bottom right at a diagonal approach.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Pick up the green mug from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Grasp the green mug from the table with a lip hold at the bottom right from a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Take the green mug from the table by the bottom-right area using a lip grasp at a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a lip grip.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Have the right hand take the green mug from the table using a lip grasp.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "With the right hand, grasp the green mug from the table via a lip hold.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Pick up the green mug from the table with the right hand from a diagonal angle.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Using the right hand, take the green mug from the table.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Grasp the green mug from the table using a lip grip.", + "start_idx": 6795, + "end_idx": 6807 + }, + { + "text": "Put the green bowl on the bottom right side of the table with the right hand.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Using the right hand, place the green bowl on the bottom right side of the table, right side up.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Have the right arm set the green bowl on the table's bottom-right area with the front as the reference, right side up.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "With the right hand, position the green bowl at the bottom right of the table in an upright orientation.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Place the green bowl on the bottom right side of the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Set the green bowl in the table's bottom-right area.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "The green bowl goes on the bottom right side of the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Position the green bowl on the bottom right side of the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Using the right hand, place the green bowl on the bottom right side of the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Have the right arm set the green bowl in the table's bottom-right area.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "With the right hand, position the green bowl at the bottom right of the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Put the green bowl on the bottom right side of the table.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Move the green bowl to the table's bottom-right area.", + "start_idx": 6807, + "end_idx": 6849 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Using the right hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Have the right arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "With the right hand, retrieve the eggplant from the table by gripping the middle at a diagonal angle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "The eggplant from the table should be picked up diagonally by the middle.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "With the right hand, retrieve the eggplant from the table.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Pick up the eggplant from the table with the right hand.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Take the eggplant from the table with the right hand.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "The eggplant from the table should be picked up with the right hand.", + "start_idx": 7032, + "end_idx": 7056 + }, + { + "text": "Put the eggplant on the top side of the table with the right hand with the tip facing left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Using the right hand, place the eggplant on the top side of the table with its tip pointing left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Have the right hand set the eggplant on the table's top side, tip facing left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "With the right arm, position the eggplant on the top side of the table so the tip faces left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Place the eggplant on the top side of the table with its tip pointing left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Set the eggplant on the table's top side with the tip facing left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Position the eggplant on the top side of the table so its tip points left.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Using the right hand, put the eggplant on the top side of the table.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Have the right hand place the eggplant on the table's top side.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "With the right arm, set the eggplant on the top side of the table.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Put the eggplant on the top side of the table.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Place the eggplant on the table's top side.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Set the eggplant on the top side of the table.", + "start_idx": 7056, + "end_idx": 7095 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Have the right arm take the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "With the right hand, retrieve the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Retrieve the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "From the table, collect the green mug by the handle at a diagonal angle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Have the right arm take the green mug from the table.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "With the right hand, retrieve the green mug from the table.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "From the table, collect the green mug.", + "start_idx": 7287, + "end_idx": 7302 + }, + { + "text": "Put the green mug in front of the eggplant with the right hand right side up with the front facing backwards.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Using the right hand, place the green mug in front of the eggplant upright with its front facing backward.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Have the right arm set the green mug before the eggplant right side up, front pointing backward.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "With the right hand, position the green mug in front of the eggplant so it stays upright and its front faces backward.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Place the green mug in front of the eggplant upright with its front facing backward.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Set the green mug before the eggplant right side up with the front pointed backward.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Position the green mug in front of the eggplant so it is upright and facing backward at the front.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Using the right hand, put the green mug in front of the eggplant.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Have the right arm place the green mug before the eggplant.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "With the right hand, set the green mug in front of the eggplant.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Put the green mug in front of the eggplant.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Place the green mug before the eggplant upright.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Set the green mug in front of the eggplant with its front facing backward.", + "start_idx": 7302, + "end_idx": 7341 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "With the right hand, pick up the green bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Using a diagonal approach, have the right hand take the green bowl from the table with a lip grasp at the bottom.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "From the table, grasp the green bowl with the right hand by the bottom using a lip grip at a diagonal angle.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "From the table, take the green bowl with a lip grasp at the bottom from a diagonal angle.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Using a diagonal approach, grasp the green bowl from the table with a lip grip at the bottom.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "With the right hand, pick up the green bowl from the table using a lip grip.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Have the right hand take the green bowl from the table with a lip grasp.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "From the table, grasp the green bowl with the right hand using the lip grip.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "With the right hand, pick up the green bowl from the table from a diagonal angle.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Take the green bowl from the table using a lip grip.", + "start_idx": 7341, + "end_idx": 7362 + }, + { + "text": "Put the green bowl to the right of the eggplant with the right hand.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Using the right hand, place the green bowl to the right of the eggplant, right side up from the front.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Have the right arm set the green bowl to the eggplant's right, keeping it right side up from the front.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "With the right hand, position the green bowl on the right side of the eggplant, right side up from the front.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Place the green bowl to the right of the eggplant, right side up from the front.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Set the green bowl on the eggplant's right side, right side up from the front.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Position the green bowl to the right of the eggplant, keeping it right side up from the front.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Using the right hand, place the green bowl to the right of the eggplant.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Have the right arm set the green bowl on the eggplant's right side.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "With the right hand, position the green bowl beside the eggplant on its right.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Place the green bowl to the right of the eggplant.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Set the green bowl on the eggplant's right side.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Position the green bowl beside the eggplant on its right.", + "start_idx": 7362, + "end_idx": 7401 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Have the right arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "With the right hand, retrieve the green mug from the table, approaching diagonally at the handle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Take the green mug from the table using the handle at a diagonal angle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "With a diagonal approach, pick up the green mug from the table by the handle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Using the right hand, take the green mug from the table by the handle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Have the right arm pick up the green mug from the table.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 7401, + "end_idx": 7428 + }, + { + "text": "Put the green mug in front of the green bowl with the handle facing backwards right side up using the right arm.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Using the right arm, place the green mug in front of the green bowl with the handle facing backward and upright.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Have the right arm set the green mug before the green bowl, handle pointing backward, right side up.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "With the right arm, position the green mug in front of the green bowl, keeping it upright with the handle facing backward.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Place the green mug in front of the green bowl with the handle facing backward and upright.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Set the green mug before the green bowl, handle pointing backward, right side up.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Position the green mug in front of the green bowl, upright with its handle toward the back.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Using the right arm, put the green mug in front of the green bowl.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "With the right arm, place the green mug before the green bowl.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Have the right arm position the green mug in front of the green bowl.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Put the green mug in front of the green bowl.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Set the green mug before the green bowl.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Position the green mug in front of the green bowl.", + "start_idx": 7428, + "end_idx": 7470 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Have the right arm take the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "With the right hand, retrieve the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Retrieve the green mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Have the right arm take the green mug from the table by its handle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "With the right hand, retrieve the green mug from the table via the handle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Have the right arm take the green mug from the table at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 7635, + "end_idx": 7659 + }, + { + "text": "Dump the blue stuffed toy to the right of the screwdriver with the right hand.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Using the right hand, dump the blue stuffed toy to the right of the screwdriver.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Have the right arm dump the blue stuffed toy to the screwdriver's right side.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "With the right hand, tip out the blue stuffed toy so it ends up right of the screwdriver.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Dump the blue stuffed toy to the right of the screwdriver.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Tip out the blue stuffed toy onto the screwdriver's right side.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Place the blue stuffed toy on the right side of the screwdriver.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "The blue stuffed toy goes to the right of the screwdriver.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Dump the blue stuffed toy there.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Place the blue stuffed toy in position.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Move the blue stuffed toy over.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Using the right hand, dump the blue stuffed toy.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Have the right arm place the blue stuffed toy.", + "start_idx": 7659, + "end_idx": 7701 + }, + { + "text": "Put the green mug to the right of the green bowl with the handle facing backwards using the right hand right side up.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Using the right hand, place the green mug to the right of the green bowl, right side up, with the handle facing backward.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Have the right hand set the green mug upright to the right of the green bowl, handle oriented toward the back.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "With the right hand, position the green mug to the green bowl's right, keeping it right side up and the handle facing away from the front.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Place the green mug to the right of the green bowl with the handle facing backward and right side up.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Set the green mug upright to the right of the green bowl, with its handle pointing backward.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Position the green mug to the right of the green bowl, keeping the handle toward the back and the mug right side up.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "To the right of the green bowl, put the green mug.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Set the green mug down to the right of the green bowl.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Have the green mug placed to the right of the green bowl.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Using the right hand, place the green mug to the right of the green bowl.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "With the right hand, set the green mug down to the green bowl's right.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Have the right hand put the green mug to the right of the green bowl.", + "start_idx": 7701, + "end_idx": 7761 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at the bottom right, angled diagonally.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a bottom-right lip hold at a diagonal angle.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "With the right hand, take the green bowl off the table using a lip grasp on the bottom right at a diagonal.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Take the green bowl off the table using a lip hold on the bottom right at a diagonal.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Grasp the green bowl from the table with a lip grip at the bottom right, diagonally oriented.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Using a lip grip, pick up the green bowl from the table with the right hand.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "With the right hand, take the green bowl off the table using a lip grasp.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Have the right hand secure the green bowl from the table with a lip hold.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Take the green bowl off the table.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Using a lip grip, grasp the green bowl from the table.", + "start_idx": 8205, + "end_idx": 8232 + }, + { + "text": "Put the green bowl to the left of the eggplant with the right hand.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Using the right hand, place the green bowl to the left of the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Have the right arm set the green bowl on the eggplant's left side.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "With the right hand, position the green bowl left of the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Place the green bowl to the left of the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Set the green bowl on the left side of the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Position the green bowl left of the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Move the green bowl to the eggplant's left.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "The green bowl goes to the left of the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Using the right hand, place the green bowl by the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "With the right hand, set the green bowl near the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Place the green bowl by the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Set the green bowl next to the eggplant.", + "start_idx": 8232, + "end_idx": 8286 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "From the table, retrieve the screwdriver with the right hand at a diagonal angle by grasping the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Take the screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "From the table, retrieve the screwdriver at a diagonal angle by grasping its middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Have the right arm take the screwdriver from the table.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "From the table, retrieve the screwdriver with the right hand.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Take the screwdriver from the table, grasping the middle.", + "start_idx": 8286, + "end_idx": 8313 + }, + { + "text": "Place the screwdriver to the right of the eggplant with the right hand with its tip facing top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Using the right hand, set the screwdriver to the right of the eggplant with its tip pointing to the top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Have the right arm place the screwdriver to the eggplant's right, tip directed toward the top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "With the right hand, position the screwdriver to the right of the eggplant, keeping the tip aimed top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Place the screwdriver to the right of the eggplant with its tip facing the top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Set the screwdriver to the eggplant's right, with the tip pointing top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Position the screwdriver to the right of the eggplant, tip aimed toward the top left.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Using the right hand, place the screwdriver to the right of the eggplant.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Have the right arm set the screwdriver to the eggplant's right.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "With the right hand, position the screwdriver beside the eggplant on its right side.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Place the screwdriver to the right of the eggplant.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Set the screwdriver to the eggplant's right.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Have the screwdriver placed to the right of the eggplant.", + "start_idx": 8313, + "end_idx": 8349 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grasp at the top from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Have the right hand take the juice pouch from the table by gripping its top from the side at a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "With the right hand, grasp the juice pouch from the table at the top using a side hold from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Pick up the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "From the table, take the juice pouch by its top with a side grip at a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Grasp the juice pouch from the table at the top from a diagonal angle using a side hold.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grasp at the top.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grip.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Have the right hand grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Take the juice pouch from the table at the top.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Using a side grasp, pick up the juice pouch from the table.", + "start_idx": 8349, + "end_idx": 8373 + }, + { + "text": "Place the juice pouch to the right of the asparagus with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Using the right hand, set the juice pouch to the right of the asparagus, right side up with the front as the reference point.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Have the right arm place the juice pouch to the asparagus's right, keeping it right side up relative to the front.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the asparagus, right side up using the front as the orientation reference.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Place the juice pouch to the right of the asparagus.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Set the juice pouch on the right side of the asparagus.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Position the juice pouch to the asparagus's right.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the asparagus.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Have the right arm set the juice pouch on the right side of the asparagus.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "With the right hand, position the juice pouch to the asparagus's right.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Place the juice pouch to the right of the asparagus with the right hand.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Set the juice pouch on the right side of the asparagus using the right hand.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Have the right arm place the juice pouch to the asparagus's right.", + "start_idx": 8373, + "end_idx": 8406 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "With the right hand, retrieve the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Take the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Take the asparagus from the table with the right arm.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Get the asparagus from the table using the right hand.", + "start_idx": 8463, + "end_idx": 8475 + }, + { + "text": "Place the asparagus to the right of the juice pouch with the right hand facing backwards with the tip as the reference point.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Using the right hand, set the asparagus to the right of the juice pouch with the tip facing backward.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "With the right arm, position the asparagus right of the juice pouch, oriented backward relative to its tip.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Have the right hand place the asparagus on the juice pouch's right side with its tip facing backwards.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Place the asparagus to the right of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Set the asparagus on the right side of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Position the asparagus right of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Put the asparagus to the right of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Using the right hand, place the asparagus to the right of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "With the right arm, set the asparagus on the right side of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Have the right hand position the asparagus right of the juice pouch.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Place the asparagus with the tip facing backward.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Set the asparagus so its tip faces backwards.", + "start_idx": 8475, + "end_idx": 8514 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Have the right hand pick the juice pouch up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side hold at the top from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Grasp the juice pouch from the table using a side hold at the top from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grasp on the top.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Have the right hand grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Take the juice pouch from the table with the right hand.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 8514, + "end_idx": 8538 + }, + { + "text": "Put the juice pouch behind the eggplant with the right hand right side up.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Using the right hand, place the juice pouch behind the eggplant right side up.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Have the right arm set the juice pouch behind the eggplant in an upright orientation.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "With the right hand, position the juice pouch behind the eggplant so it is right side up.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Place the juice pouch behind the eggplant right side up.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Set the juice pouch behind the eggplant in an upright position.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Position the juice pouch behind the eggplant so it stays right side up.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Using the right hand, put the juice pouch behind the eggplant.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "With the right hand, place the juice pouch behind the eggplant.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Have the right arm set the juice pouch behind the eggplant.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Put the juice pouch behind the eggplant.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Set the juice pouch behind the eggplant.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Position the juice pouch behind the eggplant.", + "start_idx": 8538, + "end_idx": 8586 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Have the right arm pick the screwdriver up from the table on a diagonal, holding it at the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "The screwdriver should be picked up from the table diagonally, holding the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Retrieve the screwdriver from the table on a diagonal by the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "With the right hand, take the screwdriver from the table by the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table, holding the middle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "With the right hand, take the screwdriver from the table on a diagonal.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table diagonally.", + "start_idx": 8718, + "end_idx": 8745 + }, + { + "text": "Put the screwdriver between the juice pouch and the eggplant with the right hand facing forwards with the tip as the reference point.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Using the right hand, place the screwdriver between the juice pouch and the eggplant with its tip facing forwards.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Have the right arm set the screwdriver between the juice pouch and the eggplant, oriented forwards from the tip.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "With the right hand, position the screwdriver between the juice pouch and the eggplant so the tip points forwards.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Place the screwdriver between the juice pouch and the eggplant with its tip facing forwards.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Set the screwdriver between the juice pouch and the eggplant, keeping the tip pointed forwards.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Position the screwdriver between the juice pouch and the eggplant so it faces forwards from the tip.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Using the right hand, put the screwdriver between the juice pouch and the eggplant.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "With the right hand, set the screwdriver between the juice pouch and the eggplant.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Have the right arm position the screwdriver between the juice pouch and the eggplant.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Put the screwdriver between the juice pouch and the eggplant.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Place the screwdriver between the juice pouch and the eggplant.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Set the screwdriver between the juice pouch and the eggplant.", + "start_idx": 8745, + "end_idx": 8775 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "With the left hand, retrieve the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Take the asparagus from the table at a diagonal angle, holding the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, grasping it at the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Pick up the asparagus from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Using the left hand, take the asparagus from the table, holding the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Have the left arm pick up the asparagus from the table by grasping the middle.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 0, + "end_idx": 39 + }, + { + "text": "Put the asparagus in front of the eggplant with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Using the left hand, place the asparagus in front of the eggplant with the tip facing bottom left.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Have the left arm set the asparagus in front of the eggplant, oriented bottom left by its tip.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "With the left hand, position the asparagus in front of the eggplant so its tip points bottom left.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Place the asparagus in front of the eggplant with its tip facing bottom left.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Set the asparagus in front of the eggplant, with the tip oriented toward the bottom left.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Position the asparagus in front of the eggplant so the tip points bottom left.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Using the left hand, put the asparagus in front of the eggplant.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "With the left arm, place the asparagus in front of the eggplant.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Have the left hand position the asparagus in front of the eggplant.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Put the asparagus in front of the eggplant.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Set the asparagus in front of the eggplant.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Position the asparagus in front of the eggplant.", + "start_idx": 39, + "end_idx": 72 + }, + { + "text": "Pick up the eggplant from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Using the left hand, pick up the eggplant from the table with a side grasp at the bottom diagonally.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "With the left arm, take the eggplant from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Have the left hand grasp the eggplant from the table with a side hold at the bottom diagonally.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Pick up the eggplant from the table using a side grip at the bottom diagonally.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Take the eggplant from the table with a side grasp on the bottom diagonally.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Grasp the eggplant from the table with a side hold at the bottom in a diagonal orientation.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Have the left arm pick up the eggplant from the table.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Pick up the eggplant from the table with the left hand at the bottom diagonally.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "With the left hand, grasp the eggplant from the table at the bottom diagonal.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Take the eggplant from the table diagonally from the bottom with the left arm.", + "start_idx": 72, + "end_idx": 87 + }, + { + "text": "Place the eggplant to the right of the asparagus with the left hand facing bottom right with the front as reference.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Using the left hand, set the eggplant to the right of the asparagus, with its front facing bottom right.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Have the left arm place the eggplant to the right of the asparagus so the front points bottom right.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "With the left hand, position the eggplant to the right of the asparagus, front facing bottom right.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Place the eggplant to the right of the asparagus so the front faces bottom right.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Set the eggplant to the right of the asparagus with the front pointing bottom right.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Position the eggplant to the right of the asparagus, oriented with the front toward bottom right.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Using the left hand, place the eggplant to the right of the asparagus.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Have the left arm set the eggplant to the right of the asparagus.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "With the left hand, position the eggplant to the right of the asparagus.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Place the eggplant to the right of the asparagus.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Set the eggplant to the right of the asparagus.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Position the eggplant to the right of the asparagus.", + "start_idx": 87, + "end_idx": 123 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Have the left hand pick up the blue stuffed toy from the table with a diagonal approach at the middle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Take the blue stuffed toy from the table by grasping the middle at a diagonal angle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Have the left hand take the blue stuffed toy from the table.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 122, + "end_idx": 144 + }, + { + "text": "Put the blue stuffed toy to the right of the eggplant with the left hand facing forwards.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the eggplant facing forwards.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Have the left arm set the blue stuffed toy to the right of the eggplant with its front facing forward.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "With the left hand, position the blue stuffed toy to the right of the eggplant so the front faces forwards.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Place the blue stuffed toy to the right of the eggplant facing forwards.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Set the blue stuffed toy to the right of the eggplant with its front facing forward.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Position the blue stuffed toy to the right of the eggplant so it faces forwards.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Put the blue stuffed toy to the right of the eggplant with the left hand.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the eggplant.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Have the left arm set the blue stuffed toy to the right of the eggplant.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Place the blue stuffed toy to the right of the eggplant.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Set the blue stuffed toy to the right of the eggplant.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Position the blue stuffed toy to the right of the eggplant.", + "start_idx": 144, + "end_idx": 180 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Have the left hand take the screwdriver from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at the top using a side hold from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Pick up the screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Take the screwdriver from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Grasp the screwdriver from the table at the top using a side hold from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Have the left hand take the screwdriver from the table.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at the top from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Take the screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Grasp the screwdriver from the table with the left hand using a side grip.", + "start_idx": 180, + "end_idx": 210 + }, + { + "text": "Put the screwdriver on the top side of table with the left hand facing bottom right by the tip.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Using the left hand, place the screwdriver on the top side of the table with its tip facing bottom right.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Have the left arm set the screwdriver on the table's top side, oriented bottom right by the tip.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "With the left hand, position the screwdriver on the top side of the table so the tip points bottom right.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Place the screwdriver on the top side of the table with the tip facing bottom right.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Set the screwdriver on the table's top side, oriented bottom right by the tip.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Position the screwdriver on the top side of the table so its tip faces bottom right.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Using the left hand, put the screwdriver on the top side of the table.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Have the left arm place the screwdriver on the table's top side.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "With the left hand, set the screwdriver on the top side of the table.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Place the screwdriver on the top side of the table.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Set the screwdriver on the table's top side.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Position the screwdriver on the top side of the table.", + "start_idx": 210, + "end_idx": 240 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Have the left arm pick the asparagus off the table with a diagonal approach, holding it at the center.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Take the asparagus off the table diagonally, holding the center.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pick at its middle.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Have the left arm take the asparagus off the table.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Take the asparagus off the table.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Have the asparagus picked from the table.", + "start_idx": 240, + "end_idx": 261 + }, + { + "text": "Put the asparagus to the right side of the blue stuffed toy with the left hand facing top left by the tip.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Using the left hand, place the asparagus to the right of the blue stuffed toy with the tip facing top left.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Have the left hand set the asparagus on the blue stuffed toy's right side, oriented with its tip toward the top left.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "With the left arm, position the asparagus to the right side of the blue stuffed toy so the tip points top left.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Place the asparagus to the right of the blue stuffed toy with the tip facing top left.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Set the asparagus on the right side of the blue stuffed toy, with its tip oriented top left.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Position the asparagus to the blue stuffed toy's right, keeping the tip directed toward the top left.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Put the asparagus to the right side of the blue stuffed toy.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Set the asparagus on the blue stuffed toy's right side.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Position the asparagus to the right of the blue stuffed toy.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Place the asparagus to the right of the blue stuffed toy with the left hand.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Using the left hand, set the asparagus on the blue stuffed toy's right side.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Have the left arm position the asparagus to the right of the blue stuffed toy.", + "start_idx": 261, + "end_idx": 297 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Have the left arm pick the juice pouch up from the table using a side grip at the top, approached diagonally.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table in a side hold at the top from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Retrieve the juice pouch from the table in a side hold at the top from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Have the left arm take the juice pouch from the table with a side grasp at the top.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table using a side hold at the top.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Pick up the juice pouch from the table with the left hand from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Using the left hand, take the juice pouch from the table from a diagonal angle.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 369, + "end_idx": 390 + }, + { + "text": "Put the juice pouch to the left of the eggplant with the left hand right side up.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the eggplant right side up.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Have the left arm set the juice pouch down to the left of the eggplant in an upright orientation.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "With the left hand, position the juice pouch left of the eggplant so its right side faces up.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Place the juice pouch to the left of the eggplant.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Set the juice pouch down left of the eggplant.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Position the juice pouch to the eggplant's left side.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Using the left hand, put the juice pouch to the left of the eggplant.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Have the left arm place the juice pouch left of the eggplant.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "With the left hand, set the juice pouch down beside the eggplant on its left.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Put the juice pouch right side up.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Set the juice pouch down upright.", + "start_idx": 390, + "end_idx": 423 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Have the left arm pick the eggplant off the table diagonally by the middle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "With the left hand, retrieve the eggplant from the table, holding it at a diagonal angle around the middle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Take the eggplant off the table diagonally by the middle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Retrieve the eggplant from the table while holding its middle at a diagonal angle.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "With the left hand, take the eggplant off the table.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Have the left arm retrieve the eggplant from the table.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Take the eggplant off the table.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Have the left arm pick up the eggplant from the table.", + "start_idx": 477, + "end_idx": 495 + }, + { + "text": "Put the eggplant between the screwdriver and the juice pouch with the left hand facing backwards by the tip.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Using the left hand, place the eggplant between the screwdriver and the juice pouch with its tip facing backward.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Have the left arm set the eggplant between the screwdriver and the juice pouch, oriented backward at the tip.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "With the left hand, position the eggplant between the screwdriver and the juice pouch so the tip points backward.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Place the eggplant between the screwdriver and the juice pouch with its tip facing backward.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Set the eggplant between the screwdriver and the juice pouch, with the tip oriented backward.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Position the eggplant between the screwdriver and the juice pouch so it faces backward at the tip.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Using the left hand, put the eggplant between the screwdriver and the juice pouch.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "With the left hand, place the eggplant between the screwdriver and the juice pouch.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Have the left arm position the eggplant between the screwdriver and the juice pouch.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Put the eggplant between the screwdriver and the juice pouch.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Set the eggplant between the screwdriver and the juice pouch.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Place the eggplant between the screwdriver and the juice pouch.", + "start_idx": 495, + "end_idx": 525 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Have the left arm pick up the green bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom using a diagonal lip hold.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Take the green bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Grasp the green bowl from the table by the bottom with a diagonal lip grip.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 525, + "end_idx": 540 + }, + { + "text": "Put the green bowl to the right of the blue stuffed toy with the left hand.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Using the left hand, place the green bowl to the right of the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Have the left arm set the green bowl down to the right of the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "With the left hand, position the green bowl on the right side of the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Place the green bowl to the right of the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Set the green bowl on the right side of the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Position the green bowl to the right of the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Using the left hand, put the green bowl by the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Have the left arm place the green bowl next to the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "With the left hand, set the green bowl beside the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Put the green bowl beside the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Place the green bowl next to the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Set the green bowl by the blue stuffed toy.", + "start_idx": 540, + "end_idx": 576 + }, + { + "text": "Pick up the blue stuffed to from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "With the left hand, pick up the blue stuffed to from the table at a diagonal angle, grasping the middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "At a diagonal angle, have the left hand take the blue stuffed to from the table by its middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Using the left hand, retrieve the blue stuffed to from the table with a diagonal pickup, holding the middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Pick up the blue stuffed to from the table at a diagonal angle, grasping the middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "At a diagonal angle, take the blue stuffed to from the table by the middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Retrieve the blue stuffed to from the table with a diagonal pickup, holding its middle.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Pick up the blue stuffed to from the table with the left hand.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Have the left hand take the blue stuffed to from the table.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Using the left hand, retrieve the blue stuffed to from the table.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Pick up the blue stuffed to from the table.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Take the blue stuffed to from the table.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "The blue stuffed to should be retrieved from the table.", + "start_idx": 576, + "end_idx": 594 + }, + { + "text": "Put the blue stuffed toy inside the green bowl with the left hand facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the green bowl facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Have the left arm put the blue stuffed toy into the green bowl with its front facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "With the left hand, set the blue stuffed toy in the green bowl so the front faces forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Place the blue stuffed toy inside the green bowl facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Put the blue stuffed toy into the green bowl with its front facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Set the blue stuffed toy in the green bowl facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Position the blue stuffed toy inside the green bowl with the front facing forwards.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the green bowl.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Have the left arm put the blue stuffed toy into the green bowl.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "With the left hand, set the blue stuffed toy in the green bowl.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Put the blue stuffed toy inside the green bowl.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Place the blue stuffed toy into the green bowl.", + "start_idx": 594, + "end_idx": 624 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "With the left hand, grasp the asparagus at its middle from the table at a diagonal angle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Grasp the asparagus from the table at its middle with a diagonal approach.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 675, + "end_idx": 702 + }, + { + "text": "Put the asparagus to the left of the green bowl with the left hand facing bottom right by the tip.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green bowl with its tip facing bottom right.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Have the left arm set the asparagus left of the green bowl, oriented so the tip points bottom right.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "With the left hand, position the asparagus to the left of the green bowl, tip directed toward the bottom right.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Place the asparagus to the left of the green bowl with its tip facing bottom right.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Set the asparagus left of the green bowl, with the tip oriented bottom right.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Position the asparagus to the left of the green bowl so the tip points bottom right.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Put the asparagus to the left of the green bowl.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Place the asparagus left of the green bowl.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Set the asparagus down to the left of the green bowl.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green bowl.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Have the left arm set the asparagus left of the green bowl.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "With the left hand, put the asparagus beside the green bowl.", + "start_idx": 702, + "end_idx": 738 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "With the left hand, grasp the middle of the eggplant on the table and remove it at a diagonal angle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding its middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Grasp the middle of the eggplant from the table at a diagonal angle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "With the left hand, take the eggplant from the table by its middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Have the left arm collect the eggplant from the table at a diagonal angle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Take the eggplant from the table, grasping the middle.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Remove the eggplant from the table.", + "start_idx": 738, + "end_idx": 756 + }, + { + "text": "Place the eggplant behind the asparagus with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Using the left hand, set the eggplant behind the asparagus with its tip facing backward.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Have the left arm place the eggplant behind the asparagus, oriented backward relative to the tip.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "With the left hand, position the eggplant behind the asparagus so the tip points backward.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Place the eggplant behind the asparagus with its tip facing backward.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Set the eggplant behind the asparagus, oriented backward from the tip.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Position the eggplant behind the asparagus so the tip faces backward.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Put the eggplant behind the asparagus.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Have the eggplant placed behind the asparagus.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Set the eggplant behind the asparagus there.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Using the left hand, place the eggplant behind the asparagus.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Have the left arm put the eggplant behind the asparagus.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Position the eggplant behind the asparagus with the left hand.", + "start_idx": 756, + "end_idx": 786 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "With the left arm, secure the screwdriver from the table by its middle at a diagonal angle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Have the left hand pick the screwdriver up from the table at a diagonal slant, holding the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle while holding its middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "From the table, collect the screwdriver at a diagonal slant, gripping the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Use the left hand to pick up the screwdriver from the table, grasping the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "With the left arm, take the screwdriver from the table by its middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Have the left hand retrieve the screwdriver from the table, holding the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "From the table, grasp the screwdriver by the middle.", + "start_idx": 786, + "end_idx": 792 + }, + { + "text": "Put the screwdriver behind the green bowl with the left hand facing top left with the tip as the reference point.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Using the left hand, place the screwdriver behind the green bowl with the tip facing top left.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Have the left arm set the screwdriver behind the green bowl, oriented top left by its tip.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "With the left hand, position the screwdriver behind the green bowl so the tip points toward the top left.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Place the screwdriver behind the green bowl.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Set the screwdriver behind the green bowl.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Position the screwdriver behind the green bowl.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Using the left hand, put the screwdriver behind the green bowl.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Have the left arm place the screwdriver behind the green bowl.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Place the screwdriver behind the green bowl with the tip facing top left.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Set the screwdriver behind the green bowl, oriented top left by its tip.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Put the screwdriver behind the green bowl with the left hand.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Position the screwdriver behind the green bowl so the tip points toward the top left.", + "start_idx": 792, + "end_idx": 831 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left diagonally.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grasp at the top left diagonally.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Using a side grip at the top left diagonal, have the left hand pick up the juice pouch from the table.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "The left hand should grasp the juice pouch from the table with a side hold at the top left diagonal.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top left diagonally.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top left diagonal.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Grasp the juice pouch from the table at the top left diagonal with a side hold.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "With the left hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Using the left hand, take the juice pouch from the table.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Have the left hand grasp the juice pouch from the table.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Pick up the juice pouch from the table at the top left diagonally.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "From the table, take the juice pouch.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Grasp the juice pouch from the table.", + "start_idx": 831, + "end_idx": 864 + }, + { + "text": "Place the juice pouch behind the eggplant with the left hand right side up.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Using the left hand, set the juice pouch behind the eggplant right side up.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Have the left arm place the juice pouch behind the eggplant in an upright orientation.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "With the left hand, position the juice pouch behind the eggplant so it stays right side up.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Place the juice pouch behind the eggplant right side up.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Position the juice pouch behind the eggplant in an upright orientation.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Set the juice pouch behind the eggplant so it is right side up.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Using the left hand, place the juice pouch behind the eggplant.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "With the left arm, set the juice pouch behind the eggplant.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Have the left hand position the juice pouch behind the eggplant.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Put the juice pouch behind the eggplant.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Set the juice pouch behind the eggplant.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Position the juice pouch behind the eggplant.", + "start_idx": 864, + "end_idx": 903 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup angle, holding it at the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "With the left hand, collect the asparagus from the table diagonally by the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup angle at the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "From the table, retrieve the asparagus diagonally, holding the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "With the left hand, collect the asparagus from the table.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "From the table, retrieve the asparagus.", + "start_idx": 954, + "end_idx": 966 + }, + { + "text": "Put the asparagus to the left of the eggplant with the left hand facing backwards.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Using the left hand, place the asparagus to the left of the eggplant with its tip facing backwards.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Have the left arm set the asparagus left of the eggplant, tip oriented backward.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "With the left hand, position the asparagus to the eggplant's left, keeping the tip pointed backwards.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Place the asparagus to the left of the eggplant with its tip facing backwards.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Set the asparagus left of the eggplant, with the tip facing backward.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Position the asparagus to the eggplant's left, tip pointed backwards.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Using the left hand, place the asparagus to the left of the eggplant.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Have the left arm set the asparagus left of the eggplant.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "With the left hand, position the asparagus to the eggplant's left.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Place the asparagus to the left of the eggplant.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Set the asparagus left of the eggplant.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Arrange the asparagus to the eggplant's left.", + "start_idx": 966, + "end_idx": 999 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Have the left arm take the screwdriver from the table, holding its middle at a diagonal angle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at a diagonal angle around the middle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Take the screwdriver from the table, holding the middle at a diagonal angle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Grasp the screwdriver from the table by the middle at a diagonal angle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table by the middle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at a diagonal angle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Grasp the screwdriver from the table by the middle.", + "start_idx": 1050, + "end_idx": 1062 + }, + { + "text": "Put the screwdriver in front of the eggplant with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Using the left hand, place the screwdriver in front of the eggplant with its tip facing forwards.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Have the left arm set the screwdriver in front of the eggplant, oriented forwards from the tip.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "With the left hand, position the screwdriver before the eggplant so the tip points forwards.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Place the screwdriver in front of the eggplant with its tip facing forwards.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Set the screwdriver before the eggplant, oriented forwards from the tip.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Position the screwdriver in front of the eggplant so the tip faces forwards.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Put the screwdriver in front of the eggplant.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Place the screwdriver before the eggplant.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Set the screwdriver in front of the eggplant.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Using the left hand, place the screwdriver in front of the eggplant.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "With the left hand, set the screwdriver before the eggplant.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Have the left arm position the screwdriver in front of the eggplant.", + "start_idx": 1062, + "end_idx": 1098 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Using the left hand, take the screwdriver from the table at the middle with a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Have the left arm grasp the screwdriver from the table at its middle using a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "With the left hand, secure the screwdriver from the table at the middle at a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Take the screwdriver from the table at the middle with a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Grasp the screwdriver from the table at its middle using a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "The screwdriver from the table should be picked up at the middle with a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Have the left arm take the screwdriver from the table at its middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "The screwdriver from the table should be taken with the left hand at a diagonal angle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Using the left hand, collect the screwdriver from the table.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed toy with the left hand facing top left by the tip.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the blue stuffed toy with its tip facing top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Have the left arm set the screwdriver to the left of the blue stuffed toy, tip oriented toward the top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "With the left hand, position the screwdriver left of the blue stuffed toy so the tip points top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Place the screwdriver to the left of the blue stuffed toy with the tip facing top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Set the screwdriver left of the blue stuffed toy, with its tip oriented toward the top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Position the screwdriver to the left of the blue stuffed toy so the tip points top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Arrange the screwdriver left of the blue stuffed toy, tip facing the top left.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the blue stuffed toy.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "With the left hand, set the screwdriver left of the blue stuffed toy.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Have the left arm position the screwdriver to the left of the blue stuffed toy.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed toy.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Set the screwdriver left of the blue stuffed toy.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Take the eggplant from the table diagonally by the middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 1245, + "end_idx": 1263 + }, + { + "text": "Place the eggplant to the left of the screwdriver with the left hand with its tip facing left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Using the left hand, set the eggplant to the left of the screwdriver with its tip pointing left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Have the left arm place the eggplant left of the screwdriver, tip facing left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "With the left hand, position the eggplant to the screwdriver's left, keeping its tip directed left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Place the eggplant to the left of the screwdriver with its tip facing left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Set the eggplant left of the screwdriver, with the tip pointing left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Position the eggplant to the screwdriver's left, tip directed left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Using the left hand, place the eggplant to the left of the screwdriver.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "With the left hand, set the eggplant left of the screwdriver.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Have the left arm position the eggplant to the screwdriver's left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Place the eggplant to the left of the screwdriver.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Set the eggplant left of the screwdriver.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Position the eggplant to the screwdriver's left.", + "start_idx": 1263, + "end_idx": 1293 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Take the asparagus from the table on a diagonal path, holding the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Using the left hand, pick up the asparagus from the table grasping the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Have the left arm take the asparagus from the table, holding it at the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "With the left hand, retrieve the asparagus from the table by the middle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Have the left arm take the asparagus from the table on a diagonal path.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1293, + "end_idx": 1317 + }, + { + "text": "Put the asparagus between the juice pouch and the eggplant with the left hand facing top left with the tip as the reference point.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Using the left hand, place the asparagus between the juice pouch and the eggplant with the tip facing top left.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Have the left hand set the asparagus between the juice pouch and the eggplant, oriented top left at the tip.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "With the left arm, position the asparagus between the juice pouch and the eggplant so the tip points top left.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Place the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Set the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Position the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Arrange the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Using the left hand, put the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "With the left arm, place the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Have the left hand position the asparagus between the juice pouch and the eggplant.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Put the asparagus between the juice pouch and the eggplant with the tip facing top left.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Set the asparagus between the juice pouch and the eggplant so the tip points top left.", + "start_idx": 1317, + "end_idx": 1353 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup angle and a middle grasp.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Have the left arm retrieve the asparagus from the table, holding the middle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "With the left hand, take the asparagus from the table diagonally.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Have the left arm retrieve the asparagus from the table with a diagonal pickup angle.", + "start_idx": 1467, + "end_idx": 1485 + }, + { + "text": "Put the asparagus inside the green cup with the left hand right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Using the left hand, place the asparagus inside the green cup with its tip right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Have the left arm put the asparagus into the green cup, keeping the tip right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "With the left hand, deposit the asparagus in the green cup so the tip is right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Place the asparagus inside the green cup with the tip right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Put the asparagus into the green cup, keeping the tip right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Transfer the asparagus to the green cup with its tip right side up.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Using the left hand, place the asparagus inside the green cup.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "With the left hand, put the asparagus into the green cup.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Have the left arm deposit the asparagus in the green cup.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Set the asparagus inside the green cup.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Place the asparagus into the green cup.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Put the asparagus in the green cup.", + "start_idx": 1485, + "end_idx": 1521 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "With the left hand, collect the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Grasp the middle of the eggplant from the table at a diagonal angle and pick it up.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "With the left hand, collect the eggplant from the table.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Grasp the eggplant from the table and pick it up.", + "start_idx": 1563, + "end_idx": 1590 + }, + { + "text": "Place the eggplant on the center of the table with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Using the left hand, set the eggplant at the center of the table with the tip facing backward.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Have the left arm place the eggplant in the table center, oriented backward relative to its tip.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "With the left hand, position the eggplant on the center of the table so the tip faces backwards.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Place the eggplant at the center of the table with the tip facing backwards.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Set the eggplant on the center of the table with its tip oriented backward.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Position the eggplant in the center of the table so the tip points backwards.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Place the eggplant on the center of the table with the left hand.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Using the left hand, set the eggplant in the center of the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Have the left arm position the eggplant at the table center.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Place the eggplant at the center of the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Set the eggplant in the center of the table.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "At the table center, position the eggplant.", + "start_idx": 1590, + "end_idx": 1626 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top left from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Have the left arm pick the juice pouch off the table using a side hold at the top left from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "With the left hand, grasp the juice pouch from the table on the top left using a side grip from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Take the juice pouch from the table using a side grasp at the top left from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Grasp the juice pouch off the table with a side hold at the top left from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "The juice pouch should be picked up from the table using a side grip at the top left from a diagonal angle.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grasp.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Have the left arm grab the juice pouch from the table with a side hold.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Pick up the juice pouch from the table with the left hand.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Take the juice pouch off the table.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Put the juice pouch to the left of the green mug with the left hand right side up with the front as the reference point.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the green mug, right side up with the front as the reference point.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Have the left arm set the juice pouch to the left of the green mug with its right side up, using the front as the reference point.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "With the left hand, position the juice pouch to the left of the green mug so it is right side up relative to the front.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Place the juice pouch to the left of the green mug, right side up with the front as the reference point.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Set the juice pouch to the left of the green mug with its right side up, using the front as the reference point.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Position the juice pouch to the left of the green mug so it is right side up relative to the front.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the green mug.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "With the left hand, set the juice pouch to the left of the green mug.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Have the left arm position the juice pouch to the left of the green mug.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Place the juice pouch to the left of the green mug.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Set the juice pouch to the left of the green mug.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Position the juice pouch to the left of the green mug.", + "start_idx": 1725, + "end_idx": 1755 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "With the left hand, retrieve the eggplant from the table by grasping its middle at a diagonal angle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Take the eggplant from the table, grasping the middle at a diagonal angle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Take the eggplant from the table with the left hand, grasping the middle.", + "start_idx": 1755, + "end_idx": 1779 + }, + { + "text": "Put the eggplant to the left of the juice pouch with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Using the left hand, place the eggplant left of the juice pouch with its tip facing backward.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Have the left arm set the eggplant to the left of the juice pouch, oriented backward from the tip.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "With the left hand, position the eggplant left of the juice pouch so the tip points backward.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Place the eggplant to the left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Set the eggplant left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Position the eggplant to the left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Arrange the eggplant left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Using the left hand, place the eggplant to the left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Have the left arm set the eggplant left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "With the left hand, position the eggplant to the left of the juice pouch.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Place the eggplant left of the juice pouch with its tip facing backward.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Set the eggplant to the left of the juice pouch, with the tip oriented backward.", + "start_idx": 1779, + "end_idx": 1812 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Retrieve the screwdriver from the table while holding the middle at a diagonal angle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "The screwdriver from the table should be picked up with the left hand.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Get the screwdriver from the table with the left hand, holding the middle.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 1812, + "end_idx": 1839 + }, + { + "text": "Place the screwdriver to the left of the eggplant with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Using the left hand, set the screwdriver to the left of the eggplant with its tip pointing toward the bottom right.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Have the left hand place the screwdriver left of the eggplant, oriented bottom right using the tip as the reference point.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "With the left hand, position the screwdriver to the eggplant's left, tip facing the bottom right.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Place the screwdriver to the left of the eggplant.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Set the screwdriver left of the eggplant.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Position the screwdriver to the left of the eggplant.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Put the screwdriver to the left of the eggplant with the left hand.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the eggplant.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Have the left hand set the screwdriver to the eggplant's left.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Arrange the screwdriver to the left of the eggplant with the tip pointing toward the bottom right.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Position the screwdriver left of the eggplant, tip aimed at the bottom right.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Place the screwdriver to the eggplant's left with the left hand.", + "start_idx": 1839, + "end_idx": 1875 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at the top left using a side grip at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Using the left hand, take the juice pouch from the table by its top left with a side grasp at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Have the left arm grasp the juice pouch from the table at the top left with a side hold, diagonally oriented.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "With the left hand, seize the juice pouch from the table at the top left using a side grip on a diagonal.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Pick up the juice pouch from the table at the top left using a side grip at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Grasp the juice pouch from the table by the top left with a side hold at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Take the juice pouch from the table at the top left, using a side grasp diagonally.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "With the left hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Using the left hand, take the juice pouch from the table by its top left.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Have the left arm grasp the juice pouch from the table at a diagonal angle.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Pick up the juice pouch from the table at the top left and angle it diagonally.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Grab the juice pouch from the table with the left hand at the top left.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 1875, + "end_idx": 1899 + }, + { + "text": "Place the juice pouch behind the eggplant with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Using the left hand, set the juice pouch behind the eggplant right side up, with the front as the reference point.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Have the left arm place the juice pouch behind the eggplant in a right-side-up orientation, referenced to the front.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "With the left hand, position the juice pouch behind the eggplant so it is right side up relative to the front.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Place the juice pouch behind the eggplant right side up, using the front as the orientation reference point.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Set the juice pouch behind the eggplant in a right-side-up position with the front as the reference point.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Position the juice pouch behind the eggplant so it stays right side up relative to the front.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Using the left hand, place the juice pouch behind the eggplant.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Have the left arm set the juice pouch behind the eggplant.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "With the left hand, position the juice pouch behind the eggplant.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Place the juice pouch behind the eggplant.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Set the juice pouch behind the eggplant right side up.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Position the juice pouch behind the eggplant with the left hand.", + "start_idx": 1899, + "end_idx": 1935 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Have the left arm pick the eggplant up from the table on a diagonal, holding it at the middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Take the eggplant from the table on a diagonal, holding its middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "With the left hand, pick up the eggplant from the table.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Using the left hand, retrieve the eggplant from the table.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 2004, + "end_idx": 2022 + }, + { + "text": "Put the eggplant in front of the green mug with the left hand with its tip facing bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Using the left hand, place the eggplant in front of the green mug with its tip pointing to the bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Have the left arm set the eggplant in front of the green mug, tip directed toward the bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "With the left hand, position the eggplant before the green mug so its tip faces bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Place the eggplant in front of the green mug with its tip pointing to the bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Set the eggplant before the green mug, with the tip directed toward the bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Position the eggplant in front of the green mug so the tip faces the bottom right.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Using the left hand, put the eggplant in front of the green mug.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "With the left hand, set the eggplant before the green mug.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Have the left arm place the eggplant in front of the green mug.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Put the eggplant in front of the green mug.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Set the eggplant before the green mug.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Position the eggplant in front of the green mug.", + "start_idx": 2022, + "end_idx": 2061 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left diagonal angle.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top-left diagonal angle.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Have the left arm pick up the juice pouch from the table in a side grip at the top-left diagonal.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "With the left hand, grasp the juice pouch from the table from the side at the top-left diagonal angle.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top-left diagonal angle.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Grasp the juice pouch from the table with a side hold at the top-left diagonal.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Take the juice pouch from the table from the side at the top-left diagonal angle.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Have the left arm take the juice pouch from the table using a side grasp.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Pick up the juice pouch from the table with the left hand.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Take the juice pouch from the table at the top-left diagonal angle.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Get the juice pouch from the table using a side grasp.", + "start_idx": 2061, + "end_idx": 2085 + }, + { + "text": "Put the juice pouch to the right of the eggplant with the left hand right side up.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Using the left hand, place the juice pouch to the right of the eggplant right side up.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Have the left arm set the juice pouch down to the eggplant's right with its right side up.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "With the left hand, position the juice pouch on the right side of the eggplant, right side up.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Place the juice pouch to the right of the eggplant.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Set the juice pouch down on the eggplant's right side.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Position the juice pouch to the right of the eggplant.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Leave the juice pouch on the right side of the eggplant.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Using the left hand, place the juice pouch to the right of the eggplant.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Have the left arm set the juice pouch down to the right of the eggplant.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "With the left hand, position the juice pouch on the eggplant's right side.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Put the juice pouch by the eggplant's right side.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Set the juice pouch next to the eggplant on its right side.", + "start_idx": 2085, + "end_idx": 2124 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Have the left arm pick the eggplant off the table diagonally by the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "With the left hand, retrieve the eggplant from the table and hold it at a diagonal angle around the center.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Take the eggplant off the table diagonally by the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Retrieve the eggplant from the table, keeping a diagonal angle and holding the center.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "With the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Using the left hand, take the eggplant off the table by the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Have the left arm collect the eggplant from the table, holding its center.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Grasp the eggplant from the table by the middle.", + "start_idx": 2181, + "end_idx": 2205 + }, + { + "text": "Put the eggplant to the front left of the green mug with the left hand facing backwards with the tip as the reference point.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Using the left hand, place the eggplant at the front left of the green mug, facing backwards with the tip as the reference point.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Have the left arm set the eggplant front-left of the green mug, with its tip as the reference point and facing backward.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "With the left hand, position the eggplant to the green mug's front left, oriented backward using the tip as the reference point.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Place the eggplant to the front left of the green mug, facing backwards with the tip as the reference point.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Set the eggplant at the front left of the green mug, with the tip as the reference point and facing backward.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Position the eggplant front-left of the green mug, oriented backwards from the tip.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Put the eggplant to the front left of the green mug.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Set the eggplant at the front left of the green mug.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Position the eggplant front-left of the green mug.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Using the left hand, place the eggplant at the front left of the green mug.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Have the left arm set the eggplant to the front left of the green mug.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "With the left hand, position the eggplant to the green mug's front left.", + "start_idx": 2205, + "end_idx": 2235 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "With the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Have the left arm take the screwdriver from the table at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Using the left hand, retrieve the screwdriver from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Take the screwdriver from the table diagonally.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Place the screwdriver to the left of the green mug with the left hand facing top left from the tip.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Using the left hand, set the screwdriver to the left of the green mug with its tip facing top left.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Have the left arm place the screwdriver left of the green mug, oriented top left from the tip.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "With the left hand, position the screwdriver to the green mug's left, tip pointing top left.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Place the screwdriver to the left of the green mug.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Set the screwdriver down left of the green mug.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Have the screwdriver placed to the green mug's left side.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the green mug.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Position the screwdriver left of the green mug with the left hand.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Place the screwdriver with its tip facing top left.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Set the screwdriver down with the tip oriented top left.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "With the left hand, place the screwdriver.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Have the left arm position the screwdriver.", + "start_idx": 2256, + "end_idx": 2304 + }, + { + "text": "Pick up the green mug from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Using the left hand, take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Have the left arm grasp the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "With the left hand, seize the green mug from the table via the handle at a diagonal angle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Pick up the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Take the green mug from the table using the handle at a diagonal angle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "From the table, grasp the green mug by its handle at a diagonal angle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Using the left hand, take the green mug from the table by the handle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "With the left hand, grasp the green mug from the table through the handle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "From the table, collect the green mug by the handle.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 2304, + "end_idx": 2334 + }, + { + "text": "Put the green mug between the eggplant and the juice pouch with handle facing backwards right side up with the left hand.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Using the left hand, place the green mug between the eggplant and the juice pouch, with its handle facing backward and right side up.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Have the left arm set the green mug between the eggplant and the juice pouch, handle pointing backward and upright.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "With the left hand, position the green mug between the eggplant and the juice pouch so the handle faces backward and it stays right side up.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Place the green mug between the eggplant and the juice pouch, with its handle facing backward and right side up.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Set the green mug between the eggplant and the juice pouch, keeping the handle pointed backward and the mug upright.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Position the green mug between the eggplant and the juice pouch, handle toward the back and right side up.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Using the left hand, put the green mug between the eggplant and the juice pouch.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "With the left hand, place the green mug between the eggplant and the juice pouch.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Have the left arm position the green mug between the eggplant and the juice pouch.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Put the green mug between the eggplant and the juice pouch.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Set the green mug between the eggplant and the juice pouch.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Position the green mug between the eggplant and the juice pouch.", + "start_idx": 2334, + "end_idx": 2376 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle, keeping it diagonal.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "With the left hand, secure the green mug from the table via the handle at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Pick up the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Take the green mug from the table via the handle at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Grasp the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Have the left arm take the green mug from the table by the handle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "With the left hand, grasp the green mug from the table using the handle.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Using the left hand, take the green mug from the table.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Have the left arm grasp the green mug from the table.", + "start_idx": 2469, + "end_idx": 2511 + }, + { + "text": "Dump the asparagus to the front left of the blue stuffed toy with the left hand.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Using the left hand, dump the asparagus at the front left of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Have the left arm place the asparagus down to the front-left of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "With the left hand, deposit the asparagus in front of and left of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Dump the asparagus to the front left of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Place the asparagus at the front-left side of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Set the asparagus down in front of and left of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Leave the asparagus to the front left of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Move the asparagus to the front-left area of the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Using the left hand, dump the asparagus by the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "With the left hand, place the asparagus beside the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Have the left arm set down the asparagus near the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Put the asparagus near the blue stuffed toy.", + "start_idx": 2511, + "end_idx": 2553 + }, + { + "text": "Put the green mug to the left of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant right side up with the front facing backward.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Have the left arm set the green mug left of the eggplant, keeping it upright and the front pointed backward.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "With the left hand, position the green mug to the eggplant's left, right side up and with the front facing backward.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Place the green mug to the left of the eggplant right side up with the front facing backward.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Set the green mug left of the eggplant, keeping it upright with the front pointed backward.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Position the green mug to the eggplant's left, right side up and facing backward at the front.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Using the left hand, put the green mug to the left of the eggplant.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Have the left arm place the green mug left of the eggplant.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "With the left hand, set the green mug to the eggplant's left.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Put the green mug to the left of the eggplant.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Place the green mug left of the eggplant, keeping it upright.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Set the green mug to the eggplant's left with the front facing backward.", + "start_idx": 2553, + "end_idx": 2598 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal hold at the middle.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Have the asparagus picked up from the table.", + "start_idx": 2598, + "end_idx": 2631 + }, + { + "text": "Put the asparagus to the right of the juice pouch with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Using the left hand, place the asparagus to the right of the juice pouch with the tip facing forwards.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Have the left arm set the asparagus to the right of the juice pouch, oriented forwards by its tip.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "With the left hand, position the asparagus to the right of the juice pouch so its tip points forwards.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Place the asparagus to the right of the juice pouch with the tip facing forwards.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Set the asparagus to the right of the juice pouch, keeping the tip pointed forwards.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Position the asparagus to the right of the juice pouch so the tip faces forwards.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Using the left hand, put the asparagus to the right of the juice pouch.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Have the left arm place the asparagus to the right of the juice pouch.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "With the left hand, set the asparagus to the right of the juice pouch.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Place the asparagus to the right of the juice pouch.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Set the asparagus to the right of the juice pouch.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Put the asparagus to the right of the juice pouch.", + "start_idx": 2631, + "end_idx": 2667 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left with a diagonal pick angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top left and a diagonal pick angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Have the left arm pick the juice pouch off the table using a side grip on the top left at a diagonal angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "With the left hand, grasp the juice pouch from the table at the top left using a side hold and a diagonal pickup angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top left with a diagonal pick angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Take the juice pouch off the table with a side grasp on the top left at a diagonal angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Grasp the juice pouch from the table using a side hold at the top left with a diagonal approach.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Have the left arm take the juice pouch off the table using a side grasp.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a side hold.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Pick up the juice pouch from the table at the top left with a diagonal pick angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Take the juice pouch off the table from the top left at a diagonal angle.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Grasp the juice pouch from the table with the left hand.", + "start_idx": 2733, + "end_idx": 2757 + }, + { + "text": "Put the juice pouch on the top right side of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Using the left hand, place the juice pouch on the table's top right side, right side up with the front as the reference point.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Have the left arm set the juice pouch on the top right area of the table, keeping it right side up relative to the front.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "With the left hand, position the juice pouch at the table's upper right side, oriented right side up using the front as the reference.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Place the juice pouch on the top right side of the table, right side up with the front as the reference point.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Set the juice pouch on the table's top right side, keeping it right side up relative to the front.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Position the juice pouch on the upper right area of the table with its right side up, using the front as the reference point.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Using the left hand, put the juice pouch on the top right side of the table.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Have the left arm place the juice pouch on the table's top right area.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "With the left hand, set the juice pouch at the upper right side of the table.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Place the juice pouch on the top right side of the table.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Set the juice pouch on the table's upper right area.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Have the juice pouch placed on the top right side of the table.", + "start_idx": 2757, + "end_idx": 2799 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup at the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Take the eggplant from the table diagonally, holding the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "From the table, take the eggplant by the middle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle.", + "start_idx": 2799, + "end_idx": 2844 + }, + { + "text": "Put the eggplant to the bottom side of the table with the left hand facing backwards with the tip as the reference point.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Using the left hand, place the eggplant on the bottom side of the table with its tip facing backward.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Have the left arm set the eggplant at the table's bottom side, oriented backward from the tip.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "With the left hand, position the eggplant on the bottom side of the table so the tip points backward.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Place the eggplant on the bottom side of the table with its tip facing backward.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Set the eggplant at the table's bottom side, with the tip oriented backward.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Position the eggplant on the bottom side of the table so it faces backward from the tip.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Using the left hand, place the eggplant on the bottom side of the table.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "With the left hand, set the eggplant at the table's bottom side.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Have the left arm position the eggplant on the bottom side of the table.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Place the eggplant on the bottom side of the table.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Set the eggplant at the table's bottom side.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Position the eggplant on the bottom side of the table.", + "start_idx": 2844, + "end_idx": 2874 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Have the left arm pick the screwdriver up from the table, holding it at a diagonal angle around the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at a diagonal angle at its middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "From the table, grasp the screwdriver at a diagonal angle around the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Have the left arm take the screwdriver from the table by the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "From the table, grasp the screwdriver by the middle.", + "start_idx": 2874, + "end_idx": 2895 + }, + { + "text": "Place the screwdriver behind the eggplant with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Using the left hand, set the screwdriver behind the eggplant with the tip facing forwards.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Have the left arm place the screwdriver behind the eggplant, oriented forward from the tip.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "With the left hand, position the screwdriver behind the eggplant so the tip points forwards.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Place the screwdriver behind the eggplant with the tip facing forwards.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Set the screwdriver behind the eggplant with the tip oriented forwards.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Position the screwdriver behind the eggplant so its tip points forward.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Using the left hand, place the screwdriver behind the eggplant.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "With the left hand, set the screwdriver behind the eggplant.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Have the left arm position the screwdriver behind the eggplant.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Put the screwdriver behind the eggplant.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Set the screwdriver behind the eggplant.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Behind the eggplant, place the screwdriver.", + "start_idx": 2895, + "end_idx": 2931 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "With the left hand, collect the eggplant from the table by gripping the middle at a diagonal angle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "From the table, collect the eggplant by grasping the middle at a diagonal angle.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "With the left hand, collect the eggplant from the table.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Take the eggplant from the table using the left arm.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "From the table, collect the eggplant with the left hand.", + "start_idx": 2988, + "end_idx": 3015 + }, + { + "text": "Put the eggplant to the right of the green mug with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Using the left hand, place the eggplant to the right of the green mug with its tip facing backward.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Have the left arm set the eggplant to the right of the green mug, oriented backward relative to its tip.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "With the left hand, position the eggplant to the right of the green mug so the tip points backward.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Place the eggplant to the right of the green mug with its tip facing backward.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Set the eggplant to the right of the green mug, oriented backward from the tip.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Position the eggplant to the right of the green mug so the tip faces backward.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Using the left hand, put the eggplant to the right of the green mug.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "With the left hand, place the eggplant to the right of the green mug.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Have the left arm position the eggplant to the right of the green mug.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Put the eggplant to the right of the green mug.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Set the eggplant to the right of the green mug.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Position the eggplant to the right of the green mug.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Have the left hand pick the screwdriver up from the table on a diagonal, holding it at the center.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Take the screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the center.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Have the left hand take the screwdriver from the table.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 3051, + "end_idx": 3075 + }, + { + "text": "Put the screwdriver to the right of the eggplant with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the eggplant with the tip facing bottom right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Have the left arm set the screwdriver to the eggplant's right, oriented bottom right from the tip.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "With the left hand, position the screwdriver right of the eggplant so its tip points bottom right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Place the screwdriver to the right of the eggplant with the tip facing bottom right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Set the screwdriver to the eggplant's right with the tip oriented bottom right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Position the screwdriver right of the eggplant so the tip points bottom right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Using the left hand, put the screwdriver to the right of the eggplant.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Have the left arm place the screwdriver to the eggplant's right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "With the left hand, set the screwdriver right of the eggplant.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Put the screwdriver to the right of the eggplant.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Position the screwdriver to the eggplant's right.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Set the screwdriver right of the eggplant.", + "start_idx": 3075, + "end_idx": 3114 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Have the left arm pick the eggplant up from the table diagonally at its middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "With the left hand, collect the eggplant from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Take the eggplant from the table diagonally by the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "The eggplant should be picked up from the table with a diagonal middle grasp.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "With the left hand, take the eggplant from the table by the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Have the left arm collect the eggplant from the table at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "From the table, take the eggplant by the middle.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "The eggplant should be picked up from the table.", + "start_idx": 3114, + "end_idx": 3141 + }, + { + "text": "Put the eggplant inside the green bowl with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Using the left hand, place the eggplant in the green bowl with the tip facing bottom right.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Have the left arm set the eggplant inside the green bowl, oriented bottom right by its tip.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "With the left hand, deposit the eggplant into the green bowl so the tip points toward the bottom right.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Place the eggplant in the green bowl with the tip facing bottom right.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Set the eggplant inside the green bowl with the tip oriented bottom right.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Put the eggplant into the green bowl so its tip faces the bottom right.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Using the left hand, place the eggplant in the green bowl.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Have the left arm put the eggplant inside the green bowl.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "With the left hand, set the eggplant into the green bowl.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Put the eggplant in the green bowl.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Set the eggplant inside the green bowl.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Place the eggplant into the green bowl.", + "start_idx": 3141, + "end_idx": 3174 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Have the left hand pick the asparagus up from the table with a diagonal approach at its middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Have the left hand collect the asparagus from the table, holding its middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Using the left hand, retrieve the asparagus from the table.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 3174, + "end_idx": 3213 + }, + { + "text": "Place the asparagus to the right of the green bowl with the left hand facing right with the tip as the reference point.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Using the left hand, set the asparagus to the right of the green bowl, facing right with the tip as the reference point.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Have the left arm place the asparagus right of the green bowl, with its tip defining a right-facing orientation.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "With the left hand, position the asparagus to the green bowl's right, oriented rightward based on the tip.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Place the asparagus to the right of the green bowl, facing right with the tip as the reference point.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Set the asparagus right of the green bowl, with the tip used to define a right-facing orientation.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Position the asparagus to the right of the green bowl so it faces right, using the tip as the reference point.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Using the left hand, place the asparagus to the right of the green bowl.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Have the left arm set the asparagus right of the green bowl.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "With the left hand, position the asparagus to the green bowl's right.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Place the asparagus to the right of the green bowl.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Set the asparagus right of the green bowl.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Position the asparagus to the green bowl's right.", + "start_idx": 3213, + "end_idx": 3246 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Retrieve the screwdriver from the table, keeping a diagonal angle and holding the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Have the left arm take the screwdriver from the table by the middle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table at a diagonal angle.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Take the screwdriver from the table diagonally.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 3246, + "end_idx": 3270 + }, + { + "text": "Put the screwdriver to the right of the green mug with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the green mug with the tip facing bottom left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Have the left arm set the screwdriver to the right of the green mug, oriented bottom left by its tip.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "With the left hand, position the screwdriver to the right of the green mug so the tip points bottom left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Place the screwdriver to the right of the green mug with the tip facing bottom left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Set the screwdriver to the right of the green mug, with its tip oriented toward the bottom left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Position the screwdriver to the right of the green mug so its tip points bottom left.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the green mug.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Have the left arm set the screwdriver to the right of the green mug.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "With the left hand, position the screwdriver to the right of the green mug.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Place the screwdriver to the right of the green mug.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Set the screwdriver down to the right of the green mug.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Position the screwdriver on the right side of the green mug.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by its middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Take the screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table, holding the middle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "With the left hand, take the screwdriver from the table on a diagonal.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table diagonally.", + "start_idx": 3432, + "end_idx": 3459 + }, + { + "text": "Place the screwdriver in front of the juice pouch with the left hand with the tip facing top left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Using the left hand, set the screwdriver in front of the juice pouch with its tip pointing to the top left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Have the left arm place the screwdriver in front of the juice pouch, tip oriented top left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "With the left hand, position the screwdriver before the juice pouch so the tip faces the upper left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Place the screwdriver in front of the juice pouch with the tip facing top left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Set the screwdriver before the juice pouch with its tip pointing upper left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Position the screwdriver in front of the juice pouch, with the tip directed to the top left.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Using the left hand, place the screwdriver in front of the juice pouch.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Have the left arm set the screwdriver before the juice pouch.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "With the left hand, position the screwdriver in front of the juice pouch.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Place the screwdriver in front of the juice pouch.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Set the screwdriver before the juice pouch.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Position the screwdriver in front of the juice pouch.", + "start_idx": 3459, + "end_idx": 3489 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a diagonal approach at its middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Using the left hand, pick up the asparagus from the table grasping the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Have the left arm retrieve the asparagus from the table, holding its middle.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 3489, + "end_idx": 3501 + }, + { + "text": "Place the asparagus to the left of the juice pouch with the left hand with the tip facing bottom left.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "With the left hand, set the asparagus to the left of the juice pouch, tip pointing bottom left.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Have the left arm place the asparagus left of the juice pouch with its tip oriented toward the bottom left.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Using the left hand, position the asparagus to the juice pouch's left side, with the tip facing bottom left.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Place the asparagus to the left of the juice pouch.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Set the asparagus on the left side of the juice pouch.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Position the asparagus left of the juice pouch.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "With the left hand, place the asparagus to the left of the juice pouch.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Have the left arm set the asparagus left of the juice pouch.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Place the asparagus left of the juice pouch with the left hand.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Using the left hand, position the asparagus with its tip facing bottom left.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Set the asparagus down with the left hand.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Have the left arm place the asparagus.", + "start_idx": 3501, + "end_idx": 3534 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Have the left arm grasp the green bowl off the table with a bottom lip hold at a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "With the left hand, secure the green bowl from the table by the bottom lip from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Grasp the green bowl off the table with a bottom lip hold from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "The green bowl should be picked up from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip hold at the bottom.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "With the left hand, grasp the green bowl off the table from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Using the left hand, take the green bowl from the table from a diagonal angle.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "The green bowl should be grasped from the table using a lip grip at the bottom.", + "start_idx": 3534, + "end_idx": 3558 + }, + { + "text": "Dump the eggplant to the left of the asparagus with the left hand.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Using the left hand, dump the eggplant to the left of the asparagus.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Have the left arm place the eggplant down to the left of the asparagus.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "With the left hand, set the eggplant to the asparagus's left side.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Dump the eggplant to the left of the asparagus.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Place the eggplant to the left of the asparagus.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Set the eggplant down on the left side of the asparagus.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Position the eggplant left of the asparagus.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the eggplant.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "With the left hand, set down the eggplant.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Have the left arm dump the eggplant.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Place the eggplant.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Set down the eggplant.", + "start_idx": 3558, + "end_idx": 3615 + }, + { + "text": "Place the green bowl to the right of the screwdriver with the left hand.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Using the left hand, set the green bowl to the right of the screwdriver.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Have the left arm place the green bowl on the screwdriver's right side.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "With the left hand, position the green bowl just right of the screwdriver.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Place the green bowl to the right of the screwdriver.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Set the green bowl on the right side of the screwdriver.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Position the green bowl just to the right of the screwdriver.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Move the green bowl beside the screwdriver on its right side.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Put the green bowl down with the left hand.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Using the left hand, place the green bowl.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Have the left arm set down the green bowl.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Set the green bowl in place.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Put down the green bowl.", + "start_idx": 3615, + "end_idx": 3663 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "With the left hand, collect the eggplant from the table at a diagonal angle by grasping the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup, holding the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "From the table, collect the eggplant at a diagonal angle by grasping its middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Have the left arm collect the eggplant from the table.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "From the table, take the eggplant at a diagonal angle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Collect the eggplant from the table, grasping the middle.", + "start_idx": 3714, + "end_idx": 3729 + }, + { + "text": "Put the eggplant to the right of the green mug with the left hand with its tip facing top right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Using the left hand, place the eggplant to the right of the green mug with its tip pointing to the top right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Have the left arm set the eggplant down to the right of the green mug, tip oriented toward the top right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "With the left hand, position the eggplant right of the green mug so its tip faces the upper right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Place the eggplant to the right of the green mug with its tip pointing to the top right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Set the eggplant down right of the green mug, with the tip facing the upper right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Position the eggplant to the right of the green mug so the tip points top right.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Using the left hand, put the eggplant to the right of the green mug.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "With the left hand, set the eggplant down right of the green mug.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Have the left arm place the eggplant to the right of the green mug.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Put the eggplant to the right of the green mug.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Using the left hand, position the eggplant right of the green mug.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Set the eggplant down to the right of the green mug.", + "start_idx": 3729, + "end_idx": 3765 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by its handle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Have the left arm pick the green mug up from the table, gripping the handle at a diagonal angle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Grasp the green mug from the table at a diagonal angle using the handle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Have the left arm take the green mug from the table by the handle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 3765, + "end_idx": 3786 + }, + { + "text": "Place the green mug behind the eggplant with handle facing backwards right side up with the left hand.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Using the left hand, set the green mug behind the eggplant with the handle facing backward and upright.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Have the left arm place the green mug behind the eggplant, upright, with its handle pointed backward.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "With the left hand, position the green mug behind the eggplant so the handle faces backward and it remains right side up.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Place the green mug behind the eggplant with the handle facing backward and upright.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Set the green mug behind the eggplant so its handle points backward and it is right side up.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Position the green mug behind the eggplant, keeping it upright with the handle toward the back.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Using the left hand, place the green mug behind the eggplant.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "With the left hand, set the green mug behind the eggplant.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Have the left arm position the green mug behind the eggplant.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Place the green mug behind the eggplant.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Set the green mug behind the eggplant.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Position the green mug behind the eggplant.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Take the asparagus from the table diagonally, holding the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 3831, + "end_idx": 3855 + }, + { + "text": "Put the asparagus to the left of the egplant with the left hand with the tip facing bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Using the left hand, place the asparagus to the left of the egplant with its tip pointing bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Have the left arm set the asparagus left of the egplant, tip facing the bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "With the left hand, position the asparagus to the left of the egplant so the tip faces bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Place the asparagus to the left of the egplant with its tip pointing bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Set the asparagus left of the egplant, with the tip facing the bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Position the asparagus to the left of the egplant so its tip points bottom right.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Using the left hand, place the asparagus to the left of the egplant.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "With the left hand, set the asparagus left of the egplant.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Have the left arm position the asparagus to the left of the egplant.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Put the asparagus to the left of the egplant.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Place the asparagus left of the egplant.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Set the asparagus to the left of the egplant.", + "start_idx": 3855, + "end_idx": 3885 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Have the left arm take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "With the left hand, pick up the green mug from the table by the handle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Have the left arm take the green mug from the table by its handle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Using the left hand, grasp the green mug from the table.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Grasp the green mug from the table by the handle.", + "start_idx": 3885, + "end_idx": 3912 + }, + { + "text": "Put the green mug behind the asparagus with the left hand right side up with the front facing bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Using the left hand, place the green mug behind the asparagus right side up with its front facing bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Have the left arm set the green mug behind the asparagus, upright and with the front pointed toward the bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "With the left hand, position the green mug behind the asparagus so it is right side up and the front faces bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Place the green mug behind the asparagus right side up with the front facing bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Set the green mug behind the asparagus upright with its front toward the bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Position the green mug behind the asparagus so it is right side up and faces bottom right at the front.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Using the left hand, put the green mug behind the asparagus.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Have the left arm place the green mug behind the asparagus.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "With the left hand, set the green mug behind the asparagus.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Put the green mug behind the asparagus.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Position the green mug behind the asparagus with the front facing bottom right.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Set the green mug behind the asparagus right side up.", + "start_idx": 3912, + "end_idx": 3948 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal angle and grip the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Take the asparagus from the table on a diagonal angle, holding the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "With the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Using the left hand, take the asparagus from the table, holding the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Have the left arm collect the asparagus from the table by the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Take the asparagus from the table on a diagonal angle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Retrieve the asparagus from the table by the middle.", + "start_idx": 3948, + "end_idx": 3963 + }, + { + "text": "Put the asparagus between the eggplant and the screwdriver with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Using the left hand, place the asparagus between the eggplant and the screwdriver, facing bottom right with the tip as the reference point.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Have the left arm set the asparagus between the eggplant and the screwdriver with its tip oriented toward the bottom right.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "With the left hand, position the asparagus between the eggplant and the screwdriver so the tip faces bottom right.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Place the asparagus between the eggplant and the screwdriver with the tip facing bottom right.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Set the asparagus between the eggplant and the screwdriver, oriented bottom right from the tip.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Position the asparagus between the eggplant and the screwdriver so its tip points to the bottom right.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Put the asparagus between the eggplant and the screwdriver.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Set the asparagus between the eggplant and the screwdriver.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Position the asparagus between the eggplant and the screwdriver.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Using the left hand, place the asparagus between the eggplant and the screwdriver.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Have the left arm put the asparagus between the eggplant and the screwdriver.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "With the left hand, set the asparagus between the eggplant and the screwdriver.", + "start_idx": 3963, + "end_idx": 4002 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal grip on the handle.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Using the left hand, take hold of the green mug from the table with a diagonal grip on the handle.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Have the left hand grasp the green mug from the table by the handle in a diagonal hold.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "With the left arm, seize the green mug from the table using a diagonal handle grip.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Pick up the green mug from the table using a diagonal grip on the handle.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Take the green mug from the table with a diagonal grasp on the handle.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Grasp the green mug from the table by the handle with a diagonal hold.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "With the left hand, pick up the green mug from the table.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "The green mug from the table should be grasped with the left hand.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Take hold of the green mug from the table with the left arm.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Get the green mug from the table.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "The green mug from the table should be grasped.", + "start_idx": 4002, + "end_idx": 4026 + }, + { + "text": "Put the green mug behind the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Using the left hand, place the green mug behind the eggplant, right side up, with the front facing backward.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Have the left arm set the green mug behind the eggplant, keeping it upright and its front pointed backward.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "With the left hand, position the green mug behind the eggplant so it stays right side up and the front faces backward.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Place the green mug behind the eggplant, right side up, with the front facing backward.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Set the green mug behind the eggplant, keeping it upright with the front pointed backward.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Position the green mug behind the eggplant so it remains right side up and its front faces backward.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Using the left hand, put the green mug behind the eggplant.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "With the left hand, place the green mug behind the eggplant.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Have the left arm position the green mug behind the eggplant.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Put the green mug behind the eggplant.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Set the green mug behind the eggplant.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Place the green mug behind the eggplant.", + "start_idx": 4025, + "end_idx": 4070 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a diagonal approach at its middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "With the left hand, secure the screwdriver from the table by the middle at a diagonal angle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "The screwdriver should be picked up from the table at a diagonal angle by the middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Have the left arm collect the screwdriver from the table.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Take the screwdriver from the table, grasping the middle.", + "start_idx": 4134, + "end_idx": 4158 + }, + { + "text": "Put the screwdriver to the left of the eggplant with the left hand with its tip facing top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the eggplant with its tip pointing to the top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Have the left arm set the screwdriver left of the eggplant, tip directed toward the top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "With the left hand, position the screwdriver on the eggplant's left side, keeping the tip aimed top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Place the screwdriver to the left of the eggplant with its tip pointing to the top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Set the screwdriver on the left side of the eggplant, with the tip directed toward the top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Position the screwdriver left of the eggplant, keeping its tip aimed top left.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Using the left hand, put the screwdriver to the left of the eggplant.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "With the left hand, place the screwdriver on the eggplant's left side.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Have the left arm set the screwdriver left of the eggplant.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Put the screwdriver to the left of the eggplant.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Set the screwdriver on the left side of the eggplant.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Position the screwdriver left of the eggplant.", + "start_idx": 4158, + "end_idx": 4188 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach, holding it at the middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Take the eggplant from the table at a diagonal angle.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Grasp the middle of the eggplant from the table.", + "start_idx": 4188, + "end_idx": 4209 + }, + { + "text": "Put the eggplant on the left side of the table with the left hand with the tip facing left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Using the left hand, place the eggplant on the left side of the table with its tip pointing left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Have the left arm set the eggplant on the table's left side, tip facing left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "With the left hand, position the eggplant on the left side of the table so the tip faces left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Place the eggplant on the left side of the table with its tip pointing left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Set the eggplant on the table's left side with the tip facing left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Position the eggplant on the left side of the table so its tip faces left.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Using the left hand, place the eggplant on the left side of the table.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Have the left arm set the eggplant on the table's left side.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "With the left hand, position the eggplant on the left side of the table.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Put the eggplant on the left side of the table.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Set the eggplant on the table's left side.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Place the eggplant on the table's left side.", + "start_idx": 4209, + "end_idx": 4233 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Have the left arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "With the left hand, pick the asparagus up from the table using a diagonal approach at the middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Take the asparagus from the table diagonally from its middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Grasp the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Using the left hand, collect the asparagus from the table.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Remove the asparagus from the table.", + "start_idx": 4233, + "end_idx": 4257 + }, + { + "text": "Put the asparagus on the center of the table with the left hand with its tip facing bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table with its tip pointing to the bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Have the left arm set the asparagus in the table center, tip directed toward the bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "With the left hand, position the asparagus on the center of the table so its tip faces bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Place the asparagus at the center of the table with its tip pointing to the bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Set the asparagus on the center of the table so the tip faces bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Position the asparagus in the middle of the table with its tip directed toward the bottom left.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Using the left hand, put the asparagus on the center of the table.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "With the left hand, place the asparagus at the center of the table.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Have the left arm set the asparagus in the table center.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Put the asparagus on the center of the table.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Using the left hand, position the asparagus at the center of the table.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Set the asparagus on the center of the table.", + "start_idx": 4257, + "end_idx": 4284 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Have the left arm take the green mug from the table, gripping the handle at a diagonal angle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "With the left hand, grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Have the left arm take the green mug from the table by its handle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 4284, + "end_idx": 4314 + }, + { + "text": "Put the green mug to the front left of the asparagus with handle facing backwards right side up using the left hand.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Using the left hand, place the green mug at the front-left of the asparagus, with the handle facing backward and the mug right side up.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Have the left arm set the green mug in front-left of the asparagus, keeping it upright with the handle pointed backward.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "With the left hand, position the green mug to the asparagus's front left, upright and with its handle facing backward.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Place the green mug at the front-left of the asparagus, with the handle facing backward and the mug right side up.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Set the green mug in front-left of the asparagus, keeping the handle pointed backward and the mug upright.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Position the green mug to the front left of the asparagus, upright with its handle facing backward.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Using the left hand, put the green mug to the front left of the asparagus.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "With the left hand, place the green mug by the asparagus on its front-left side.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Have the left arm set the green mug in the front-left position relative to the asparagus.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Put the green mug at the front left of the asparagus.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Using the left hand, position the green mug to the asparagus's front left.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Have the green mug placed in front-left of the asparagus.", + "start_idx": 4314, + "end_idx": 4347 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Have the left arm pick the screwdriver up from the table, holding it at a diagonal angle by the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "With the left hand, collect the screwdriver from the table in a diagonal orientation, gripping the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Take the screwdriver from the table in a diagonal orientation, holding the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Grab the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table, holding the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Take the screwdriver from the table with the left hand in a diagonal orientation.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Place the screwdriver inside the green mug with the left hand right side up.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Using the left hand, set the screwdriver inside the green mug with its tip pointing up.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Have the left arm place the screwdriver into the green mug, right side up.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "With the left hand, deposit the screwdriver in the green mug so the tip faces upward.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Place the screwdriver inside the green mug with its tip up.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Put the screwdriver into the green mug right side up.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Set the screwdriver in the green mug with the tip pointing upward.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Using the left hand, place the screwdriver inside the green mug.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "With the left hand, put the screwdriver into the green mug.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Have the left arm set the screwdriver in the green mug.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Place the screwdriver in the green mug.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Put the screwdriver into the green mug.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Have the screwdriver placed inside the green mug.", + "start_idx": 4371, + "end_idx": 4410 + }, + { + "text": "Pick up the eggplant from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Using the left hand, collect the eggplant from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Have the left arm take the eggplant from the table by its bottom with a side grasp at a diagonal angle.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "With the left hand, grasp the eggplant from the table at the bottom using a side hold and a diagonal approach.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Pick up the eggplant from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Take the eggplant from the table by its bottom with a side grasp at a diagonal angle.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Get the eggplant from the table with a diagonal pick angle and a side hold at the bottom.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Using the left hand, pick up the eggplant from the table with a side grip.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "With the left hand, take the eggplant from the table by the bottom using a side grasp.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Have the left arm grasp the eggplant from the table with a side hold.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Pick up the eggplant from the table with the left hand at the bottom with a diagonal pick angle.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Using the left hand, collect the eggplant from the table with a diagonal approach at the bottom.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Take the eggplant from the table by its bottom.", + "start_idx": 4410, + "end_idx": 4434 + }, + { + "text": "Place the eggplant on the center of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Using the left hand, place the eggplant at the center of the table with the tip facing forwards.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Have the left arm set the eggplant down in the table's center, oriented forward using the tip as reference.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "With the left hand, position the eggplant in the center of the table so the tip points forwards.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Place the eggplant at the center of the table with the tip facing forwards.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Set the eggplant in the middle of the table, oriented forward from the tip.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Position the eggplant on the table's center with the tip pointing forwards.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Using the left hand, place the eggplant at the center of the table.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "With the left hand, set the eggplant down in the middle of the table.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Have the left arm position the eggplant on the center of the table.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Put the eggplant in the center of the table.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Set the eggplant down on the table's center.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Position the eggplant at the middle of the table.", + "start_idx": 4434, + "end_idx": 4470 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally by the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally by the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table, grasping the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table by the middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Have the left arm retrieve the blue stuffed toy from the table, holding its middle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table diagonally.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 4569, + "end_idx": 4599 + }, + { + "text": "Put the blue stuffed toy inside the green bowl with the left hand facing bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the green bowl with its front facing bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Have the left arm put the blue stuffed toy inside the green bowl, front pointed toward the bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "With the left hand, deposit the blue stuffed toy in the green bowl so the front faces bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Place the blue stuffed toy into the green bowl with its front facing bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Set the blue stuffed toy inside the green bowl, front toward the bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Put the blue stuffed toy in the green bowl so the front points bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Using the left hand, place the blue stuffed toy into the green bowl.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "With the left hand, set the blue stuffed toy inside the green bowl.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Have the left arm put the blue stuffed toy in the green bowl.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Put the blue stuffed toy into the green bowl.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Using the left hand, place the blue stuffed toy in the green bowl.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Set the blue stuffed toy inside the green bowl with its front toward the bottom left.", + "start_idx": 4599, + "end_idx": 4620 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Have the left hand take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "With the left hand, collect the eggplant from the table by grasping the middle at a diagonal angle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "From the table, collect the eggplant by grasping the middle at a diagonal angle.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Have the left hand take the eggplant from the table.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "With the left hand, collect the eggplant from the table.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 4620, + "end_idx": 4644 + }, + { + "text": "Put the eggplant to the left side of the table with the left hand with its tip facing top right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Using the left hand, place the eggplant on the table's left side with its tip pointed to the top right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Have the left arm set the eggplant at the left side of the table, tip oriented toward the top right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "With the left hand, position the eggplant to the left of the table so its tip faces the upper right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Place the eggplant on the left side of the table with its tip facing the top right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Set the eggplant to the table's left side, with the tip directed toward the upper right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Position the eggplant at the left side of the table, its tip pointing top right.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Using the left hand, place the eggplant on the table's left side.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Have the left arm set the eggplant to the left of the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "With the left hand, position the eggplant at the table's left side.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Place the eggplant on the left side of the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Set the eggplant to the table's left side.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Position the eggplant at the left side of the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Have the left arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, approaching diagonally at the middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Take the asparagus from the table diagonally from the middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "From the table, grasp the asparagus at a diagonal angle from the middle.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "From the table, retrieve the asparagus.", + "start_idx": 4683, + "end_idx": 4713 + }, + { + "text": "Place the asparagus behind the green bowl with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Using the left hand, set the asparagus behind the green bowl with its tip facing backward.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Have the left arm place the asparagus behind the green bowl, oriented backward relative to its tip.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "With the left hand, position the asparagus behind the green bowl so the tip points backward.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Place the asparagus behind the green bowl with its tip facing backward.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Set the asparagus behind the green bowl, keeping the tip oriented backward.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Position the asparagus behind the green bowl so it faces backward from the tip.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Put the asparagus behind the green bowl.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Arrange the asparagus behind the green bowl.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Leave the asparagus behind the green bowl.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Using the left hand, place the asparagus behind the green bowl.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Have the left arm set the asparagus behind the green bowl.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Position the asparagus behind the green bowl with the left hand.", + "start_idx": 4713, + "end_idx": 4743 + }, + { + "text": "Pick up the green bowl from the table with the left hand at a diagonal angle gripping the bottom left lip.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Using the left hand, take the green bowl from the table at a diagonal angle by gripping the bottom left lip.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Have the left arm grasp the green bowl from the table diagonally at the bottom left lip.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "With the left hand, secure the green bowl from the table in a diagonal pick by the bottom left lip.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle by gripping the bottom left lip.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Grasp the green bowl from the table diagonally at the bottom left lip.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Take the green bowl from the table by the bottom left lip at a diagonal angle.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Have the left arm grasp the green bowl from the table diagonally.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle.", + "start_idx": 4743, + "end_idx": 4767 + }, + { + "text": "Put the green bowl behind the green mug with the left hand.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Using the left hand, place the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Have the left arm set the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "With the left hand, position the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Place the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Set the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Position the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Move the green bowl behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "The green bowl goes behind the green mug.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Put the green bowl with the left hand.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Using the left hand, set the green bowl down.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Place the green bowl.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Set the green bowl in place.", + "start_idx": 4767, + "end_idx": 4803 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Using the left hand, take the asparagus from the table with a diagonal grasp at the middle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Have the left arm pick the asparagus up from the table at the center using a diagonal angle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "With the left hand, grasp the asparagus from the table diagonally at its middle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Take the asparagus from the table with a diagonal grasp at the middle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Grasp the asparagus from the table diagonally at its center.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "From the table, pick up the asparagus at the middle.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Take the asparagus from the table by its center.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Grasp the asparagus from the table.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 4851, + "end_idx": 4869 + }, + { + "text": "Put the asparagus to the left of the green mug with the left hand with the tip facing bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green mug with its tip pointing to the bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Have the left arm set the asparagus left of the green mug, tip oriented bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "With the left hand, position the asparagus on the green mug's left side, keeping the tip aimed bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Place the asparagus to the left of the green mug with its tip pointing to the bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Set the asparagus on the left side of the green mug, with the tip oriented bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Position the asparagus left of the green mug, tip facing bottom left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Put the asparagus to the left of the green mug.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Set the asparagus on the left side of the green mug.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Position the asparagus next to the green mug on its left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green mug.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Have the left arm set the asparagus on the green mug's left side.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "With the left hand, position the asparagus next to the green mug on the left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "With the left hand, grasp the eggplant at the middle and remove it from the table diagonally.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Grasp the middle of the eggplant and pick it up from the table at a diagonal angle.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "With the left hand, remove the eggplant from the table.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Grasp the eggplant and remove it from the table.", + "start_idx": 4902, + "end_idx": 4929 + }, + { + "text": "Place the eggplant to the right of the green mug with the left hand with its tip facing top left.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Using the left hand, set the eggplant to the right of the green mug with its tip pointing to the top left.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "With the left arm, position the eggplant to the right of the green mug so the tip faces top left.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Have the left hand place the eggplant to the right of the green mug, tip directed toward the top left.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Place the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Set the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Position the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Put the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Using the left hand, place the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "With the left arm, set the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Have the left hand position the eggplant to the right of the green mug.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Place the eggplant with its tip facing top left.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Set the eggplant down with its tip pointing to the top left.", + "start_idx": 4929, + "end_idx": 4971 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Using the left hand, take the screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Have the left arm pick the screwdriver up from the table, grasping its top with a side hold from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "With the left hand, seize the screwdriver from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Pick up the screwdriver from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Take the screwdriver from the table by its top with a side hold from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "The screwdriver should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "With the left hand, collect the screwdriver from the table.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at the top from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Take the screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "The screwdriver should be picked up from the table with the left hand at the top.", + "start_idx": 5028, + "end_idx": 5052 + }, + { + "text": "Put the screwdriver to the left of the green bowl with the left hand facing forwards with the tip as reference.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the green bowl with the tip facing forwards.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Have the left arm set the screwdriver left of the green bowl, oriented forward by its tip.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "With the left hand, position the screwdriver to the left of the green bowl so the tip points forwards.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Place the screwdriver to the left of the green bowl with the tip facing forwards.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Set the screwdriver left of the green bowl with the tip pointing forwards.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Position the screwdriver to the left of the green bowl, keeping the tip oriented forwards.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the green bowl.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Have the left arm set the screwdriver left of the green bowl.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "With the left hand, position the screwdriver to the left of the green bowl.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Put the screwdriver to the left of the green bowl.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Set the screwdriver left of the green bowl.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Position the screwdriver to the left of the green bowl.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Pick up the green mug from the table with the left hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Using the left hand, pick up the green mug from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Have the left hand grasp the green mug from the table with a lip grip on its left side at a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "With the left hand, take the green mug from the table using a lip grasp on the left side at a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Pick up the green mug from the table using a lip grip at the left side with a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Take the green mug from the table with a lip grasp on its left side at a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Grasp the green mug from the table with a lip grip on the left side at a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Using the left hand, pick up the green mug from the table with a lip grip.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "With the left hand, take the green mug from the table using a lip grasp.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Have the left hand grasp the green mug from the table with a lip grip.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Using the left hand, pick up the green mug from the table at the left side with a diagonal angle.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "With the left hand, take the green mug from the table.", + "start_idx": 5094, + "end_idx": 5118 + }, + { + "text": "Put the green mug to the left of the screwdriver with the left hand right side up with the front facing backwards.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Using the left hand, place the green mug to the left of the screwdriver upright with its front facing backward.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Have the left arm set the green mug left of the screwdriver right side up, with the front pointed backward.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "With the left hand, position the green mug to the screwdriver's left, keeping it upright and the front facing backward.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Place the green mug to the left of the screwdriver right side up with the front facing backward.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Set the green mug left of the screwdriver, upright and with its front facing backward.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Position the green mug to the screwdriver's left, keeping it right side up and the front pointed backward.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "With the left hand, place the green mug to the left of the screwdriver.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Using the left hand, set the green mug to the screwdriver's left.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Have the left arm position the green mug left of the screwdriver.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Put the green mug to the left of the screwdriver.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Set the green mug to the screwdriver's left.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Have the green mug placed left of the screwdriver.", + "start_idx": 5118, + "end_idx": 5157 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "At a diagonal angle, have the left hand take the asparagus from the table by its middle.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding it at the middle on a diagonal.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "At a diagonal angle, take the asparagus from the table by the middle.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "The asparagus from the table should be picked up diagonally from its middle.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "The asparagus from the table should be picked up.", + "start_idx": 5157, + "end_idx": 5175 + }, + { + "text": "Put the asparagus in front of the green mug with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Using the left hand, place the asparagus in front of the green mug with the tip facing backwards.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Have the left arm set the asparagus in front of the green mug, oriented backwards from the tip.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "With the left hand, position the asparagus before the green mug so its tip points backward.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Place the asparagus in front of the green mug with the tip facing backwards.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Set the asparagus before the green mug, oriented backward from the tip.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Position the asparagus in front of the green mug so the tip points backward.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Put the asparagus in front of the green mug.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Place the asparagus before the green mug.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Set the asparagus in front of the green mug.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Using the left hand, put the asparagus in front of the green mug.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Have the left arm place the asparagus before the green mug.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "With the left hand, set the asparagus in front of the green mug.", + "start_idx": 5175, + "end_idx": 5205 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Have the left arm pick up the green bowl from the table with a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "With the left hand, grasp the green bowl from the table using the lip at the bottom left on a diagonal.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Grasp the green bowl from the table using a lip hold at the bottom-left area at a diagonal angle.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "The green bowl should be picked up from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "With the left hand, grasp the green bowl from the table via the lip.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Take the green bowl from the table using a lip grip.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "The green bowl should be picked up from the table.", + "start_idx": 5274, + "end_idx": 5292 + }, + { + "text": "Put the green bowl in front of the screwdriver with the left hand.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Using the left hand, place the green bowl in front of the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Have the left arm set the green bowl down in front of the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "With the left hand, position the green bowl before the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Place the green bowl in front of the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Set the green bowl down in front of the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Position the green bowl before the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Put the green bowl by the screwdriver with the left hand.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Using the left hand, place the green bowl near the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Have the left arm set the green bowl down by the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Put the green bowl by the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Set the green bowl near the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Place the green bowl before the screwdriver.", + "start_idx": 5292, + "end_idx": 5325 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Have the left arm grasp the screwdriver from the table diagonally at its middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "With the left hand, collect the screwdriver from the table using a diagonal approach at the middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Take the screwdriver from the table diagonally from the middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Using the left hand, take the screwdriver from the table.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Have the left arm collect the screwdriver from the table.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Grasp the screwdriver from the table.", + "start_idx": 5325, + "end_idx": 5343 + }, + { + "text": "Put the screwdriver to the right of the green bowl with the left hand with its tip facing right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the green bowl with its tip pointing right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Have the left arm set the screwdriver to the green bowl's right, tip directed right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "With the left hand, position the screwdriver on the right side of the green bowl, tip facing right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Place the screwdriver to the right of the green bowl with its tip facing right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Set the screwdriver on the right side of the green bowl, with the tip pointing right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Position the screwdriver to the green bowl's right, tip directed right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Using the left hand, put the screwdriver to the right of the green bowl.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "With the left hand, place the screwdriver on the right side of the green bowl.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Have the left arm set the screwdriver to the green bowl's right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Put the screwdriver to the right of the green bowl.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Place the screwdriver on the right side of the green bowl.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Set the screwdriver to the green bowl's right.", + "start_idx": 5343, + "end_idx": 5379 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left, holding it at a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "With the left hand, seize the green bowl from the table using a lip grasp at the bottom left in a diagonal orientation.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Take the green bowl from the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Grasp the green bowl from the table with a lip hold at the bottom left in a diagonal orientation.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "With the left hand, pick up the green bowl from the table using a lip grip at the bottom left.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Using the left hand, collect the green bowl from the table with a lip grasp on the bottom-left area.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Have the left arm take the green bowl from the table with a lip hold at the bottom left.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Take the green bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Pick up the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 5430, + "end_idx": 5460 + }, + { + "text": "Place the green bowl behind the screwdriver with the left hand.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Using the left hand, set the green bowl behind the screwdriver upright.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Have the left arm place the green bowl behind the screwdriver with its open side up.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "With the left hand, position the green bowl behind the screwdriver right side up.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Place the green bowl behind the screwdriver upright.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Set the green bowl behind the screwdriver with its open side up.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Position the green bowl behind the screwdriver right side up.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Using the left hand, place the green bowl behind the screwdriver.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "With the left arm, set the green bowl behind the screwdriver.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Have the left hand position the green bowl behind the screwdriver.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Put the green bowl behind the screwdriver.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Set the green bowl behind the screwdriver.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Position the green bowl behind the screwdriver.", + "start_idx": 5460, + "end_idx": 5499 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "From the table, collect the blue stuffed toy diagonally using a full-object hold.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Have the left arm collect the blue stuffed toy from the table.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Take the blue stuffed toy from the table diagonally.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "From the table, pick up the blue stuffed toy.", + "start_idx": 5595, + "end_idx": 5616 + }, + { + "text": "Put the blue stuffed toy to the left of the green mug with the left hand facing forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the green mug with its front facing forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the green mug, facing forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the green mug so the front faces forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Place the blue stuffed toy to the left of the green mug with its front facing forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Set the blue stuffed toy to the left of the green mug, facing forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Position the blue stuffed toy to the left of the green mug so it faces forwards.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the green mug.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the green mug.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the green mug.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Put the blue stuffed toy to the left of the green mug.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Set the blue stuffed toy beside the green mug on its left side.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Have the blue stuffed toy placed to the left of the green mug.", + "start_idx": 5616, + "end_idx": 5658 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top left from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Have the left arm pick the juice pouch off the table with a side hold on the top left at a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "With the left hand, grasp the juice pouch from the table by the top-left area using a side grip from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top left from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Grasp the juice pouch off the table by the top-left area using a side hold from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "The juice pouch from the table should be picked up with a side grip at the top left from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Have the left arm take the juice pouch from the table using a side hold.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a side grasp.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at the top left from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Have the left arm take the juice pouch off the table by the top-left area at a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Pick up the juice pouch from the table at the top left from a diagonal angle.", + "start_idx": 5658, + "end_idx": 5685 + }, + { + "text": "Put the juice pouch behind the screwdriver with the left hand right side up with the front as the orientation reference point.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Using the left hand, place the juice pouch behind the screwdriver right side up, with the front as the orientation reference point.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Have the left arm set the juice pouch behind the screwdriver, keeping it right side up relative to the front.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "With the left hand, position the juice pouch behind the screwdriver so it is right side up using the front as the reference point.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Place the juice pouch behind the screwdriver right side up, with the front as the orientation reference point.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Set the juice pouch behind the screwdriver, keeping it right side up relative to the front.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Position the juice pouch behind the screwdriver so it stays right side up with the front as the reference point.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Using the left hand, place the juice pouch behind the screwdriver.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Have the left arm set the juice pouch behind the screwdriver.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "With the left hand, position the juice pouch behind the screwdriver.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Place the juice pouch behind the screwdriver.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Set the juice pouch behind the screwdriver right side up.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Position the juice pouch behind the screwdriver using the front as the reference point.", + "start_idx": 5685, + "end_idx": 5715 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a diagonal approach at the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by its middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding its middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table, holding its middle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Take the screwdriver from the table with the left hand at a diagonal approach.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 5790, + "end_idx": 5826 + }, + { + "text": "Put the screwdriver to the right of the green mug with the left hand facing top right with the tip as the reference point.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the green mug, with the tip facing top right.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Have the left arm set the screwdriver to the right of the green mug, oriented top right by its tip.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "With the left hand, position the screwdriver to the green mug's right, keeping the tip pointed top right.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Place the screwdriver to the right of the green mug.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Set the screwdriver down to the right of the green mug.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Position the screwdriver to the green mug's right side.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Put the screwdriver to the right of the green mug.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the green mug.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Have the left arm set the screwdriver to the green mug's right side.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "With the left hand, position the screwdriver to the right of the green mug.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Place the screwdriver to the green mug's right side, with the tip facing top right.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Set the screwdriver to the right of the green mug with the tip pointed top right.", + "start_idx": 5826, + "end_idx": 5874 + }, + { + "text": "Pick up the green mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Using the left hand, take the green mug from the table with a diagonal handle grasp.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Have the left arm pick up the green mug from the table by the handle with a diagonal grasp.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "With the left hand, collect the green mug from the table using a diagonal grip on the handle.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Pick up the green mug from the table using a diagonal grasp at the handle.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Take the green mug from the table with a diagonal handle grip.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Get the green mug from the table by the handle with a diagonal grasp.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "With the left arm, take the green mug from the table.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Have the left hand collect the green mug from the table.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Get the green mug from the table.", + "start_idx": 5874, + "end_idx": 5907 + }, + { + "text": "Place the green mug in front of the screwdriver with the left hand right side up with the front facing backwards.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Using the left hand, set the green mug in front of the screwdriver, right side up, with its front facing backward.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Have the left arm place the green mug before the screwdriver, keeping it upright and its front pointed backward.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "With the left hand, position the green mug in front of the screwdriver so it is right side up and facing backward.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Place the green mug in front of the screwdriver, right side up, with its front facing backward.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Set the green mug before the screwdriver, upright, with the front pointed backward.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Position the green mug in front of the screwdriver so it stays right side up with the front facing backward.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Using the left hand, place the green mug in front of the screwdriver.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Have the left arm set the green mug before the screwdriver.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "With the left hand, position the green mug in front of the screwdriver.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Put the green mug in front of the screwdriver.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Place the green mug before the screwdriver.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Set the green mug in front of the screwdriver.", + "start_idx": 5907, + "end_idx": 5940 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by its middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "With the left hand, collect the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Grab the asparagus from the table at a diagonal angle around its middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Have the left arm collect the asparagus from the table.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Using the left hand, grasp the asparagus from the table.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 5940, + "end_idx": 5967 + }, + { + "text": "Place the asparagus in front of the juice pouch with the left hand facing top left with the tip as the reference point.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Using the left hand, set the asparagus in front of the juice pouch with the tip facing top left.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Have the left arm place the asparagus in front of the juice pouch, oriented top left by its tip.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "With the left hand, position the asparagus before the juice pouch so the tip points to the top left.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Place the asparagus in front of the juice pouch with the tip facing top left.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Set the asparagus in front of the juice pouch, oriented top left by the tip.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Position the asparagus before the juice pouch so its tip points top left.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Using the left hand, place the asparagus in front of the juice pouch.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Have the left arm set the asparagus before the juice pouch.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "With the left hand, position the asparagus in front of the juice pouch.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Place the asparagus in front of the juice pouch.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Set the asparagus before the juice pouch.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Position the asparagus in front of the juice pouch.", + "start_idx": 5967, + "end_idx": 6015 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Have the left arm pick the blue stuffed toy up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally while grasping the whole object.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6054 + }, + { + "text": "Put the blue stuffed toy to the left of the green mug with the left hand facing forwards.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the green mug, facing forwards.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Have the left arm set the blue stuffed toy left of the green mug with its front facing forward.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "With the left hand, position the blue stuffed toy on the green mug's left side, facing forwards.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Place the blue stuffed toy to the left of the green mug, facing forwards.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Set the blue stuffed toy on the left side of the green mug with its front facing forward.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Position the blue stuffed toy left of the green mug, facing forwards.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the green mug.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Have the left arm set the blue stuffed toy on the green mug's left side.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "With the left hand, position the blue stuffed toy left of the green mug.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Put the blue stuffed toy to the left of the green mug.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Set the blue stuffed toy beside the green mug on its left side.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Position the blue stuffed toy on the green mug's left side.", + "start_idx": 6054, + "end_idx": 6081 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Have the left arm pick the screwdriver up from the table, approaching diagonally and holding its middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table in a diagonal orientation, gripping the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by its middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Take the screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Pick up the screwdriver from the table with the left hand, grasping the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Pick up the screwdriver from the table by the middle.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "With the left hand, pick up the screwdriver from the table.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 6081, + "end_idx": 6111 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed toy with the left hand facing forwards with the tip facing forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the blue stuffed toy with its tip facing forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Have the left arm set the screwdriver to the left of the blue stuffed toy, keeping the tip pointed forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "With the left hand, position the screwdriver left of the blue stuffed toy so the tip faces forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Place the screwdriver to the left of the blue stuffed toy with the tip facing forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Set the screwdriver left of the blue stuffed toy, with its tip pointed forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Position the screwdriver to the left of the blue stuffed toy, tip facing forwards.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "With the left hand, put the screwdriver to the left of the blue stuffed toy.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Using the left hand, set the screwdriver left of the blue stuffed toy.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Have the left arm position the screwdriver to the left of the blue stuffed toy.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed toy.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Place the screwdriver left of the blue stuffed toy.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Set the screwdriver to the left of the blue stuffed toy.", + "start_idx": 6111, + "end_idx": 6150 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table on a diagonal approach, with a whole-object grasp.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Take the blue stuffed toy off the table on a diagonal approach with a whole-object grasp.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Take the blue stuffed toy off the table with the left hand.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally.", + "start_idx": 6150, + "end_idx": 6174 + }, + { + "text": "Put the blue stuffed toy inside the green mug with the left hand facing forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the green mug facing forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Have the left arm put the blue stuffed toy into the green mug with its front facing forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "With the left hand, insert the blue stuffed toy into the green mug so it faces forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Place the blue stuffed toy inside the green mug facing forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Put the blue stuffed toy into the green mug with its front forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Insert the blue stuffed toy into the green mug facing forwards.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the green mug.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "With the left hand, put the blue stuffed toy into the green mug.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Have the left arm insert the blue stuffed toy into the green mug.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Put the blue stuffed toy inside the green mug.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Have the left arm place the blue stuffed toy into the green mug.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Place the blue stuffed toy into the green mug.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Pick up the juice pouch to the top side of the table with the left hand using a side grip at the top left with a diagonal angle.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Using the left hand, take the juice pouch to the top side of the table with a side grasp at the top left and a diagonal angle.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Have the left arm pick up the juice pouch to the top side of the table, contacting its top left with a side hold at a diagonal.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "With the left hand, grasp the juice pouch to the top side of the table from the top left using a side grip at a diagonal.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Pick up the juice pouch to the top side of the table with a side grip at the top left and a diagonal angle.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Take hold of the juice pouch to the top side of the table from the top left using a side grasp at a diagonal.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Grasp the juice pouch to the top side of the table with a side hold at the top left and a diagonal angle.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Using the left hand, pick up the juice pouch to the top side of the table with a side grip.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Have the left arm take the juice pouch to the top side of the table.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "With the left hand, grasp the juice pouch to the top side of the table.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Pick up the juice pouch to the top side of the table.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Using the left hand, take the juice pouch to the top side of the table at the top left with a diagonal angle.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "From the top left at a diagonal, pick up the juice pouch to the top side of the table.", + "start_idx": 6276, + "end_idx": 6306 + }, + { + "text": "Place the juice pouch behind the green mug with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Using the left hand, set the juice pouch behind the green mug right side up, using the front as the reference point.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Have the left arm place the juice pouch behind the green mug with its front as the orientation reference point, right side up.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "With the left hand, position the juice pouch behind the green mug so it is right side up, referenced from the front.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Place the juice pouch behind the green mug right side up, using the front as the orientation reference point.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Set the juice pouch behind the green mug with its front as the orientation reference point, right side up.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Position the juice pouch behind the green mug so it remains right side up relative to the front.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Using the left hand, place the juice pouch behind the green mug.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "With the left arm, set the juice pouch behind the green mug.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Have the left hand position the juice pouch behind the green mug.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Put the juice pouch behind the green mug.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Using the left hand, put the juice pouch behind the green mug right side up.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Place the juice pouch behind the green mug with the front as the orientation reference point.", + "start_idx": 6306, + "end_idx": 6339 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Have the left arm take the screwdriver from the table, angled diagonally and held at the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table at a diagonal angle, gripping its middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Retrieve the screwdriver from the table, keeping a diagonal angle and grasping the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "With the left hand, pick up the screwdriver from the table by grasping the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Using the left hand, take the screwdriver from the table at the middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table, holding its middle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 6339, + "end_idx": 6366 + }, + { + "text": "Put the screwdriver between the green mug and the green bowl with the left hand facing right with the tip as the orientation reference point.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Using the left hand, place the screwdriver between the green mug and the green bowl with the tip facing right.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Have the left arm set the screwdriver between the green mug and the green bowl, oriented rightward by its tip.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "With the left hand, position the screwdriver between the green mug and the green bowl so the tip points right.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Place the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Set the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Position the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Put the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Using the left hand, place the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "With the left hand, set the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Have the left arm put the screwdriver between the green mug and the green bowl.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Place the screwdriver between the green mug and the green bowl with the tip facing right.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Set the screwdriver between the green mug and the green bowl with the tip pointing right.", + "start_idx": 6366, + "end_idx": 6405 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Using the left hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "With the left hand, take hold of the green mug from the table by the handle at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Pick up the green mug from the table with the left hand by the handle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Using the left hand, retrieve the green mug from the table by the handle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "With the left hand, collect the green mug from the table at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 6405, + "end_idx": 6447 + }, + { + "text": "Put the green mug to the left of the juice pouch with the handle facing backwards right side up using the left hand.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Using the left hand, place the green mug to the left of the juice pouch with the handle facing backward and upright.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Have the left arm set the green mug left of the juice pouch, upright with its handle pointing backward.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "With the left hand, position the green mug to the juice pouch's left, keeping it right side up and the handle facing back.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Place the green mug to the left of the juice pouch with the handle facing backward and right side up.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Set the green mug left of the juice pouch, with the handle pointing backward and the mug upright.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Position the green mug to the juice pouch's left, keeping it upright with the handle toward the back.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Place the green mug to the left of the juice pouch.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Set the green mug down left of the juice pouch.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "The green mug goes to the left of the juice pouch.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Using the left hand, place the green mug to the left of the juice pouch.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Have the left arm set the green mug left of the juice pouch.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "With the left hand, position the green mug to the juice pouch's left.", + "start_idx": 6447, + "end_idx": 6483 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Have the left arm take the screwdriver from the table, angled diagonally and held at its middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at a diagonal slant around the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Take the screwdriver from the table, keeping it diagonal and holding the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal slant at its center.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "From the table, take the screwdriver by the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table by the middle.", + "start_idx": 6483, + "end_idx": 6513 + }, + { + "text": "Put the screwdriver on the bottom left side of the table with the left hand facing top right with the tip as the reference point.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Using the left hand, place the screwdriver on the table's bottom-left side with the tip facing top right.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Have the left arm set the screwdriver at the bottom left of the table, oriented top right from the tip.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "With the left hand, position the screwdriver on the bottom-left area of the table, tip pointing toward the top right.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Place the screwdriver on the bottom-left side of the table with the tip facing top right.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Set the screwdriver on the table's bottom-left side, with the tip directed toward the top right.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Position the screwdriver at the bottom left of the table, oriented so the tip points top right.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Using the left hand, put the screwdriver on the bottom-left side of the table.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Have the left arm place the screwdriver at the bottom left of the table.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "With the left hand, set the screwdriver on the table's bottom-left area.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Place the screwdriver on the bottom-left side of the table.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Set the screwdriver at the bottom left of the table.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Have the screwdriver placed on the table's bottom-left area.", + "start_idx": 6513, + "end_idx": 6561 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grasp at the top left from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top left from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Have the left arm pick the juice pouch up from the table with a side grip on the top left at a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "With the left hand, grasp the juice pouch from the table on the top left using a side hold from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Pick up the juice pouch from the table using a side grasp at the top left from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Take the juice pouch from the table with a side grip on the top left at a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Grasp the juice pouch from the table at the top left using a side hold from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grasp.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grip.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a side hold.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at the top left from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Using the left hand, take the juice pouch from the table.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Grasp the juice pouch from the table at the top left from a diagonal angle.", + "start_idx": 6687, + "end_idx": 6714 + }, + { + "text": "Put the juice pouch between the screwdriver and the asparagus with the left hand right side up.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Using the left hand, place the juice pouch between the screwdriver and the asparagus right side up.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Have the left arm set the juice pouch between the screwdriver and the asparagus in an upright orientation.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "With the left hand, position the juice pouch between the screwdriver and the asparagus so it is right side up.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Place the juice pouch between the screwdriver and the asparagus right side up.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Set the juice pouch between the screwdriver and the asparagus with its right side facing up.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Position the juice pouch between the screwdriver and the asparagus upright.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Using the left hand, put the juice pouch between the screwdriver and the asparagus.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "With the left hand, place the juice pouch between the screwdriver and the asparagus.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Have the left arm position the juice pouch between the screwdriver and the asparagus.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Put the juice pouch between the screwdriver and the asparagus.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Set the juice pouch between the screwdriver and the asparagus.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Position the juice pouch between the screwdriver and the asparagus.", + "start_idx": 6714, + "end_idx": 6750 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Have the left arm grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "With the left hand, collect the green mug from the table using the handle at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Grasp the green mug from the table by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Have the left arm take the green mug from the table by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "With the left hand, grasp the green mug from the table by the handle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Take the green mug from the table on a diagonal.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Have the left arm pick up the green mug from the table.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Put the green mug to the left of the eggplant with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Using the left hand, place the green mug to the left of the eggplant, right side up with the front as the reference point.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Have the left arm set the green mug to the left of the eggplant, keeping it right side up relative to its front.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "With the left hand, position the green mug left of the eggplant in an upright orientation using the front as the reference point.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Place the green mug to the left of the eggplant, right side up with the front as the reference point.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Set the green mug left of the eggplant, keeping it right side up relative to the front.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Position the green mug to the left of the eggplant in a right-side-up orientation using the front as the reference point.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Using the left hand, put the green mug to the left of the eggplant.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "With the left hand, set the green mug left of the eggplant.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Have the left arm place the green mug to the left of the eggplant.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Place the green mug to the left of the eggplant.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Set the green mug left of the eggplant.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Position the green mug to the left of the eggplant.", + "start_idx": 6774, + "end_idx": 6795 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Take the asparagus from the table on a diagonal path, holding the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "With the left arm, take the asparagus from the table.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Have the left hand retrieve the asparagus from the table.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Grasp the asparagus from the table with the left hand.", + "start_idx": 6849, + "end_idx": 6867 + }, + { + "text": "Put the asparagus behind the screwdriver with the left hand with the tip facing bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Using the left hand, place the asparagus behind the screwdriver with its tip facing bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Have the left arm set the asparagus behind the screwdriver, tip oriented toward the bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "With the left hand, position the asparagus behind the screwdriver so the tip points bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Place the asparagus behind the screwdriver with its tip facing bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Set the asparagus behind the screwdriver, with the tip pointing toward the bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Position the asparagus behind the screwdriver so its tip faces the bottom right.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Using the left hand, put the asparagus behind the screwdriver.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Have the left arm place the asparagus behind the screwdriver.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "With the left hand, set the asparagus behind the screwdriver.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Put the asparagus behind the screwdriver.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Place the asparagus behind the screwdriver.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Set the asparagus behind the screwdriver.", + "start_idx": 6867, + "end_idx": 6900 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding its middle at a diagonal angle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Retrieve the screwdriver from the table, keeping a diagonal angle and gripping the middle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Using the left hand, take the screwdriver from the table.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "With the left hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 6900, + "end_idx": 6915 + }, + { + "text": "Place the screwdriver on the top side of the table with the left hand with its tip facing right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Using the left hand, set the screwdriver on the table's top side with its tip pointing right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Have the left arm place the screwdriver on the top side of the table, tip directed to the right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "With the left hand, position the screwdriver on the top side of the table so its tip faces right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Place the screwdriver on the top side of the table with its tip facing right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Set the screwdriver on the table's top side, with the tip pointing right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Position the screwdriver on the top side of the table so the tip faces right.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Using the left hand, place the screwdriver on the top side of the table.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Have the left arm set the screwdriver on the table's top side.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "With the left hand, position the screwdriver on the top side of the table.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Place the screwdriver on the top side of the table.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Set the screwdriver on the table's top side.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Position the screwdriver on the top side of the table.", + "start_idx": 6915, + "end_idx": 6960 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the top using a side grip.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle, gripping the top with a side grasp.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Have the left arm pick the juice pouch off the table diagonally, holding its top in a side grip.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table at a diagonal angle by grasping the top with a side hold.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Take the juice pouch from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Retrieve the juice pouch from the table diagonally, securing the top with a side grasp.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Pick the juice pouch up from the table at a diagonal angle, using a side hold on the top.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table, grasping the top with a side grip.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "With the left hand, collect the juice pouch from the table using a side grasp on the top.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Have the left arm take the juice pouch from the table by the top with a side hold.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Using the left hand, remove the juice pouch from the table at a diagonal angle.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Take the juice pouch from the table diagonally with the top facing your grasp.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Get the juice pouch from the table by the top.", + "start_idx": 6960, + "end_idx": 7002 + }, + { + "text": "Put the juice pouch in front of the screwdriver with the left hand right side up with the front as the orientation reference point.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Using the left hand, place the juice pouch in front of the screwdriver right side up, with the front as the reference point.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Have the left arm set the juice pouch in front of the screwdriver, keeping it right side up relative to the front.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "With the left hand, position the juice pouch before the screwdriver so it stays right side up with the front as the orientation reference.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Place the juice pouch in front of the screwdriver right side up, using the front as the reference point.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Set the juice pouch before the screwdriver, keeping it right side up relative to the front.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Position the juice pouch in front of the screwdriver with the front as the reference, right side up.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Using the left hand, put the juice pouch in front of the screwdriver.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Have the left arm place the juice pouch before the screwdriver.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "With the left hand, position the juice pouch in front of the screwdriver.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Set the juice pouch in front of the screwdriver.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Put the juice pouch before the screwdriver right side up, using the front as the reference point.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Position the juice pouch in front of the screwdriver with the front as the reference.", + "start_idx": 7002, + "end_idx": 7032 + }, + { + "text": "Pick up the green mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Using the left hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Have the left arm grasp the green mug from the table by its handle at a diagonal angle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "With the left hand, retrieve the green mug from the table, approaching diagonally at the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Retrieve the green mug from the table, approaching diagonally at the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Using the left hand, pick up the green mug from the table by the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "With the left hand, take the green mug from the table at the handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Have the left arm retrieve the green mug from the table by its handle.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Take the green mug from the table with the left hand.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 7095, + "end_idx": 7119 + }, + { + "text": "Place the green mug in front of the juice pouch with the handle facing backwards with the left hand.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Using the left hand, set the green mug in front of the juice pouch with the handle pointing backward.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Have the left arm place the green mug before the juice pouch, keeping the handle facing back.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "With the left hand, position the green mug in front of the juice pouch so the handle faces backward.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Place the green mug in front of the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Set the green mug before the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Position the green mug in front of the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Put the green mug in front of the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Using the left hand, place the green mug in front of the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "With the left hand, set the green mug before the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Have the left arm position the green mug in front of the juice pouch.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Place the green mug before the juice pouch with the handle facing backward.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Set the green mug in front of the juice pouch, handle facing back.", + "start_idx": 7119, + "end_idx": 7158 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Have the left hand pick the asparagus up from the table diagonally at its middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "With the left hand, collect the asparagus from the table in a diagonal orientation by gripping the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Gather the asparagus from the table with a diagonal pickup at its middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Have the left hand collect the asparagus from the table at its middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Take the asparagus from the table with the left hand diagonally.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Pick up the asparagus from the table by the middle.", + "start_idx": 7158, + "end_idx": 7176 + }, + { + "text": "Put the asparagus to the left of the green mug with the left hand facing top right by the tip.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green mug with the tip facing the top right.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Have the left arm set the asparagus left of the green mug, oriented so the tip points top right.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "With the left hand, position the asparagus to the left of the green mug, tip angled toward the top right.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Place the asparagus to the left of the green mug with the tip facing the top right.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Set the asparagus left of the green mug, with its tip pointing to the top right.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Position the asparagus to the left of the green mug so the tip faces top right.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green mug.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Have the left arm set the asparagus left of the green mug.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "With the left hand, position the asparagus next to the green mug on its left side.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Place the asparagus to the left of the green mug.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Set the asparagus left of the green mug.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Position the asparagus on the left side of the green mug.", + "start_idx": 7176, + "end_idx": 7218 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, gripping the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at a diagonal angle around its middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Grasp the screwdriver from the table at a diagonal angle around its middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Have the left arm take the screwdriver from the table by the middle.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Take the screwdriver from the table diagonally.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Grasp the screwdriver from the table.", + "start_idx": 7218, + "end_idx": 7242 + }, + { + "text": "Place the screwdriver to the left of the juice pouch with the left hand facing right with the tip as the orientation reference point.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Using the left hand, set the screwdriver to the left of the juice pouch with the tip facing right.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Have the left arm place the screwdriver left of the juice pouch, oriented rightward by its tip.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "With the left hand, position the screwdriver to the juice pouch's left, tip pointed right.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Place the screwdriver to the left of the juice pouch with the tip facing right.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Set the screwdriver left of the juice pouch, with the tip oriented to the right.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Position the screwdriver to the left of the juice pouch, tip pointing right.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the juice pouch.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Have the left arm set the screwdriver left of the juice pouch.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "With the left hand, position the screwdriver to the juice pouch's left.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Place the screwdriver to the left of the juice pouch.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Set the screwdriver left of the juice pouch.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Position the screwdriver to the juice pouch's left.", + "start_idx": 7242, + "end_idx": 7287 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "With the left hand, collect the eggplant from the table by approaching diagonally and holding the middle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Have the left arm pick the eggplant off the table at a diagonal angle, securing the center.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Take the eggplant off the table by its middle at a diagonal angle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "From the table, retrieve the eggplant with a diagonal approach, holding the center.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Get the eggplant from the table with the left hand, grasping the middle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Have the left arm take the eggplant off the table.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Grab the eggplant from the table.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Take the eggplant from the table at a diagonal angle.", + "start_idx": 7470, + "end_idx": 7485 + }, + { + "text": "Put the eggplant to the right of the asparagus with the left hand with the tip facing backwards.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Using the left hand, place the eggplant to the right of the asparagus with its tip facing backwards.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Have the left arm set the eggplant to the asparagus's right, tip pointed backward.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "With the left hand, position the eggplant right of the asparagus, keeping the tip facing back.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Place the eggplant to the right of the asparagus with its tip facing backwards.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Set the eggplant on the right side of the asparagus, with the tip pointing backward.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Position the eggplant right of the asparagus, tip facing back.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Using the left hand, put the eggplant to the right of the asparagus.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "With the left hand, place the eggplant on the asparagus's right side.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Have the left arm position the eggplant to the right of the asparagus.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Put the eggplant to the right of the asparagus.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Set the eggplant on the right side of the asparagus.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Position the eggplant right of the asparagus.", + "start_idx": 7485, + "end_idx": 7518 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left with a diagonal angle.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grasp at the top left and a diagonal angle.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "With the left arm, take the juice pouch from the table using a side grip on the top left at a diagonal angle.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Have the left hand retrieve the juice pouch from the table with a side hold at the top left, diagonally oriented.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top left with a diagonal angle.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the top left at a diagonal angle.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Retrieve the juice pouch from the table using a side hold at the top left, diagonally angled.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "With the left arm, take the juice pouch from the table.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Have the left hand retrieve the juice pouch from the table.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at the top left with a diagonal angle.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Take the juice pouch from the table with a side grip.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 7518, + "end_idx": 7539 + }, + { + "text": "Place the juice pouch to the left of the asparagus with the left hand right side up with the front as the reference point.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Have the left arm place the juice pouch left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "With the left hand, position the juice pouch on the asparagus's left side, right side up using the front as reference.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Place the juice pouch to the left of the asparagus.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Set the juice pouch left of the asparagus.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Position the juice pouch on the left side of the asparagus.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Put the juice pouch to the left of the asparagus.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the asparagus.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Have the left arm set the juice pouch left of the asparagus.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "With the left hand, position the juice pouch on the asparagus's left side.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Place the juice pouch left of the asparagus, keeping it right side up.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Set the juice pouch to the left of the asparagus, right side up relative to the front.", + "start_idx": 7539, + "end_idx": 7575 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Retrieve the screwdriver from the table while holding its middle at a diagonal angle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "From the table, collect the screwdriver with the left hand at a diagonal angle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Have the left arm take the screwdriver from the table by its middle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Get the screwdriver from the table.", + "start_idx": 7575, + "end_idx": 7596 + }, + { + "text": "Place the screwdriver to the right of the eggplant with the left hand facing forwards with the tip as the reference point.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Using the left hand, position the screwdriver to the right of the eggplant with its tip facing forwards.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Have the left arm place the screwdriver to the eggplant's right, oriented forward using the tip as the reference point.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "With the left hand, set the screwdriver on the right side of the eggplant, keeping the tip pointed forwards.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Place the screwdriver to the right of the eggplant with its tip facing forwards.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Set the screwdriver on the eggplant's right side, with the tip oriented forwards.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Position the screwdriver to the right of the eggplant so the tip faces forwards.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the eggplant.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "With the left hand, set the screwdriver on the right side of the eggplant.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Have the left arm position the screwdriver to the eggplant's right.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Place the screwdriver to the right of the eggplant.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Set the screwdriver on the eggplant's right side.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Position the screwdriver to the eggplant's right.", + "start_idx": 7596, + "end_idx": 7635 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Have the left hand take the blue stuffed toy from the table with a diagonal pickup, holding its middle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table by grasping the middle at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Retrieve the blue stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Take the blue stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Have the left hand retrieve the blue stuffed toy from the table.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Grab the blue stuffed toy from the table.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 7761, + "end_idx": 7779 + }, + { + "text": "Put the blue stuffed toy behind the asparagus with the left hand facing forwards.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the asparagus facing forwards.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Have the left arm set the blue stuffed toy behind the asparagus with its front facing forward.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "With the left hand, position the blue stuffed toy behind the asparagus so it faces forwards.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Place the blue stuffed toy behind the asparagus facing forwards.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Set the blue stuffed toy behind the asparagus with its front facing forward.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Position the blue stuffed toy behind the asparagus so it faces forwards.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Using the left hand, put the blue stuffed toy behind the asparagus.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "With the left hand, place the blue stuffed toy behind the asparagus.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Have the left arm set the blue stuffed toy behind the asparagus.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Put the blue stuffed toy behind the asparagus.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Place the blue stuffed toy behind the asparagus.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Set the blue stuffed toy behind the asparagus.", + "start_idx": 7779, + "end_idx": 7812 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Have the left hand grasp the juice pouch from the table from the top with a side hold at a diagonal angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Take the juice pouch from the table with a side hold at the top and a diagonal angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Grasp the juice pouch from the table from the top using a side grip at a diagonal pick angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "With the left hand, pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Have the left hand take the juice pouch from the table with a side grasp at the top.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Using the left hand, grasp the juice pouch from the table at the top.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "From the table, take the juice pouch with the left hand.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 7811, + "end_idx": 7835 + }, + { + "text": "Place the juice pouch to the right of the blue stuffed toy with the left hand right side up.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Using the left hand, place the juice pouch to the right of the blue stuffed toy with its right side up.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Have the left arm set the juice pouch to the right of the blue stuffed toy, right side up.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "With the left hand, position the juice pouch on the right side of the blue stuffed toy, keeping it right side up.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Place the juice pouch to the right of the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Set the juice pouch on the right side of the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Position the juice pouch to the right of the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Put the juice pouch beside the blue stuffed toy on its right.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Arrange the juice pouch to the right of the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Move the juice pouch to the right of the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Place the juice pouch to the right of the blue stuffed toy with the left hand.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Using the left hand, set the juice pouch on the right side of the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Have the left arm position the juice pouch beside the blue stuffed toy.", + "start_idx": 7836, + "end_idx": 7872 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "With the left hand, retrieve the eggplant from the table at a diagonal angle by grasping its middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup while holding the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "From the table, retrieve the eggplant at a diagonal angle, grasping the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Pick up the eggplant from the table with the left hand, grasping the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "With the left hand, take the eggplant from the table at a diagonal angle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Have the left arm pick up the eggplant from the table by holding its middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "From the table, grasp the eggplant at the middle.", + "start_idx": 7871, + "end_idx": 7886 + }, + { + "text": "Put the eggplant to the right of the juice pouch with the left hand with its tip facing bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Using the left hand, place the eggplant to the right of the juice pouch with its tip pointing bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Have the left arm set the eggplant to the right of the juice pouch, tip directed toward the bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "With the left hand, position the eggplant to the right of the juice pouch so its tip faces bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Place the eggplant to the right of the juice pouch with its tip pointing bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Set the eggplant to the right of the juice pouch, keeping the tip directed toward the bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "The eggplant goes to the right of the juice pouch with its tip facing bottom left.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Using the left hand, place the eggplant to the right of the juice pouch.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Have the left arm set the eggplant to the right of the juice pouch.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "With the left hand, position the eggplant to the right of the juice pouch.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Place the eggplant to the right of the juice pouch.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Set the eggplant to the right of the juice pouch.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "The eggplant goes to the right of the juice pouch.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Using the left hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Have the left arm pick the screwdriver up from the table diagonally by its middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Take the screwdriver from the table diagonally by the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Retrieve the screwdriver from the table while holding its middle at a diagonal angle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "With the left hand, take the screwdriver from the table by the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Have the left arm retrieve the screwdriver from the table at a diagonal angle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Take the screwdriver from the table with the left hand.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Get the screwdriver from the table by the middle.", + "start_idx": 7923, + "end_idx": 7944 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed toy with the left hand facing top left by the tip.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the blue stuffed toy with its tip facing the top left.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Have the left arm set the screwdriver to the left of the blue stuffed toy, tip oriented toward the top left.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "With the left hand, position the screwdriver left of the blue stuffed toy so the tip points to the top left.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Place the screwdriver to the left of the blue stuffed toy with its tip facing the top left.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Set the screwdriver left of the blue stuffed toy, with the tip directed toward the top left.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Position the screwdriver to the left of the blue stuffed toy so its tip faces top left.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Using the left hand, put the screwdriver to the left of the blue stuffed toy.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Have the left arm place the screwdriver left of the blue stuffed toy.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "With the left hand, set the screwdriver to the left of the blue stuffed toy.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed toy.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Place the screwdriver left of the blue stuffed toy.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Set the screwdriver to the left of the blue stuffed toy.", + "start_idx": 7944, + "end_idx": 7983 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by gripping the middle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Take the asparagus from the table on a diagonal while holding the center.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Retrieve the asparagus from the table diagonally, with the grasp at the middle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Grasp the asparagus from the table at the middle.", + "start_idx": 7983, + "end_idx": 8001 + }, + { + "text": "Put the asparagus in front of the eggplant with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Using the left hand, place the asparagus in front of the eggplant with the tip facing bottom right.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Have the left arm set the asparagus in front of the eggplant, oriented bottom right at the tip.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "With the left hand, position the asparagus before the eggplant so its tip points bottom right.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Place the asparagus in front of the eggplant with the tip facing bottom right.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Set the asparagus before the eggplant with its tip oriented toward the bottom right.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Position the asparagus in front of the eggplant, keeping the tip pointed bottom right.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Using the left hand, put the asparagus in front of the eggplant.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Have the left arm place the asparagus before the eggplant.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "With the left hand, set the asparagus in front of the eggplant.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Put the asparagus in front of the eggplant.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Set the asparagus before the eggplant.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Position the asparagus in front of the eggplant.", + "start_idx": 8001, + "end_idx": 8040 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the top using a side grip.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Have the left arm pick the juice pouch off the table diagonally by the top using a side grasp.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "With the left hand, grasp the top of the juice pouch from the table at a diagonal angle in a side hold.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Take the juice pouch off the table diagonally by the top using a side grasp.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Grasp the top of the juice pouch from the table at a diagonal angle with a side hold.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table, grasping the top with a side grip.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "With the left hand, take the juice pouch from the table by the top using a side grasp.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Have the left arm pick up the juice pouch from the table with a side hold on the top.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Take the juice pouch from the table with the left hand by the top.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Pick up the juice pouch from the table diagonally by the top.", + "start_idx": 8040, + "end_idx": 8064 + }, + { + "text": "Put the juice pouch to the left of the asparagus with the left hand right side up with the front as the orientation reference point.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Have the left arm set the juice pouch left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "With the left hand, position the juice pouch to the asparagus's left, oriented right side up using the front as the reference point.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Place the juice pouch to the left of the asparagus.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Set the juice pouch to the asparagus's left.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Position the juice pouch left of the asparagus.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Using the left hand, put the juice pouch to the left of the asparagus.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Have the left arm place the juice pouch to the asparagus's left.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "With the left hand, set the juice pouch left of the asparagus.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Place the juice pouch to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Set the juice pouch to the asparagus's left, keeping it right side up relative to the front.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Position the juice pouch left of the asparagus, with the front as the reference point and right side up.", + "start_idx": 8064, + "end_idx": 8097 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table on a diagonal approach, gripping the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Retrieve the blue stuffed toy from the table on a diagonal approach, holding the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup at its middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Take the blue stuffed toy from the table, grasping the middle.", + "start_idx": 8096, + "end_idx": 8120 + }, + { + "text": "Put the blue stuffed toy to the left of the juice pouch with the left hand facing forwards.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the juice pouch facing forwards.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the juice pouch with its front facing forward.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the juice pouch so it faces forwards.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Place the blue stuffed toy to the left of the juice pouch facing forwards.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Set the blue stuffed toy to the left of the juice pouch with its front facing forward.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Position the blue stuffed toy to the left of the juice pouch so it faces forwards.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the juice pouch.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "With the left hand, set the blue stuffed toy to the left of the juice pouch.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Have the left arm position the blue stuffed toy to the left of the juice pouch.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Put the blue stuffed toy to the left of the juice pouch.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Place the blue stuffed toy to the left of the juice pouch.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Set the blue stuffed toy to the left of the juice pouch.", + "start_idx": 8121, + "end_idx": 8145 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Have the left arm take the screwdriver from the table with a diagonal pickup angle, holding it at the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Take the screwdriver from the table at a diagonal angle while holding the middle.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Grasp the screwdriver from the table with the left hand.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 8145, + "end_idx": 8166 + }, + { + "text": "Put the screwdriver to the right of the asparagus with the tip facing right using the left hand.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Using the left hand, place the screwdriver to the right of the asparagus with its tip pointing right.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Have the left arm set the screwdriver to the asparagus's right, tip directed rightward.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "With the left hand, position the screwdriver right of the asparagus so the tip faces right.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Place the screwdriver to the right of the asparagus with its tip facing right.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Set the screwdriver to the asparagus's right with the tip pointing right.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Position the screwdriver right of the asparagus so its tip points right.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Using the left hand, put the screwdriver to the right of the asparagus.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Have the left arm place the screwdriver to the asparagus's right.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "With the left hand, set the screwdriver right of the asparagus.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Put the screwdriver to the right of the asparagus.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Using the left hand, position the screwdriver beside the asparagus.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Have the left arm place the screwdriver on the asparagus's right side.", + "start_idx": 8166, + "end_idx": 8205 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table, approaching diagonally and holding its middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table at a diagonal angle, gripping the middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Take the blue stuffed toy from the table at a diagonal angle, holding it at the middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally, grasping the middle.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Have the left arm pick up the blue stuffed toy from the table.", + "start_idx": 8406, + "end_idx": 8430 + }, + { + "text": "Put the blue stuffed toy in front of the green bowl with the left hand facing forwards.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the green bowl facing forwards.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "With the left arm, set the blue stuffed toy before the green bowl so it faces forwards.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Have the left hand position the blue stuffed toy in front of the green bowl, oriented forwards.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Place the blue stuffed toy in front of the green bowl facing forwards.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Set the blue stuffed toy before the green bowl so it faces forwards.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Position the blue stuffed toy in front of the green bowl with a forward-facing orientation.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Using the left hand, put the blue stuffed toy in front of the green bowl.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "With the left arm, place the blue stuffed toy before the green bowl.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Have the left hand set the blue stuffed toy in front of the green bowl.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Put the blue stuffed toy in front of the green bowl.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Set the blue stuffed toy before the green bowl.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Position the blue stuffed toy in front of the green bowl.", + "start_idx": 8430, + "end_idx": 8463 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Have the left hand take the green bowl from the table by the bottom-left edge with a lip grasp and a diagonal approach.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a lip hold at the bottom left on a diagonal angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Take the green bowl from the table by the bottom-left area with a lip grasp and a diagonal approach.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Grasp the green bowl from the table using a lip hold at the bottom left with a diagonal angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Have the left hand take the green bowl from the table using a lip grasp.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the rim using a lip hold.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Pick up the green bowl from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Take the green bowl from the table with the left hand at a diagonal angle.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Grasp the green bowl from the table at the bottom left with a diagonal approach.", + "start_idx": 8586, + "end_idx": 8610 + }, + { + "text": "Put the green bowl to the bottom side of the table with the left hand.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Using the left hand, place the green bowl on the bottom side of the table, right side up from the front.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Have the left arm set the green bowl at the table's bottom side with its front kept right side up.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "With the left hand, position the green bowl on the bottom side of the table in a right-side-up front-facing orientation.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Place the green bowl on the bottom side of the table, right side up from the front.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Set the green bowl at the table's bottom side with its front right side up.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Position the green bowl on the bottom side of the table in a right-side-up orientation from the front.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Using the left hand, place the green bowl on the bottom side of the table.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Have the left arm set the green bowl at the table's bottom side.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "With the left hand, position the green bowl on the bottom side of the table.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Put the green bowl on the bottom side of the table.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Set the green bowl at the table's bottom side.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Position the green bowl on the bottom side of the table.", + "start_idx": 8610, + "end_idx": 8658 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "With the left hand, retrieve the eggplant from the table on a diagonal, gripping the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup, holding the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Take the eggplant from the table on a diagonal, with the grasp at its middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "With the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Using the left arm, take the eggplant from the table, holding the middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Have the left hand retrieve the eggplant from the table by its middle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Take the eggplant from the table with the left hand on a diagonal path.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Using the left hand, retrieve the eggplant from the table.", + "start_idx": 8658, + "end_idx": 8685 + }, + { + "text": "Put the eggplant to the right of the blue stuffed toy with the left hand with its tip facing bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Using the left hand, place the eggplant to the right of the blue stuffed toy with its tip pointing bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Have the left arm set the eggplant to the right of the blue stuffed toy, tip facing the bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "With the left hand, position the eggplant to the right of the blue stuffed toy so its tip faces bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Place the eggplant to the right of the blue stuffed toy with its tip pointing bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Set the eggplant to the right of the blue stuffed toy, with the tip facing bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Position the eggplant to the right of the blue stuffed toy so the tip points bottom left.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Using the left hand, place the eggplant to the right of the blue stuffed toy.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "With the left hand, set the eggplant to the right of the blue stuffed toy.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Have the left arm position the eggplant to the right of the blue stuffed toy.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Place the eggplant to the right of the blue stuffed toy.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Set the eggplant to the right of the blue stuffed toy.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Position the eggplant to the right of the blue stuffed toy.", + "start_idx": 8685, + "end_idx": 8718 + }, + { + "text": "Return both arms to home.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Bring both arms to their home position.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Have both arms return to home.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Return the arms to home.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Bring the arms back to the home position.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Move the arms to home.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Send the arms back home.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Place the arms in the home position.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Set the arms back to home.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Have the arms go to the home position.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Move back to home with the arms.", + "start_idx": 8775, + "end_idx": 8796 + }, + { + "text": "Return to the home position with the arms.", + "start_idx": 8775, + "end_idx": 8796 + } + ] + }, + "2026-03-17-02-35-26-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 human data collection", + "total_frames": 8921, + "num_annotations": 3508, + "annotations": [ + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a top diagonal lip hold.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a diagonal grip on the lip at the top.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip at the top.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip hold at the top.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Take the white coffee cup from the table with a top lip grip set diagonally.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Take the white coffee cup from the table using the left hand.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the handle facing backwards using the left hand.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the red bell pepper with the handle facing backward.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Have the left arm set the white coffee cup to the right of the red bell pepper, handle facing backwards.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "With the left hand, position the white coffee cup to the right of the red bell pepper so its handle points backward.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper with the handle facing backwards.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper with its handle pointing backward.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper, keeping the handle toward the back.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the red bell pepper.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "With the left hand, set the white coffee cup to the right of the red bell pepper.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Have the left arm position the white coffee cup to the right of the red bell pepper.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Place the white coffee cup beside the red bell pepper on its right side.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Set the white coffee cup on the right side of the red bell pepper.", + "start_idx": 48, + "end_idx": 93 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom at a diagonal angle.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom, held diagonally.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Have the left arm pick the corn up from the table with a bottom side grip at a diagonal angle.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "With the left hand, grasp the corn from the table using a side hold on the bottom at a diagonal angle.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom at a diagonal angle.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom, keeping it diagonal.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Grasp the corn from the table with a side hold on the bottom in a diagonal orientation.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Have the left arm take the corn from the table using a side grasp at the bottom.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "With the left hand, grasp the corn from the table at a diagonal angle.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 93, + "end_idx": 135 + }, + { + "text": "Put the corn to the left of the red bell pepper with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper with the tip facing bottom left.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Have the left arm set the corn left of the red bell pepper, oriented bottom left at the tip.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "With the left hand, position the corn to the left of the red bell pepper so its tip points bottom left.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Place the corn to the left of the red bell pepper with its tip facing bottom left.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Set the corn left of the red bell pepper, with the tip oriented toward the bottom left.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Position the corn to the left of the red bell pepper so the tip points bottom left.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Using the left hand, put the corn to the left of the red bell pepper.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Have the left arm place the corn left of the red bell pepper.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "With the left hand, set the corn to the left of the red bell pepper.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Place the corn to the left of the red bell pepper.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Set the corn left of the red bell pepper.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Position the corn to the left of the red bell pepper.", + "start_idx": 135, + "end_idx": 168 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left with a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Have the left arm grasp the bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "With the left hand, retrieve the bag of chips from the table in a side grasp on the left at a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Retrieve the bag of chips from the table in a side hold at the left with a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "From the table, have the left hand take the bag of chips using a side grasp.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by its left side.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the left with a diagonal angle.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Using the left hand, take the bag of chips from the table.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Pick up the bag of chips from the table.", + "start_idx": 168, + "end_idx": 204 + }, + { + "text": "Put the bag of chips to the left of the corn with the left hand facing backwards.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the corn with its front facing backward.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Have the left arm set the bag of chips left of the corn, oriented so the front points backward.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "With the left hand, position the bag of chips on the corn's left side, front facing backward.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Place the bag of chips to the left of the corn with its front facing backward.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Set the bag of chips on the left side of the corn, with the front facing backward.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Position the bag of chips left of the corn, oriented backward from the front.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the corn.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Have the left arm set the bag of chips on the corn's left side.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "With the left hand, position the bag of chips beside the corn on its left.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Place the bag of chips to the left of the corn.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Set the bag of chips on the left side of the corn.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Position the bag of chips beside the corn on its left.", + "start_idx": 204, + "end_idx": 243 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top with a side hold and a diagonal approach.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "With the left hand, secure the red bell pepper from the table by its top using a side grasp at a diagonal angle.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Grasp the red bell pepper from the table at the top using a side hold with a diagonal pick angle.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "With the left hand, pick up the red bell pepper from the table using a side grip at the top.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a side grasp at the top.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Using the left hand, grasp the red bell pepper from the table at the top with a side hold.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Take the red bell pepper from the table with the left hand and a diagonal approach.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "With the left hand, pick up the red bell pepper from the table at the top.", + "start_idx": 243, + "end_idx": 279 + }, + { + "text": "Put the red bell pepper behind the corn with the left hand right side up with the front as the orientation reference point.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Using the left hand, place the red bell pepper behind the corn, right side up relative to its front.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Have the left arm set the red bell pepper behind the corn with its front as the reference, keeping it right side up.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "With the left hand, position the red bell pepper behind the corn so it stays right side up using the front as the reference point.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Place the red bell pepper behind the corn, keeping it right side up with the front as the reference point.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Set the red bell pepper behind the corn, right side up relative to its front.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Position the red bell pepper behind the corn with its front as the orientation reference, right side up.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "With the left hand, place the red bell pepper behind the corn.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Have the left arm put the red bell pepper behind the corn.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Using the left hand, set the red bell pepper behind the corn.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Place the red bell pepper behind the corn.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Set the red bell pepper behind the corn.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Position the red bell pepper behind the corn.", + "start_idx": 279, + "end_idx": 321 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by gripping the middle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Take the corn from the table with a diagonal approach at its middle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Take the corn from the table.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 321, + "end_idx": 363 + }, + { + "text": "Put the corn to the left of the white coffee cup with the left hand facing backwards at the tip.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Using the left hand, place the corn to the left of the white coffee cup with its tip facing backwards.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Have the left hand set the corn to the left of the white coffee cup, oriented backward at the tip.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "With the left hand, position the corn left of the white coffee cup so the tip faces backwards.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Place the corn to the left of the white coffee cup with its tip facing backwards.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Set the corn left of the white coffee cup with the tip facing backwards.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Position the corn to the left of the white coffee cup, keeping the tip facing backwards.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Using the left hand, put the corn to the left of the white coffee cup.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "With the left hand, place the corn left of the white coffee cup.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Have the left hand position the corn to the left of the white coffee cup.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Place the corn to the left of the white coffee cup.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Set the corn left of the white coffee cup.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Position the corn to the left of the white coffee cup.", + "start_idx": 363, + "end_idx": 402 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by gripping the middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Take the corn from the table with a diagonal pickup while holding the middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by gripping its middle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Take the corn from the table.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 486, + "end_idx": 525 + }, + { + "text": "Put the corn to the right of the bag of chips with the left hand facing bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips with its tip facing bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Have the left arm set the corn to the right of the bag of chips, tip pointed bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "With the left hand, position the corn to the right of the bag of chips so the tip faces bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Place the corn to the right of the bag of chips with its tip facing bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Set the corn to the right of the bag of chips, with the tip oriented bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Position the corn to the right of the bag of chips so it faces bottom left.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "With the left hand, put the corn to the right of the bag of chips.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Using the left hand, set the corn to the right of the bag of chips.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Have the left arm place the corn to the right of the bag of chips.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Put the corn to the right of the bag of chips.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Set the corn to the right of the bag of chips.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Position the corn to the right of the bag of chips.", + "start_idx": 525, + "end_idx": 564 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom-left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Have the left arm grasp the bag of chips from the table using a side hold at the bottom-left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "With the left hand, collect the bag of chips from the table in a side grasp at the bottom-left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom-left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Take the bag of chips from the table with a side hold at the bottom-left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Grab the bag of chips from the table in a side grasp at the bottom-left diagonal.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Have the left arm take the bag of chips from the table.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "With the left hand, grasp the bag of chips from the table.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Pick up the bag of chips from the table with the left hand.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Using the left hand, take the bag of chips from the table.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Grab the bag of chips from the table.", + "start_idx": 564, + "end_idx": 603 + }, + { + "text": "Put the bag of chips to the right of the corn with the left hand facing backwards.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Using the left hand, place the bag of chips to the right of the corn with its front facing backwards.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Have the left arm set the bag of chips to the right of the corn, front turned backward.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "With the left hand, position the bag of chips to the right of the corn so the front faces backwards.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Place the bag of chips to the right of the corn with its front facing backwards.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Set the bag of chips to the right of the corn, front turned backward.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Position the bag of chips to the right of the corn so it faces backwards.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Using the left hand, put the bag of chips to the right of the corn.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Have the left arm place the bag of chips to the right of the corn.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "With the left hand, set the bag of chips to the right of the corn.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Place the bag of chips to the right of the corn.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Set the bag of chips to the right of the corn.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Position the bag of chips to the right of the corn.", + "start_idx": 603, + "end_idx": 639 + }, + { + "text": "Pick up the corn from the table with the left hand from the middle at a diagonal angle.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the corn from the table by its middle at a diagonal angle.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Have the left arm take the corn from the table, grasping it at the middle on a diagonal.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "With the left hand, grasp the corn from the table at the center using a diagonal approach.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Pick up the corn from the table by its middle at a diagonal angle.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Take the corn from the table at the center on a diagonal.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Grasp the corn from the table at the middle with a diagonal approach.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the corn from the table from the middle.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Have the left arm take the corn from the table at the center.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "With the left hand, grasp the corn from the table by its middle.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Pick up the corn from the table from the middle.", + "start_idx": 639, + "end_idx": 678 + }, + { + "text": "Put the corn to the left of the red bell pepper with the left hand facing top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper with its tip facing the top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Have the left arm set the corn left of the red bell pepper, tip oriented toward the top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "With the left hand, position the corn on the left side of the red bell pepper, its tip pointing top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Place the corn to the left of the red bell pepper.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Set the corn on the left side of the red bell pepper.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Position the corn left of the red bell pepper.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Using the left hand, put the corn to the left of the red bell pepper.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Have the left arm place the corn on the left side of the red bell pepper.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "With the left hand, set the corn left of the red bell pepper.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Place the corn to the left of the red bell pepper with its tip facing the top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Set the corn on the left side of the red bell pepper, tip pointing top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Position the corn left of the red bell pepper with the tip oriented toward the top left.", + "start_idx": 678, + "end_idx": 726 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Have the left arm grasp the bag of chips from the table in a side hold at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "With the left hand, retrieve the bag of chips from the table using a side grasp at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Take the bag of chips from the table with a side hold at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "The bag of chips from the table should be grasped with a side grip at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Have the left arm take the bag of chips from the table.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "With the left hand, grasp the bag of chips from the table.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Take the bag of chips from the table with the left hand.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "The bag of chips from the table should be grasped at the bottom left diagonal.", + "start_idx": 726, + "end_idx": 768 + }, + { + "text": "Put the bag of chips in front of the corn with the left hand facing bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Using the left hand, place the bag of chips in front of the corn facing the bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Have the left arm set the bag of chips in front of the corn with its front facing bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "With the left hand, position the bag of chips before the corn, oriented toward the bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Place the bag of chips in front of the corn facing the bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Set the bag of chips before the corn with its front toward the bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Position the bag of chips in front of the corn, oriented bottom right.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Using the left hand, put the bag of chips in front of the corn.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Have the left arm place the bag of chips before the corn.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "With the left hand, set the bag of chips in front of the corn.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Put the bag of chips in front of the corn.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Place the bag of chips before the corn.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Set the bag of chips in front of the corn.", + "start_idx": 768, + "end_idx": 804 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Have the left arm take the red bell pepper from the table by its top with a side grasp from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table at the top using a side hold from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Take the red bell pepper from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Grasp the red bell pepper from the table at the top from a diagonal angle using a side hold.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Have the left arm take the red bell pepper from the table by the top.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand from a diagonal angle.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Take the red bell pepper from the table at the top.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Grasp the red bell pepper from the table.", + "start_idx": 804, + "end_idx": 831 + }, + { + "text": "Put the red bell pepper to the right of the bag of chips with the left hand right side up with the front as the reference point.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the bag of chips, right side up with the front as the reference point.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Have the left arm set the red bell pepper to the right of the bag of chips, keeping it right side up relative to the front.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the bag of chips so it is right side up, using the front as the reference point.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Place the red bell pepper to the right of the bag of chips, right side up with the front as the reference point.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Set the red bell pepper to the right of the bag of chips, keeping it right side up relative to the front.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Position the red bell pepper to the right of the bag of chips so it stays right side up, using the front as reference.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the bag of chips.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "With the left hand, set the red bell pepper to the right of the bag of chips.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Have the left arm position the red bell pepper to the right of the bag of chips.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Put the red bell pepper to the right of the bag of chips.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Arrange the red bell pepper to the right of the bag of chips.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Move the red bell pepper to the right of the bag of chips.", + "start_idx": 831, + "end_idx": 870 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Have the left arm pick up the canned goods from the table with a top side hold at a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top using a side grip at a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Grasp the canned goods from the table by the top with a side hold at a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Have the left arm take the canned goods from the table with a side grasp at the top.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top using a side hold.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Pick up the canned goods from the table with the left hand at the top and a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "With the left hand, take the canned goods from the table using a diagonal top grasp.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Pick up the canned goods from the table at the top with a diagonal angle.", + "start_idx": 870, + "end_idx": 900 + }, + { + "text": "Put the canned goods to the right of the red bell pepper with the left hand right side up front.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Using the left hand, place the canned goods to the right of the red bell pepper, right side up with the front facing forward.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Have the left arm set the canned goods to the right of the red bell pepper in an upright position, front forward.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "With the left hand, position the canned goods to the right of the red bell pepper so they are right side up and front-facing.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Place the canned goods to the right of the red bell pepper, right side up with the front facing forward.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Set the canned goods to the right of the red bell pepper in an upright position, front forward.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Position the canned goods to the right of the red bell pepper so they are right side up and front-facing.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Using the left hand, place the canned goods to the right of the red bell pepper.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Have the left arm set the canned goods to the right of the red bell pepper.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "With the left hand, position the canned goods to the right of the red bell pepper.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Place the canned goods to the right of the red bell pepper.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Set the canned goods to the right of the red bell pepper.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Position the canned goods to the right of the red bell pepper.", + "start_idx": 900, + "end_idx": 939 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "With the left arm, grasp the red bell pepper from the table at the top using a side grasp on a diagonal angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Have the left hand pick the red bell pepper off the table with a side hold at the top and a diagonal approach.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Take the red bell pepper off the table with a side grasp at the top and a diagonal angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Grasp the red bell pepper from the table at the top using a side hold and a diagonal pick angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "With the left arm, take the red bell pepper off the table using a side grasp at the top.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Have the left hand grasp the red bell pepper from the table with a side hold.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Using the left hand, take the red bell pepper off the table at the top on a diagonal angle.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "With the left arm, grasp the red bell pepper from the table.", + "start_idx": 1023, + "end_idx": 1062 + }, + { + "text": "Put the red bell pepper on the center of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Using the left hand, place the red bell pepper at the center of the table right side up, with the front as the reference point.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Have the left arm set the red bell pepper in the table center right side up, using the front as the orientation reference.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "With the left hand, position the red bell pepper on the center of the table right side up, taking the front as the reference point.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Place the red bell pepper on the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Set the red bell pepper at the center of the table right side up, using the front as the reference point.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Position the red bell pepper in the center of the table right side up, with the front as the reference.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Using the left hand, place the red bell pepper on the center of the table.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Have the left arm set the red bell pepper at the center of the table.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "With the left hand, position the red bell pepper in the table center.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Place the red bell pepper on the center of the table.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Set the red bell pepper at the center of the table.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Position the red bell pepper in the center of the table.", + "start_idx": 1062, + "end_idx": 1095 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by holding the middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Have the left arm pick up the corn from the table at a diagonal angle.", + "start_idx": 1095, + "end_idx": 1128 + }, + { + "text": "Put the corn between the bag of chips and canned goods with the left hand facing right with the tip as the reference point.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Using the left hand, place the corn between the bag of chips and the canned goods, facing right with the tip as the reference point.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Have the left arm set the corn between the bag of chips and canned goods so the tip faces right.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "With the left hand, position the corn between the bag of chips and canned goods, oriented rightward from the tip.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Place the corn between the bag of chips and the canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Set the corn between the bag of chips and canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Position the corn between the bag of chips and the canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Arrange the corn between the bag of chips and canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Using the left hand, put the corn between the bag of chips and canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "With the left hand, place the corn between the bag of chips and the canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Have the left arm set the corn between the bag of chips and canned goods.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Place the corn between the bag of chips and canned goods so the tip faces right.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Position the corn between the bag of chips and canned goods with the tip facing right.", + "start_idx": 1128, + "end_idx": 1164 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Have the left hand grasp the bag of chips from the table at the bottom left with a side hold from a diagonal angle.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "From a diagonal angle, secure the bag of chips from the table with the left hand using a side grasp on the bottom left.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Pick up the bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "From a diagonal angle, grasp the bag of chips from the table with a side hold on the bottom left.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Take the bag of chips from the table at the bottom left with a side grasp from a diagonal angle.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Using a side grip, pick up the bag of chips from the table with the left hand.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "With the left hand, take the bag of chips from the table using a side grasp.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Have the left hand secure the bag of chips from the table with a side hold.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Pick up the bag of chips from the table with the left hand from a diagonal angle.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "From a diagonal angle, take the bag of chips from the table with the left hand.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Grab the bag of chips from the table at the bottom left.", + "start_idx": 1164, + "end_idx": 1191 + }, + { + "text": "Put the bag of chips on the left side of the table with the left hand facing backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Using the left hand, place the bag of chips on the left side of the table facing backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Have the left arm set the bag of chips on the table's left side with the front facing backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "With the left hand, position the bag of chips on the left side of the table so it faces backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Place the bag of chips on the left side of the table facing backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Set the bag of chips on the table's left side with the front facing backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Position the bag of chips on the left side of the table so it faces backwards.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Using the left hand, put the bag of chips on the left side of the table.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Have the left arm place the bag of chips on the table's left side.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "With the left hand, set the bag of chips on the left side of the table.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Put the bag of chips on the left side of the table.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Place the bag of chips on the table's left side.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Set the bag of chips on the left side of the table.", + "start_idx": 1191, + "end_idx": 1227 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Using the left hand, take the canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a diagonal approach, holding the top of the object.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "With the left hand, retrieve the canned goods from the table at a diagonal angle by grasping the top.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Take the canned goods from the table with a diagonal approach while holding the top.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Retrieve the canned goods from the table at a diagonal angle by grasping the top.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Using the left hand, take the canned goods from the table.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Have the left arm retrieve the canned goods from the table.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Retrieve the canned goods from the table.", + "start_idx": 1227, + "end_idx": 1269 + }, + { + "text": "Put the canned goods on the bottom side of the table with the left hand.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Using the left hand, place the canned goods on the bottom side of the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Have the left arm set the canned goods onto the table's bottom side.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "With the left hand, position the canned goods on the underside of the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Place the canned goods on the bottom side of the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Set the canned goods on the underside of the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Position the canned goods on the table's bottom side.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "The canned goods go on the bottom side of the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Put the canned goods beneath the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Set the canned goods under the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Have the canned goods placed on the underside of the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Place the canned goods beneath the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "The canned goods should be set under the table.", + "start_idx": 1269, + "end_idx": 1305 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at the middle.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "With the left hand, grasp the corn from the table at the middle on a diagonal.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Grasp the corn from the table diagonally at the middle.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Using the left hand, grasp the corn from the table.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 1305, + "end_idx": 1344 + }, + { + "text": "Put the corn on the bottom side of the table with the left hand facing forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table with its tip facing forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Have the left arm set the corn on the bottom side of the table, tip pointed forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table so the tip faces forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Place the corn on the bottom side of the table with its tip facing forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Set the corn on the bottom side of the table, tip pointed forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Position the corn on the bottom side of the table so the tip faces forwards.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Have the left arm set the corn on the bottom side of the table.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Place the corn on the bottom side of the table.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Set the corn on the bottom side of the table.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Position the corn on the bottom side of the table.", + "start_idx": 1344, + "end_idx": 1383 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Have the left hand take the bag of chips from the table with a side grasp at the bottom left using a diagonal approach.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "With the left hand, grasp the bag of chips from the table at the bottom left using a side hold and a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Pick up the bag of chips from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Take the bag of chips from the table using a side grasp at the bottom left with a diagonal approach.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Grasp the bag of chips from the table at the bottom left with a side hold and a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "With the left hand, take the bag of chips from the table using a side grasp.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Have the left hand grasp the bag of chips from the table with a side hold.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table at the bottom left with a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Take the bag of chips from the table with the left hand from the bottom left using a diagonal approach.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "From the table, have the left hand grasp the bag of chips at the bottom left with a diagonal pick angle.", + "start_idx": 1383, + "end_idx": 1410 + }, + { + "text": "Put the bag of chips to the right side of the corn with the left hand facing backwards.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Using the left hand, place the bag of chips to the right of the corn with its front facing backward.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Have the left hand set the bag of chips on the corn's right side, front turned backward.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "With the left hand, position the bag of chips to the right side of the corn, facing backward.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Place the bag of chips to the right of the corn with its front facing backward.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Set the bag of chips on the right side of the corn, facing backward.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Position the bag of chips to the corn's right, front turned backward.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Using the left hand, put the bag of chips to the right of the corn.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Have the left hand place the bag of chips on the corn's right side.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "With the left hand, set the bag of chips to the right side of the corn.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Place the bag of chips to the right of the corn.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Set the bag of chips on the corn's right side.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Position the bag of chips to the right side of the corn.", + "start_idx": 1410, + "end_idx": 1449 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn from the table with a side hold at the bottom.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "With the left hand, take the corn off the table using a side grasp on the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "From a diagonal angle, grasp the corn from the table with a side hold at the bottom.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Take the corn off the table using a side grasp on the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Use the left hand to take the corn off the table from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "From the table, grasp the corn with a side grip at the bottom.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Take the corn off the table with the left hand using a side grasp.", + "start_idx": 1596, + "end_idx": 1626 + }, + { + "text": "Place the corn behind the bag of chips with the left hand facing right with the tip as the orientation reference point.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Using the left hand, set the corn behind the bag of chips with the tip facing right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Have the left arm place the corn behind the bag of chips, oriented rightward from the tip.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "With the left hand, position the corn behind the bag of chips so its tip points right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Place the corn behind the bag of chips with the tip facing right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Set the corn behind the bag of chips with the tip oriented to the right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Position the corn behind the bag of chips so the tip faces right.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Using the left hand, place the corn behind the bag of chips.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Have the left arm set the corn behind the bag of chips.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "With the left hand, position the corn behind the bag of chips.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Place the corn behind the bag of chips.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Set the corn behind the bag of chips.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Position the corn behind the bag of chips.", + "start_idx": 1626, + "end_idx": 1662 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the left in a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Have the left arm pick the bag of chips up from the table using a side grip on the left at a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by the left side using a diagonal side hold.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Grasp the bag of chips from the table by the left side using a diagonal side grip.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by its side.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the left in a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Using the left hand, take the bag of chips from the table in a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Pick up the bag of chips from the table at the left in a diagonal angle.", + "start_idx": 1662, + "end_idx": 1692 + }, + { + "text": "Put the bag of chips on the bottom side of the table with the left hand facing backwards.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Using the left hand, place the bag of chips on the bottom side of the table facing backwards.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Have the left arm set the bag of chips on the bottom side of the table with its front facing backward.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "With the left hand, position the bag of chips on the bottom side of the table so the front points backward.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Place the bag of chips on the bottom side of the table facing backwards.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Set the bag of chips on the bottom side of the table with the front facing backward.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Position the bag of chips on the bottom side of the table so it faces backward.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Using the left hand, put the bag of chips on the bottom side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "With the left hand, set the bag of chips on the bottom side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Have the left arm place the bag of chips on the bottom side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Put the bag of chips on the bottom side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "On the bottom side of the table, place the bag of chips.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Have the left arm put the bag of chips on the bottom side of the table.", + "start_idx": 1692, + "end_idx": 1731 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Using the left hand, take the red bell pepper from the table at a diagonal angle, grasping its top.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Have the left hand pick the red bell pepper off the table with a diagonal approach at the top.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "With the left hand, seize the red bell pepper from the table by its top at a diagonal angle.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the top.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Take the red bell pepper off the table by the top at a diagonal angle.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "From the table, grasp the red bell pepper at a diagonal angle by its top.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Have the left hand take the red bell pepper off the table.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Take the red bell pepper off the table at a diagonal angle.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "From the table, grasp the red bell pepper by its top.", + "start_idx": 1731, + "end_idx": 1752 + }, + { + "text": "Put the red bell pepper to the left of the bag of chips with the left hand right side up front.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the bag of chips, right side up with the front facing forward.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Have the left arm set the red bell pepper to the left of the bag of chips, keeping it right side up with the front outward.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "With the left hand, position the red bell pepper left of the bag of chips, right side up and front-facing.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Place the red bell pepper to the left of the bag of chips, right side up with the front facing forward.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Set the red bell pepper left of the bag of chips, keeping it right side up and the front outward.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Position the red bell pepper to the left of the bag of chips so it stays right side up with the front forward.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the bag of chips.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Have the left arm set the red bell pepper left of the bag of chips.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "With the left hand, position the red bell pepper to the left of the bag of chips.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Place the red bell pepper to the left of the bag of chips.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Set the red bell pepper left of the bag of chips.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Position the red bell pepper beside the bag of chips on its left side.", + "start_idx": 1752, + "end_idx": 1788 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn on the table with a side hold at the bottom.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp at the bottom on a diagonal approach.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "From a diagonal angle, grasp the corn from the table with a side hold at the bottom.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "With the left hand, collect the corn from the table using a side grasp.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Have the left hand take the corn from the table with a side hold.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Pick up the corn from the table at the bottom from a diagonal angle.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "From a diagonal angle, take the corn from the table at the bottom.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Using the left hand, grasp the corn from the table.", + "start_idx": 1851, + "end_idx": 1875 + }, + { + "text": "Put the corn in front of the white coffee cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Using the left hand, place the corn in front of the white coffee cup with its tip facing forwards.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Have the left arm set the corn in front of the white coffee cup, oriented forwards from the tip.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "With the left hand, position the corn before the white coffee cup so the tip points forwards.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Place the corn in front of the white coffee cup with its tip facing forwards.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Set the corn before the white coffee cup with the tip oriented forwards.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Position the corn in front of the white coffee cup, tip facing forwards.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Using the left hand, put the corn in front of the white coffee cup.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "With the left hand, set the corn before the white coffee cup.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Have the left arm place the corn in front of the white coffee cup.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Put the corn in front of the white coffee cup.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Set the corn before the white coffee cup.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Position the corn in front of the white coffee cup.", + "start_idx": 1875, + "end_idx": 1917 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Have the left arm pick the canned goods up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "With the left hand, grasp the canned goods from the table from a diagonal angle using a side hold at the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "With the left hand, take the canned goods from the table using a side grasp on the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Have the left arm grasp the canned goods from the table with a side hold at the top.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Take the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2004, + "end_idx": 2046 + }, + { + "text": "Put the canned goods behind the bag of chips with the left hand.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Using the left hand, place the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Have the left arm set the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "With the left hand, position the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Place the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Set the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Position the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Move the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "The canned goods go behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Arrange the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Put the canned goods behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Behind the bag of chips, place the canned goods.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Have the canned goods placed behind the bag of chips.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Have the left arm grasp the bag of chips from the table from the left side with a side hold at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "With the left hand, collect the bag of chips from the table using a side grasp from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Pick up the bag of chips from the table using a side grip from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Take the bag of chips from the table with a side grasp from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "From the table, grasp the bag of chips using a side hold from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "With the left hand, grasp the bag of chips from the table from the left side using a side hold.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Pick up the bag of chips from the table with the left hand from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "With the left hand, take the bag of chips from the table at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Grasp the bag of chips from the table from the left at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2112 + }, + { + "text": "Put the bag of chips on the top side of the table with the left hand facing backwards.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Using the left hand, place the bag of chips on the top side of the table with its front facing backward.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Have the left arm set the bag of chips on the top side of the table, front oriented backward.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "With the left hand, position the bag of chips on the table's top side so the front faces backward.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Place the bag of chips on the top side of the table with its front facing backward.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Set the bag of chips on the top side of the table with the front facing backward.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Position the bag of chips on the top side of the table so it faces backward.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Using the left hand, put the bag of chips on the top side of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "With the left hand, set the bag of chips on the top side of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Have the left arm place the bag of chips on the top side of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Put the bag of chips on the top side of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Set the bag of chips on the table's top side.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Place the bag of chips on the top side of the table.", + "start_idx": 2112, + "end_idx": 2148 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table from the top with a side hold at a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "With the left hand, secure the red bell pepper from the table using a side grasp at the top on a diagonal.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Take the red bell pepper from the table with a side hold at the top and a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "The red bell pepper from the table should be grasped at the top with a side grip on a diagonal.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Grasp the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 2148, + "end_idx": 2184 + }, + { + "text": "Place the red bell pepper on the center of the table with the left hand right side up with the front as the reference point.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Using the left hand, place the red bell pepper at the center of the table right side up, referencing the front.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Have the left arm set the red bell pepper in the table center with its right side up and the front as reference.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "With the left hand, position the red bell pepper on the center of the table right side up using the front as the reference point.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Place the red bell pepper on the center of the table right side up with the front as the reference point.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Set the red bell pepper at the center of the table right side up, using the front as the reference.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Position the red bell pepper on the table center with its right side up and the front as reference.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Using the left hand, place the red bell pepper at the center of the table.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Have the left arm set the red bell pepper in the middle of the table.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "With the left hand, position the red bell pepper on the center of the table.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Place the red bell pepper on the center of the table.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Set the red bell pepper at the center of the table.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Position the red bell pepper on the table center.", + "start_idx": 2184, + "end_idx": 2217 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "With the left hand, collect the corn from the table diagonally by the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Take the corn from the table with a diagonal approach at its middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "The corn should be picked up from the table diagonally, holding the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table with the left hand, grasping the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Using the left hand, take the corn from the table by the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Have the left hand collect the corn from the table at a diagonal angle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Take the corn from the table grasping the middle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "The corn should be picked up from the table.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Put the corn to the left of the red bell pepper with the left hand facing forwards.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper with it facing forwards.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Have the left arm set the corn left of the red bell pepper, front facing forward.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "With the left hand, position the corn on the left side of the red bell pepper, oriented forwards.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Place the corn to the left of the red bell pepper with it facing forwards.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Set the corn left of the red bell pepper, facing forwards.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Position the corn on the left side of the red bell pepper, front forward.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Have the left arm set the corn left of the red bell pepper.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "With the left hand, position the corn on the left side of the red bell pepper.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Place the corn to the left of the red bell pepper.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Set the corn left of the red bell pepper.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Position the corn on the left side of the red bell pepper.", + "start_idx": 2385, + "end_idx": 2427 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a top side grip at a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "With the left hand, grasp the canned goods from the table using a side hold at the top from a diagonal approach.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Grasp the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Take the canned goods from the table from a diagonal angle.", + "start_idx": 2427, + "end_idx": 2454 + }, + { + "text": "Put the canned goods to the left of the corn with the left hand.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Using the left hand, place the canned goods to the left of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Have the left arm set the canned goods down to the left of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "With the left hand, position the canned goods on the corn's left side.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Place the canned goods to the left of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Set the canned goods down to the left of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Position the canned goods on the left side of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "The canned goods go to the left of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Move the canned goods to the left of the corn.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Using the left hand, place the canned goods.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Have the left arm set down the canned goods.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "With the left hand, position the canned goods.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "The canned goods go down with the left hand.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Have the left hand grasp the bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "With the left hand, secure the bag of chips from the table using a side grasp on the left with a diagonal orientation.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "The bag of chips from the table should be grasped with a side hold on the left at a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "With the left hand, take the bag of chips from the table using a side grasp.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Have the left hand grasp the bag of chips from the table with a side hold.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the left with a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Using the left hand, take the bag of chips from the table at the left with a diagonal angle.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Pick up the bag of chips from the table.", + "start_idx": 2562, + "end_idx": 2589 + }, + { + "text": "Put the bag of chips in front of the red bell pepper with the left hand facing backwards.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Using the left hand, place the bag of chips in front of the red bell pepper facing backwards.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Have the left arm set the bag of chips before the red bell pepper with the bag facing backwards.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "With the left hand, position the bag of chips in front of the red bell pepper so it faces backwards.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Place the bag of chips in front of the red bell pepper facing backwards.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Set the bag of chips before the red bell pepper facing backwards.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Position the bag of chips in front of the red bell pepper with its front facing away.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Using the left hand, put the bag of chips in front of the red bell pepper.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Have the left arm place the bag of chips before the red bell pepper.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "With the left hand, set the bag of chips in front of the red bell pepper.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Put the bag of chips in front of the red bell pepper.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Place the bag of chips before the red bell pepper.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Position the bag of chips in front of the red bell pepper.", + "start_idx": 2589, + "end_idx": 2628 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Have the left arm pick the corn off the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "With the left hand, grasp the corn from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Grasp the corn from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "The corn should be taken from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Have the left arm take the corn off the table.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "From a diagonal angle, take the corn from the table with the left hand.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip.", + "start_idx": 2628, + "end_idx": 2655 + }, + { + "text": "Put the corn in front of the white coffee cup with the left hand facing top left by the tip.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Using the left hand, place the corn in front of the white coffee cup with the tip facing the top left.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Have the left arm set the corn before the white coffee cup, oriented top left at the tip.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "With the left hand, position the corn in front of the white coffee cup so its tip points top left.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Place the corn in front of the white coffee cup with the tip facing the top left.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Set the corn before the white coffee cup, with its tip oriented toward the top left.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Position the corn in front of the white coffee cup so the tip points top left.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Using the left hand, put the corn in front of the white coffee cup.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "With the left hand, place the corn before the white coffee cup.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Have the left arm set the corn in front of the white coffee cup.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Put the corn in front of the white coffee cup.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Set the corn before the white coffee cup.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Position the corn in front of the white coffee cup.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table from the top with a side hold at a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "With the left hand, secure the red bell pepper from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Take the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Grasp the red bell pepper from the table from the top with a diagonal angle using a side grasp.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Have the left arm take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal angle.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Using the left hand, take the red bell pepper from the table at the top diagonally.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Pick up the red bell pepper from the table at the top with a side grip.", + "start_idx": 2688, + "end_idx": 2715 + }, + { + "text": "Put the red bell pepper to the right of the corn with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the corn, right side up with the front as the orientation reference point.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Have the left arm set the red bell pepper to the right of the corn, keeping it right side up relative to the front.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the corn so its front serves as the orientation reference point and it is right side up.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Place the red bell pepper to the right of the corn, right side up with the front as the orientation reference point.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Set the red bell pepper to the right of the corn, keeping it right side up relative to the front.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Position the red bell pepper to the right of the corn with its front as the orientation reference point, right side up.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the corn.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Have the left arm set the red bell pepper to the right of the corn.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the corn.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Place the red bell pepper to the right of the corn.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Set the red bell pepper to the right of the corn.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Position the red bell pepper to the right of the corn.", + "start_idx": 2715, + "end_idx": 2748 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Have the left arm grasp the canned goods off the table with a side hold on the top at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "With the left hand, retrieve the canned goods from the table by gripping the top from the side at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Grasp the canned goods off the table with a side hold on the top at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Retrieve the canned goods from the table by taking the top from the side at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Have the left arm take the canned goods off the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "With the left hand, retrieve the canned goods from the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Using the left hand, grasp the canned goods from the table from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Take the canned goods off the table with a side grip at the top.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Put the canned goods behind the bag of chips with the left hand.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Using the left hand, place the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Have the left arm set the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "With the left hand, position the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Place the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Set the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Position the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Move the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "The canned goods go behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Behind the bag of chips, place the canned goods.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Behind the bag of chips, set down the canned goods.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Put the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Arrange the canned goods behind the bag of chips.", + "start_idx": 2784, + "end_idx": 2829 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Retrieve the corn from the table diagonally by the middle.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 2901, + "end_idx": 2925 + }, + { + "text": "Put the corn to the left of the canned goods with the left hand facing right with the tip as the reference point.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Using the left hand, place the corn to the left of the canned goods with the tip facing right.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Have the left arm set the corn left of the canned goods, oriented rightward from the tip.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "With the left hand, position the corn to the left of the canned goods so its tip points right.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Place the corn to the left of the canned goods with the tip facing right.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Set the corn left of the canned goods, with the tip oriented to the right.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Position the corn to the left of the canned goods so the tip points right.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Using the left hand, put the corn to the left of the canned goods.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Have the left arm place the corn left of the canned goods.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "With the left hand, set the corn to the left of the canned goods.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Place the corn to the left of the canned goods.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Set the corn left of the canned goods.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Position the corn beside the canned goods on the left.", + "start_idx": 2925, + "end_idx": 2964 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp from the left at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Have the left arm pick up the bag of chips from the table using a left-side grip at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "With the left hand, grasp the bag of chips from the table from the left side using a side hold at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Pick up the bag of chips from the table using a side grip from the left at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Take the bag of chips from the table with a side grasp from the left at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Grasp the bag of chips from the table from the left side with a diagonal approach.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Have the left arm pick up the bag of chips from the table.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Pick up the bag of chips from the table with the left hand from the left at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "With the left hand, grasp the bag of chips from the table at a diagonal angle.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Take the bag of chips from the table.", + "start_idx": 2964, + "end_idx": 2988 + }, + { + "text": "Put the bag of chips in front of the corn with the left hand facing backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Using the left hand, place the bag of chips in front of the corn with it facing backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Have the left arm set the bag of chips before the corn, oriented backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "With the left hand, position the bag of chips in front of the corn so it faces backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Place the bag of chips in front of the corn facing backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Set the bag of chips before the corn with it facing backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Position the bag of chips in front of the corn so it faces backwards.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Using the left hand, put the bag of chips in front of the corn.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "With the left hand, place the bag of chips before the corn.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Have the left arm set the bag of chips in front of the corn.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Put the bag of chips in front of the corn.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Set the bag of chips before the corn.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Position the bag of chips in front of the corn.", + "start_idx": 2988, + "end_idx": 3027 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Have the left arm grasp the canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "With the left hand, take the canned goods from the table in a side grasp at the top, angled diagonally.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Take the canned goods from the table from the top with a side grasp at a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Grasp the canned goods from the table using a side hold at the top with a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Have the left arm grasp the canned goods from the table with a side hold.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Pick up the canned goods from the table with the left hand at the top with a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "With the left hand, take the canned goods from the table from the top at a diagonal angle.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Have the left arm pick up the canned goods from the table.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Put the canned goods in front of the red bell pepper with the left hand.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Using the left hand, place the canned goods in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Have the left arm set the canned goods before the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "With the left hand, position the canned goods in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Place the canned goods in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Set the canned goods before the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Position the canned goods in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Put the canned goods before the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "The canned goods should go in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "In front of the red bell pepper, place the canned goods.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Have the canned goods placed in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Move the canned goods to a spot in front of the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "The canned goods belong before the red bell pepper.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal top lip grasp.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal top lip grasp.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a diagonal lip hold at the top.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "With the left hand, pick the white coffee cup up from the table in a diagonal top lip grip.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal top lip grasp.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Take the white coffee cup from the table with a diagonal top lip grip.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Grasp the white coffee cup from the table in a diagonal top lip hold.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 3210, + "end_idx": 3234 + }, + { + "text": "Put the white coffee between the bag of chips and the canned goods with the left hand right side up front and the handle facing top right.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Using the left hand, place the white coffee between the bag of chips and the canned goods, right side up with the front oriented and the handle facing top right.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Have the left arm set the white coffee between the bag of chips and the canned goods, keeping it right side up with the handle toward the top right.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "With the left hand, position the white coffee between the bag of chips and the canned goods, right side up, front aligned, handle facing top right.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Place the white coffee between the bag of chips and the canned goods, right side up with the handle facing top right.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Set the white coffee between the bag of chips and the canned goods, keeping it right side up and the handle toward the top right.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Position the white coffee between the bag of chips and the canned goods, with the handle facing top right and the item right side up.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Using the left hand, place the white coffee between the bag of chips and the canned goods.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Have the left arm set the white coffee between the bag of chips and the canned goods.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "With the left hand, position the white coffee between the bag of chips and the canned goods without changing its placement target.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Place the white coffee between the bag of chips and the canned goods.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Set the white coffee between the bag of chips and the canned goods in place.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Position the white coffee between the bag of chips and the canned goods there.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "From a diagonal angle, have the left hand grasp the top of the red bell pepper on the table using a side grip.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "With the left hand, secure the red bell pepper from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "From a diagonal angle, grasp the top of the red bell pepper on the table using a side grip.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Take the red bell pepper from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Have the left hand grasp the red bell pepper from the table with a side grip.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "From a diagonal angle, take the top of the red bell pepper from the table with the left hand.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 3270, + "end_idx": 3294 + }, + { + "text": "Put the red bell pepper behind the corn with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Using the left hand, place the red bell pepper behind the corn right side up, with the front as the reference point.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Have the left arm set the red bell pepper behind the corn in a right-side-up orientation, using the front as the reference point.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "With the left hand, position the red bell pepper behind the corn so it is right side up relative to its front.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Place the red bell pepper behind the corn right side up, with the front as the reference point.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Set the red bell pepper behind the corn in a right-side-up position, using the front as the reference point.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Position the red bell pepper behind the corn so it stays right side up, referenced by the front.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Using the left hand, put the red bell pepper behind the corn.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "With the left hand, place the red bell pepper behind the corn.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Have the left arm position the red bell pepper behind the corn.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Put the red bell pepper behind the corn.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Set the red bell pepper behind the corn.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Place the red bell pepper behind the corn.", + "start_idx": 3294, + "end_idx": 3342 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Have the left arm take the canned goods off the table, grasping the top with a side hold from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "With the left hand, retrieve the canned goods from the table by holding the top from a diagonal angle using a side grasp.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Take the canned goods off the table, holding the top with a side grasp from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Retrieve the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "With the left hand, pick up the canned goods from the table using a side grip.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Have the left arm take the canned goods from the table with a side grasp at the top.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Using the left hand, retrieve the canned goods from the table from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "With the left hand, pick up the canned goods from the table.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Have the left arm retrieve the canned goods from the table.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Put the canned goods to the right of the corn with the left hand.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Using the left hand, place the canned goods to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Have the left arm set the canned goods down to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "With the left hand, position the canned goods on the right side of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Place the canned goods to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Set the canned goods down to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Position the canned goods on the right side of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Have the canned goods placed to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Move the canned goods to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Arrange the canned goods to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "The canned goods should go to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Put the canned goods on the corn's right side.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Transfer the canned goods to the right of the corn.", + "start_idx": 3375, + "end_idx": 3411 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Have the left arm pick the red bell pepper off the table with a top side grip and a diagonal approach.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold at the top on a diagonal angle.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Take the red bell pepper off the table with a top side grasp and a diagonal approach.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold at the top at a diagonal angle.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Have the left arm take the red bell pepper off the table using a side grasp at the top.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold at the top.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal pick angle.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Have the left arm take the red bell pepper off the table on a diagonal approach.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 3411, + "end_idx": 3435 + }, + { + "text": "Put the red bell pepper to the right of the canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Have the left arm set the red bell pepper to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the canned goods so the front serves as the reference point and it stays right side up.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Place the red bell pepper to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Set the red bell pepper to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Position the red bell pepper to the right of the canned goods with the front as the reference point, right side up.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the canned goods.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Have the left arm set the red bell pepper to the right of the canned goods.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the canned goods.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Put the red bell pepper to the right of the canned goods.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Arrange the red bell pepper to the right of the canned goods.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Move the red bell pepper to the right of the canned goods.", + "start_idx": 3435, + "end_idx": 3474 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top with a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Using the left hand, take hold of the white coffee cup from the table with a lip grip at the top and a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the top with a diagonal lip grip.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a lip grasp at the top on a diagonal.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top with a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold at the top and a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Take the white coffee cup from the table with a top lip grasp at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip at the top.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip grasp at the top.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the top using a lip grip.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Take the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3474, + "end_idx": 3504 + }, + { + "text": "Put the white coffee cup on the bottom side of the table with the left hand right side up with the front facing backwards.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Using the left hand, place the white coffee cup on the bottom side of the table right side up with the front facing backward.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Have the left arm set the white coffee cup on the bottom side of the table, keeping it upright and the front pointed backward.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "With the left hand, position the white coffee cup on the bottom side of the table right side up, front facing backwards.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Place the white coffee cup on the bottom side of the table right side up with the front facing backward.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Set the white coffee cup on the bottom side of the table upright, with the front pointed backward.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Position the white coffee cup on the bottom side of the table with its front facing backward and right side up.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Using the left hand, put the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "With the left hand, set the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Have the left arm place the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Put the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Set the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Using the left hand, place the white coffee cup on the bottom side of the table right side up.", + "start_idx": 3504, + "end_idx": 3543 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Have the left hand pick the canned goods off the table using a top side grip with a diagonal approach.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "With the left hand, grasp the canned goods from the table at the top using a side hold on a diagonal.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Take the canned goods off the table with a side grasp at the top on a diagonal.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold and a diagonal approach.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "With the left hand, take the canned goods off the table.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Have the left hand grasp the canned goods from the table.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Take the canned goods off the table with the left hand.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Using the left hand, collect the canned goods from the table.", + "start_idx": 3543, + "end_idx": 3579 + }, + { + "text": "Put the canned goods to the left of the white coffee cup with the left hand.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the canned goods to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Have the left arm set the canned goods to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "With the left hand, position the canned goods left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Place the canned goods to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Set the canned goods left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Position the canned goods to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Move the canned goods to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "The canned goods should go to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the canned goods by the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "With the left hand, set the canned goods next to the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Have the left arm place the canned goods near the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Put the canned goods by the white coffee cup.", + "start_idx": 3579, + "end_idx": 3615 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Have the left hand grasp the bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "With the left hand, secure the bag of chips from the table using a side grasp on the left in a diagonal orientation.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Take the bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Grasp the bag of chips from the table using a side grasp on the left in a diagonal orientation.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Have the left hand take the bag of chips from the table using a side hold.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "With the left hand, grasp the bag of chips from the table.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the left in a diagonal angle.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Take the bag of chips from the table in a diagonal angle with the left hand.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Grasp the bag of chips from the table.", + "start_idx": 3615, + "end_idx": 3642 + }, + { + "text": "Put the bag of chips to the left of the canned goods with the left hand facing backwards.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the canned goods with its front facing backwards.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Have the left arm set the bag of chips to the left of the canned goods, front turned backward.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "With the left hand, position the bag of chips left of the canned goods so the front faces backward.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Place the bag of chips to the left of the canned goods with its front facing backwards.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Set the bag of chips to the left of the canned goods, front turned backward.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Position the bag of chips left of the canned goods so the front faces backward.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the canned goods.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "With the left hand, set the bag of chips to the left of the canned goods.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Have the left arm position the bag of chips to the left of the canned goods.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Put the bag of chips to the left of the canned goods.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Set the bag of chips left of the canned goods.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Using the left hand, place the bag of chips left of the canned goods.", + "start_idx": 3642, + "end_idx": 3672 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Take the corn from the table.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Put the corn behind the bag of chips with the left hand with its tip facing top right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Using the left hand, place the corn behind the bag of chips with its tip pointed toward the top right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Have the left arm set the corn behind the bag of chips, tip facing the upper right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "With the left hand, position the corn behind the bag of chips so its tip faces top right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Place the corn behind the bag of chips with its tip facing the upper right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Set the corn behind the bag of chips so the tip points top right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Position the corn behind the bag of chips, with the tip directed toward the top right.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Using the left hand, put the corn behind the bag of chips.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "With the left hand, place the corn behind the bag of chips.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Have the left arm position the corn behind the bag of chips.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Put the corn behind the bag of chips.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Set the corn behind the bag of chips.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Position the corn behind the bag of chips.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Have the left arm pick the bag of chips off the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "With the left hand, grasp the bag of chips from the table using a side grip on the bottom left at a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Grasp the bag of chips off the table with a side hold on the bottom-left area from a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "The bag of chips should be picked up from the table using a side grasp at the bottom left from a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "With the left hand, grasp the bag of chips off the table by the bottom left.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Pick up the bag of chips from the table with the left hand from a diagonal angle.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Take the bag of chips from the table using a side grip.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Grasp the bag of chips off the table.", + "start_idx": 3807, + "end_idx": 3831 + }, + { + "text": "Put the bag of chips on the left side of the table with the left hand facing backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Using the left hand, place the bag of chips on the left side of the table facing backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Have the left arm set the bag of chips on the table's left side with its front facing backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "With the left hand, position the bag of chips on the left side of the table so it faces backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Place the bag of chips on the left side of the table facing backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Set the bag of chips on the table's left side with its front facing backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Position the bag of chips on the left side of the table so it faces backwards.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Using the left hand, put the bag of chips on the left side of the table.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "With the left hand, set the bag of chips on the table's left side.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Have the left arm place the bag of chips on the left side of the table.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Put the bag of chips on the left side of the table.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Set the bag of chips on the table's left side.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Place the bag of chips on the table's left side.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "With the left hand, secure the red bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Grasp the red bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "The red bell pepper from the table should be picked up using a side grasp on the top from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Have the left arm take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "With the left hand, collect the red bell pepper from the table using a side hold at the top.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "From a diagonal angle, take the red bell pepper from the table with the left hand.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 3924, + "end_idx": 3945 + }, + { + "text": "Put the red bell pepper in front of the bag of chips with the left hand right side up front.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the bag of chips, right side up with its front facing forward.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Have the left arm set the red bell pepper in front of the bag of chips, keeping it right side up and front-facing.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "With the left hand, position the red bell pepper before the bag of chips, oriented right side up with the front toward the front.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Place the red bell pepper in front of the bag of chips, right side up with its front facing forward.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Set the red bell pepper before the bag of chips, keeping it upright and front-facing.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Position the red bell pepper in front of the bag of chips, with the front toward the front and the pepper right side up.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the bag of chips.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Have the left arm set the red bell pepper before the bag of chips.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "With the left hand, position the red bell pepper in front of the bag of chips.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Put the red bell pepper in front of the bag of chips.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Set the red bell pepper before the bag of chips.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Position the red bell pepper in front of the bag of chips.", + "start_idx": 3945, + "end_idx": 3981 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Have the left arm take the corn from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold on a diagonal approach.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Take the corn from the table by its bottom with a side grasp at a diagonal angle.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Grasp the corn from the table at the bottom using a side hold with a diagonal approach.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Have the left arm take the corn from the table by its bottom using a side grasp.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Using the left hand, pick up the corn from the table at the bottom with a diagonal pick angle.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Have the left arm take the corn from the table by its bottom on a diagonal approach.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom.", + "start_idx": 4062, + "end_idx": 4086 + }, + { + "text": "Put the corn to the right of the red bell pepper with the left hand facing top right with the tip as the reference point.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Using the left hand, place the corn to the right of the red bell pepper, facing top right with the tip as the reference point.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Have the left arm set the corn to the right of the red bell pepper, oriented top right using the tip as the reference point.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "With the left hand, position the corn to the right of the red bell pepper so the tip faces top right.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Place the corn to the right of the red bell pepper, facing top right with the tip as the reference point.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Set the corn to the right of the red bell pepper with the tip oriented toward the top right.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Position the corn to the right of the red bell pepper so its tip points top right.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Using the left hand, put the corn to the right of the red bell pepper.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "With the left hand, place the corn to the right of the red bell pepper.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Have the left arm position the corn to the right of the red bell pepper.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Set the corn to the right of the red bell pepper.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Put the corn to the right of the red bell pepper.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Position the corn to the right of the red bell pepper.", + "start_idx": 4085, + "end_idx": 4119 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top using a side hold from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Take the canned goods from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Grasp the canned goods from the table on the top with a side hold from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "With the left hand, take the canned goods from the table using a side grasp.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Have the left arm grasp the canned goods from the table with a side hold.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Take the canned goods from the table with the left hand at the top.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Using the left hand, grasp the canned goods from the table.", + "start_idx": 4173, + "end_idx": 4215 + }, + { + "text": "Put the canned goods to the right of the bag of chips with the left hand.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Using the left hand, place the canned goods to the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Have the left arm set the canned goods down to the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "With the left hand, position the canned goods on the right side of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Place the canned goods to the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Set the canned goods down to the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Position the canned goods on the right side of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "The canned goods go to the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Move the canned goods to the bag of chips' right side.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Arrange the canned goods to the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Place the canned goods beside the bag of chips on its right side.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Set the canned goods on the right of the bag of chips.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Put the canned goods on the bag of chips' right side.", + "start_idx": 4215, + "end_idx": 4248 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top diagonally.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Have the left arm pick the red bell pepper up from the table with a diagonal side grip at the top.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold on the top at a diagonal angle.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top diagonally.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Take the red bell pepper from the table with a diagonal side grasp at the top.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold on the top diagonally.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Pick up the red bell pepper from the table diagonally at the top.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Take the red bell pepper from the table with the left hand.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Grasp the red bell pepper from the table.", + "start_idx": 4248, + "end_idx": 4272 + }, + { + "text": "Put the red bell pepper behind the white coffee cup with the left hand right side up.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Using the left hand, place the red bell pepper behind the white coffee cup right side up.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Have the left arm set the red bell pepper behind the white coffee cup in an upright orientation.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "With the left hand, position the red bell pepper behind the white coffee cup so it is right side up.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Place the red bell pepper behind the white coffee cup right side up.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Set the red bell pepper behind the white coffee cup in an upright position.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Position the red bell pepper behind the white coffee cup so it remains right side up.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Put the red bell pepper behind the white coffee cup with the left hand.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Using the left hand, place the red bell pepper behind the white coffee cup.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Have the left arm set the red bell pepper behind the white coffee cup.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Place the red bell pepper behind the white coffee cup.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Set the red bell pepper behind the white coffee cup.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Position the red bell pepper behind the white coffee cup.", + "start_idx": 4272, + "end_idx": 4302 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom diagonally.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Have the left arm pick up the corn from the table with a diagonal side hold at the bottom.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "With the left hand, grasp the corn from the table by its bottom in a diagonal side grip.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom diagonally.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Take the corn from the table with a diagonal side grasp at the bottom.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Grasp the corn from the table by the bottom with a side hold on a diagonal.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Have the left arm grasp the corn from the table at the bottom diagonally.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Take the corn from the table diagonally.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 4302, + "end_idx": 4329 + }, + { + "text": "Put the corn behind the canned of goods with the left hand facing right with the tip as the reference point.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Using the left hand, place the corn behind the can of goods with its tip facing right.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Have the left arm set the corn behind the canned goods, oriented rightward from the tip.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "With the left hand, position the corn behind the can of goods so the tip points right.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Place the corn behind the can of goods with the tip facing right.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Set the corn behind the canned goods, with the tip oriented to the right.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Position the corn behind the can of goods so its tip faces right.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Put the corn behind the canned goods.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Place the corn behind the can of goods.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Set the corn behind the canned goods with the left hand.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Using the left hand, put the corn behind the can of goods.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Have the left arm place the corn behind the canned goods.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Position the corn behind the can of goods.", + "start_idx": 4329, + "end_idx": 4365 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the bottom left on a diagonal.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Have the left arm pick up the bag of chips from the table with a side hold at the bottom left, diagonally oriented.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "With the left hand, secure the bag of chips from the table in a side grip at the bottom left with a diagonal approach.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Take the bag of chips from the table with a side grasp at the bottom left on a diagonal.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Have the bag of chips picked up from the table with a side hold at the bottom left and a diagonal orientation.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "With the left hand, take the bag of chips from the table in a side grasp.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Have the left arm retrieve the bag of chips from the table with a side hold.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Pick up the bag of chips from the table at the bottom left with a diagonal angle.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Using the left hand, take the bag of chips from the table at the bottom left with a diagonal angle.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Grab the bag of chips from the table.", + "start_idx": 4365, + "end_idx": 4392 + }, + { + "text": "Put the bag of chips on the top side of the table with the left hand facing backwards.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Using the left hand, place the bag of chips on the top side of the table with its front facing backwards.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Have the left arm set the bag of chips on the top side of the table so the front points backward.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "With the left hand, position the bag of chips on the table's top side facing backwards.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Place the bag of chips on the top side of the table with its front facing backwards.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Set the bag of chips on the top side of the table so it faces backwards.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Position the bag of chips on the top side of the table with the front directed backward.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Using the left hand, put the bag of chips on the top side of the table.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "With the left hand, set the bag of chips on the table's top side.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Have the left arm place the bag of chips on the top side of the table.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Put the bag of chips on the top side of the table.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Place the bag of chips on the table's top side.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Set the bag of chips on the top side of the table.", + "start_idx": 4392, + "end_idx": 4431 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Have the left arm grasp the canned goods from the table from a diagonal angle with a side hold at the top.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "With the left hand, secure the canned goods from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "From the table, take the canned goods using a side grasp at the top from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Using the left hand, take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Grasp the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4512 + }, + { + "text": "Put the canned goods in front of the red bell pepper with the left hand.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Using the left hand, place the canned goods in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Have the left arm set the canned goods down in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "With the left hand, position the canned goods before the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Place the canned goods in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Set the canned goods down in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Position the canned goods before the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "The canned goods go in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Put the canned goods before the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Arrange the canned goods in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Place the canned goods before the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Set the canned goods in front of the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "The canned goods should be placed before the red bell pepper.", + "start_idx": 4512, + "end_idx": 4545 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "With the left hand, retrieve the corn from the table by gripping the middle at a diagonal angle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Take the corn from the table with a diagonal approach at its middle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Retrieve the corn from the table by gripping the middle at a diagonal angle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 4545, + "end_idx": 4569 + }, + { + "text": "Put the corn to the left of the canned goods with the left hand facing bottom right from the front.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Using the left hand, place the corn to the left of the canned goods with its front facing bottom right.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Have the left arm set the corn to the left of the canned goods, front oriented toward the bottom right.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "With the left hand, position the corn left of the canned goods so the front faces bottom right.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Place the corn to the left of the canned goods with its front facing bottom right.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Set the corn left of the canned goods, with the front facing bottom right.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Position the corn to the left of the canned goods, front toward the bottom right.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Using the left hand, put the corn to the left of the canned goods.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "With the left hand, place the corn left of the canned goods.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Have the left arm set the corn to the left of the canned goods.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Put the corn to the left of the canned goods.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Place the corn left of the canned goods.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Set the corn to the left of the canned goods.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Using the left hand, grasp the red bell pepper from the table with a side grip at the top diagonally.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Have the left arm take the red bell pepper from the table, gripping its top from the side at a diagonal angle.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "With the left hand, pick the red bell pepper up from the table using a diagonal side hold on the top.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top diagonally.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Take the red bell pepper from the table with a diagonal side grasp on the top.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "From the table, grasp the red bell pepper at the top diagonally with a side hold.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "With the left hand, pick up the red bell pepper from the table using a side grip.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a side grasp.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Using the left hand, grasp the red bell pepper from the table.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Take the red bell pepper from the table diagonally at the top.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "From the table, pick up the red bell pepper.", + "start_idx": 4662, + "end_idx": 4686 + }, + { + "text": "Put the red bell pepper to the left of the corn with the left hand right side up with the front as the reference point.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the corn, right side up relative to the front.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Have the left arm set the red bell pepper to the left of the corn with its right side up, using the front as reference.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "With the left hand, position the red bell pepper left of the corn so it is right side up from the front reference point.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Place the red bell pepper to the left of the corn, right side up relative to the front.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Set the red bell pepper left of the corn with its right side up using the front as the reference point.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Position the red bell pepper to the left of the corn so it is right side up from the front.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the corn.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Have the left arm set the red bell pepper left of the corn.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "With the left hand, position the red bell pepper to the left of the corn.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Put the red bell pepper to the left of the corn.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Place the red bell pepper left of the corn.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Set the red bell pepper to the left of the corn.", + "start_idx": 4686, + "end_idx": 4716 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom left diagonal.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Have the left arm pick up the bag of chips from the table, grasping its bottom-left diagonal from the side.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "With the left hand, grasp the bag of chips from the table by the bottom-left diagonal using a side hold.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Pick up the bag of chips from the table with a side grip at the bottom left diagonal.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Take the bag of chips from the table, using a side grasp at the bottom-left diagonal.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Grasp the bag of chips from the table from the side at the bottom-left diagonal.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Have the left arm take the bag of chips from the table.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "With the left hand, grasp the bag of chips from the table.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Pick up the bag of chips from the table.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Take the bag of chips from the table at the bottom-left diagonal.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Grasp the bag of chips from the table from the side.", + "start_idx": 4776, + "end_idx": 4800 + }, + { + "text": "Put the bag of chips on the left side of the table with the left hand facing bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Using the left hand, place the bag of chips on the left side of the table with its front facing bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Have the left arm set the bag of chips on the table's left side, front oriented toward the bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "With the left hand, position the bag of chips on the left side of the table so the front faces bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Place the bag of chips on the left side of the table with its front facing bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Set the bag of chips on the table's left side, front toward the bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Position the bag of chips on the left side of the table with the front pointed bottom right.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Using the left hand, put the bag of chips on the left side of the table.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Have the left arm place the bag of chips on the table's left side.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "With the left hand, set the bag of chips on the left side of the table.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Put the bag of chips on the left side of the table.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Set the bag of chips on the table's left side.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Position the bag of chips on the left side of the table.", + "start_idx": 4800, + "end_idx": 4833 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle by grasping its middle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Take the corn from the table on a diagonal pickup, holding the middle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 4833, + "end_idx": 4857 + }, + { + "text": "Put the corn to the right side of the bag of chips with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips with the tip facing forwards.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Have the left hand set the corn on the right side of the bag of chips, oriented forwards from the tip.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "With the left hand, position the corn to the right of the bag of chips so its tip faces forwards.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Place the corn to the right of the bag of chips with the tip facing forwards.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Set the corn on the right side of the bag of chips, with its tip oriented forwards.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Position the corn to the right of the bag of chips so the tip points forwards.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "With the left hand, set the corn on the right side of the bag of chips.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Have the left hand position the corn to the right of the bag of chips.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Place the corn to the right of the bag of chips.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Set the corn on the right side of the bag of chips.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Position the corn beside the bag of chips on its right side.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the bottom left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Have the left arm grasp the bag of chips from the table using a side hold at the bottom-left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "With the left hand, retrieve the bag of chips from the table in a side grasp at the bottom left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Take the bag of chips from the table with a side grasp at the bottom left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Retrieve the bag of chips from the table in a side hold at the bottom-left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "With the left hand, take the bag of chips from the table.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Have the left arm retrieve the bag of chips from the table.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Pick up the bag of chips from the table at the bottom left diagonal.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Using the left hand, grasp the bag of chips from the table.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Take the bag of chips from the table.", + "start_idx": 5004, + "end_idx": 5028 + }, + { + "text": "Put the bag of chips on the bottom side of the table with the left hand facing backwards.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Using the left hand, place the bag of chips on the bottom side of the table with the front facing backward.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Have the left arm set the bag of chips on the bottom side of the table, front oriented backward.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "With the left hand, position the bag of chips on the bottom side of the table so its front faces backward.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Place the bag of chips on the bottom side of the table with the front facing backward.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Set the bag of chips on the bottom side of the table, front facing backward.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Position the bag of chips on the bottom side of the table so the front points backward.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Using the left hand, put the bag of chips on the bottom side of the table.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "With the left hand, set the bag of chips on the bottom side of the table.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Have the left arm place the bag of chips on the bottom side of the table.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Put the bag of chips on the bottom side of the table.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Set the bag of chips on the bottom side of the table.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Have the bag of chips placed on the bottom side of the table.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn from the table on its bottom with a side hold.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "With the left hand, secure the corn from the table at the bottom using a side grasp from the diagonal.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "From a diagonal angle, grasp the corn from the table at the bottom with a side hold.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Take the corn from the table using a side grasp on the bottom from a diagonal angle.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Have the left hand grasp the corn from the table.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Pick up the corn from the table from a diagonal angle.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Using the left hand, collect the corn from the table from a diagonal angle.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "From a diagonal angle, take the corn from the table with the left hand.", + "start_idx": 5115, + "end_idx": 5136 + }, + { + "text": "Put the corn to the right of the bag of chips with the left hand facing bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips with its tip facing bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Have the left arm set the corn to the right of the bag of chips, tip oriented toward the bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "With the left hand, position the corn to the right of the bag of chips so the tip points bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Place the corn to the right of the bag of chips with its tip facing bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Set the corn to the right of the bag of chips, with the tip oriented toward the bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Position the corn to the right of the bag of chips so its tip points to the bottom right.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "With the left hand, set the corn to the right of the bag of chips.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Have the left arm position the corn to the right of the bag of chips.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Put the corn to the right of the bag of chips.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Arrange the corn to the right of the bag of chips.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "The corn goes to the right of the bag of chips.", + "start_idx": 5136, + "end_idx": 5172 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the bottom left on a diagonal angle.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Have the left arm pick up the bag of chips from the table with a side hold at the bottom left, diagonally oriented.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "With the left hand, grasp the bag of chips from the table using a side grip on the bottom left at a diagonal.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Take the bag of chips from the table with a side hold at the bottom left on a diagonal.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Grasp the bag of chips from the table at the bottom left with a side grasp and diagonal orientation.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Have the left arm take the bag of chips from the table with a side hold.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "With the left hand, grasp the bag of chips from the table using a side grasp.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Take the bag of chips from the table with the left hand at a diagonal angle.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "With the left hand, pick up the bag of chips from the table at the bottom left.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Put the bag of chips on the bottom side of the table facing backwards with the left hand.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Using the left hand, place the bag of chips on the bottom side of the table with its front facing backward.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Have the left arm set the bag of chips on the bottom side of the table so the front points backward.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "With the left hand, position the bag of chips on the bottom side of the table facing backward.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Place the bag of chips on the bottom side of the table with its front facing backward.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Set the bag of chips on the bottom side of the table so it faces backward.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Position the bag of chips on the bottom side of the table with the front turned backward.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Using the left hand, put the bag of chips on the bottom side of the table.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "With the left hand, set the bag of chips on the bottom side of the table.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Have the left arm place the bag of chips on the bottom side of the table.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Put the bag of chips on the bottom side of the table.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Set the bag of chips on the bottom side of the table.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Place the bag of chips on the bottom side of the table.", + "start_idx": 5199, + "end_idx": 5235 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "With the left hand, secure the red bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "From a diagonal angle, grasp the red bell pepper from the table with a side hold at the top.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Take the red bell pepper from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp at the top.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold at the top.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Take the red bell pepper from the table using a side grip.", + "start_idx": 5235, + "end_idx": 5256 + }, + { + "text": "Put the red bell pepper on the top side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Using the left hand, place the red bell pepper on the top side of the table right side up with the front as the reference point.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Have the left arm set the red bell pepper on the table's top side, keeping it right side up relative to the front.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "With the left hand, position the red bell pepper on the top side of the table so it is right side up from the front reference point.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Place the red bell pepper on the top side of the table.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Set the red bell pepper on the table's top side.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "The red bell pepper goes on the top side of the table.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Put the red bell pepper on the top side of the table.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Using the left hand, place the red bell pepper on the top side of the table.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Have the left arm set the red bell pepper on the table's top side.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "With the left hand, put the red bell pepper on the top side of the table.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Place the red bell pepper on the top side of the table right side up with the front as the reference point.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Set the red bell pepper on the table's top side, keeping it right side up relative to the front.", + "start_idx": 5256, + "end_idx": 5286 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Have the left arm pick up the canned goods from the table, gripping the top from a diagonal angle with a side hold.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "With the left hand, secure the canned goods from the table using a side grip on the top at a diagonal approach.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Take the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Grasp the canned goods from the table at the top with a side grip from a diagonal angle.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Have the left arm take the canned goods from the table using a side hold at the top.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "With the left hand, grasp the canned goods from the table using a side grasp.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Take the canned goods from the table using the left hand and a side grip.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "With a side grip, pick up the canned goods from the table.", + "start_idx": 5286, + "end_idx": 5310 + }, + { + "text": "Put the canned goods on the top left side of the table with the left hand.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Using the left hand, place the canned goods on the table's top-left side, right side up with the front oriented forward.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Have the left arm set the canned goods at the top left of the table, keeping them upright with the front facing front.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "With the left hand, position the canned goods on the top left side of the table so they remain right side up and front-facing.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Set the canned goods on the top left side of the table.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Place the canned goods at the table's top-left area.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Position the canned goods on the top left side of the table.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Using the left hand, put the canned goods on the top left side of the table.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Have the left arm place the canned goods at the top left of the table.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "With the left hand, set the canned goods on the table's top-left side.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Place the canned goods on the top left side of the table, right side up.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Set the canned goods at the top left of the table with the front facing front.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Using the left hand, place the canned goods on the top left side of the table, right side up.", + "start_idx": 5310, + "end_idx": 5346 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn from the table by its bottom with a side hold.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "With the left hand, secure the corn from the table at the bottom using a side grasp from a diagonal approach.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "From a diagonal angle, grasp the corn from the table by the bottom using a side hold.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Take the corn from the table at the bottom with a side grasp from a diagonal approach.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Have the left hand grasp the corn from the table with a side hold.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Pick up the corn from the table at the bottom from a diagonal angle.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Using the left hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Take the corn from the table at the bottom.", + "start_idx": 5346, + "end_idx": 5376 + }, + { + "text": "Put the corn on the bottom side of the table with the left hand with its tip facing top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table with its tip pointing to the top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Have the left arm set the corn on the bottom side of the table, tip oriented toward the top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table so its tip faces the top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Place the corn on the bottom side of the table with its tip pointing to the top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Set the corn on the bottom side of the table so the tip faces top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "On the bottom side of the table, position the corn with its tip oriented toward the top right.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Using the left hand, put the corn on the bottom side of the table.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Have the left arm place the corn on the bottom side of the table.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "With the left hand, set the corn on the bottom side of the table.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Put the corn on the bottom side of the table.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Place the corn on the bottom side of the table.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "On the bottom side of the table, set down the corn.", + "start_idx": 5376, + "end_idx": 5403 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Have the left arm grasp the bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "With the left hand, collect the bag of chips from the table in a diagonal angle, gripping it from the left side.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Take the bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Grasp the bag of chips from the table from the left side with a side grip in a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "With the left hand, grasp the bag of chips from the table from the left side.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Take the bag of chips from the table in a diagonal angle.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Grasp the bag of chips from the table.", + "start_idx": 5478, + "end_idx": 5499 + }, + { + "text": "Put the bag of chips on the left side of the table with the left hand facing backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Using the left hand, place the bag of chips on the left side of the table facing backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Have the left arm set the bag of chips on the table's left side with its front facing backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "With the left hand, position the bag of chips on the left side of the table so it faces backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Place the bag of chips on the left side of the table facing backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Set the bag of chips on the table's left side with its front facing backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Position the bag of chips on the left side of the table so it faces backwards.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Using the left hand, place the bag of chips on the left side of the table.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Have the left arm set the bag of chips on the table's left side.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "With the left hand, position the bag of chips on the left side of the table.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Put the bag of chips on the left side of the table.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Set the bag of chips on the table's left side.", + "start_idx": 5499, + "end_idx": 5535 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Take the corn from the table at a diagonal angle while holding the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, grasping it at the middle.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Take the corn from the table.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 5535, + "end_idx": 5559 + }, + { + "text": "Place the corn on the center of the table with the left hand facing right with the tip as the reference point.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Using the left hand, set the corn at the center of the table with the tip facing right.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Have the left arm place the corn on the table center, oriented rightward from the tip.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "With the left hand, position the corn in the center of the table so its tip points right.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Place the corn at the center of the table with the tip facing right.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Set the corn on the center of the table, oriented right from the tip.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Position the corn in the middle of the table so the tip points to the right.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Using the left hand, place the corn at the center of the table.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Have the left arm set the corn on the center of the table.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "With the left hand, position the corn in the middle of the table.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Place the corn on the center of the table.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Set the corn in the middle of the table.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Have the corn placed at the table center.", + "start_idx": 5559, + "end_idx": 5589 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Have the left hand grasp the red bell pepper from the table with a top side hold at a diagonal angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "With the left hand, collect the red bell pepper from the table using a side grip on the top at a diagonal approach.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Have the left hand collect the red bell pepper from the table with a top side hold.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at the top with a diagonal pick angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Take the red bell pepper from the table with the left hand at a diagonal angle.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 5589, + "end_idx": 5613 + }, + { + "text": "Place the red bell pepper to the right of the corn with the left hand right side up with the front as the orientation reference point.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Using the left hand, set the red bell pepper to the right of the corn, right side up with the front as the reference point.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Have the left arm place the red bell pepper to the corn's right, keeping it right side up relative to the front.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the corn so it is right side up using the front as the orientation reference.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Place the red bell pepper to the right of the corn, keeping it right side up with the front as the reference point.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Set the red bell pepper to the corn's right, right side up relative to the front.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Position the red bell pepper to the right of the corn with its front as the orientation reference, right side up.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the corn.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Have the left arm set the red bell pepper to the corn's right.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "With the left hand, position the red bell pepper to the right of the corn.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Place the red bell pepper to the right of the corn.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Set the red bell pepper to the corn's right.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Position the red bell pepper to the right of the corn.", + "start_idx": 5613, + "end_idx": 5643 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal from the middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal from the middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Have the left arm grasp the corn from the table diagonally at its middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "With the left hand, take the corn from the table using a diagonal grasp at the middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Pick up the corn from the table at a diagonal from the middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Take the corn from the table diagonally at the middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Grasp the corn from the table with a diagonal approach at its middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "From the table, retrieve the corn at a diagonal from the middle.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Take the corn from the table.", + "start_idx": 5643, + "end_idx": 5670 + }, + { + "text": "Put the corn to the right of the bag of chips with the left hand facing backwards with the tip as the reference point.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips, facing backwards with the tip as the reference point.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Have the left arm set the corn to the right of the bag of chips with the tip defining a backwards-facing orientation.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "With the left hand, position the corn to the right of the bag of chips so it faces backwards relative to the tip.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Place the corn to the right of the bag of chips, facing backwards with the tip as the reference point.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Set the corn to the right of the bag of chips with a backwards-facing orientation referenced by the tip.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Position the corn to the right of the bag of chips so the tip marks the backwards-facing direction.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Using the left hand, place the corn to the right of the bag of chips.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "With the left hand, set the corn to the right of the bag of chips.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Have the left arm position the corn to the right of the bag of chips.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Place the corn to the right of the bag of chips.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Set the corn to the right of the bag of chips.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Position the corn to the right of the bag of chips.", + "start_idx": 5670, + "end_idx": 5712 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Have the left arm grasp the bag of chips from the table using a side hold on the left at a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "With the left hand, secure the bag of chips from the table in a side grasp on the left with a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Grasp the bag of chips from the table on the left with a side hold and a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "With the left hand, pick up the bag of chips from the table using a side grip.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Have the left arm grasp the bag of chips from the table with a side hold.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Using the left hand, take the bag of chips from the table.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Grab the bag of chips from the table at a diagonal angle.", + "start_idx": 5832, + "end_idx": 5853 + }, + { + "text": "Put the bag of chips to the right of the corn with the left hand facing backwards.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Using the left hand, place the bag of chips to the right of the corn with its front facing backward.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Have the left arm set the bag of chips to the right of the corn, oriented so the front faces backwards.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "With the left hand, position the bag of chips to the right of the corn, front facing backward.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Place the bag of chips to the right of the corn with its front facing backward.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Set the bag of chips to the right of the corn, keeping the front facing backwards.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Position the bag of chips to the right of the corn so its front points backward.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Using the left hand, put the bag of chips to the right of the corn.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "With the left hand, place the bag of chips to the right of the corn.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Have the left arm position the bag of chips to the right of the corn.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Put the bag of chips to the right of the corn.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Set the bag of chips to the right of the corn.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Position the bag of chips to the right of the corn.", + "start_idx": 5853, + "end_idx": 5889 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a top side hold at a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "With the left hand, grasp the canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Grasp the canned goods from the table with a top side hold at a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp on the top.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "With the left hand, grasp the canned goods from the table using a side hold at the top.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Using the left hand, pick up the canned goods from the table at a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Have the left arm take the canned goods from the table with a diagonal angle.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 5889, + "end_idx": 5922 + }, + { + "text": "Put the canned goods to the right of the bag of chips with the left hand.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Using the left hand, place the canned goods to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Have the left arm set the canned goods down to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "With the left hand, position the canned goods to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Place the canned goods to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Set the canned goods down to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Position the canned goods to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Move the canned goods to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "The canned goods go to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Arrange the canned goods to the right of the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Put the canned goods beside the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Set the canned goods next to the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Place the canned goods by the bag of chips.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Have the left arm grasp the corn from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "With the left hand, retrieve the corn from the table by gripping its bottom from the side at a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Take the corn from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Retrieve the corn from the table by grasping its bottom from the side at a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Have the left arm take the corn from the table with a side hold.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Using the left hand, grasp the corn from the table from the side.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "From the table, take the corn with the left hand at the bottom on a diagonal approach.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Grasp the corn from the table at the bottom from a diagonal angle.", + "start_idx": 6024, + "end_idx": 6051 + }, + { + "text": "Put the corn behind the bag of chips with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Using the left hand, place the corn behind the bag of chips with the tip facing bottom left.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Have the left arm set the corn behind the bag of chips, oriented bottom-left at the tip.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "With the left hand, position the corn behind the bag of chips so its tip points bottom left.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Place the corn behind the bag of chips with the tip facing bottom left.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Set the corn behind the bag of chips, oriented bottom-left at the tip.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Position the corn behind the bag of chips so the tip points bottom left.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Put the corn behind the bag of chips.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Place the corn behind the bag of chips.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Set the corn behind the bag of chips.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Have the left arm place the corn behind the bag of chips.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Using the left hand, put the corn behind the bag of chips.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "With the left hand, set the corn behind the bag of chips.", + "start_idx": 6051, + "end_idx": 6090 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Have the left hand grasp the bag of chips from the table with a left-side grip at a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "With the left arm, retrieve the bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "From the table, grasp the bag of chips with a left-side grip at a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "With the left hand, pick up the bag of chips from the table using a side grip.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Have the left arm retrieve the bag of chips from the table with a side grip.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "With the left hand, grasp the bag of chips from the table at a diagonal angle.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Pick up the bag of chips from the table with the left hand.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Take the bag of chips from the table using a side grip.", + "start_idx": 6156, + "end_idx": 6177 + }, + { + "text": "Put the bag of chips to the left of corn with the left hand facing backwards.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Using the left hand, place the bag of chips to the left of the corn with its front facing backward.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Have the left arm set the bag of chips to the left of the corn, front pointed backward.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "With the left hand, position the bag of chips left of the corn so the front faces backward.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Place the bag of chips to the left of the corn with its front facing backward.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Set the bag of chips left of the corn, front facing backward.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Position the bag of chips to the left of the corn so its front points backward.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Using the left hand, put the bag of chips to the left of the corn.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Have the left arm place the bag of chips left of the corn.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "With the left hand, set the bag of chips to the left of the corn.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Place the bag of chips to the left of the corn.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Set the bag of chips left of the corn.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Position the bag of chips to the left of the corn.", + "start_idx": 6177, + "end_idx": 6213 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach and hold it at the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach at the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Get the corn from the table.", + "start_idx": 6282, + "end_idx": 6309 + }, + { + "text": "Put the corn in front of the bag of chips with the left hand facing bottom right by the tip.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Using the left hand, place the corn in front of the bag of chips with its tip facing the bottom right.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Have the left arm set the corn in front of the bag of chips, oriented with the tip toward the bottom right.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "With the left hand, position the corn in front of the bag of chips so the tip points bottom right.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Place the corn in front of the bag of chips with its tip facing the bottom right.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Set the corn in front of the bag of chips, with the tip oriented toward the bottom right.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Position the corn in front of the bag of chips so its tip faces the bottom right.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Using the left hand, put the corn in front of the bag of chips.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "With the left hand, place the corn in front of the bag of chips.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Have the left arm set the corn in front of the bag of chips.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Put the corn in front of the bag of chips.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Place the corn in front of the bag of chips.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Set the corn in front of the bag of chips.", + "start_idx": 6309, + "end_idx": 6354 + }, + { + "text": "Pick up the bag of chips from the table with the left hand at a diagonal angle from the left side using a side grip.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Using the left hand, take the bag of chips from the table at a diagonal angle from the left side with a side grip.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Have the left arm pick the bag of chips up from the table with a side grasp at a diagonal from the left.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "The bag of chips should be grasped from the table by the left hand at a left-side diagonal angle using a side hold.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Pick up the bag of chips from the table at a diagonal angle from the left side using a side grip.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Take the bag of chips from the table with a side grasp at a diagonal from the left.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "From the table, grasp the bag of chips at a left-side diagonal angle with a side hold.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "The bag of chips should be picked up from the table by the left hand with a side hold.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Pick up the bag of chips from the table at a diagonal angle from the left side.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "From the table, take the bag of chips with the left hand at a diagonal from the left.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Grasp the bag of chips from the table using a side grip.", + "start_idx": 6546, + "end_idx": 6570 + }, + { + "text": "Put the bag of chips behind the white coffee cup with the left hand facing backwards.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "With the left hand, place the bag of chips behind the white coffee cup so it faces backward.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Have the left arm set the bag of chips behind the white coffee cup, oriented backward.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Using the left hand, position the bag of chips behind the white coffee cup with the front facing backward.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Place the bag of chips behind the white coffee cup so it faces backward.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Set the bag of chips behind the white coffee cup with its front facing backward.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Position the bag of chips behind the white coffee cup, oriented backward.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Using the left hand, put the bag of chips behind the white coffee cup.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Have the left arm place the bag of chips behind the white coffee cup.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "With the left hand, set the bag of chips behind the white coffee cup.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Put the bag of chips behind the white coffee cup.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Place the bag of chips behind the white coffee cup.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Set the bag of chips behind the white coffee cup.", + "start_idx": 6570, + "end_idx": 6606 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at a diagonal from the top of the object.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a diagonal top-of-object grasp.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "The red bell pepper should be picked up from the table by the left hand at a diagonal from the top.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal from the top of the object.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Take the red bell pepper from the table at a diagonal from the top.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Grasp the red bell pepper from the table diagonally from the top of the object.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Retrieve the red bell pepper from the table from the top at a diagonal.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "The red bell pepper should be picked up from the table by the left hand.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Take the red bell pepper from the table.", + "start_idx": 6606, + "end_idx": 6630 + }, + { + "text": "Put the red bell pepper behind the canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Using the left hand, place the red bell pepper behind the canned goods right side up with the front as the reference point.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Have the left arm set the red bell pepper behind the canned goods, keeping it right side up relative to the front.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "With the left hand, position the red bell pepper behind the canned goods in a right-side-up orientation using the front as the reference point.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Place the red bell pepper behind the canned goods right side up with the front as the reference point.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Set the red bell pepper behind the canned goods, keeping it right side up relative to the front.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Position the red bell pepper behind the canned goods in a right-side-up orientation using the front as the reference point.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Using the left hand, place the red bell pepper behind the canned goods.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Have the left arm set the red bell pepper behind the canned goods.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "With the left hand, position the red bell pepper behind the canned goods.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Place the red bell pepper behind the canned goods.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Set the red bell pepper behind the canned goods.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Position the red bell pepper behind the canned goods.", + "start_idx": 6630, + "end_idx": 6660 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle and grasp the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Take the corn from the table on a diagonal angle, holding the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, gripping the middle.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Take the corn from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 6660, + "end_idx": 6687 + }, + { + "text": "Put the corn between the canned goods and the white coffee cup with the left hand with its tip facing bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Using the left hand, place the corn between the canned goods and the white coffee cup with its tip pointing to the bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Have the left arm set the corn between the canned goods and the white coffee cup, tip oriented bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "With the left hand, position the corn between the canned goods and the white coffee cup so its tip faces bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Place the corn between the canned goods and the white coffee cup with its tip facing bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Set the corn between the canned goods and the white coffee cup, with the tip pointing bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Position the corn between the canned goods and the white coffee cup so the tip faces the bottom left.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Using the left hand, put the corn between the canned goods and the white coffee cup.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "With the left hand, place the corn between the canned goods and the white coffee cup.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Have the left arm position the corn between the canned goods and the white coffee cup.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Put the corn between the canned goods and the white coffee cup.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Set the corn between the canned goods and the white coffee cup.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Position the corn between the canned goods and the white coffee cup.", + "start_idx": 6687, + "end_idx": 6726 + }, + { + "text": "Pick up the corn from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the left hand, pick up the corn from the table at the middle using a diagonal angle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "At the middle, have the left hand grasp the corn from the table at a diagonal angle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "With a diagonal approach, take the corn from the table with the left hand at the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the corn from the table at the middle using a diagonal angle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "At the middle, grasp the corn from the table with a diagonal angle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Take the corn from the table at the middle with a diagonal approach.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the left hand, pick up the corn from the table at the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "At the middle, have the left hand take the corn from the table.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "With the left hand, grasp the corn from the table at the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Grasp the corn from the table at the middle.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Put the corn to the left of the red bell pepper with the left hand facing bottom right from the tip.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper with its tip facing bottom right.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Have the left arm set the corn to the left of the red bell pepper, oriented bottom right from the tip.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "With the left hand, position the corn left of the red bell pepper so the tip points bottom right.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Place the corn to the left of the red bell pepper with its tip facing bottom right.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Set the corn left of the red bell pepper, with the tip oriented toward the bottom right.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Position the corn to the left of the red bell pepper so its tip points bottom right.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "With the left hand, set the corn left of the red bell pepper.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Have the left arm position the corn to the left of the red bell pepper.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Place the corn to the left of the red bell pepper.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Set the corn left of the red bell pepper.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Position the corn to the left of the red bell pepper.", + "start_idx": 6843, + "end_idx": 6885 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Have the left arm grasp the canned goods from the table from a diagonal angle with a side hold at the top.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "With the left hand, secure the canned goods from the table using a top side grasp at a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "From the table, grasp the canned goods at the top with a side hold from a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "With the left hand, pick up the canned goods from the table using a side grip at the top.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Have the left arm take the canned goods from the table with a side hold at the top.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Using the left hand, grasp the canned goods from the table at the top with a side grasp.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Using the left hand, take the canned goods from the table.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "From the table, grasp the canned goods using a side grip at the top.", + "start_idx": 6885, + "end_idx": 6912 + }, + { + "text": "Put the canned goods on the left side of the table with the left hand.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Using the left hand, place the canned goods on the left side of the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Have the left arm set the canned goods on the table's left side.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "With the left hand, position the canned goods on the left side of the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Place the canned goods on the left side of the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Set the canned goods on the table's left side.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Put the canned goods on the left side of the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Position the canned goods on the left side of the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "The canned goods should go on the left side of the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Using the left hand, place the canned goods on the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "With the left hand, set the canned goods down on the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Have the left arm put the canned goods on the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Place the canned goods on the table.", + "start_idx": 6912, + "end_idx": 6945 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Have the left arm take the red bell pepper from the table using a side grasp at the top on a diagonal approach.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table at the top using a side hold from a diagonal angle.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Take the red bell pepper from the table using a side grasp at the top on a diagonal approach.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Grasp the red bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp at the top.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top with a side hold.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "With the left hand, take the red bell pepper from the table on a diagonal approach.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 6945, + "end_idx": 6975 + }, + { + "text": "Put the red bell pepper on the center of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Using the left hand, place the red bell pepper at the center of the table right side up, with the front as the reference point.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Have the left arm set the red bell pepper in the table's center, keeping it right side up relative to the front.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "With the left hand, position the red bell pepper on the center of the table so it stays right side up, using the front as the orientation reference.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Place the red bell pepper at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Set the red bell pepper on the center of the table, keeping it right side up relative to the front.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Position the red bell pepper in the middle of the table right side up, using the front as the reference point.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Using the left hand, put the red bell pepper on the center of the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Have the left arm place the red bell pepper at the center of the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "With the left hand, set the red bell pepper in the middle of the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Put the red bell pepper on the center of the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Place the red bell pepper at the center of the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Set the red bell pepper in the middle of the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Using the left hand, take the red bell pepper from the table at a diagonal angle, grasping its top.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Have the left hand pick the red bell pepper up from the table diagonally by the top.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "With the left arm, retrieve the red bell pepper from the table at a diagonal angle while holding the top.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Pick up the red bell pepper from the table at a diagonal angle, grasping the top.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Take the red bell pepper from the table diagonally by the top.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Retrieve the red bell pepper from the table with a diagonal approach at the top.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "From the table, pick up the red bell pepper with the left hand.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Use the left hand to take the red bell pepper from the table.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Have the left arm retrieve the red bell pepper from the table.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Take the red bell pepper from the table with the left hand.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "From the table, retrieve the red bell pepper diagonally.", + "start_idx": 7158, + "end_idx": 7200 + }, + { + "text": "Put the red bell pepper to the left of the bag of chips with the left hand.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Have the left arm set the red bell pepper down to the left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "With the left hand, position the red bell pepper on the left side of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Place the red bell pepper to the left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Set the red bell pepper on the left side of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Position the red bell pepper left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Arrange the red bell pepper to the left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Move the red bell pepper to the left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "The red bell pepper goes to the left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Put the red bell pepper beside the bag of chips on its left side.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Place the red bell pepper on the bag of chips' left side.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Set the red bell pepper down left of the bag of chips.", + "start_idx": 7200, + "end_idx": 7230 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Using the left arm, collect the corn from the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Have the left hand grasp the corn from the table with a side hold at the bottom from a diagonal approach.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Using a side grasp at the bottom from a diagonal angle, retrieve the corn from the table.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "The corn from the table should be picked up with a side hold at the bottom from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip at the bottom.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Using the left arm, take the corn from the table with a side grasp at the bottom.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Have the left hand collect the corn from the table from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Using the left hand, retrieve the corn from the table with a side grip.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "The corn from the table should be grasped at the bottom from a diagonal angle.", + "start_idx": 7230, + "end_idx": 7254 + }, + { + "text": "Put the corn to the left of the white coffee cup with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Using the left hand, place the corn left of the white coffee cup with the tip facing bottom left.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Have the left arm set the corn to the left of the white coffee cup, oriented bottom left by its tip.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "With the left hand, position the corn left of the white coffee cup so its tip points bottom left.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Place the corn to the left of the white coffee cup with the tip facing bottom left.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Set the corn left of the white coffee cup, with the tip oriented bottom left.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Position the corn to the left of the white coffee cup so the tip faces bottom left.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Put the corn to the left of the white coffee cup.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Set the corn left of the white coffee cup.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Position the corn to the left of the white coffee cup.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Using the left hand, place the corn to the left of the white coffee cup.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Have the left arm set the corn left of the white coffee cup.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "With the left hand, position the corn to the left of the white coffee cup.", + "start_idx": 7254, + "end_idx": 7287 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Have the left arm take hold of the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top using a side hold from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Take the canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "With the left hand, grasp the canned goods from the table by the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Using the left hand, pick up the canned goods from the table at the top from a diagonal angle.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Have the left arm grasp the canned goods from the table.", + "start_idx": 7287, + "end_idx": 7326 + }, + { + "text": "Put the canned goods in front of the bag of chips with the left hand.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Using the left hand, place the canned goods in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Have the left arm set the canned goods down in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "With the left hand, position the canned goods before the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Place the canned goods in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Set the canned goods down in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Position the canned goods before the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "The canned goods go in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Put the canned goods before the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "In front of the bag of chips, place the canned goods.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Have the canned goods placed in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Set the canned goods in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Move the canned goods to a spot in front of the bag of chips.", + "start_idx": 7326, + "end_idx": 7371 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach and a middle grasp.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by holding its middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Take the corn from the table diagonally by its middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Using the left hand, pick up the corn from the table grasping the middle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Have the left arm take the corn from the table at a diagonal angle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle.", + "start_idx": 7371, + "end_idx": 7395 + }, + { + "text": "Put the corn to the left of the red bell pepper with the left hand facing bottom right by the tip.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Using the left hand, place the corn to the left of the red bell pepper with the tip facing bottom right.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Have the left arm set the corn left of the red bell pepper, oriented so the tip points bottom right.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "With the left hand, position the corn to the left of the red bell pepper, tip directed toward the bottom right.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Place the corn to the left of the red bell pepper with the tip facing bottom right.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Set the corn left of the red bell pepper, with its tip pointing bottom right.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Position the corn to the left of the red bell pepper, oriented bottom right at the tip.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Using the left hand, put the corn to the left of the red bell pepper.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "With the left hand, set the corn left of the red bell pepper.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Have the left arm place the corn to the left of the red bell pepper.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Place the corn to the left of the red bell pepper.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Set the corn left of the red bell pepper.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Have the corn placed to the left of the red bell pepper.", + "start_idx": 7395, + "end_idx": 7434 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grip on the handle.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "With the left hand, take the white coffee cup from the table, gripping the handle diagonally.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Take the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Grasp the white coffee cup from the table with the handle held diagonally.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Pick up the white coffee cup from the table with the handle in a diagonal orientation.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "From the table, take the white coffee cup with a diagonal handle grip.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7434, + "end_idx": 7464 + }, + { + "text": "Put the white coffee cup to the left of the corn with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn, handle facing backward, right side up relative to the front.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn with its handle pointing backward, upright with the front as reference.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the corn, keeping it right side up and the handle facing backward from the front.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Place the white coffee cup to the left of the corn, handle facing backward, right side up relative to the front.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Set the white coffee cup left of the corn with its handle pointing backward, upright with the front as reference.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Position the white coffee cup to the left of the corn, with the handle facing backward and kept right side up from the front.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the corn.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Have the left arm place the white coffee cup left of the corn.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "With the left hand, set the white coffee cup to the left of the corn.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Place the white coffee cup to the left of the corn.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Using the left hand, position the white coffee cup left of the corn with the handle facing backward.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Set the white coffee cup to the left of the corn right side up with the front as reference.", + "start_idx": 7464, + "end_idx": 7509 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table from the top with a side hold at a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "With the left hand, seize the red bell pepper from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Grasp the red bell pepper from the table from the top using a side hold at a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Have the left arm take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by the top with a side hold.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Take the red bell pepper from the table from the top with a diagonal angle.", + "start_idx": 7578, + "end_idx": 7599 + }, + { + "text": "Put the red bell pepper in front of the corn with the left hand right side up.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the corn right side up.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Have the left arm set the red bell pepper down in front of the corn, keeping it right side up.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "With the left hand, position the red bell pepper before the corn so it stays right side up.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Place the red bell pepper in front of the corn right side up.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Set the red bell pepper down before the corn, right side up.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Position the red bell pepper in front of the corn, keeping it upright.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Using the left hand, put the red bell pepper in front of the corn.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "With the left hand, set the red bell pepper down before the corn.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Have the left arm place the red bell pepper in front of the corn.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Put the red bell pepper in front of the corn.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Set the red bell pepper down before the corn.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Place the red bell pepper before the corn.", + "start_idx": 7599, + "end_idx": 7629 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Have the left arm take the corn from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom in a side hold with a diagonal approach.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Take the corn from the table by its bottom using a side grasp at a diagonal angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "From the table, grasp the corn at the bottom with a side hold on a diagonal.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Have the left arm take the corn from the table by its bottom with a side grasp.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Using the left hand, pick up the corn from the table with a diagonal pick angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Have the left arm take the corn from the table at a diagonal angle.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Grasp the corn from the table at the bottom with a diagonal approach.", + "start_idx": 7629, + "end_idx": 7647 + }, + { + "text": "Put the corn in front of the bag of chips with the left hand facing left with the tip as the reference point.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Using the left hand, place the corn in front of the bag of chips with its tip facing left.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Have the left arm set the corn in front of the bag of chips, tip pointed to the left.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "With the left hand, position the corn before the bag of chips so the tip faces left.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Place the corn in front of the bag of chips with the tip facing left.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Set the corn before the bag of chips with its tip pointed left.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Position the corn in front of the bag of chips, tip facing left.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Using the left hand, put the corn in front of the bag of chips.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Have the left arm place the corn before the bag of chips.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "With the left hand, set the corn in front of the bag of chips.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Put the corn in front of the bag of chips.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Place the corn before the bag of chips.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Set the corn in front of the bag of chips.", + "start_idx": 7647, + "end_idx": 7692 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "With the left hand, seize the red bell pepper from the table by the top using a side grip from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Take the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Grasp the red bell pepper from the table by the top with a side grip from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grip.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Have the left arm pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top from a diagonal angle.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Using the left hand, grasp the red bell pepper from the table at the top.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Take the red bell pepper from the table.", + "start_idx": 7691, + "end_idx": 7721 + }, + { + "text": "Put the red bell pepper to the right of the corn with the left hand right side up with the front as the reference point.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the corn, right side up with the front as the reference point.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Have the left arm set the red bell pepper to the corn's right, keeping it right side up relative to the front.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "With the left hand, position the red bell pepper on the right side of the corn, right side up using the front as the reference point.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Place the red bell pepper to the right of the corn.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Set the red bell pepper on the right side of the corn.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Position the red bell pepper to the corn's right.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Using the left hand, put the red bell pepper to the right of the corn.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "With the left hand, set the red bell pepper on the right side of the corn.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Have the left arm place the red bell pepper to the corn's right.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Put the red bell pepper to the right of the corn with the front as the reference point.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Set the red bell pepper on the right side of the corn, right side up.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the corn.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grip on the handle.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "With the left hand, take the white coffee cup from the table, gripping the handle diagonally.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grip on the handle.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp on the handle.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Grasp the white coffee cup from the table by the handle with a diagonal grip.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 7755, + "end_idx": 7791 + }, + { + "text": "Put the white coffee cup to the left of the corn with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn, right side up, with the handle facing backward relative to the front.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Have the left hand set the white coffee cup left of the corn, keeping it upright and the handle pointing backward from the front.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "With the left hand, position the white coffee cup to the corn's left, right side up, with its handle oriented backward using the front as reference.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Place the white coffee cup to the left of the corn, right side up, with the handle facing backward from the front.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Set the white coffee cup left of the corn, keeping it upright with the handle pointing backward relative to the front.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Position the white coffee cup to the corn's left, with the handle directed backward and the cup right side up.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the corn.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Have the left hand place the white coffee cup left of the corn.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "With the left hand, set the white coffee cup to the corn's left.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Place the white coffee cup to the left of the corn.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Set the white coffee cup left of the corn.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Position the white coffee cup to the corn's left.", + "start_idx": 7791, + "end_idx": 7839 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a diagonal lip hold on its left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "With the left hand, secure the white coffee cup from the table in a diagonal lip grip on the left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Grasp the white coffee cup from the table in a diagonal lip grip on its left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Take the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 7839, + "end_idx": 7875 + }, + { + "text": "Put the white coffee cup behind the bag of chips with the left hand right side up with the front facing backwards.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Using the left hand, place the white coffee cup behind the bag of chips upright with its front facing backward.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Have the left arm set the white coffee cup behind the bag of chips right side up, front pointed backward.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "With the left hand, position the white coffee cup behind the bag of chips so it stays upright and faces backward.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Place the white coffee cup behind the bag of chips right side up with the front facing backward.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Set the white coffee cup behind the bag of chips upright with its front toward the back.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Position the white coffee cup behind the bag of chips so it is right side up and facing backward.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Put the white coffee cup behind the bag of chips with the left hand.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Using the left hand, set the white coffee cup behind the bag of chips.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Have the left arm place the white coffee cup behind the bag of chips.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Place the white coffee cup behind the bag of chips.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Set the white coffee cup behind the bag of chips.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Position the white coffee cup behind the bag of chips.", + "start_idx": 7875, + "end_idx": 7908 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Grasp the white coffee cup from the table by the left lip diagonally.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 8031, + "end_idx": 8055 + }, + { + "text": "Put the white coffee cup to the left of the corn with the handle facing backwards with the left hand right side up front.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn, right side up, with the handle facing the front backwards.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn, keeping it upright and the handle facing backwards relative to the front.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "With the left hand, position the white coffee cup to the corn's left, right side up, handle facing backwards from the front.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Place the white coffee cup to the left of the corn, right side up, with the handle facing backwards from the front.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Set the white coffee cup left of the corn, keeping it upright with the handle facing backwards.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Position the white coffee cup to the corn's left, with the handle facing backwards and right side up.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Place the white coffee cup to the left of the corn with the left hand.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Using the left hand, set the white coffee cup left of the corn.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Have the left arm place the white coffee cup to the corn's left.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Put the white coffee cup to the left of the corn.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Set the white coffee cup to the corn's left.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Position the white coffee cup left of the corn.", + "start_idx": 8055, + "end_idx": 8094 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Have the left arm grasp the bag of chips from the table using a side hold on the left at a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "With the left hand, secure the bag of chips from the table in a side grasp on the left with a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Take the bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Grasp the bag of chips from the table in a side hold on the left with a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side grasp.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "With the left hand, grasp the bag of chips from the table in a side hold.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table at the left with a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Have the left arm take the bag of chips from the table on the left at a diagonal angle.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Pick up the bag of chips from the table with the left hand.", + "start_idx": 8205, + "end_idx": 8226 + }, + { + "text": "Put the bag of chips on the bottom side of the table with the left hand facing backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Using the left hand, place the bag of chips on the bottom side of the table facing backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Have the left arm set the bag of chips on the bottom side of the table with its front facing backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "With the left hand, position the bag of chips on the bottom side of the table so the front faces backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Place the bag of chips on the bottom side of the table facing backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Set the bag of chips on the bottom side of the table with the front facing backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Position the bag of chips on the bottom side of the table so it faces backwards.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Using the left hand, put the bag of chips on the bottom side of the table.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "With the left hand, set the bag of chips on the bottom side of the table.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Have the left arm place the bag of chips on the bottom side of the table.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Put the bag of chips on the bottom side of the table.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Place the bag of chips on the bottom side of the table.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Set the bag of chips on the bottom side of the table.", + "start_idx": 8226, + "end_idx": 8265 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal angle by grasping the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Take the corn from the table on a diagonal pickup, holding the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by gripping the middle.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Take the corn from the table.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 8265, + "end_idx": 8298 + }, + { + "text": "Put the corn on the top side of the table with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Using the left hand, place the corn on the top side of the table with its tip oriented toward the bottom right.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Have the left arm set the corn on the top side of the table, tip facing bottom right.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "With the left hand, position the corn on the table's top side so the tip points to the bottom right.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Place the corn on the top side of the table with its tip facing bottom right.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Set the corn on the table's top side, with the tip directed toward the bottom right.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "On the top side of the table, position the corn so its tip points bottom right.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Put the corn on the top side of the table using the left hand.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "With the left hand, place the corn on the top side of the table.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Have the left arm set the corn on the table's top side.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Put the corn on the top side of the table.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Set the corn on the table's top side.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "On the top side of the table, place the corn.", + "start_idx": 8298, + "end_idx": 8334 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "With the left arm, grasp the canned goods from the table at the top using a side grip from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Have the left hand pick the canned goods up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Grasp the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "The canned goods should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "With the left arm, take the canned goods from the table using a side grasp at the top.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Using the left hand, collect the canned goods from the table from a diagonal angle.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Take the canned goods from the table with the left hand.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 8409, + "end_idx": 8436 + }, + { + "text": "Put the canned goods on the right side of the table with the left hand.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Using the left hand, place the canned goods on the right side of the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Have the left arm set the canned goods on the table's right side.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "With the left hand, position the canned goods at the right side of the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Place the canned goods on the right side of the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Set the canned goods on the table's right side.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Position the canned goods at the right side of the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "The canned goods go on the right side of the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Transfer the canned goods to the right side of the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Using the left hand, put the canned goods on the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "With the left hand, set down the canned goods.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Have the left arm place the canned goods.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Put the canned goods on the table.", + "start_idx": 8436, + "end_idx": 8466 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grip from the left at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Have the left arm grasp the bag of chips from the table using a left-side grip at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "With the left hand, secure the bag of chips from the table via a side grasp from the left at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Pick up the bag of chips from the table using a side grip from the left at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Take the bag of chips from the table with a side grasp from the left at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Grasp the bag of chips from the table from the left with a side grip at a diagonal angle.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "With the left hand, take the bag of chips from the table using a side grasp.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Have the left arm grasp the bag of chips from the table.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Pick up the bag of chips from the table.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Take the bag of chips from the table.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "With the left hand, pick up the bag of chips from the table.", + "start_idx": 8466, + "end_idx": 8502 + }, + { + "text": "Put the bag of chips on the bottom side of the table with the left hand facing backwards.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Using the left hand, place the bag of chips on the bottom side of the table facing backwards.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Have the left arm set the bag of chips on the bottom side of the table with its front facing backwards.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "With the left hand, position the bag of chips on the bottom side of the table so the front points backward.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Place the bag of chips on the bottom side of the table facing backwards.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Set the bag of chips on the bottom side of the table with its front facing backwards.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Position the bag of chips on the bottom side of the table so it faces backward.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "With the left hand, put the bag of chips on the bottom side of the table.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Using the left arm, set the bag of chips on the bottom side of the table.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Have the left hand place the bag of chips on the bottom side of the table.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Put the bag of chips on the bottom side of the table.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Set the bag of chips on the bottom side of the table.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Position the bag of chips on the bottom side of the table.", + "start_idx": 8502, + "end_idx": 8538 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "With the left hand, collect the corn from the table at a diagonal angle by gripping the middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "From the table, collect the corn at a diagonal angle while gripping its middle.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "With the left hand, collect the corn from the table.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Take the corn from the table.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "From the table, collect the corn.", + "start_idx": 8538, + "end_idx": 8562 + }, + { + "text": "Put the corn on the bottom side of the table with the left hand with its tip facing bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table with its tip pointing to the bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Have the left arm set the corn on the table's bottom side, tip directed toward the bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table so its tip faces bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Place the corn on the bottom side of the table with its tip facing bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Set the corn on the table's bottom side, keeping its tip pointed toward the bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Position the corn on the bottom side of the table so the tip points bottom left.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Using the left hand, put the corn on the bottom side of the table.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Have the left arm place the corn on the table's bottom side.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "With the left hand, set the corn on the bottom side of the table.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Place the corn on the bottom side of the table.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Set the corn on the table's bottom side.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Position the corn on the bottom side of the table.", + "start_idx": 8562, + "end_idx": 8598 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a top side hold at a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "With the left hand, secure the canned goods from the table using a side grip on the top from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Get the canned goods from the table with a top side hold from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp at the top.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "With the left hand, grasp the canned goods from the table from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Get the canned goods from the table.", + "start_idx": 8598, + "end_idx": 8625 + }, + { + "text": "Put the canned goods on the center of the table with the left hand.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Using the left hand, place the canned goods at the center of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Have the left arm set the canned goods down in the middle of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "With the left hand, position the canned goods on the table's center.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Place the canned goods at the center of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Set the canned goods down in the middle of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Position the canned goods on the table's center.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "The canned goods should go at the center of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Transfer the canned goods to the center of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Move the canned goods onto the center of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Put the canned goods in the middle of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Set the canned goods onto the table's center.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Arrange the canned goods at the center of the table.", + "start_idx": 8625, + "end_idx": 8661 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup by the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Take the corn from the table diagonally, holding the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Retrieve the corn from the table by the middle.", + "start_idx": 8721, + "end_idx": 8751 + }, + { + "text": "Put the corn on the bottom side of the table with the left hand facing backwards with the tip as the reference point.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Using the left hand, place the corn on the bottom side of the table with the tip facing backward.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Have the left arm set the corn on the bottom side of the table, oriented backward relative to its tip.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "With the left hand, position the corn on the bottom side of the table so the tip points backward.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Place the corn on the bottom side of the table with the tip facing backward.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Set the corn on the bottom side of the table with its tip oriented backward.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Position the corn on the bottom side of the table so the tip points backward.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Using the left hand, put the corn on the bottom side of the table.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Have the left arm place the corn on the bottom side of the table.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "With the left hand, set the corn on the bottom side of the table.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Place the corn on the bottom side of the table.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Set the corn on the bottom side of the table.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Position the corn on the bottom side of the table.", + "start_idx": 8751, + "end_idx": 8784 + }, + { + "text": "Pick up the bag of chips from the table with the left hand using a side grasp at the bottom left from a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Using the left hand, take the bag of chips from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Have the left arm pick up the bag of chips from the table, grasping its bottom-left side at a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "With the left hand, collect the bag of chips from the table using a side hold on the bottom left from a diagonal approach.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Pick up the bag of chips from the table using a side grasp at the bottom left from a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "From the table, take the bag of chips with a side hold at the bottom left on a diagonal.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "The bag of chips should be picked up from the table with a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Using the left hand, pick up the bag of chips from the table with a side grasp.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Have the left arm take the bag of chips from the table using a side hold.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "With the left hand, grasp the bag of chips from the table from a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Pick up the bag of chips from the table with the left hand from a diagonal angle.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Using the left hand, take the bag of chips from the table.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Pick up the bag of chips from the table with a side grasp.", + "start_idx": 8841, + "end_idx": 8865 + }, + { + "text": "Put the bag of chips on the top side of the table with the left hand facing backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Using the left hand, place the bag of chips on the top side of the table facing backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Have the left arm set the bag of chips on the table's top side with its front facing backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "With the left hand, position the bag of chips on the top side of the table so the front faces backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Place the bag of chips on the top side of the table facing backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Set the bag of chips on the table's top side with its front facing backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Position the bag of chips on the top side of the table so it faces backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Using the left hand, put the bag of chips on the top side of the table.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Have the left arm place the bag of chips on the table's top side.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "With the left hand, set the bag of chips on the top side of the table.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Put the bag of chips on the top side of the table.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Place the bag of chips on the table's top side.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Have the bag of chips placed on the top side of the table facing backwards.", + "start_idx": 8865, + "end_idx": 8901 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Using the right hand, take hold of the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Have the right hand pick up the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Grasp the white coffee cup from the table by the handle in a diagonal hold.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Take the white coffee cup from the table using a diagonal grasp at the handle.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 402, + "end_idx": 438 + }, + { + "text": "Put the white coffee cup to the right of the canned goods with the right hand right side up with the front facing backwards.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the canned goods upright with the front facing backward.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the canned goods right side up, front directed backward.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the canned goods upright and facing backward at the front.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Place the white coffee cup to the right of the canned goods upright with the front facing backward.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Set the white coffee cup to the right of the canned goods right side up with the front toward the back.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Position the white coffee cup to the right of the canned goods upright, front facing backward.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Using the right hand, put the white coffee cup to the right of the canned goods.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Have the right arm place the white coffee cup to the right of the canned goods.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "With the right hand, set the white coffee cup to the right of the canned goods.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Put the white coffee cup to the right of the canned goods.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Place the white coffee cup to the right of the canned goods.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Set the white coffee cup to the right of the canned goods.", + "start_idx": 438, + "end_idx": 486 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Have the right arm pick the white coffee cup off the table by the handle with a diagonal grasp.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle on a diagonal.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grasp at the handle.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Take the white coffee cup off the table by the handle with a diagonal grasp.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Have the right arm take the white coffee cup off the table.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Take the white coffee cup off the table.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "The white coffee cup should be grasped from the table.", + "start_idx": 939, + "end_idx": 981 + }, + { + "text": "Put the white coffee cup to the right of the canned goods with the handle facing backwards right side up using the right arm.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the canned goods with the handle facing backward and upright.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the canned goods, right side up, with its handle pointing backward.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the canned goods, keeping it upright and the handle facing back.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Place the white coffee cup to the right of the canned goods with the handle facing backward and upright.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Set the white coffee cup to the right of the canned goods, right side up with its handle pointing backward.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Position the white coffee cup to the right of the canned goods with the handle facing back, upright.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Using the right arm, put the white coffee cup to the right of the canned goods.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Have the right arm place the white coffee cup to the right of the canned goods.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "With the right arm, set the white coffee cup to the right of the canned goods.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Place the white coffee cup to the right of the canned goods.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Set the white coffee cup down to the right of the canned goods.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Position the white coffee cup on the right side of the canned goods.", + "start_idx": 981, + "end_idx": 1023 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip at the top from a diagonal angle.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the top rim with a diagonal lip grasp.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "With the right hand, secure the white coffee cup from the table using the top lip from a diagonal approach.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Grasp the white coffee cup from the table with a top lip hold from a diagonal angle.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Take the white coffee cup from the table by the top lip from a diagonal approach.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "With the right hand, take the white coffee cup from the table using a lip grasp at the top.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Have the right hand pick up the white coffee cup from the table from a diagonal angle.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand from a diagonal angle.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 1449, + "end_idx": 1476 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the handle facing backwards right side up using the right arm.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the red bell pepper, with its handle facing backward and the cup upright.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Have the right arm set the white coffee cup down to the right of the red bell pepper, handle pointing backward and right side up.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the red bell pepper so the handle faces the back and it remains upright.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper, with its handle facing backward and the cup upright.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Set the white coffee cup down to the right of the red bell pepper, handle pointing backward and right side up.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper so the handle faces the back and it stays upright.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Using the right arm, put the white coffee cup to the right of the red bell pepper.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Have the right arm place the white coffee cup to the right of the red bell pepper.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "With the right arm, set the white coffee cup to the right of the red bell pepper.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Set the white coffee cup down to the right of the red bell pepper.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper.", + "start_idx": 1476, + "end_idx": 1518 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Have the right hand pick the canned goods off the table with a top side grip and a diagonal approach.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold at the top on a diagonal angle.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Take the canned goods off the table with a side grasp at the top and a diagonal approach.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Retrieve the canned goods from the table with a top side hold and a diagonal pick angle.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Have the right hand take the canned goods off the table using a side grasp at the top.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "With the right hand, collect the canned goods from the table using a top side hold.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a diagonal pick angle.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Have the right hand retrieve the canned goods off the table at the top with a diagonal approach.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Pick up the canned goods from the table with the right hand.", + "start_idx": 1518, + "end_idx": 1551 + }, + { + "text": "Put the canned goods in front of the white coffee cup with the right hand.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Using the right hand, place the canned goods in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Have the right arm set the canned goods down in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "With the right hand, position the canned goods before the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Place the canned goods in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Set the canned goods down in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Position the canned goods before the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "The canned goods go in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Put the canned goods before the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Arrange the canned goods in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "In front of the white coffee cup, place the canned goods.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Set the canned goods before the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Have the canned goods placed in front of the white coffee cup.", + "start_idx": 1551, + "end_idx": 1596 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a top side grip at a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "From a diagonal angle, the right hand should grasp the canned goods on the table with a side hold at the top.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "From a diagonal angle, grasp the canned goods on the table with a side hold at the top.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Take the canned goods from the table with a top side grasp at a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "With the right hand, pick up the canned goods from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Using the right hand, grasp the canned goods on the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "At a diagonal angle, take the canned goods from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Grab the canned goods from the table.", + "start_idx": 1788, + "end_idx": 1815 + }, + { + "text": "Put the canned goods to the right of the bag of chips with the right hand.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Using the right hand, place the canned goods to the right of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Have the right arm set the canned goods down to the right of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "With the right hand, position the canned goods on the bag of chips' right side.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Place the canned goods to the right of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Set the canned goods down to the right of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Position the canned goods on the right side of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Move the canned goods to the bag of chips' right.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "The canned goods go to the right of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Place the canned goods beside the bag of chips on its right side.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Set the canned goods on the right side of the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Put the canned goods beside the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Position the canned goods next to the bag of chips.", + "start_idx": 1815, + "end_idx": 1851 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table diagonally at the handle.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "With the right hand, collect the white coffee cup from the table by gripping the handle diagonally.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Take the white coffee cup from the table, gripping the handle diagonally.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Have the right hand pick up the white coffee cup from the table.", + "start_idx": 1917, + "end_idx": 1956 + }, + { + "text": "Put the white coffee on the right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Using the right hand, place the white coffee on the table's right side, right side up, with the front facing backward.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Have the right arm set the white coffee on the right side of the table, keeping it upright and the front toward the back.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "With the right hand, position the white coffee on the right side of the table so it is right side up and the front faces backward.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Place the white coffee on the right side of the table, right side up, with the front facing backward.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Set the white coffee on the table's right side, upright, with the front toward the back.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Position the white coffee on the right side of the table, keeping it right side up and the front facing backward.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Using the right hand, place the white coffee on the right side of the table.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Have the right arm set the white coffee on the table's right side.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "With the right hand, position the white coffee on the table's right side.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Place the white coffee on the right side of the table.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Set the white coffee on the table's right side.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Position the white coffee on the table's right side.", + "start_idx": 1956, + "end_idx": 2004 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Using the right hand, take the corn from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Have the right arm pick the corn up from the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "With the right hand, grasp the corn from the table using a side hold at the bottom with a diagonal approach.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Take the corn from the table with a side grasp on the bottom at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Grasp the corn from the table with a side hold at the bottom and a diagonal pick angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Have the right arm take the corn from the table using a side grasp on the bottom.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "With the right hand, grasp the corn from the table using a side hold at the bottom.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Using the right hand, pick up the corn from the table with a diagonal pick angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Have the right arm take the corn from the table at a diagonal angle.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Put the corn in front of the bag of chips with the right hand facing top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Using the right hand, place the corn in front of the bag of chips with its tip facing the top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Have the right arm set the corn down in front of the bag of chips, tip oriented toward the top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "With the right hand, position the corn in front of the bag of chips so the tip points top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Place the corn in front of the bag of chips with its tip facing the top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Set the corn in front of the bag of chips, with the tip pointing toward the top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Position the corn in front of the bag of chips, tip directed to the top left.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Using the right hand, put the corn in front of the bag of chips.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "With the right hand, set the corn down in front of the bag of chips.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Have the right arm place the corn in front of the bag of chips.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Put the corn in front of the bag of chips.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Place the corn in front of the bag of chips.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Set the corn down in front of the bag of chips.", + "start_idx": 2244, + "end_idx": 2274 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the top with a diagonal lip hold.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "With the right hand, secure the white coffee cup from the table using a top diagonal lip grasp.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Take the white coffee cup from the table using a diagonal lip grip at the top.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip hold at the top.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "The white coffee cup from the table should be picked up with a diagonal lip grasp at the top.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Take the white coffee cup from the table using the right hand.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "The white coffee cup from the table should be grasped with the right hand.", + "start_idx": 2274, + "end_idx": 2313 + }, + { + "text": "Put the white coffee cup to the right of the corn with the right hand right side up with the front facing bottom right.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn, right side up, with the front facing bottom right.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the corn, keeping it upright and the front aimed toward the bottom right.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the corn so it stays right side up and faces bottom right from the front.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Place the white coffee cup to the right of the corn, right side up, with the front facing bottom right.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Set the white coffee cup to the right of the corn, upright, with the front directed toward the bottom right.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Position the white coffee cup to the right of the corn, keeping it right side up and the front toward bottom right.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the corn.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the corn.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Place the white coffee cup to the right of the corn.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Set the white coffee cup to the right of the corn.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Position the white coffee cup to the right of the corn.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table with a top diagonal lip hold.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "With the right hand, secure the white coffee cup from the table by its top using a diagonal lip grasp.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Grasp the white coffee cup from the table with a top diagonal lip hold.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "The white coffee cup should be picked up from the table using a diagonal lip grasp at the top.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Take the white coffee cup from the table using the right hand.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 2499, + "end_idx": 2529 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the right hand right side up with the front facing backwards.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper, upright with its front facing backward.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper, right side up and front facing backward.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the red bell pepper, keeping it upright and facing backward.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper, upright with its front facing backward.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper, right side up with the front facing backward.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper, with its front facing backward and upright.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the red bell pepper.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper.", + "start_idx": 2529, + "end_idx": 2562 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table, approaching diagonally by the handle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "From the table, collect the white coffee cup by the handle at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "With the right hand, collect the white coffee cup from the table.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Retrieve the white coffee cup from the table diagonally.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 2829, + "end_idx": 2856 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the right hand right side up with the front facing backwards.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper, right side up with its front facing backward.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper, upright and with the front toward the back.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the red bell pepper so it is right side up and front-facing backward.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper, right side up with the front facing backward.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper, upright with its front toward the back.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper, with the cup right side up and the front facing backward.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the red bell pepper.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper.", + "start_idx": 2856, + "end_idx": 2901 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a side hold at the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "With the right hand, secure the red bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold at the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Take the red bell pepper from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Have the right hand pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Using the right hand, grasp the red bell pepper from the table from a diagonal angle.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Take the red bell pepper from the table.", + "start_idx": 3027, + "end_idx": 3042 + }, + { + "text": "Put the red bell pepper to the right of the white coffee cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the white coffee cup, keeping it right side up relative to its front.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the white coffee cup in a right-side-up orientation using the front as reference.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Place the red bell pepper to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Set the red bell pepper to the right of the white coffee cup, keeping it right side up relative to its front.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Position the red bell pepper to the right of the white coffee cup in a right-side-up orientation with the front as reference.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the white coffee cup.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the white coffee cup.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the white coffee cup.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Place the red bell pepper to the right of the white coffee cup.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Set the red bell pepper to the right of the white coffee cup.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Position the red bell pepper to the right of the white coffee cup.", + "start_idx": 3042, + "end_idx": 3075 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table with a top diagonal lip hold.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "With the right arm, secure the white coffee cup from the table using a diagonal grip on the top lip.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip at the top.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold at the top.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Grasp the white coffee cup from the table by the top lip with a diagonal hold.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "With the right arm, grasp the white coffee cup from the table.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 3075, + "end_idx": 3105 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the handle facing right right side up using the right arm.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the red bell pepper, handle facing right and right side up.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper with its handle pointing right, right side up.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the red bell pepper, keeping the handle to the right and the cup upright.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper with the handle facing right and right side up.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper, handle pointing right and upright.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper with its handle to the right, right side up.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Using the right arm, put the white coffee cup to the right of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "The white coffee cup goes to the right of the red bell pepper with the right arm.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "With the right arm, place the white coffee cup to the right of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3144 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Have the right hand take hold of the white coffee cup from the table at the handle, diagonally oriented.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table by the handle at a diagonal angle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "The white coffee cup should be picked up from the table by the handle at a diagonal angle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "From the table, take the white coffee cup by its handle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Grasp the white coffee cup from the table at the handle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "With the right hand, take the white coffee cup from the table.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the right hand right side up with the front facing bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper, right side up, with its front facing bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper, upright, with the front toward the bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the red bell pepper so it stays right side up and the front points bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper, right side up, with the front facing bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper, upright, with its front toward the bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper so it is right side up and front-facing bottom right.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Using the right hand, put the white coffee cup to the right of the red bell pepper.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Have the right arm place the white coffee cup to the right of the red bell pepper.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "With the right hand, set the white coffee cup to the right of the red bell pepper.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Place the white coffee cup upright to the right of the red bell pepper.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Using the right hand, position the white coffee cup upright to the right of the red bell pepper.", + "start_idx": 3765, + "end_idx": 3807 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Using the right hand, take hold of the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Have the right hand pick the canned goods off the table with a top side grip at a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "The canned goods should be grasped from the table with the right hand using a side hold at the top from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "From the table, seize the canned goods with a side grasp at the top from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "The canned goods from the table should be taken with a top side hold from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "With the right hand, pick up the canned goods from the table using a side grip at the top.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Have the right hand take the canned goods from the table with a side grasp at the top.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Pick the canned goods up from the table with the right hand from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "The canned goods from the table should be grasped with the right hand using a side grip.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Using the right hand, take the canned goods from the table.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Pick up the canned goods from the table using a side grip.", + "start_idx": 3864, + "end_idx": 3888 + }, + { + "text": "Put the canned goods to the right of the white coffee cup with the right hand.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Have the right arm set the canned goods down to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "With the right hand, position the canned goods to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Place the canned goods to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Set the canned goods to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Position the canned goods to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Move the canned goods to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "The canned goods go to the right of the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Put the canned goods beside the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Set the canned goods next to the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Place the canned goods beside the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Position the canned goods next to the white coffee cup.", + "start_idx": 3888, + "end_idx": 3924 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Using the right hand, take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table at a diagonal angle, holding the handle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "With the right hand, collect the white coffee cup from the table by the handle on a diagonal.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Grasp the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "The white coffee cup from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "With the right hand, take the white coffee cup from the table by its handle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Have the right arm collect the white coffee cup from the table via the handle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Take the white coffee cup from the table at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4020 + }, + { + "text": "Put the white coffee cup in front of the canned goods with the handle facing forwards right side up using the right arm.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Using the right arm, place the white coffee cup in front of the canned goods with the handle facing forward and upright.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Have the right arm set the white coffee cup before the canned goods, handle pointing forward, right side up.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "With the right arm, position the white coffee cup in front of the canned goods so the handle faces forward and the cup stays upright.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Place the white coffee cup in front of the canned goods with the handle facing forward and upright.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Set the white coffee cup before the canned goods, keeping the handle pointed forward and the cup right side up.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Position the white coffee cup in front of the canned goods so the handle points forward and it remains upright.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Using the right arm, put the white coffee cup in front of the canned goods.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "With the right arm, place the white coffee cup before the canned goods.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Have the right arm set the white coffee cup in front of the canned goods.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Put the white coffee cup in front of the canned goods.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Place the white coffee cup before the canned goods.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Set the white coffee cup in front of the canned goods.", + "start_idx": 4020, + "end_idx": 4062 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp at the top.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp at the top.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the top rim with a diagonal lip hold.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "With the right hand, secure the white coffee cup from the table at the top using a diagonal rim grasp.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the top.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold at the top.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Grasp the white coffee cup from the table by the top rim with a diagonal lip grip.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 4119, + "end_idx": 4140 + }, + { + "text": "Put the white coffee cup to the right of the corn with the right hand right side up with the front facing backwards.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn, right side up, with the front facing backward.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Have the right arm set the white coffee cup to the corn's right, upright and with its front toward the back.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "With the right hand, position the white coffee cup on the right side of the corn, keeping it upright and its front facing backwards.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Place the white coffee cup to the right of the corn, right side up, with the front facing backwards.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Set the white coffee cup on the right side of the corn, upright with the front facing backward.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Position the white coffee cup to the corn's right, with its front facing the back.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "The white coffee cup goes to the right of the corn, right side up.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Put the white coffee cup to the right of the corn.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Set the white coffee cup on the right side of the corn.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "The white coffee cup should be placed to the corn's right.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Place the white coffee cup to the right of the corn, right side up.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn.", + "start_idx": 4140, + "end_idx": 4173 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp at the top.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp at the top.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table using a top diagonal lip grasp.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand in a diagonal lip hold at the top.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the top.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Take the white coffee cup from the table with a top diagonal lip hold.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip contact at the top.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "The white coffee cup should be picked up from the table with the right hand.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 4431, + "end_idx": 4455 + }, + { + "text": "Put the white coffee cup in front of the bag of chips with the handle facing forwards right side up using the right arm.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Using the right arm, place the white coffee cup in front of the bag of chips with the handle facing forward and upright.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Have the right arm set the white coffee cup in front of the bag of chips, right side up, with its handle pointing forward.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "With the right arm, position the white coffee cup before the bag of chips so the handle faces forward and the cup stays upright.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Place the white coffee cup in front of the bag of chips with the handle facing forward and upright.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Set the white coffee cup before the bag of chips, keeping it right side up with the handle pointed forward.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Position the white coffee cup in front of the bag of chips so its handle faces forward and it remains upright.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Using the right arm, place the white coffee cup in front of the bag of chips.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Have the right arm put the white coffee cup before the bag of chips.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "With the right arm, set the white coffee cup in front of the bag of chips.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Place the white coffee cup in front of the bag of chips.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Set the white coffee cup before the bag of chips.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Position the white coffee cup in front of the bag of chips.", + "start_idx": 4455, + "end_idx": 4488 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top and a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Have the right hand take the canned goods from the table, grasping the top from the side at a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "With the right hand, grasp the canned goods from the table using a top side hold at a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Take the canned goods from the table, grasping the top from the side at a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Grasp the canned goods from the table with a side hold at the top and a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp at the top.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Have the right hand grasp the canned goods from the table from the side at the top.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the canned goods from the table at a diagonal angle.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Pick up the canned goods from the table with the right hand.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 4605, + "end_idx": 4623 + }, + { + "text": "Put the canned goods to the right of the white coffee cup with the right hand.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Have the right arm set the canned goods down to the right of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "With the right hand, position the canned goods on the right side of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Place the canned goods to the right of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Set the canned goods down to the right of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Position the canned goods on the right side of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Move the canned goods so they end up to the right of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "The canned goods go to the right of the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Put the canned goods beside the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Set the canned goods next to the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Using the right hand, place the canned goods beside the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Have the canned goods placed next to the white coffee cup.", + "start_idx": 4623, + "end_idx": 4662 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Have the right hand pick up the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle using a diagonal hold.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Take the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 4716, + "end_idx": 4740 + }, + { + "text": "Put the white coffee cup in front of the canned goods with the right hand right side up with the front facing backwards.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the canned goods upright with its front facing backward.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Have the right arm set the white coffee cup in front of the canned goods right side up, with the front oriented backward.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "With the right hand, position the white coffee cup before the canned goods upright and facing backward at the front.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Place the white coffee cup in front of the canned goods upright with its front facing backward.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Set the white coffee cup before the canned goods right side up, front facing backward.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Position the white coffee cup in front of the canned goods with the front oriented backward.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Using the right hand, put the white coffee cup in front of the canned goods.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Have the right arm place the white coffee cup before the canned goods.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "With the right hand, position the white coffee cup in front of the canned goods.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Put the white coffee cup in front of the canned goods.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Set the white coffee cup before the canned goods upright.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the canned goods upright.", + "start_idx": 4740, + "end_idx": 4776 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Have the right arm grasp the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "With the right hand, secure the red bell pepper from the table using a side grasp on its top from a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Grasp the red bell pepper from the table using a side hold on the top at a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "The red bell pepper from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Have the right arm take the red bell pepper from the table.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "The red bell pepper from the table should be grasped at the top.", + "start_idx": 4890, + "end_idx": 4911 + }, + { + "text": "Put the red bell pepper to the right of the corn with the right hand.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Have the right arm set the red bell pepper down to the corn's right side.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "With the right hand, position the red bell pepper just right of the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Place the red bell pepper to the right of the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Set the red bell pepper on the right side of the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Position the red bell pepper to the corn's right.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Move the red bell pepper so it is right of the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Arrange the red bell pepper beside the corn on its right side.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Have the red bell pepper placed to the right of the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Set down the red bell pepper next to the corn, on the right.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Using the right hand, place the red bell pepper by the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "With the right hand, set the red bell pepper beside the corn.", + "start_idx": 4911, + "end_idx": 4941 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a top side grip at a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "From a diagonal angle, collect the canned goods from the table with the right hand using a side hold at the top.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "From a diagonal angle, take the canned goods from the table with a side grasp at the top.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Get the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "With the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Use the right hand to take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Have the right arm collect the canned goods from the table with a diagonal approach.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Pick up the canned goods from the table with the right hand.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Using the right hand, get the canned goods from the table.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 4941, + "end_idx": 4968 + }, + { + "text": "Put the canned goods behind the red bell pepper with the right hand.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Using the right hand, place the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Have the right arm set the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "With the right hand, position the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Place the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Set the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Position the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Move the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "The canned goods should go behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Put the canned goods behind the red bell pepper.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Place the canned goods behind the red bell pepper there.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Set the canned goods behind the red bell pepper in that spot.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Position the canned goods behind the red bell pepper accordingly.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the top edge with a diagonal lip hold.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table using a diagonal grip on the top lip.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip at the top.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the top.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Grasp the white coffee cup from the table by the top lip with a diagonal hold.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 5064, + "end_idx": 5085 + }, + { + "text": "Put the white coffee cup on the right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table, right side up, with the front facing backwards.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Have the right arm set the white coffee cup on the table's right side, upright and with the front toward the back.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "With the right hand, position the white coffee cup on the right side of the table so it is right side up and the front faces backwards.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Place the white coffee cup on the right side of the table, right side up, with the front facing backwards.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Set the white coffee cup on the table's right side in an upright position, with the front toward the back.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Position the white coffee cup on the right side of the table so the front points backwards while remaining right side up.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Have the right arm set the white coffee cup on the table's right side.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "With the right hand, position the white coffee cup on the table's right side.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Place the white coffee cup on the right side of the table.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Set the white coffee cup on the table's right side.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Position the white coffee cup on the right side of the table.", + "start_idx": 5085, + "end_idx": 5115 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "With the right hand, collect the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Grasp the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Remove the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "With the right hand, take the white coffee cup from the table using the handle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Have the right arm collect the white coffee cup from the table by the handle.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 5403, + "end_idx": 5442 + }, + { + "text": "Put the white coffee cup on the top side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Using the right hand, place the white coffee cup on the top side of the table upright with the front facing backward.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Have the right arm set the white coffee cup onto the table's top side, right side up and with its front toward the back.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "With the right hand, position the white coffee cup on the top side of the table so it stays upright and its front faces backward.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Place the white coffee cup on the top side of the table.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Set the white coffee cup onto the top side of the table.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Position the white coffee cup on the table's top side.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Put the white coffee cup on the top side of the table.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Using the right hand, place the white coffee cup on the top side of the table.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Have the right arm set the white coffee cup onto the table's top side.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "With the right hand, position the white coffee cup on the top side of the table.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Place the white coffee cup on the top side of the table upright.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Set the white coffee cup on the table's top side with its front facing backward.", + "start_idx": 5442, + "end_idx": 5478 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a side grip on the top at a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "With the right hand, secure the red bell pepper from the table using a side hold at the top from a diagonal approach.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold on the top from a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "From the table, take the red bell pepper with the right hand.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Grasp the red bell pepper from the table from a diagonal angle.", + "start_idx": 5712, + "end_idx": 5730 + }, + { + "text": "Put the red bell pepper to the right of the white coffee cup with the right hand right side up with the front as the reference point.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Have the right arm set the red bell pepper to the white coffee cup's right, keeping it right side up relative to the front.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "With the right hand, position the red bell pepper on the right side of the white coffee cup, oriented right side up from the front reference point.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Place the red bell pepper to the right of the white coffee cup.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Set the red bell pepper on the right side of the white coffee cup.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Position the red bell pepper to the white coffee cup's right.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the white coffee cup.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Have the right arm set the red bell pepper on the right side of the white coffee cup.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "With the right hand, position the red bell pepper to the white coffee cup's right.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Put the red bell pepper to the right of the white coffee cup with the front as the reference point.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Place the red bell pepper to the right of the white coffee cup, right side up.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Set the red bell pepper on the right side of the white coffee cup, oriented right side up.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Place the white coffee cup in front of the red bell pepper with the right hand right side up with the front facing bottom left.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Using the right hand, set the white coffee cup in front of the red bell pepper right side up, with the front facing bottom left.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Have the right arm place the white coffee cup before the red bell pepper, upright and with the front oriented toward the bottom left.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "With the right hand, position the white coffee cup in front of the red bell pepper so it stays right side up and its front faces bottom left.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Place the white coffee cup in front of the red bell pepper right side up, with the front facing bottom left.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Set the white coffee cup before the red bell pepper, keeping it upright with the front toward the bottom left.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Position the white coffee cup in front of the red bell pepper, right side up and facing bottom left at the front.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the red bell pepper.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "With the right hand, set the white coffee cup before the red bell pepper.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Have the right arm position the white coffee cup in front of the red bell pepper.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Place the white coffee cup in front of the red bell pepper.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Set the white coffee cup before the red bell pepper.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Position the white coffee cup in front of the red bell pepper.", + "start_idx": 5787, + "end_idx": 5832 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Have the right arm take the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle using a diagonal hold.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Take the white coffee cup from the table by the handle using a diagonal grasp.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "With the right hand, take the white coffee cup from the table.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table.", + "start_idx": 5964, + "end_idx": 5988 + }, + { + "text": "Put the white coffee cup to the right of the canned goods with the handle facing backwards right side up using the right arm.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the canned goods with the handle facing backward, right side up.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the canned goods, upright with its handle pointing backward.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the canned goods, keeping it right side up and the handle facing back.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Place the white coffee cup to the right of the canned goods with the handle facing backward, right side up.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Set the white coffee cup to the right of the canned goods upright, with its handle pointing backward.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Position the white coffee cup to the right of the canned goods, keeping the handle facing back and the cup right side up.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the canned goods.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the canned goods.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the canned goods.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Put the white coffee cup with the handle facing backward, right side up.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Arrange the white coffee cup upright with its handle pointing backward.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Set down the white coffee cup right side up with the handle facing back.", + "start_idx": 5988, + "end_idx": 6024 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Have the right arm pick up the canned goods from the table with a top side grip at a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold on the top from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "The canned goods from the table should be picked up with a side hold on the top from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Have the right arm take the canned goods from the table with a side grasp on the top.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold at the top.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Take the canned goods from the table with the right hand.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "The canned goods from the table should be picked up from a diagonal angle.", + "start_idx": 6090, + "end_idx": 6114 + }, + { + "text": "Put the canned goods to the right of the white coffee cup with the right hand.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Have the right arm set the canned goods down to the right of the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "With the right hand, position the canned goods on the right side of the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Place the canned goods to the right of the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Set the canned goods on the right side of the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "The canned goods go to the right of the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Position the canned goods beside the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Put the canned goods by the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Set the canned goods next to the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Place the canned goods beside the white coffee cup with the right hand.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "With the right hand, put the canned goods by the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Have the right arm place the canned goods next to the white coffee cup.", + "start_idx": 6114, + "end_idx": 6156 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grip on the handle.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle with a diagonal hold.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table, securing the handle diagonally.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Take the white coffee cup from the table, holding the handle diagonally.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal hold on the handle.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6213, + "end_idx": 6234 + }, + { + "text": "Put the white coffee cup behind the canned goods with the handle facing backwards right side up using the right hand.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Using the right hand, place the white coffee cup behind the canned goods with the handle facing backward, right side up.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Have the right hand set the white coffee cup behind the canned goods, keeping it upright with the handle facing backward.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "With the right hand, position the white coffee cup behind the canned goods so the handle points backward and the cup stays right side up.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Place the white coffee cup behind the canned goods with the handle facing backward, right side up.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Set the white coffee cup behind the canned goods so it remains upright and the handle points backward.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Position the white coffee cup behind the canned goods, keeping the handle directed backward and the cup right side up.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Put the white coffee cup behind the canned goods.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Place the white coffee cup behind the canned goods.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Set the white coffee cup behind the canned goods.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Behind the canned goods, place the white coffee cup.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Using the right hand, put the white coffee cup behind the canned goods.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Have the white coffee cup placed behind the canned goods with the right hand.", + "start_idx": 6234, + "end_idx": 6282 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Have the right hand pick the canned goods off the table with a top side hold at a diagonal angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "From the table, collect the canned goods with a side hold at the top and a diagonal angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Take the canned goods off the table with a top side grasp and a diagonal pick angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "The canned goods from the table should be picked up with the right hand.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "With the right hand, take the canned goods off the table.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Pick up the canned goods from the table with a diagonal pick angle.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "From the table, retrieve the canned goods with the right hand.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 6354, + "end_idx": 6372 + }, + { + "text": "Put the canned goods to the right of the corn with the right hand.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Using the right hand, place the canned goods to the right of the corn.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Have the right arm set the canned goods to the right of the corn.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "With the right hand, position the canned goods on the corn's right side.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Place the canned goods to the right of the corn.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Set the canned goods on the right side of the corn.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Position the canned goods beside the corn on its right.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Move the canned goods to the corn's right side.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "The canned goods go to the right of the corn.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Using the right hand, place the canned goods.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Have the right arm set down the canned goods.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Put the canned goods with the right hand.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "With the right hand, position the canned goods.", + "start_idx": 6372, + "end_idx": 6414 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "With the right hand, seize the red bell pepper from the table using a side grasp on its top from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Grasp the red bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Have the right hand take the red bell pepper from the table.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Using the right hand, take the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Grasp the red bell pepper from the table with the right hand at the top.", + "start_idx": 6414, + "end_idx": 6444 + }, + { + "text": "Put the red bell pepper to the right of the canned goods with the right hand right side up with the front as the orientation reference point.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the canned goods in a right-side-up orientation using the front as the reference point.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Place the red bell pepper to the right of the canned goods, keeping it right side up with the front as the reference point.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Set the red bell pepper to the right of the canned goods, with the front as the reference point and right side up.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Position the red bell pepper to the right of the canned goods so it is right side up relative to the front.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the canned goods.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the canned goods.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the canned goods.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Place the red bell pepper to the right of the canned goods.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Set the red bell pepper to the right of the canned goods.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Position the red bell pepper to the right of the canned goods.", + "start_idx": 6444, + "end_idx": 6474 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle on a diagonal.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Grasp the white coffee cup from the table by the handle on a diagonal.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Have the right arm take the white coffee cup from the table by the handle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the handle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Have the right arm take the white coffee cup from the table on a diagonal.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6474, + "end_idx": 6507 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper with the handle facing backwards using the right hand.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper with the handle facing backward.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper, handle pointed backward.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the red bell pepper so its handle faces backward.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper with the handle facing backward.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Set the white coffee cup to the right of the red bell pepper, with its handle pointed backward.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Position the white coffee cup to the right of the red bell pepper so the handle faces backward.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the red bell pepper.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the red bell pepper.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "With the right hand, position the white coffee cup beside the red bell pepper on its right side.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Set the white coffee cup beside the red bell pepper on its right side.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Put the white coffee cup to the right of the red bell pepper.", + "start_idx": 6507, + "end_idx": 6546 + }, + { + "text": "Pick up the bag of chips from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table with a side grip at a diagonal angle on the right.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Have the right hand grasp the bag of chips from the table with a side hold on its right side at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "With the right hand, take the bag of chips from the table using a side grasp on the right at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Pick up the bag of chips from the table using a side grip on the right at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Take the bag of chips from the table with a side grasp at the right in a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Grasp the bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "The bag of chips from the table should be taken with the right hand using a side grasp.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "With the right hand, collect the bag of chips from the table using a side hold.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Pick up the bag of chips from the table with the right hand at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Take the bag of chips from the table with the right hand.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Pick up the bag of chips from the table at a diagonal angle.", + "start_idx": 6726, + "end_idx": 6765 + }, + { + "text": "Put the bag of chips on the right side of the table with the right hand facing backwards.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Using the right hand, place the bag of chips on the right side of the table with its front facing backwards.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Have the right arm set the bag of chips on the table's right side, front facing backward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "With the right hand, position the bag of chips on the right side of the table so the front faces backwards.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Place the bag of chips on the right side of the table with its front facing backwards.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Set the bag of chips on the table's right side, front facing backward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Position the bag of chips on the right side of the table so the front points backwards.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Using the right hand, put the bag of chips on the right side of the table.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "With the right hand, set the bag of chips on the table's right side.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Have the right arm place the bag of chips on the right side of the table.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Put the bag of chips on the right side of the table.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "On the table's right side, place the bag of chips.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "The bag of chips goes on the right side of the table.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle with a diagonal approach.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "With the right hand, collect the white coffee cup from the table, gripping it by the handle at a diagonal angle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Take the white coffee cup from the table by the handle with a diagonal approach.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Retrieve the white coffee cup from the table by the handle.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Get the white coffee cup from the table.", + "start_idx": 7008, + "end_idx": 7038 + }, + { + "text": "Place the white coffee cup to the right side of the red bell pepper with the handle facing backwards right side up using the right arm.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Using the right arm, set the white coffee cup to the right of the red bell pepper, handle facing backward and right side up.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Have the right arm place the white coffee cup on the red bell pepper's right side with the handle pointed backward, upright.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "With the right arm, position the white coffee cup to the right side of the red bell pepper, keeping it upright with the handle facing back.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper, with the handle facing backward and right side up.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Set the white coffee cup on the right side of the red bell pepper, handle facing backward and upright.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Position the white coffee cup to the red bell pepper's right, upright with the handle facing back.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the red bell pepper.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Have the right arm set the white coffee cup on the right side of the red bell pepper.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "With the right arm, position the white coffee cup to the red bell pepper's right.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Place the white coffee cup to the right of the red bell pepper.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Set the white coffee cup on the right side of the red bell pepper.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Position the white coffee cup to the red bell pepper's right.", + "start_idx": 7038, + "end_idx": 7071 + }, + { + "text": "Pick up the bag of chips from the table with the right hand using a side grip at the bottom right with a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Using the right hand, take the bag of chips from the table with a side grip at the bottom right and a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Have the right hand grasp the bag of chips from the table with a side hold on the bottom right at a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "With the right hand, secure the bag of chips from the table by the bottom right using a side grasp at a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Pick up the bag of chips from the table using a side grip at the bottom right with a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Grasp the bag of chips from the table with a side hold on the bottom right at a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Take the bag of chips from the table by the bottom right using a side grasp at a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table with a side grip.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "With the right hand, take the bag of chips from the table using a side grasp.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Have the right hand grab the bag of chips from the table with a side hold.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Using the right hand, pick up the bag of chips from the table at the bottom right with a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Pick up the bag of chips from the table with the right hand at the bottom right and diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Take the bag of chips from the table at the bottom right with a diagonal angle.", + "start_idx": 7071, + "end_idx": 7113 + }, + { + "text": "Put the bag of chips on the center of the table with the right hand facing backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Using the right hand, place the bag of chips at the center of the table facing backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Have the right arm set the bag of chips in the table center with its front facing backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "With the right hand, position the bag of chips on the center of the table so it faces backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Place the bag of chips at the center of the table facing backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Set the bag of chips on the center of the table with its front facing backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Position the bag of chips in the center of the table facing backwards.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Using the right hand, put the bag of chips on the center of the table.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Have the right arm place the bag of chips at the center of the table.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "With the right hand, set the bag of chips in the table center.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Put the bag of chips on the center of the table.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Place the bag of chips at the center of the table.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Set the bag of chips in the center of the table.", + "start_idx": 7113, + "end_idx": 7158 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Using the right arm, grasp the canned goods from the table by the top with a diagonal side hold.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Have the right hand pick the canned goods up from the table with a side grasp at the top on a diagonal.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "From the table, collect the canned goods by the top with a side hold at a diagonal angle.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top, diagonally oriented.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "With the right hand, pick up the canned goods from the table.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Using the right arm, take the canned goods from the table.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Have the right hand grasp the canned goods from the table.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Pick up the canned goods from the table with the right hand.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "From the table, collect the canned goods at the top with a diagonal angle.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Take the canned goods from the table by the top with a diagonal orientation.", + "start_idx": 7509, + "end_idx": 7536 + }, + { + "text": "Put the canned goods to the right of the bag of chips with the right hand.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Using the right hand, place the canned goods to the right of the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Have the right arm set the canned goods down to the right of the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "With the right hand, position the canned goods on the bag of chips' right side.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Place the canned goods to the right of the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Set the canned goods down to the right of the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Position the canned goods on the right side of the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Move the canned goods to the bag of chips' right side.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "The canned goods go to the right of the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Using the right hand, place the canned goods by the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "With the right hand, set the canned goods beside the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Place the canned goods next to the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Set the canned goods beside the bag of chips.", + "start_idx": 7536, + "end_idx": 7578 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip at the top diagonally.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Have the right hand take the red bell pepper from the table in a diagonal top side grasp.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table from the side at the top on a diagonal.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top diagonally.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Take the red bell pepper from the table in a diagonal top side grasp.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Grasp the red bell pepper from the table from the side at the top diagonally.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table from the side.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table at the top diagonally.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand at the top diagonally.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Take the red bell pepper from the table diagonally at the top.", + "start_idx": 7908, + "end_idx": 7935 + }, + { + "text": "Put the red bell pepper to the right of the canned goods with the right hand right side up with the front as the orientation reference point.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the canned goods in a right-side-up orientation using the front as the reference point.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Place the red bell pepper to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Set the red bell pepper to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Position the red bell pepper to the right of the canned goods with the front as the reference point and right side up.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the canned goods.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the canned goods.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the canned goods.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Put the red bell pepper to the right of the canned goods.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Set the red bell pepper to the right of the canned goods.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Using the right hand, put the red bell pepper to the right of the canned goods.", + "start_idx": 7935, + "end_idx": 7968 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a top side hold at a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side grip on the top from a diagonal approach.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Retrieve the canned goods from the table using a top side hold from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "With the right hand, retrieve the canned goods from the table.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "From a diagonal angle, take the canned goods from the table.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 7968, + "end_idx": 7998 + }, + { + "text": "Put the canned goods to the right of the corn with the right hand.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Using the right hand, place the canned goods to the right of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Have the right arm set the canned goods down to the right of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "With the right hand, position the canned goods on the right side of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Place the canned goods to the right of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Set the canned goods to the right of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Move the canned goods to the corn's right side.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Arrange the canned goods just right of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Put the canned goods beside the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Position the canned goods next to the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Have the canned goods placed to the right of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Set the canned goods on the right side of the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Move the canned goods beside the corn.", + "start_idx": 7998, + "end_idx": 8031 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Have the right arm collect the canned goods from the table by the top with a side hold from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "With the right hand, grasp the canned goods on the table at the top using a side grip from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "From the table, seize the canned goods by the top with a side grasp from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Take the canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp at the top.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Have the right arm collect the canned goods from the table by the top with a side hold.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Using the right hand, take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "From the table, grasp the canned goods by the top from a diagonal angle.", + "start_idx": 8094, + "end_idx": 8118 + }, + { + "text": "Put the canned goods to the left of the bag of chips with the right hand.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Using the right hand, place the canned goods to the left of the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Have the right arm set the canned goods on the left side of the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "With the right hand, position the canned goods left of the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Place the canned goods to the left of the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Set the canned goods on the left side of the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Position the canned goods left of the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Move the canned goods to the bag of chips' left side.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Arrange the canned goods beside the bag of chips on its left.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Put the canned goods next to the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Using the right hand, place the canned goods by the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "With the right hand, set the canned goods beside the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Have the right arm position the canned goods next to the bag of chips.", + "start_idx": 8118, + "end_idx": 8151 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip at the top diagonally.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Have the right arm take the red bell pepper from the table by its top with a diagonal side grasp.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table at the top using a diagonal side hold.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top diagonally.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Grasp the red bell pepper from the table by the top with a diagonal side hold.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Take the red bell pepper from the table using a side grasp at the top diagonally.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Have the right arm grasp the red bell pepper from the table with a side hold.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table diagonally at the top.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table by the top diagonally.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand.", + "start_idx": 8151, + "end_idx": 8178 + }, + { + "text": "Put the red bell pepper to the right of the corn with the right hand right side up front.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the corn, right side up with the front facing forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the corn in a right-side-up position, front forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "With the right hand, position the red bell pepper to the right of the corn so it stays right side up and the front faces forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Place the red bell pepper to the right of the corn, right side up with the front facing forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Set the red bell pepper to the right of the corn in a right-side-up position, front forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Position the red bell pepper to the right of the corn with its front facing forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Arrange the red bell pepper to the right of the corn so it is right side up.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "The red bell pepper goes to the right of the corn with the front facing forward.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Put the red bell pepper to the right of the corn.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Set the red bell pepper to the right of the corn.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Place the red bell pepper to the right of the corn with the right hand.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Using the right hand, put the red bell pepper to the right of the corn.", + "start_idx": 8178, + "end_idx": 8205 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp at the top.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp at the top.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Have the right hand pick the white coffee cup off the table using a top diagonal lip grasp.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand by the top using a diagonal lip grip.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the top.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Take the white coffee cup off the table with a diagonal lip grip at the top.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "The white coffee cup should be picked up from the table with a top diagonal lip grasp.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Have the right hand take the white coffee cup off the table.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "The white coffee cup should be picked up from the table with the right hand.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Take the white coffee cup off the table.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Have the white coffee cup removed from the table.", + "start_idx": 8334, + "end_idx": 8370 + }, + { + "text": "Put the white coffee cup on the bottom right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom right side of the table, right side up, with the front facing backwards.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Have the right arm set the white coffee cup on the table's bottom right side, upright and with its front toward the back.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "The white coffee cup goes on the bottom right area of the table with the right hand, right side up and front facing backwards.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Place the white coffee cup on the bottom right side of the table.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Set the white coffee cup on the table's bottom right side.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "The white coffee cup goes on the bottom right area of the table.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Using the right hand, place the white coffee cup on the bottom right side of the table.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "With the right hand, set the white coffee cup on the table's bottom right area.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Have the right arm put the white coffee cup on the bottom right side of the table.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Put the white coffee cup on the bottom right side of the table with the front facing backwards.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Set the white coffee cup on the table's bottom right side, right side up.", + "start_idx": 8370, + "end_idx": 8409 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Using the right hand, collect the red bell pepper from the table with a side hold at the top on a diagonal approach.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Have the right arm pick the red bell pepper off the table with a side grip at the top from a diagonal angle.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Take the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Grab the red bell pepper off the table with a side grasp at the top on a diagonal.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "The red bell pepper should be picked up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "With the right hand, pick up the red bell pepper from the table using a side grip at the top.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Using the right hand, take the red bell pepper off the table with a side grasp at the top.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Have the right arm grab the red bell pepper from the table with a side hold at the top.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "With the right hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Using the right hand, take the red bell pepper off the table from a diagonal approach.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 8661, + "end_idx": 8688 + }, + { + "text": "Put the red bell pepper on the right side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Using the right hand, place the red bell pepper on the right side of the table, right side up with the front as the reference point.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Have the right hand set the red bell pepper on the table's right side, keeping it right side up relative to the front.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "With the right hand, position the red bell pepper on the right side of the table so it stays right side up, using the front as the reference point.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Place the red bell pepper on the right side of the table, right side up with the front as the reference point.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Set the red bell pepper on the table's right side, keeping it right side up relative to the front.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Position the red bell pepper on the right side of the table so it is right side up, using the front as the reference point.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Using the right hand, place the red bell pepper on the right side of the table.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "With the right hand, set the red bell pepper on the table's right side.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Have the right hand position the red bell pepper on the right side of the table.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Place the red bell pepper on the right side of the table.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Set the red bell pepper on the table's right side.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Using the right hand, put the red bell pepper on the right side of the table.", + "start_idx": 8688, + "end_idx": 8721 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Have the right hand take the white coffee cup from the table, gripping the top rim diagonally.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the top lip at a diagonal angle.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal lip grip at the top.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Grasp the white coffee cup from the table by the top rim with a diagonal lip hold.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Take the white coffee cup from the table using a diagonal grip on the top lip.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Grasp the white coffee cup from the table by the top rim.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 8784, + "end_idx": 8811 + }, + { + "text": "Put the white coffee cup on the right side of the table with the right hand right side up with the front facing forwards.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table upright with the front facing forward.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Have the right arm set the white coffee cup on the table's right side, right side up, with the front pointed forward.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "The white coffee cup goes on the right side of the table with the right hand, kept upright and facing forward.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Place the white coffee cup on the right side of the table.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Set the white coffee cup on the table's right side.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "The white coffee cup should go on the right side of the table.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Position the white coffee cup on the right side of the table.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Put the white coffee cup on the right side of the table with the right hand.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Have the right arm put the white coffee cup on the table's right side.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Place the white coffee cup on the right side of the table upright.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Set the white coffee cup on the table's right side with the front facing forward.", + "start_idx": 8811, + "end_idx": 8841 + }, + { + "text": "Return both arms to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Have both arms return to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Bring both arms to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Return the arms to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Move the arms back to the home position.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Have the arms go to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Bring the arms to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Send the arms home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Place the arms in the home position.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Reset the arms to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Bring the manipulators to home.", + "start_idx": 8901, + "end_idx": 8922 + }, + { + "text": "Move the manipulators into the home position.", + "start_idx": 8901, + "end_idx": 8922 + } + ] + }, + "2026-03-17-03-03-52-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 human data collection", + "total_frames": 9049, + "num_annotations": 3600, + "annotations": [ + { + "text": "Pick up the white canned goods from the table with the left hand using a side grasp at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left hand, grasp the white canned goods off the table using a side hold at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Have the left hand retrieve the white canned goods from the table with a diagonal side grasp at the top.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Pick up the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Take the white canned goods off the table with a side hold at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Grasp the white canned goods from the table using a diagonal side grasp at the top.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left hand, take the white canned goods off the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Have the left hand grasp the white canned goods from the table.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Take the white canned goods from the table using a side grasp.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "With the left hand, grasp the white canned goods from the table using a side hold.", + "start_idx": 0, + "end_idx": 45 + }, + { + "text": "Put the white canned goods inside the silver bowl with the left hand.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Using the left hand, place the white canned goods into the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Have the left arm set the white canned goods inside the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "With the left hand, transfer the white canned goods into the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Place the white canned goods into the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Set the white canned goods inside the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Move the white canned goods into the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Deposit the white canned goods in the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "The white canned goods go inside the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Put the white canned goods in the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Transfer the white canned goods to the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Set the white canned goods into the silver bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Place the white canned goods inside the bowl.", + "start_idx": 45, + "end_idx": 75 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table diagonally at its middle.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal grasp at the middle.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Grasp the pink stuffed toy from the table diagonally from its middle.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "From the table, take the pink stuffed toy.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Get the pink stuffed toy from the table.", + "start_idx": 75, + "end_idx": 99 + }, + { + "text": "Put the pink stuffed toy to the left of the silver bowl with the left hand facing forwards.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the silver bowl facing forwards.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the silver bowl with its front facing forwards.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "With the left hand, position the pink stuffed toy left of the silver bowl, front facing forward.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Place the pink stuffed toy to the left of the silver bowl facing forwards.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Set the pink stuffed toy left of the silver bowl with its front facing forward.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Position the pink stuffed toy to the left of the silver bowl facing forwards.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Using the left hand, put the pink stuffed toy to the left of the silver bowl.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Have the left arm place the pink stuffed toy left of the silver bowl.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "With the left hand, set the pink stuffed toy to the left of the silver bowl.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Place the pink stuffed toy to the left of the silver bowl.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Set the pink stuffed toy left of the silver bowl.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Position the pink stuffed toy beside the silver bowl on its left side.", + "start_idx": 99, + "end_idx": 138 + }, + { + "text": "Pick up the white canned goods from the silver bowl with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Using the left hand, take the white canned goods from the silver bowl with a side grip at the top and a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Have the left arm grasp the white canned goods from the silver bowl with a top side hold at a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "With the left hand, seize the white canned goods from the silver bowl using a side grasp on the top at a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Remove the white canned goods from the silver bowl with a side grip at the top and a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Take the white canned goods from the silver bowl using a side grasp on the top at a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "The white canned goods from the silver bowl should be picked up with a side hold at the top and a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Using the left hand, pick up the white canned goods from the silver bowl with a side grip.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "With the left hand, collect the white canned goods from the silver bowl using a side grasp.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Have the left arm take the white canned goods from the silver bowl with a side hold.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Pick up the white canned goods from the silver bowl with the left hand at the top with a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Using the left hand, remove the white canned goods from the silver bowl at the top with a diagonal angle.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Take the white canned goods from the silver bowl.", + "start_idx": 195, + "end_idx": 216 + }, + { + "text": "Put the white canned goods to the left of the green bag of chips with the left hand.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "With the left hand, position the white canned goods left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Place the white canned goods to the left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Set the white canned goods down left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Position the white canned goods to the left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "The white canned goods should go to the left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Move the white canned goods to the left of the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Using the left hand, place the white canned goods by the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "With the left hand, set down the white canned goods beside the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Have the left arm move the white canned goods next to the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Transfer the white canned goods beside the green bag of chips.", + "start_idx": 216, + "end_idx": 249 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the bottom left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table with a side hold at the bottom-left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "With the left hand, seize the green bag of chips from the table using a lateral grip at the bottom left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold at the bottom-left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Take the green bag of chips from the table using a lateral grip at the bottom left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Using a side grip, take the green bag of chips from the table.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table at the bottom left diagonal.", + "start_idx": 249, + "end_idx": 267 + }, + { + "text": "Put the green bag of chips in front of the doritos with the left hand facing forwards.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the doritos facing forwards.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Have the left arm set the green bag of chips in front of the doritos with its front facing forward.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "With the left hand, position the green bag of chips before the doritos, oriented forward.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Place the green bag of chips in front of the doritos facing forwards.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Set the green bag of chips before the doritos with its front facing forward.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Position the green bag of chips in front of the doritos, facing forward.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "With the left hand, put the green bag of chips in front of the doritos.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Using the left hand, place the green bag of chips before the doritos.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Have the left arm set the green bag of chips in front of the doritos.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Put the green bag of chips in front of the doritos.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Set the green bag of chips before the doritos.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Position the green bag of chips in front of the doritos.", + "start_idx": 267, + "end_idx": 297 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Have the left arm pick up the silver bowl from the table with a bottom-left diagonal lip grasp.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using a diagonal lip hold at the bottom left.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Take the silver bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal grasp at the bottom left.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 357, + "end_idx": 378 + }, + { + "text": "Put the silver bowl to the right of the white canned goods with the left hand.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Using the left hand, place the silver bowl to the right of the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Have the left arm set the silver bowl to the right of the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "With the left hand, position the silver bowl on the right side of the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Place the silver bowl to the right of the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Set the silver bowl on the right side of the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "The silver bowl goes to the right of the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Position the silver bowl beside the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Using the left hand, place the silver bowl by the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Have the left arm set the silver bowl beside the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Put the silver bowl next to the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Place the silver bowl beside the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Set the silver bowl by the white canned goods.", + "start_idx": 378, + "end_idx": 408 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Retrieve the pink stuffed toy from the table by grasping the middle at a diagonal angle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table by the middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Have the left hand retrieve the pink stuffed toy from the table, holding its middle.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Grasp the middle of the pink stuffed toy from the table and pick it up.", + "start_idx": 408, + "end_idx": 441 + }, + { + "text": "Put the pink stuffed toy inside the silver bowl with the left hand facing forwards.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Using the left hand, place the pink stuffed toy in the silver bowl facing forwards.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Have the left arm put the pink stuffed toy into the silver bowl with its front facing forwards.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "With the left hand, set the pink stuffed toy inside the silver bowl so it faces forwards.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Place the pink stuffed toy into the silver bowl facing forwards.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Set the pink stuffed toy inside the silver bowl with its front forward.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Put the pink stuffed toy in the silver bowl so it faces forwards.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Using the left hand, place the pink stuffed toy in the silver bowl.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Have the left arm set the pink stuffed toy inside the silver bowl.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "With the left hand, put the pink stuffed toy into the silver bowl.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Place the pink stuffed toy in the silver bowl.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Put the pink stuffed toy inside the silver bowl.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Set the pink stuffed toy into the silver bowl.", + "start_idx": 441, + "end_idx": 462 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a top side hold from a diagonal approach.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Take the white canned goods off the table with a side grasp at the top from a diagonal approach.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Retrieve the white canned goods from the table with a side hold on the top from a diagonal angle.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "With the left hand, take the white canned goods off the table.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Have the left arm retrieve the white canned goods from the table.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Take the white canned goods off the table.", + "start_idx": 462, + "end_idx": 486 + }, + { + "text": "Put the white canned goods to the left of the green bag of chips with the left hand.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "With the left hand, position the white canned goods left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Place the white canned goods to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Set the white canned goods down left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Position the white canned goods to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Put the white canned goods left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "The white canned goods should go to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Move the white canned goods to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Arrange the white canned goods left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Leave the white canned goods to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Have the white canned goods placed to the left of the green bag of chips.", + "start_idx": 486, + "end_idx": 519 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "With the left hand, grasp the white canned goods from the table from the top using a side grasp at a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Have the left arm take the white canned goods from the table with a diagonal side grip at the top.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Take the white canned goods from the table using a side grasp at the top with a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Grasp the white canned goods from the table from the top with a side grip at a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp at the top.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Have the left arm grasp the white canned goods from the table with a side grip.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "With the left hand, take the white canned goods from the table from the top with a diagonal angle.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 579, + "end_idx": 618 + }, + { + "text": "Put the white canned goods to the left of the pink bowl with the left hand.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "With the left hand, position the white canned goods left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Place the white canned goods to the left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Set the white canned goods down left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Position the white canned goods to the left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Leave the white canned goods left of the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Using the left hand, place the white canned goods by the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Have the left arm set the white canned goods near the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "With the left hand, position the white canned goods next to the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Place the white canned goods by the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Set the white canned goods near the pink bowl.", + "start_idx": 618, + "end_idx": 648 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a diagonal grasp on the bottom-left lip.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "The silver bowl should be taken from the table with a diagonal grasp on the bottom-left lip.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Using the left hand, take the silver bowl from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Have the left arm grasp the silver bowl from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grasp.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Take the silver bowl from the table with a diagonal grasp.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Place the silver bowl between the pink bowl and the green bag of chips with the left hand.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Using the left hand, set the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Have the left arm place the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "With the left hand, position the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Place the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Set the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Position the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "The silver bowl goes between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Put the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Arrange the silver bowl between the pink bowl and the green bag of chips.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Using the left hand, place the silver bowl.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Have the left arm set down the silver bowl.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Place the silver bowl.", + "start_idx": 678, + "end_idx": 711 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by its bottom edge with a diagonal lip hold.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "With the left hand, collect the pink bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Grasp the pink bowl from the table by the bottom with a diagonal lip grip.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 711, + "end_idx": 735 + }, + { + "text": "Put the pink bowl to the left of the doritos with the left hand.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Have the left arm set the pink bowl down left of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Place the pink bowl to the left of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Set the pink bowl down left of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Position the pink bowl on the left side of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Move the pink bowl to the doritos' left.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Arrange the pink bowl beside the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Leave the pink bowl next to the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Place the pink bowl by the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Set the pink bowl left of the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Put the pink bowl beside the doritos.", + "start_idx": 735, + "end_idx": 771 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Have the left arm pick the white canned goods up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "With the left hand, grasp the white canned goods from the table in a side hold at the top with a diagonal orientation.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Take the white canned goods from the table in a side grasp at the top with a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Grasp the white canned goods from the table with a side hold on the top at a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp on the top.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Have the left arm grasp the white canned goods from the table with a side hold at the top.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at the top with a diagonal angle.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Take the white canned goods from the table.", + "start_idx": 771, + "end_idx": 801 + }, + { + "text": "Put the white canned goods to the left of the silver bowl with the left hand.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Have the left arm set the white canned goods to the left of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Place the white canned goods to the left of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Set the white canned goods on the left side of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Position the white canned goods to the left of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Move the white canned goods to the left of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "The white canned goods should go to the left of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Put the white canned goods on the left side of the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Place the white canned goods beside the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Set the white canned goods next to the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Position the white canned goods beside the silver bowl.", + "start_idx": 801, + "end_idx": 828 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the left.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Have the left arm pick the silver bowl up from the table using a left-side diagonal lip grasp.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "With the left hand, grasp the silver bowl from the table via a diagonal grasp on the left lip.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the left.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Grasp the silver bowl from the table with a diagonal lip hold on the left side.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Take the silver bowl from the table by the left lip with a diagonal grasp.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "With the left hand, take the silver bowl from the table.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Have the left arm grasp the silver bowl from the table.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 828, + "end_idx": 843 + }, + { + "text": "Dump the pink stuffed toy behind the white canned goods with the left hand.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Using the left hand, dump the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Have the left arm place the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "With the left hand, deposit the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Dump the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Place the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Set the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Position the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Move the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Put the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Arrange the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Transfer the pink stuffed toy behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "The pink stuffed toy goes behind the white canned goods.", + "start_idx": 843, + "end_idx": 879 + }, + { + "text": "Put the silver bowl to the left of the white canned goods with the left hand.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Have the left arm set the silver bowl down to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "With the left hand, position the silver bowl to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Place the silver bowl to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Set the silver bowl down to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Position the silver bowl to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "The silver bowl goes to the left of the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Using the left hand, put the silver bowl by the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Have the left arm place the silver bowl next to the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Set the silver bowl beside the white canned goods with the left hand.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Place the silver bowl beside the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "The silver bowl should be placed next to the white canned goods.", + "start_idx": 879, + "end_idx": 915 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table on a diagonal approach, gripping the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "From the table, collect the pink stuffed toy on a diagonal angle by the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Take the pink stuffed toy from the table, grasping the middle.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "From the table, collect the pink stuffed toy.", + "start_idx": 915, + "end_idx": 936 + }, + { + "text": "Put the pink stuffed toy behind the silver bowl with the left hand facing forwards.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Using the left hand, place the pink stuffed toy behind the silver bowl with it facing forwards.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Have the left arm set the pink stuffed toy behind the silver bowl, oriented forwards.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "With the left hand, position the pink stuffed toy behind the silver bowl so it faces the front.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Place the pink stuffed toy behind the silver bowl facing forwards.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Set the pink stuffed toy behind the silver bowl with its front forward.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Position the pink stuffed toy behind the silver bowl so it faces forwards.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Put the pink stuffed toy behind the silver bowl.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Arrange the pink stuffed toy behind the silver bowl.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Leave the pink stuffed toy behind the silver bowl.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Using the left hand, put the pink stuffed toy behind the silver bowl.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "With the left hand, place the pink stuffed toy behind the silver bowl.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Have the left arm set the pink stuffed toy behind the silver bowl.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "With the left arm, collect the pink bowl from the table using a diagonal lip grip at the bowl's bottom left.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Grasp the pink bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Have the left hand take the pink bowl from the table.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "With the left arm, grasp the pink bowl from the table.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Grasp the pink bowl from the table with the left hand.", + "start_idx": 963, + "end_idx": 981 + }, + { + "text": "Put the pink bowl between the white canned goods and the green bag of chips with the left hand.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Using the left hand, place the pink bowl between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Have the left arm set the pink bowl down between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "With the left hand, position the pink bowl between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Put the pink bowl between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Place the pink bowl between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Set the pink bowl between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "The pink bowl goes between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Position the pink bowl between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Between the white canned goods and the green bag of chips, place the pink bowl.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Set the pink bowl down between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Have the bowl placed between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "The pink bowl should be put between the white canned goods and the green bag of chips.", + "start_idx": 981, + "end_idx": 1008 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Have the left arm pick the white canned goods off the table using a top side grip at a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "With the left hand, grasp the white canned goods from the table by the top using a side hold from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Take the white canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "The white canned goods should be picked up from the table with a top side hold from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "With the left hand, take the white canned goods off the table using a side grasp at the top.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Have the left arm grasp the white canned goods from the table by the top with a side hold.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "From the table, pick up the white canned goods with the left hand.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1008, + "end_idx": 1032 + }, + { + "text": "Put the white canned goods to the left of the silver bowl with the left hand.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Place the white canned goods to the left of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Set the white canned goods on the left side of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Position the white canned goods left of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "The white canned goods go to the left of the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Arrange the white canned goods beside the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Put the white canned goods next to the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Using the left hand, place the white canned goods beside the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Have the left arm set the white canned goods next to the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "With the left hand, position the white canned goods by the silver bowl.", + "start_idx": 1032, + "end_idx": 1062 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle by the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, grasping the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table diagonally from the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle by the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, grasping the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "From the table, collect the pink stuffed toy diagonally by the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table by the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "From the table, take the pink stuffed toy by the middle.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Collect the pink stuffed toy from the table diagonally.", + "start_idx": 1062, + "end_idx": 1086 + }, + { + "text": "Place the pink stuffed toy inside the silver bowl with the left hand facing forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the silver bowl facing forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Have the left arm put the pink stuffed toy into the silver bowl with its front facing forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "With the left hand, set the pink stuffed toy in the silver bowl so the front faces forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Place the pink stuffed toy inside the silver bowl facing forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Put the pink stuffed toy into the silver bowl with its front facing forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Set the pink stuffed toy in the silver bowl facing forwards.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the silver bowl.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Have the left arm put the pink stuffed toy into the silver bowl.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "With the left hand, set the pink stuffed toy in the silver bowl.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Place the pink stuffed toy inside the silver bowl.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Put the pink stuffed toy into the silver bowl.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Set the pink stuffed toy in the silver bowl.", + "start_idx": 1086, + "end_idx": 1104 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a diagonal grip on the bottom-left lip.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Take the pink bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Grasp the pink bowl from the table at the bottom-left lip with a diagonal hold.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Using a diagonal lip grip at the bottom left, pick up the pink bowl from the table.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "At the bottom-left lip, grasp the pink bowl from the table diagonally.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Take the pink bowl from the table from the bottom-left lip.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "With the left hand, pick up the pink bowl from the table.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 1191, + "end_idx": 1209 + }, + { + "text": "Put the pink bowl behind the silver bowl with the left hand.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Using the left hand, place the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Have the left arm set the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "With the left hand, position the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Place the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Set the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Position the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Move the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Arrange the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Put the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Using the left hand, put the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Have the left arm place the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "With the left hand, set the pink bowl behind the silver bowl.", + "start_idx": 1209, + "end_idx": 1248 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table using a left-side grasp at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Take the green bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Retrieve the green bag of chips from the table with a left-side grasp at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "The green bag of chips should be picked up from the table using a side hold on the left at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a left-side grasp.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table with a side hold.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at the left with a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "With the left hand, take the green bag of chips from the table from the left at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Have the left arm retrieve the green bag of chips from the table.", + "start_idx": 1248, + "end_idx": 1269 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl with the left hand facing top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Using the left hand, place the green bag of chips to the right of the silver bowl with its front facing the top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Have the left arm set the green bag of chips down to the right of the silver bowl, front oriented toward the top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "With the left hand, position the green bag of chips to the right of the silver bowl so the front points top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Place the green bag of chips to the right of the silver bowl with its front facing the top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Set the green bag of chips down to the right of the silver bowl, front toward the top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Position the green bag of chips to the right of the silver bowl with the front aimed at the top left.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Using the left hand, place the green bag of chips to the right of the silver bowl.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Have the left arm set the green bag of chips down to the right of the silver bowl.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "With the left hand, position the green bag of chips to the right of the silver bowl.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Set down the green bag of chips to the right of the silver bowl.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Place the green bag of chips beside the silver bowl on its right side.", + "start_idx": 1269, + "end_idx": 1290 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Have the left hand grasp the silver bowl from the table by the bottom with a diagonal lip hold.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "With the left hand, retrieve the silver bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Using a diagonal lip grasp at the bottom, take the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Retrieve the silver bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "With the left hand, pick up the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Have the left hand take the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Using the left hand, retrieve the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Retrieve the silver bowl from the table.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Dump the pink stuffed toy between the green bag of chips and the doritos with the left hand.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Using the left hand, dump the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Have the left arm place the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "With the left hand, deposit the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Dump the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Place the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Set the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Position the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Put the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Leave the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Arrange the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Move the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Transfer the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 1317, + "end_idx": 1359 + }, + { + "text": "Put the silver bowl behind the green bag of chips with the left hand.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "With the left hand, place the silver bowl behind the green bag of chips upright.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Have the left arm set the silver bowl behind the green bag of chips, right side up.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Using the left hand, position the silver bowl behind the green bag of chips with its front facing forward.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Place the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Set the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Position the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Move the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "With the left hand, place the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Using the left hand, set the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Have the left arm position the silver bowl behind the green bag of chips.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Place the silver bowl behind the green bag of chips upright.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Set the silver bowl behind the green bag of chips with its front facing forward.", + "start_idx": 1359, + "end_idx": 1386 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Have the left arm take the green bag of chips from the table, grasping its left side with a side hold at a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Take the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "The green bag of chips should be picked up from the table using a side grasp at the left in a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side hold.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table with a side grasp.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left in a diagonal angle.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Take the green bag of chips from the table with the left hand.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "The green bag of chips should be picked up from the table.", + "start_idx": 1386, + "end_idx": 1410 + }, + { + "text": "Put the green bag of chips behind the doritos with the left hand facing forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Using the left hand, place the green bag of chips behind the doritos with its front facing forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Have the left arm set the green bag of chips behind the doritos, front facing forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "With the left hand, position the green bag of chips behind the doritos so the front faces forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Place the green bag of chips behind the doritos with its front facing forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Set the green bag of chips behind the doritos with the front facing forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Position the green bag of chips behind the doritos so it faces forwards.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Using the left hand, put the green bag of chips behind the doritos.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "With the left hand, place the green bag of chips behind the doritos.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Have the left arm set the green bag of chips behind the doritos.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Put the green bag of chips behind the doritos.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Place the green bag of chips behind the doritos.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Set the green bag of chips behind the doritos.", + "start_idx": 1410, + "end_idx": 1431 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table at a diagonal angle by gripping the middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "From the table, collect the pink stuffed toy at a diagonal angle by gripping its middle.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "From the table, collect the pink stuffed toy.", + "start_idx": 1431, + "end_idx": 1452 + }, + { + "text": "Put the pink stuffed toy in front of the silver bowl with the left hand facing top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the silver bowl facing top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the silver bowl with its front toward the top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "With the left hand, position the pink stuffed toy before the silver bowl so the front points top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Place the pink stuffed toy in front of the silver bowl facing top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Set the pink stuffed toy before the silver bowl with its front toward the top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Position the pink stuffed toy in front of the silver bowl so it faces top right.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the silver bowl.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Have the left arm place the pink stuffed toy before the silver bowl.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "With the left hand, set the pink stuffed toy in front of the silver bowl.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Put the pink stuffed toy in front of the silver bowl.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Place the pink stuffed toy before the silver bowl.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Set the pink stuffed toy in front of the silver bowl.", + "start_idx": 1452, + "end_idx": 1476 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Have the left hand grasp the white canned goods from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "With the left hand, secure the white canned goods from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Take the white canned goods from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Grasp the white canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp at the top.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Have the left hand grasp the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Take the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Put the white canned goods between the pink stuffed toy and the doritos with the left hand.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Using the left hand, place the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Have the left arm set the white canned goods down between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "With the left hand, position the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Place the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Set the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Position the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "The white canned goods should go between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Put the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Arrange the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Move the white canned goods between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Between the pink stuffed toy and the doritos, place the white canned goods.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Have the white canned goods placed between the pink stuffed toy and the doritos.", + "start_idx": 1506, + "end_idx": 1536 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "From a diagonal angle, have the left hand grasp the pink bowl from the table by the bottom using a lip grip.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "With the left hand, take the pink bowl off the table using a lip grasp at the bottom from a diagonal approach.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "From a diagonal angle, grasp the pink bowl from the table by the bottom using a lip grip.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Take the pink bowl off the table with a lip grasp at the bottom from a diagonal approach.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom using a lip grip.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Have the left hand take the pink bowl off the table with a lip grasp at the bottom.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Grasp the pink bowl from the table by the bottom from a diagonal approach.", + "start_idx": 1596, + "end_idx": 1611 + }, + { + "text": "Put the pink bowl to the left of the pink stuffed toy with the left hand.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Have the left arm set the pink bowl down to the left of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Place the pink bowl to the left of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Set the pink bowl down to the left of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Position the pink bowl on the left side of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "The pink bowl goes to the left of the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Using the left hand, place the pink bowl by the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "With the left hand, set the pink bowl next to the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Have the left arm position the pink bowl beside the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Place the pink bowl beside the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Set the pink bowl next to the pink stuffed toy.", + "start_idx": 1611, + "end_idx": 1632 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Have the left arm pick the pink stuffed toy up from the table with a diagonal approach at the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach at the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table by the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Have the left arm retrieve the pink stuffed toy from the table at the middle.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "From the table, retrieve the pink stuffed toy.", + "start_idx": 1674, + "end_idx": 1698 + }, + { + "text": "Put the pink stuffed toy inside the pink bowl with the left hand facing forwards.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Using the left hand, place the pink stuffed toy into the pink bowl with its front facing forwards.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Have the left arm put the pink stuffed toy inside the pink bowl, front facing forward.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "With the left hand, deposit the pink stuffed toy in the pink bowl so the front faces forwards.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Place the pink stuffed toy into the pink bowl with its front facing forwards.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Put the pink stuffed toy inside the pink bowl, front facing forward.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Set the pink stuffed toy in the pink bowl with the front forwards.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Using the left hand, place the pink stuffed toy into the pink bowl.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Have the left arm put the pink stuffed toy inside the pink bowl.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "With the left hand, set the pink stuffed toy in the pink bowl.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Put the pink stuffed toy into the pink bowl.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Place the pink stuffed toy inside the pink bowl.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Set the pink stuffed toy in the pink bowl.", + "start_idx": 1698, + "end_idx": 1713 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Have the left arm pick the white canned goods off the table using a side grip on the top at a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "With the left hand, grasp the white canned goods from the table by the top using a side hold from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Take the white canned goods off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Grasp the white canned goods from the table by the top with a side hold from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Have the left arm take the white canned goods off the table using a side grasp on the top.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "With the left hand, grasp the white canned goods from the table by the top using a side hold.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Take the white canned goods off the table with the left hand at the top from a diagonal angle.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Using the left hand, grasp the white canned goods from the table.", + "start_idx": 1713, + "end_idx": 1740 + }, + { + "text": "Put the white canned goods to the left of the pink bowl with the left hand.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "With your left hand, position the white canned goods left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Place the white canned goods to the left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Set the white canned goods down to the left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Position the white canned goods left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "The white canned goods should go to the left of the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Move the white canned goods beside the pink bowl on its left side.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Arrange the white canned goods to the pink bowl's left.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Using the left hand, place the white canned goods by the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "With the left hand, set the white canned goods beside the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Have the left arm move the white canned goods next to the pink bowl.", + "start_idx": 1740, + "end_idx": 1776 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom left on a diagonal angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "With the left hand, retrieve the pink bowl from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Take the pink bowl from the table with a lip grasp at the bottom left on a diagonal angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Retrieve the pink bowl from the table using a lip hold at the bottom left with a diagonal approach.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Have the left arm retrieve the pink bowl from the table with a lip hold.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Using the left hand, take the pink bowl from the table on a diagonal angle.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Grab the pink bowl from the table at the bottom left with a diagonal approach.", + "start_idx": 1776, + "end_idx": 1800 + }, + { + "text": "Put the pink bowl to the left of the green bag of chips with the left hand.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the green bag of chips, right side up.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Have the left arm set the pink bowl to the left of the green bag of chips with its front facing forward.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "With the left hand, position the pink bowl to the left of the green bag of chips upright and facing front.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Place the pink bowl to the left of the green bag of chips, right side up.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Set the pink bowl to the left of the green bag of chips with its front facing forward.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Position the pink bowl to the left of the green bag of chips upright and facing front.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the green bag of chips.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Have the left arm set the pink bowl to the left of the green bag of chips.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "With the left hand, position the pink bowl to the left of the green bag of chips.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Put the pink bowl to the left of the green bag of chips.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Arrange the pink bowl to the left of the green bag of chips.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "The pink bowl goes to the left of the green bag of chips.", + "start_idx": 1800, + "end_idx": 1827 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Have the left arm take the white canned goods from the table with a top side grasp at a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "With the left hand, grasp the white canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Grasp the white canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Take the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Have the left arm take the white canned goods from the table using a side grasp.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "With the left hand, grasp the white canned goods from the table using a side hold.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "With the left hand, take the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 1827, + "end_idx": 1860 + }, + { + "text": "Put the white canned goods to the left of the doritos with the left hand.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "With the left hand, position the white canned goods to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Place the white canned goods to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Set the white canned goods down to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Position the white canned goods to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "The white canned goods go to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Move the white canned goods to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Arrange the white canned goods to the left of the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Place the white canned goods beside the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Set the white canned goods next to the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Move the white canned goods beside the doritos.", + "start_idx": 1860, + "end_idx": 1887 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Have the left arm take the pink bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Take the pink bowl from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-left lip from a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Have the left arm take the pink bowl from the table at the bottom left.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "With the left hand, grasp the pink bowl from the table from a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grasp.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Grasp the pink bowl from the table at the bottom left.", + "start_idx": 1887, + "end_idx": 1905 + }, + { + "text": "Put the pink bowl to the left of the white canned goods with the left hand.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Have the left arm set the pink bowl down to the left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "With the left hand, position the pink bowl left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Place the pink bowl to the left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Set the pink bowl down left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Position the pink bowl to the left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "The pink bowl goes to the left of the white canned goods.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Using the left hand, place the pink bowl.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "With the left hand, set down the pink bowl.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Have the left arm position the pink bowl.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Place the pink bowl.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Set down the pink bowl.", + "start_idx": 1905, + "end_idx": 1938 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Have the left arm pick up the pink bowl from the table by the bottom left using a lip grasp, keeping it diagonal.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "With the left hand, secure the pink bowl from the table in a lip hold at the bottom left with a diagonal orientation.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Take the pink bowl from the table with a lip grasp at the bottom left, keeping it diagonal.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Grasp the pink bowl from the table at the bottom left with a lip hold, angled diagonally.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "With the left hand, grasp the pink bowl from the table in a lip hold.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Have the left arm take the pink bowl from the table at the bottom left, angled diagonally.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Pick up the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 1986, + "end_idx": 2004 + }, + { + "text": "Dump the pink stuffed toy in front of the white canned goods with the left hand.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Using the left hand, dump the pink stuffed toy in front of the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Have the left arm place the pink stuffed toy before the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "With the left hand, set the pink stuffed toy down in front of the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Dump the pink stuffed toy in front of the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Place the pink stuffed toy before the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Set the pink stuffed toy down in front of the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "The pink stuffed toy goes in front of the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Position the pink stuffed toy before the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Put the pink stuffed toy in front of the white canned goods.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Using the left hand, dump the pink stuffed toy.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Have the left arm place the pink stuffed toy.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Set the pink stuffed toy down.", + "start_idx": 2004, + "end_idx": 2016 + }, + { + "text": "Put the pink bowl to the left of the white canned goods with the left hand.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Have the left arm set the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "With the left hand, position the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Place the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Set the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Position the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Move the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Arrange the pink bowl to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "The pink bowl goes to the left of the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Using the left hand, place the pink bowl by the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Have the left arm put the pink bowl beside the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Place the pink bowl beside the white canned goods.", + "start_idx": 2016, + "end_idx": 2055 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal approach, holding its middle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table by grasping the middle at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Take the pink stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Take the pink stuffed toy from the table grasping the middle.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Get the pink stuffed toy from the table.", + "start_idx": 2055, + "end_idx": 2076 + }, + { + "text": "Put the pink stuffed toy in front of the pink bowl with the left hand facing forwards.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the pink bowl facing forwards.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the pink bowl with its front facing forward.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "With the left hand, position the pink stuffed toy before the pink bowl so it faces forwards.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Set the pink stuffed toy in front of the pink bowl facing forwards.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Place the pink stuffed toy before the pink bowl with its front facing forward.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Position the pink stuffed toy in front of the pink bowl, facing forwards.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the pink bowl.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "With the left hand, place the pink stuffed toy before the pink bowl.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Have the left arm position the pink stuffed toy in front of the pink bowl.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Put the pink stuffed toy in front of the pink bowl.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Place the pink stuffed toy before the pink bowl.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Position the pink stuffed toy in front of the pink bowl.", + "start_idx": 2076, + "end_idx": 2097 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "With the left hand, grasp the pink bowl off the table by the bottom using a lip grasp from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Have the left arm pick up the pink bowl from the table with a bottom lip hold at a diagonal approach.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Take the pink bowl off the table with a lip grasp at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "The pink bowl should be grasped from the table with a lip hold at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "With the left hand, pick up the pink bowl from the table using a lip grip at the bottom.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grasp at the bottom.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Have the left arm collect the pink bowl from the table with a bottom lip hold.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "With the left hand, pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Using the left hand, grasp the pink bowl from the table at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Pick up the pink bowl from the table at the bottom from a diagonal angle.", + "start_idx": 2097, + "end_idx": 2121 + }, + { + "text": "Put the pink bowl to the right of the pink stuffed toy with the left hand.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Using the left hand, place the pink bowl to the right of the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Have the left arm set the pink bowl down to the stuffed toy's right side.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "With the left hand, position the pink bowl on the right side of the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Place the pink bowl to the right of the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Set the pink bowl on the stuffed toy's right side.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Position the pink bowl just right of the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Move the pink bowl beside the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "The pink bowl goes to the right of the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Arrange the pink bowl on the pink stuffed toy's right side.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Set the pink bowl beside the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Using the left hand, place the pink bowl beside the pink stuffed toy.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Have the left arm position the pink bowl on the stuffed toy's right side.", + "start_idx": 2121, + "end_idx": 2145 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table on a diagonal angle by grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Take the pink stuffed toy from the table on a diagonal angle while holding the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal pickup, grasping its middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Retrieve the pink stuffed toy from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Put the pink stuffed toy between the white canned goods and the green bag of chips with the left hand facing forwards.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Using the left hand, place the pink stuffed toy between the white canned goods and the green bag of chips facing forwards.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Have the left arm set the pink stuffed toy between the white canned goods and the green bag of chips with its front facing forward.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "With the left hand, position the pink stuffed toy between the white canned goods and the green bag of chips so it faces forwards.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Place the pink stuffed toy between the white canned goods and the green bag of chips facing forwards.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Set the pink stuffed toy between the white canned goods and the green bag of chips with its front forward.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Position the pink stuffed toy between the white canned goods and the green bag of chips so it faces forward.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Using the left hand, put the pink stuffed toy between the white canned goods and the green bag of chips.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "With the left hand, place the pink stuffed toy between the white canned goods and the green bag of chips.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Have the left arm position the pink stuffed toy between the white canned goods and the green bag of chips.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Put the pink stuffed toy between the white canned goods and the green bag of chips.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Set the pink stuffed toy between the white canned goods and the green bag of chips.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Position the pink stuffed toy between the white canned goods and the green bag of chips.", + "start_idx": 2178, + "end_idx": 2199 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Have the left hand grasp the white canned goods from the table with a top side hold at a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Take the white canned goods from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "The white canned goods from the table should be grasped at the top with a side hold from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "With the left hand, collect the white canned goods from the table.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Have the left hand take the white canned goods from the table.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Using the left hand, grasp the white canned goods from the table with a side grip at the top.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Take the white canned goods from the table.", + "start_idx": 2253, + "end_idx": 2289 + }, + { + "text": "Put the white canned goods to the left of the pink bowl with the left hand.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Place the white canned goods to the left of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Set the white canned goods down to the left of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Position the white canned goods on the left side of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Move the white canned goods to the left of the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Arrange the white canned goods beside the pink bowl on its left side.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Using the left hand, place the white canned goods by the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Have the left arm set the white canned goods beside the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Put the white canned goods next to the pink bowl with the left hand.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Place the white canned goods beside the pink bowl.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a diagonal lip grip at the bowl's bottom-left edge.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Take the pink bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Grasp the pink bowl from the table using a diagonal lip hold at the bottom left.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Retrieve the pink bowl from the table with a lip grasp at the bottom left.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "With the left hand, pick up the pink bowl from the table.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Have the left arm collect the pink bowl from the table.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Retrieve the pink bowl from the table.", + "start_idx": 2325, + "end_idx": 2343 + }, + { + "text": "Place the pink bowl behind the white canned goods with the left hand.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Using the left hand, set the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Have the left arm place the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "With the left hand, position the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Place the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Set the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Position the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Put the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Leave the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Arrange the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Set the pink bowl behind the white canned goods with the left hand.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Using the left hand, put the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Have the left arm set the pink bowl behind the white canned goods.", + "start_idx": 2343, + "end_idx": 2376 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table at the bottom left with a side hold from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "With the left hand, secure the green bag of chips from the table using a side grasp on the bottom left at a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Take the green bag of chips from the table with a side hold at the bottom left from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Grasp the green bag of chips from the table at the bottom left with a side grasp from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side hold.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Pick up the green bag of chips from the table from a diagonal angle.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "From the table, take the green bag of chips at the bottom left.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Grab the green bag of chips from the table.", + "start_idx": 2433, + "end_idx": 2472 + }, + { + "text": "Place the green bag of chips behind the doritos with the left hand facing forwards.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Using the left hand, place the green bag of chips behind the doritos with its front facing forward.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Have the left arm set the green bag of chips behind the doritos, oriented so the front faces forwards.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "With the left hand, position the green bag of chips behind the doritos, front facing forward.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Place the green bag of chips behind the doritos with its front facing forward.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Set the green bag of chips behind the doritos, with the front oriented forward.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Position the green bag of chips behind the doritos so it faces forwards.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Using the left hand, place the green bag of chips behind the doritos.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Have the left arm set the green bag of chips behind the doritos.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "With the left hand, position the green bag of chips behind the doritos.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Place the green bag of chips behind the doritos.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Set the green bag of chips behind the doritos.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Put the green bag of chips behind the doritos.", + "start_idx": 2472, + "end_idx": 2502 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Using the left arm, grasp the white canned goods on the table with a top side hold from a diagonal approach.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Have the left hand pick the white canned goods off the table with a side grip at the top from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Take the white canned goods off the table with a side grasp at the top from a diagonal approach.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Grasp the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "With the left hand, pick up the white canned goods from the table using a side grip at the top.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Using the left arm, take the white canned goods from the table with a side grasp at the top.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Have the left hand grasp the white canned goods off the table with a side hold at the top.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "With the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Using the left arm, take the white canned goods off the table from a diagonal approach.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 2604, + "end_idx": 2643 + }, + { + "text": "Put the white canned goods to the right of the silver bowl with the left hand.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Have the left arm set the white canned goods down to the right of the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Place the white canned goods to the right of the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Set the white canned goods on the right side of the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Have the white canned goods placed to the right of the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Move the white canned goods to the silver bowl's right side.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Position the white canned goods beside the silver bowl, on its right.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Using the left hand, place the white canned goods by the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "With the left hand, set the white canned goods beside the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Put the white canned goods next to the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Place the white canned goods beside the silver bowl.", + "start_idx": 2643, + "end_idx": 2670 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the left from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Have the left arm take the doritos off the table, grasping the left side with a side hold from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "With the left hand, seize the doritos from the table using a side grasp on the left from a diagonal approach.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Pick up the doritos from the table with a side grip at the left from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Take the doritos off the table using a side grasp on the left from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "The doritos from the table should be picked up with a side hold at the left from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Have the left arm collect the doritos from the table with a side hold.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Pick up the doritos from the table with the left hand at the left from a diagonal angle.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "From the table, grasp the doritos with the left hand.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Take the doritos off the table using a side grip.", + "start_idx": 2670, + "end_idx": 2721 + }, + { + "text": "Put the doritos in front of the pink bowl with the left hand facing forwards from the front.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Using the left hand, place the doritos in front of the pink bowl, facing forwards from the front.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "With the left hand, set the doritos in front of the pink bowl so the front faces forward.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Have the left arm put the doritos in front of the pink bowl with the front facing forwards.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Place the doritos in front of the pink bowl, facing forwards from the front.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Set the doritos in front of the pink bowl so the front faces forward.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Position the doritos in front of the pink bowl with the front facing forwards.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "With the left hand, place the doritos in front of the pink bowl.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Using the left hand, set the doritos in front of the pink bowl.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Have the left arm position the doritos in front of the pink bowl.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Place the doritos in front of the pink bowl.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Set the doritos in front of the pink bowl.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Position the doritos in front of the pink bowl.", + "start_idx": 2721, + "end_idx": 2748 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Have the left arm pick up the pink bowl from the table by the bottom with a lip grasp at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "With the left hand, grasp the pink bowl from the table at the bottom using a lip hold from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Take the pink bowl from the table by the bottom with a lip grasp from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Grasp the pink bowl from the table at the bottom using a lip hold from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp at the bottom.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom with a lip hold.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Have the left arm take the pink bowl from the table by the bottom at a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Pick up the pink bowl from the table at the bottom from a diagonal angle.", + "start_idx": 2748, + "end_idx": 2769 + }, + { + "text": "Put the pink bowl between the doritos and the silver bowl with the left hand.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Using the left hand, place the pink bowl between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Have the left arm set the pink bowl down between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "With the left hand, position the pink bowl between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Place the pink bowl between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Set the pink bowl between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Position the pink bowl between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "The pink bowl goes between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Move the pink bowl into place between the doritos and the silver bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Using the left hand, put the pink bowl in place.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Set the pink bowl down with the left hand.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Have the left arm place the pink bowl.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Put the pink bowl in place.", + "start_idx": 2769, + "end_idx": 2802 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Have the left hand take the doritos from the table using a side grasp at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "With the left hand, grasp the doritos from the table in a side hold at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Pick up the doritos from the table using a side grip at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Take the doritos from the table with a side grasp at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Grasp the doritos from the table in a side hold at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "From the table, collect the doritos with the left hand using a side grip.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Have the left hand grasp the doritos from the table.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Pick up the doritos from the table at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "At the top left diagonal, take the doritos from the table.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "From the table, retrieve the doritos at the top left diagonal.", + "start_idx": 2802, + "end_idx": 2829 + }, + { + "text": "Put the doritos to the right of the pink stuffed toy with the left hand facing forwards.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Using the left hand, place the doritos to the right of the pink stuffed toy, facing forwards.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Have the left arm set the doritos to the right of the pink stuffed toy with the front facing forward.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "With the left hand, position the doritos to the right of the pink stuffed toy so it faces forwards.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Place the doritos to the right of the pink stuffed toy, facing forwards.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Set the doritos to the right of the pink stuffed toy with the front facing forward.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Position the doritos to the right of the pink stuffed toy so it faces forwards.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Using the left hand, put the doritos to the right of the pink stuffed toy.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Have the left arm place the doritos to the right of the pink stuffed toy.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "With the left hand, set the doritos to the right of the pink stuffed toy.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Put the doritos to the right of the pink stuffed toy.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Place the doritos beside the pink stuffed toy on its right side.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Set the doritos on the right side of the pink stuffed toy.", + "start_idx": 2829, + "end_idx": 2859 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left in a diagonal pick.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left in a diagonal pick.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp at the bottom left in a diagonal approach.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left in a diagonal pick.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Take the pink bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold at the bottom left in a diagonal pick.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Retrieve the pink bowl from the table with a lip grip.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "With the left arm, take the pink bowl from the table.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Get the pink bowl from the table on a diagonal.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Have the robot grasp the pink bowl from the table.", + "start_idx": 2859, + "end_idx": 2898 + }, + { + "text": "Put the pink bowl to the left of the green bag of chips with the left hand.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Have the left arm set the pink bowl down left of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Place the pink bowl to the left of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Set the pink bowl down left of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Position the pink bowl on the left side of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "The pink bowl goes to the left of the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Put the pink bowl beside the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Set the pink bowl next to the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Using the left hand, place the pink bowl beside the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Have the left arm set the pink bowl next to the green bag of chips.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Put the pink bowl next to the green bag of chips with the left hand.", + "start_idx": 2898, + "end_idx": 2928 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Have the left arm pick the silver bowl up from the table with a diagonal lip hold at the bottom left.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom left using a diagonal lip grip.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left with a diagonal lip grip.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Take the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 2928, + "end_idx": 2955 + }, + { + "text": "Put the silver bowl in front of the green bag of chips with the left hand.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Using the left hand, place the silver bowl in front of the green bag of chips, right side up.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Have the left arm set the silver bowl down in front of the green bag of chips with the bowl upright.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "With the left hand, position the silver bowl upright in front of the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Place the silver bowl in front of the green bag of chips, right side up.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Set the silver bowl down in front of the green bag of chips with the bowl upright.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Position the silver bowl in front of the green bag of chips, right side up.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Using the left hand, put the silver bowl in front of the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Have the left arm place the silver bowl before the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "With the left hand, set the silver bowl in front of the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Place the silver bowl in front of the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Set the silver bowl down before the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Have the silver bowl placed in front of the green bag of chips.", + "start_idx": 2955, + "end_idx": 2997 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by the bottom using a diagonal lip hold.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "With the left hand, collect the pink bowl from the table in a bottom diagonal lip grasp.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Grab the pink bowl from the table by the bottom with a diagonal lip grasp.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 3054, + "end_idx": 3072 + }, + { + "text": "Place the pink bowl to the left of the silver bowl with the left hand.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "With the left hand, set the pink bowl to the left of the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Using the left arm, position the pink bowl left of the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Have the left hand place the pink bowl on the silver bowl's left side.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Place the pink bowl to the left of the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Set the pink bowl on the left side of the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Position the pink bowl left of the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Move the pink bowl to the silver bowl's left.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "On the left of the silver bowl, place the pink bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Transfer the pink bowl beside the silver bowl on its left side.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Place the pink bowl beside the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Set the pink bowl next to the silver bowl on the left.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Put the pink bowl on the left side of the silver bowl.", + "start_idx": 3072, + "end_idx": 3102 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Have the left arm take the green bag of chips from the table, grasping its left side with a side hold at a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Take the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Grasp the green bag of chips from the table at the left with a side hold and a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left with a diagonal angle.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Take the green bag of chips from the table using a side grip.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Get the green bag of chips from the table.", + "start_idx": 3102, + "end_idx": 3132 + }, + { + "text": "Put the green bag of chips to the left of the doritos with the left hand facing forwards.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the doritos, facing forwards.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "With the left hand, position the green bag of chips left of the doritos so the front faces forward.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Place the green bag of chips to the left of the doritos.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Set the green bag of chips left of the doritos.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Position the green bag of chips to the left of the doritos.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the doritos.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Have the left arm set the green bag of chips left of the doritos.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the doritos.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Place the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Set the green bag of chips left of the doritos, front facing forward.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Position the green bag of chips to the left of the doritos so the front faces forward.", + "start_idx": 3132, + "end_idx": 3156 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a side grasp at the bottom left on a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Have the left arm pick up the silver bowl from the table using a side hold at the bottom left with a diagonal orientation.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by the bottom left using a side grip at a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Pick up the silver bowl from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Take the silver bowl from the table with a side grasp at the bottom left on a diagonal.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Grasp the silver bowl from the table by the bottom left using a side hold at a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a side grip.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Have the left arm take the silver bowl from the table using a side grasp.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using a side hold.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Have the left arm take the silver bowl from the table by the bottom left on a diagonal.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Pick up the silver bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 3222, + "end_idx": 3261 + }, + { + "text": "Place the silver bowl behind the pink bowl with the left hand.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Using the left hand, set the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Have the left arm place the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "With the left hand, position the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Place the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Set the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Position the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Arrange the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "The silver bowl goes behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Put the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Move the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Using the left arm, put the silver bowl behind the pink bowl.", + "start_idx": 3261, + "end_idx": 3294 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal pickup, holding its middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table on a diagonal approach by the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "From the table, collect the pink stuffed toy on a diagonal approach, holding the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table by the middle.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Have the left hand collect the pink stuffed toy from the table.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "From the table, take the pink stuffed toy.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 3294, + "end_idx": 3321 + }, + { + "text": "Put the pink stuffed toy between the silver bowl and the green bag of chips with the left hand facing top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Using the left hand, place the pink stuffed toy between the silver bowl and the green bag of chips with its front facing top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Have the left arm set the pink stuffed toy between the silver bowl and the green bag of chips, front oriented toward the top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "With the left hand, position the pink stuffed toy between the silver bowl and the green bag of chips so the front points top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Place the pink stuffed toy between the silver bowl and the green bag of chips with its front facing top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Set the pink stuffed toy between the silver bowl and the green bag of chips, front toward the top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Position the pink stuffed toy between the silver bowl and the green bag of chips so it faces top left.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Using the left hand, put the pink stuffed toy between the silver bowl and the green bag of chips.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "With the left hand, set the pink stuffed toy between the silver bowl and the green bag of chips.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Have the left arm place the pink stuffed toy between the silver bowl and the green bag of chips.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Put the pink stuffed toy between the silver bowl and the green bag of chips.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Set the pink stuffed toy between the silver bowl and the green bag of chips.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Position the pink stuffed toy between the silver bowl and the green bag of chips.", + "start_idx": 3321, + "end_idx": 3345 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Have the left arm pick up the pink bowl from the table using a bottom diagonal lip grasp.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "With the left hand, grasp the pink bowl from the table in a diagonal lip hold at the bottom.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Grasp the pink bowl from the table in a diagonal lip hold at the bottom.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 3345, + "end_idx": 3369 + }, + { + "text": "Put the pink bowl in front of the green bag of chips with the left hand.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Using the left hand, place the pink bowl in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Have the left arm set the pink bowl down in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "With the left hand, position the pink bowl in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Place the pink bowl in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Set the pink bowl in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "The pink bowl goes in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Position the pink bowl by the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Put the pink bowl near the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Set the pink bowl down by the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Using the left hand, place the pink bowl by the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Have the left arm set the pink bowl near the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "With the pink bowl, move it in front of the green bag of chips.", + "start_idx": 3369, + "end_idx": 3396 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table diagonally while holding the full object.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "From the table, collect the pink stuffed toy diagonally with a full-object grasp.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach.", + "start_idx": 3396, + "end_idx": 3435 + }, + { + "text": "Put the pink stuffed toy in front of the silver bowl with the left hand facing top left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the silver bowl facing top left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Have the left arm set the pink stuffed toy before the silver bowl with its orientation toward the top left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "With the left hand, position the pink stuffed toy in front of the silver bowl so it faces top left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Place the pink stuffed toy in front of the silver bowl facing top left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Set the pink stuffed toy before the silver bowl with its orientation toward the top left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Position the pink stuffed toy in front of the silver bowl, facing the upper left.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the silver bowl.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "With the left arm, place the pink stuffed toy before the silver bowl.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Have the left hand set the pink stuffed toy in front of the silver bowl.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Put the pink stuffed toy in front of the silver bowl.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Set the pink stuffed toy before the silver bowl.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Position the pink stuffed toy in front of the silver bowl.", + "start_idx": 3435, + "end_idx": 3468 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Have the left hand take the silver bowl from the table by the bottom using a diagonal lip grasp.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom with a diagonal lip hold.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Pick up the silver bowl from the table with a diagonal lip grasp at the bottom.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Take the silver bowl from the table by the bottom with a diagonal lip hold.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Grasp the silver bowl from the table at the bottom using a diagonal lip grasp.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Have the left hand take the silver bowl from the table.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "With the left hand, grasp the silver bowl from the table.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Using the left hand, take the silver bowl from the table.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 3468, + "end_idx": 3486 + }, + { + "text": "Place the silver bowl between the pink stuffed toy and the pink bowl with the left hand.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Using the left hand, set the silver bowl between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Have the left arm place the silver bowl in the space between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "With the left hand, position the silver bowl between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Place the silver bowl between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Set the silver bowl in between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Position the silver bowl between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Put the silver bowl between the pink stuffed toy and the pink bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Using the left hand, place the silver bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "With the left hand, set down the silver bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Have the left arm position the silver bowl.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Place the silver bowl between the pink stuffed toy and the pink bowl with the left arm.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Set the silver bowl between the pink stuffed toy and the pink bowl using the left hand.", + "start_idx": 3486, + "end_idx": 3525 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table on a diagonal, gripping the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle by grasping the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Take the pink stuffed toy from the table on a diagonal, holding the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Take the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "From the table, grasp the pink stuffed toy with the left hand.", + "start_idx": 3696, + "end_idx": 3732 + }, + { + "text": "Put the pink stuffed toy behind the pink bowl with the left hand facing forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Using the left hand, place the pink stuffed toy behind the pink bowl facing forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Have the left hand set the pink stuffed toy behind the pink bowl with its front facing forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "With the left hand, position the pink stuffed toy behind the pink bowl so it faces forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Place the pink stuffed toy behind the pink bowl facing forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Set the pink stuffed toy behind the pink bowl with its front facing forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Position the pink stuffed toy behind the pink bowl so it faces forwards.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Using the left hand, place the pink stuffed toy behind the pink bowl.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Have the left hand set the pink stuffed toy behind the pink bowl.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "With the left hand, position the pink stuffed toy behind the pink bowl.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Put the pink stuffed toy behind the pink bowl.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Set the pink stuffed toy behind the pink bowl.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Position the pink stuffed toy behind the pink bowl.", + "start_idx": 3732, + "end_idx": 3759 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "From a diagonal angle, have the left hand grasp the top of the white canned goods on the table with a side hold.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "With the left hand, take the white canned goods off the table using a side grasp on the top from a diagonal approach.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Take the white canned goods off the table using a side grasp on the top from a diagonal approach.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Grasp the white canned goods on the table with a side hold at the top from a diagonal angle.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Have the left hand take the white canned goods from the table using a side grasp on the top.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "With the left hand, grasp the white canned goods on the table with a side hold at the top.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "From a diagonal angle, have the left hand take the white canned goods off the table.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 3759, + "end_idx": 3786 + }, + { + "text": "Put the white canned goods to the left of the silver bowl with the left hand.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "With the left hand, position the white canned goods left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Place the white canned goods to the left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Set the white canned goods down left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Position the white canned goods to the silver bowl's left side.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "The white canned goods go to the left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Move the white canned goods to the left of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Arrange the white canned goods on the left side of the silver bowl.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "To the left of the silver bowl, place the white canned goods.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Set the white canned goods beside the silver bowl on its left side.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Have the white canned goods placed to the silver bowl's left.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "With the left hand, collect the silver bowl from the table using a lip grip on the bottom left from a diagonal approach.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Take the silver bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Grasp the silver bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Retrieve the silver bowl from the table with a lip grip at the bottom left.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "From the table, pick up the silver bowl using a lip grip on the bottom-left area.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "With the left hand, take the silver bowl from the table using a lip grip.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Get the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 3831, + "end_idx": 3852 + }, + { + "text": "Dump the green bag of chips between the white canned goods and the pink bowl with the left hand.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Using the left hand, empty the green bag of chips into the space between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Have the left arm dump the green bag of chips between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "With the left hand, pour out the green bag of chips between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Dump the green bag of chips between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Place the contents of the green bag of chips between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "The green bag of chips should be dumped between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Empty the green bag of chips into position between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Set the green bag of chips down between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Position the green bag of chips between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "The green bag of chips goes between the white canned goods and the pink bowl.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Using the left hand, dump the green bag of chips.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Have the left arm empty the green bag of chips.", + "start_idx": 3852, + "end_idx": 3885 + }, + { + "text": "Put the silver bowl behind the white canned goods with the left hand.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Using the left hand, place the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Have the left arm set the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "With the left hand, position the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Place the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Set the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Position the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Move the silver bowl behind the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Using the left hand, put the silver bowl by the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "With the left hand, place the silver bowl near the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Have the left arm set the silver bowl next to the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Put the silver bowl by the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Position the silver bowl near the white canned goods.", + "start_idx": 3885, + "end_idx": 3933 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left from a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "With the left hand, secure the green bag of chips from the table using a lateral grip on the left from a diagonal approach.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left from a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Grab the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Take the green bag of chips from the table with a lateral grip on the left from a diagonal approach.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "With the left hand, pick up the green bag of chips from the table using a side grip.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side hold.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table from a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left from a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Using the left hand, take the green bag of chips from the table.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Grab the green bag of chips from the table from a diagonal angle.", + "start_idx": 3933, + "end_idx": 3960 + }, + { + "text": "Put the green bag of chips to the left of the white canned goods with the left hand facing forwards.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the white canned goods with its front facing forwards.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the white canned goods, front facing forward.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "With the left hand, position the green bag of chips left of the white canned goods so the front faces forwards.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Place the green bag of chips to the left of the white canned goods with its front facing forwards.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Set the green bag of chips to the left of the white canned goods, front facing forward.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Position the green bag of chips left of the white canned goods with the front facing forwards.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the white canned goods.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Have the left arm set the green bag of chips left of the white canned goods.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the white canned goods.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Put the green bag of chips to the left of the white canned goods.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Set the green bag of chips left of the white canned goods.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Have the green bag of chips placed to the left of the white canned goods.", + "start_idx": 3960, + "end_idx": 3990 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "From the table, collect the pink stuffed toy diagonally by the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Take the pink stuffed toy from the table, grasping the middle.", + "start_idx": 3990, + "end_idx": 4026 + }, + { + "text": "Put the pink stuffed toy inside the silver bowl with the left hand facing top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the silver bowl with its front facing top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Have the left arm put the pink stuffed toy into the silver bowl, front oriented toward the top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "With the left hand, deposit the pink stuffed toy in the silver bowl so the front points top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Place the pink stuffed toy inside the silver bowl with its front facing top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Set the pink stuffed toy into the silver bowl, front pointing toward the top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Put the pink stuffed toy in the silver bowl with the front directed to the top left.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the silver bowl.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "With the left hand, set the pink stuffed toy into the silver bowl.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Have the left arm put the pink stuffed toy in the silver bowl.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Place the pink stuffed toy inside the silver bowl.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Put the pink stuffed toy into the silver bowl.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Have the left arm place the pink stuffed toy in the silver bowl.", + "start_idx": 4025, + "end_idx": 4055 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the top left with a diagonal angle.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the top left on a diagonal.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Have the left arm pick the doritos up from the table using a side hold at the top-left corner with diagonal orientation.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "With the left hand, grasp the doritos from the table in a side grip at the top left, angled diagonally.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Pick up the doritos from the table using a side grip at the top left with a diagonal angle.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Take the doritos from the table with a side grasp at the top-left area on a diagonal.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Grasp the doritos from the table in a side hold at the top left with diagonal orientation.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Pick up the doritos from the table with the left hand at the top left with a diagonal angle.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Take the doritos from the table using a side grip.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "At the top left with a diagonal angle, pick up the doritos from the table.", + "start_idx": 4194, + "end_idx": 4233 + }, + { + "text": "Put the doritos in front of the pink bowl with the left hand facing right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Using the left hand, place the doritos in front of the pink bowl, facing right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Have the left arm set the doritos in front of the pink bowl with the package facing right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "With the left hand, position the doritos before the pink bowl so it faces right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Place the doritos in front of the pink bowl facing right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Set the doritos before the pink bowl with the front facing right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Position the doritos in front of the pink bowl so it faces right.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Using the left hand, put the doritos in front of the pink bowl.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "With the left hand, place the doritos before the pink bowl.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Have the left arm set the doritos in front of the pink bowl.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Place the doritos in front of the pink bowl.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Set the doritos before the pink bowl.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Position the doritos in front of the pink bowl.", + "start_idx": 4233, + "end_idx": 4260 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Have the left arm grasp the white canned goods from the table from a diagonal angle using a side hold at the top.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "With the left hand, secure the white canned goods from the table by the top with a side grasp from a diagonal approach.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Take the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Grasp the white canned goods from the table by the top with a side grip from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Retrieve the white canned goods from the table from a diagonal angle using a side grasp at the top.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Using the left hand, retrieve the white canned goods from the table from a diagonal angle.", + "start_idx": 4260, + "end_idx": 4299 + }, + { + "text": "Put the white canned goods to the left of the doritos with the left hand.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "With the left hand, position the white canned goods left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Place the white canned goods to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Set the white canned goods down left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Position the white canned goods to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Put the white canned goods left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Move the white canned goods to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Arrange the white canned goods to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Set the white canned goods beside the doritos on the left.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Place the white canned goods on the doritos' left side.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Have the white canned goods placed to the left of the doritos.", + "start_idx": 4299, + "end_idx": 4326 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table using a left-side grip with a diagonal approach.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "With the left hand, collect the green bag of chips from the table in a diagonal pick angle using a side grasp on the left.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Take the green bag of chips from the table with a left-side grasp and a diagonal approach.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Grasp the green bag of chips from the table at the left with a side hold in a diagonal pick angle.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a left-side grasp.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Have the left hand collect the green bag of chips from the table with a side hold.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table in a diagonal pick angle.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Take the green bag of chips from the table with the left hand.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 4326, + "end_idx": 4362 + }, + { + "text": "Put the green bag of chips in front of the silver bowl with the left hand facing forwards.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the silver bowl with its front facing forward.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Have the left arm set the green bag of chips before the silver bowl, front side facing forward.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "With the left hand, position the green bag of chips in front of the silver bowl so the front faces forward.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Place the green bag of chips in front of the silver bowl with its front facing forward.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Set the green bag of chips before the silver bowl, front side facing forward.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Position the green bag of chips in front of the silver bowl with the front facing forward.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the silver bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "With the left hand, set the green bag of chips before the silver bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Have the left arm position the green bag of chips in front of the silver bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Place the green bag of chips in front of the silver bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Set the green bag of chips before the silver bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Position the green bag of chips in front of the silver bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Have the left arm pick up the silver bowl from the table, gripping the bottom left lip from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Take the silver bowl from the table by the bottom-left lip from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left with a lip hold from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "With the left hand, take the silver bowl from the table using a lip grasp.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a lip hold.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Pick up the silver bowl from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Using the left hand, take the silver bowl from the table from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4491 + }, + { + "text": "Dump the pink stuffed toy between the green bag of chips and the doritos with the left hand.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Using the left hand, dump the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Have the left arm place the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "With the left hand, set the pink stuffed toy down between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Dump the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Place the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Set the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Position the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "The pink stuffed toy goes between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Move the pink stuffed toy to a spot between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Put the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Arrange the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Deposit the pink stuffed toy between the green bag of chips and the doritos.", + "start_idx": 4491, + "end_idx": 4542 + }, + { + "text": "Place the silver bowl behind the pink stuffed toy with the left hand.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Using the left hand, set the silver bowl behind the pink stuffed toy right side up.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Have the left arm place the silver bowl behind the pink stuffed toy with its front facing forward.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "With the left hand, position the silver bowl behind the pink stuffed toy in an upright orientation.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Set the silver bowl behind the pink stuffed toy right side up.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Place the silver bowl behind the pink stuffed toy with its front facing forward.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Position the silver bowl behind the pink stuffed toy in an upright orientation.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Put the silver bowl behind the pink stuffed toy.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Place the silver bowl behind the pink stuffed toy.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Set the silver bowl behind the pink stuffed toy with the left hand.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Using the left hand, put the silver bowl behind the pink stuffed toy.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Have the left arm position the silver bowl behind the pink stuffed toy.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Place the silver bowl behind the pink stuffed toy upright.", + "start_idx": 4542, + "end_idx": 4584 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal pick.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left in a diagonal pick.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Have the left arm pick the green bag of chips off the table with a side grasp on the left in a diagonal pickup.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table using a side hold at the left in a diagonal pick.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal pick.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Take the green bag of chips off the table with a side grasp on the left in a diagonal pickup.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold at the left in a diagonal pick.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Have the left arm take the green bag of chips off the table using a side grasp.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table using a side hold.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Pick up the green bag of chips from the table at the left in a diagonal pick.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Take the green bag of chips off the table on the left in a diagonal pickup.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Get the green bag of chips from the table with a diagonal pick at the left.", + "start_idx": 4584, + "end_idx": 4620 + }, + { + "text": "Put the green bag of chips inside the silver bowl with the left hand right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "With the left hand, place the green bag of chips into the silver bowl right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Using the left arm, set the green bag of chips inside the silver bowl with its front right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Have the left hand put the green bag of chips in the silver bowl, front facing right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Place the green bag of chips into the silver bowl right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Set the green bag of chips inside the silver bowl with its front right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Put the green bag of chips in the silver bowl, keeping it right side up.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Using the left hand, place the green bag of chips into the silver bowl.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "With the left arm, set the green bag of chips inside the silver bowl.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Have the left hand put the green bag of chips in the silver bowl.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Put the green bag of chips into the silver bowl.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Set the green bag of chips inside the silver bowl.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Have the green bag of chips placed in the silver bowl.", + "start_idx": 4620, + "end_idx": 4650 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "With the left hand, take hold of the silver bowl from the table using the lip grip on its left side at a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the left side with a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Take the silver bowl from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Grasp the silver bowl from the table with the lip grip at the left side and a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Have the left hand take the silver bowl from the table using a lip hold.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using the lip grip.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the left side with a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Have the left hand take the silver bowl from the table on its left side at a diagonal angle.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 4704, + "end_idx": 4749 + }, + { + "text": "Dump the green bag of chips to the left of the pink bowl with the left hand.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Using the left hand, dump the green bag of chips to the left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Have the left arm place the green bag of chips to the left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "With the left hand, set down the green bag of chips left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Dump the green bag of chips to the left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Place the green bag of chips to the left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Set the green bag of chips down left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Position the green bag of chips to the left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "The green bag of chips goes to the left of the pink bowl.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Using the left hand, dump the green bag of chips.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "With the left hand, place the green bag of chips.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Have the left arm set down the green bag of chips.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Put down the green bag of chips.", + "start_idx": 4749, + "end_idx": 4782 + }, + { + "text": "Put the silver bowl to the left of the green bag of chips with the left hand.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Have the left arm set the silver bowl to the left of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "With the left hand, position the silver bowl on the left side of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Place the silver bowl to the left of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Set the silver bowl on the left side of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Position the silver bowl left of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Move the silver bowl to a spot left of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "The silver bowl goes to the left of the green bag of chips.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Using the left hand, place the silver bowl.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Have the left arm set down the silver bowl.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "With the left hand, position the silver bowl.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Place the silver bowl.", + "start_idx": 4782, + "end_idx": 4836 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side hold on the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Pick up the doritos from the table with a side grip at the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Grasp the doritos from the table using a side hold on the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "The doritos from the table should be taken with a side grasp at the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Have the left arm grasp the doritos from the table from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the doritos from the table at the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Pick up the doritos from the table at the left from a diagonal angle.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 4911, + "end_idx": 4953 + }, + { + "text": "Put the doritos in front of the silver bowl with the left hand facing right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Using the left hand, place the doritos in front of the silver bowl facing right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Have the left arm set the doritos in front of the silver bowl with the front facing right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "With the left hand, position the doritos in front of the silver bowl so it faces right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Place the doritos in front of the silver bowl facing right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Set the doritos in front of the silver bowl with the front to the right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Position the doritos in front of the silver bowl so it points right.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Using the left hand, put the doritos in front of the silver bowl.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "With the left arm, place the doritos in front of the silver bowl.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Have the left hand set the doritos in front of the silver bowl.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Put the doritos in front of the silver bowl.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Set the doritos in front of the silver bowl.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Position the doritos in front of the silver bowl.", + "start_idx": 4953, + "end_idx": 4989 + }, + { + "text": "Pick up the white canned goods from the silver bowl with the left hand using a side grip at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Using the left hand, take the white canned goods from the silver bowl with a side grip at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Have the left hand grasp the white canned goods from the silver bowl using a side hold at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "With the left hand, retrieve the white canned goods from the silver bowl in a side grasp at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Pick up the white canned goods from the silver bowl using a side grip at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Take the white canned goods from the silver bowl with a side hold at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Retrieve the white canned goods from the silver bowl in a side grasp at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Using the left hand, pick up the white canned goods from the silver bowl with a side grip.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "With the left hand, take the white canned goods from the silver bowl using a side hold.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Have the left hand retrieve the white canned goods from the silver bowl with a side grasp.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Pick up the white canned goods from the silver bowl with the left hand at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Take the white canned goods from the silver bowl at the top diagonal.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Using the left hand, grasp the white canned goods from the silver bowl.", + "start_idx": 5061, + "end_idx": 5103 + }, + { + "text": "Put the white canned goods to the right of the pink bowl with the left hand.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Have the left arm set the white canned goods down to the right of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Place the white canned goods to the right of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Set the white canned goods on the right side of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Position the white canned goods to the right of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Move the white canned goods to the right of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "The white canned goods go to the right of the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Using the left hand, place the white canned goods by the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Have the left arm set the white canned goods beside the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Put the white canned goods next to the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Using the left hand, move the white canned goods next to the pink bowl.", + "start_idx": 5103, + "end_idx": 5136 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Grasp the silver bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Take the silver bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "With the left hand, take the silver bowl from the table using a lip hold.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip grasp.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Pick up the silver bowl from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Take the silver bowl from the table with the left hand from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 5136, + "end_idx": 5175 + }, + { + "text": "Put the silver bowl to the right of the white canned goods with the left hand.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Using the left hand, place the silver bowl to the right of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Have the left arm set the silver bowl to the right of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "With the left hand, position the silver bowl on the right side of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Place the silver bowl to the right of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Set the silver bowl on the right side of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Position the silver bowl to the right of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Move the silver bowl to the right of the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Place the silver bowl beside the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Set the silver bowl next to the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Using the left hand, place the silver bowl beside the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Have the left arm set the silver bowl next to the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "With the left hand, position the silver bowl beside the white canned goods.", + "start_idx": 5175, + "end_idx": 5214 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Have the left arm grasp the doritos from the table from the bottom-left area with a side hold at a diagonal angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "With the left hand, retrieve the doritos from the table using a side grasp on the bottom left at a diagonal angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Take the doritos from the table with a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "From the table, grasp the doritos with a side hold at the bottom left using a diagonal angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Use the left hand to take the doritos from the table with a side grasp.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Have the left arm pick up the doritos from the table using a side hold.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Pick up the doritos from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Using the left hand, grasp the doritos from the table at a diagonal angle.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Take the doritos from the table from the bottom-left area.", + "start_idx": 5346, + "end_idx": 5388 + }, + { + "text": "Put the doritos between the green bag of chips and the pink bowl with the left hand facing right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Using the left hand, place the doritos between the green bag of chips and the pink bowl with the front facing right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Have the left arm set the doritos between the green bag of chips and the pink bowl, front pointing right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "With the left hand, position the doritos between the green bag of chips and the pink bowl so the front faces right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Place the doritos between the green bag of chips and the pink bowl with the front facing right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Set the doritos between the green bag of chips and the pink bowl, front pointing right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Position the doritos between the green bag of chips and the pink bowl so the front faces right.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Using the left hand, put the doritos between the green bag of chips and the pink bowl.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "With the left arm, place the doritos between the green bag of chips and the pink bowl.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Have the left hand set the doritos between the green bag of chips and the pink bowl.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Put the doritos between the green bag of chips and the pink bowl.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Arrange the doritos between the green bag of chips and the pink bowl.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Leave the doritos between the green bag of chips and the pink bowl.", + "start_idx": 5388, + "end_idx": 5418 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Have the left arm grasp the pink stuffed toy from the table at the top with a side hold from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "With the left hand, secure the pink stuffed toy from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Pick up the pink stuffed toy from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Take the pink stuffed toy from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Grasp the pink stuffed toy from the table at the top with a side grip from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "With the left hand, grasp the pink stuffed toy from the table.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at the top from a diagonal angle.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Grab the pink stuffed toy from the table.", + "start_idx": 5418, + "end_idx": 5460 + }, + { + "text": "Place the pink stuffed toy on the top side of the table with the left hand facing right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Using the left hand, set the pink stuffed toy on the top side of the table with its front facing right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Have the left arm place the pink stuffed toy on the top side of the table so the front points right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "With the left hand, position the pink stuffed toy on the top side of the table, front directed to the right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Place the pink stuffed toy on the top side of the table with its front facing right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Set the pink stuffed toy on the top side of the table so the front faces right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Position the pink stuffed toy on the top side of the table, front pointing right.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Using the left hand, place the pink stuffed toy on the top side of the table.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "With the left hand, set the pink stuffed toy on the top side of the table.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Have the left arm position the pink stuffed toy on the top side of the table.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Place the pink stuffed toy on the top side of the table.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Set the pink stuffed toy on the top side of the table.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Position the pink stuffed toy on the top side of the table.", + "start_idx": 5460, + "end_idx": 5490 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the top using a side grip.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Have the left hand pick up the white canned goods from the table diagonally by the top using a side grasp.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table, approaching at a diagonal angle and holding the top with a side grip.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top with a side grip.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "From the table, collect the white canned goods diagonally by the top using a side grasp.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Take the white canned goods from the table, approaching diagonally and gripping the top with a side hold.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Have the left hand take the white canned goods from the table.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "With the left hand, retrieve the white canned goods from the table.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "From the table, take the white canned goods with the left hand, grasping the top using a side grip.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Grab the white canned goods from the table diagonally by the top.", + "start_idx": 5490, + "end_idx": 5529 + }, + { + "text": "Put the white canned goods on the bottom side of the table with the left hand.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Using the left hand, place the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Have the left arm set the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "With the left hand, position the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Place the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Set the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Position the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Have the white canned goods placed on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Move the white canned goods to the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Transfer the white canned goods onto the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "The white canned goods should go on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Put the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Arrange the white canned goods on the bottom side of the table.", + "start_idx": 5529, + "end_idx": 5568 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table, grasping it diagonally at the middle.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table using a diagonal middle grasp.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle from the middle.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal grasp at the middle.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Retrieve the pink stuffed toy from the table, contacting it diagonally at the middle.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Retrieve the pink stuffed toy from the table.", + "start_idx": 5646, + "end_idx": 5670 + }, + { + "text": "Put the pink stuffed toy to the left of the green bag of chips with the left hand facing forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the green bag of chips facing forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "With your left hand, set the pink stuffed toy to the left of the green bag of chips so its front faces forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Have the left arm position the pink stuffed toy left of the green bag of chips with the front facing forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Place the pink stuffed toy to the left of the green bag of chips facing forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Set the pink stuffed toy left of the green bag of chips with its front facing forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Position the pink stuffed toy to the left of the green bag of chips so it faces forwards.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the green bag of chips.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "With the left hand, set the pink stuffed toy left of the green bag of chips.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Have the left arm position the pink stuffed toy to the left of the green bag of chips.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Put the pink stuffed toy to the left of the green bag of chips.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Place the pink stuffed toy left of the green bag of chips.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Set the pink stuffed toy down to the left of the green bag of chips.", + "start_idx": 5670, + "end_idx": 5703 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the bottom diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Have the left arm pick the green bag of chips off the table, grasping its bottom from the side at a diagonal angle.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table at the bottom using a diagonal side hold.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the bottom diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Grab the green bag of chips off the table using a side hold on the bottom diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Take the green bag of chips from the table by the bottom with a diagonal side grasp.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Have the left arm take the green bag of chips off the table.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Pick up the green bag of chips from the table diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Using the left hand, take the green bag of chips from the table diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Grab the green bag of chips off the table at the bottom diagonally.", + "start_idx": 5847, + "end_idx": 5880 + }, + { + "text": "Put the green bag of chips behind the doritos with the left hand facing forwards.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Using the left hand, place the green bag of chips behind the doritos with the bag facing forwards.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Have the left arm set the green bag of chips behind the doritos, oriented forwards.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "With the left hand, position the green bag of chips behind the doritos so it faces the front.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Place the green bag of chips behind the doritos with the bag facing forwards.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Set the green bag of chips behind the doritos, oriented forwards.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Position the green bag of chips behind the doritos so it faces forwards.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Using the left hand, put the green bag of chips behind the doritos.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Have the left arm place the green bag of chips behind the doritos.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "With the left hand, set the green bag of chips behind the doritos.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Put the green bag of chips behind the doritos.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Place the green bag of chips behind the doritos.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Set the green bag of chips behind the doritos.", + "start_idx": 5880, + "end_idx": 5916 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Have the left arm pick the silver bowl up from the table using a bottom-left diagonal lip grip.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by the bottom-left lip on a diagonal.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Take the silver bowl from the table with a bottom-left diagonal lip grip.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Grasp the silver bowl from the table by the bottom-left lip diagonally.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "With the left hand, pick up the silver bowl from the table.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Have the left arm take the silver bowl from the table.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Using the left hand, grasp the silver bowl from the table.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Have the left arm pick up the silver bowl from the table.", + "start_idx": 5916, + "end_idx": 5958 + }, + { + "text": "Put the silver bowl on the top left side of the table with the left hand.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the left hand, place the silver bowl on the table's top-left side, right side up with the front oriented forward.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Have the left arm set the silver bowl on the upper-left area of the table, keeping it upright with the front facing front.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "With the left hand, position the silver bowl on the top left of the table, right side up and front-facing.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Place the silver bowl on the top left side of the table, right side up with the front facing front.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Set the silver bowl on the table's upper-left side, keeping it upright and front-facing.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Position the silver bowl on the top-left area of the table with its front toward the front.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Using the left hand, put the silver bowl on the top left side of the table.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "With the left hand, set the silver bowl on the upper-left area of the table.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Have the left arm place the silver bowl on the table's top-left side.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Put the silver bowl on the top left side of the table.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Set the silver bowl on the upper-left area of the table.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Position the silver bowl on the table's top-left side.", + "start_idx": 5958, + "end_idx": 6000 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Have the left arm grasp the white canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Take the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Grasp the white canned goods from the table at the top using a side grasp from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Take the white canned goods from the table with the left hand at the top.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Grasp the white canned goods from the table with the left hand using a side grip.", + "start_idx": 6000, + "end_idx": 6027 + }, + { + "text": "Put the white canned goods to the left of the doritos with the left hand.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "With the left hand, position the white canned goods to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Place the white canned goods to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Set the white canned goods down to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Position the white canned goods to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Move the white canned goods to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Arrange the white canned goods to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Put the white canned goods beside the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Set the white canned goods next to the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Have the white canned goods placed to the left of the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Move the white canned goods beside the doritos.", + "start_idx": 6027, + "end_idx": 6057 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "With the left arm, grasp the pink stuffed toy from the table in a diagonal top side hold.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Have the left hand pick the pink stuffed toy off the table using a side grip at the top on a diagonal.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Pick up the pink stuffed toy from the table with a side grip at the top diagonally.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Grasp the pink stuffed toy from the table in a diagonal side hold at the top.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Take the pink stuffed toy off the table using a side grasp at the top diagonally.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "With the left hand, take the pink stuffed toy from the table.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Have the left arm grasp the pink stuffed toy off the table.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Pick up the pink stuffed toy from the table diagonally at the top.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Take the pink stuffed toy off the table with the left hand.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Grasp the pink stuffed toy from the table.", + "start_idx": 6057, + "end_idx": 6084 + }, + { + "text": "Put the pink stuffed toy to the left of the white canned goods with the left hand facing forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white canned goods facing forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the white canned goods with its front facing forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "With the left hand, position the pink stuffed toy to the left of the white canned goods so it faces forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Place the pink stuffed toy to the left of the white canned goods facing forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Set the pink stuffed toy to the left of the white canned goods with its front facing forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Position the pink stuffed toy to the left of the white canned goods so it faces forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Arrange the pink stuffed toy to the left of the white canned goods facing forwards.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white canned goods.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the white canned goods.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "With the left hand, position the pink stuffed toy to the left of the white canned goods.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Put the pink stuffed toy to the left of the white canned goods.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Move the pink stuffed toy to the left of the white canned goods.", + "start_idx": 6084, + "end_idx": 6117 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a bottom lip hold at a diagonal angle.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a diagonal bottom lip grasp.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Take the silver bowl from the table using a bottom lip grasp at a diagonal angle.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Grasp the silver bowl from the table with a lip hold at the bottom and a diagonal approach.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "With the left hand, take the silver bowl from the table at a diagonal pick angle.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Have the left arm collect the silver bowl from the table.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Using the left hand, grasp the silver bowl from the table.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 6117, + "end_idx": 6144 + }, + { + "text": "Put the silver bowl behind the pink stuffed toy with the left hand.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Using the left hand, place the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Have the left arm set the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "With the left hand, position the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Place the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Set the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Position the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "The silver bowl goes behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Move the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Behind the pink stuffed toy, place the silver bowl.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Set the silver bowl behind the pink stuffed toy with the left hand.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Using the left arm, move the silver bowl behind the pink stuffed toy.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Put the silver bowl behind the pink stuffed toy using the left hand.", + "start_idx": 6144, + "end_idx": 6183 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "With the left hand, grasp the white canned goods from the table using a side hold at the top from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Have the left arm pick the white canned goods up from the table with a top side grasp from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Grasp the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Take the white canned goods from the table in a top side grasp from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp at the top.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Have the left arm grasp the white canned goods from the table with a side hold at the top.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "With the left hand, take the white canned goods from the table from a diagonal angle.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 6255, + "end_idx": 6294 + }, + { + "text": "Put the white canned goods on the top left side of the table with the left hand.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Using the left hand, place the white canned goods on the top left side of the table upright with the front facing forward.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Have the left arm set the white canned goods on the table's top left side, keeping them right side up with the front ahead.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "With the left hand, position the white canned goods on the upper-left area of the table, right side up and front-facing.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Place the white canned goods on the top left side of the table upright with the front facing forward.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Set the white canned goods on the table's top left side, keeping them right side up with the front ahead.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Position the white canned goods on the upper-left area of the table, right side up and front-facing.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Using the left hand, put the white canned goods on the top left side of the table.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Have the left arm place the white canned goods on the table's top left side.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "With the left hand, set the white canned goods on the upper-left area of the table.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Put the white canned goods on the top left side of the table.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Place the white canned goods on the table's top left side.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Set the white canned goods on the upper-left area of the table.", + "start_idx": 6294, + "end_idx": 6327 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "From a diagonal angle, have the left hand take the silver bowl from the table with a lip grasp at the bottom left.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom left using a lip grip from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "From a diagonal angle, take the silver bowl from the table with a lip grasp at the bottom left.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left using a lip grip from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Use the left hand to pick up the silver bowl from the table with a lip grip.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "With the left hand, take the silver bowl from the table using a lip grasp.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip grip.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "With the left hand, take the silver bowl from the table.", + "start_idx": 6327, + "end_idx": 6351 + }, + { + "text": "Put the silver bowl to the left of the pink stuffed toy with the left hand.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the pink stuffed toy, right side up with the front oriented forward.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Have the left arm set the silver bowl to the left of the pink stuffed toy, keeping it upright and the front facing forward.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "With the left hand, position the silver bowl left of the pink stuffed toy, upright and with its front forward.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Place the silver bowl to the left of the pink stuffed toy, right side up with the front oriented forward.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Set the silver bowl left of the pink stuffed toy, keeping it upright and the front facing forward.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Position the silver bowl to the left of the pink stuffed toy, right side up with the front forward.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Using the left hand, place the silver bowl to the left of the pink stuffed toy.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Have the left arm set the silver bowl left of the pink stuffed toy.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "With the left hand, position the silver bowl to the left of the pink stuffed toy.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Put the silver bowl to the left of the pink stuffed toy.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Set the silver bowl left of the pink stuffed toy.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Place the silver bowl to the left of the pink stuffed toy.", + "start_idx": 6351, + "end_idx": 6390 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grasp at the left from a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the left from a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Have the left arm pick the doritos up from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "With the left hand, grasp the doritos from the table by the left side with a side hold at a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Pick up the doritos from the table using a side grasp at the left from a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Grasp the doritos from the table by the left side using a side hold from a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Have the left arm take the doritos from the table with a side grasp.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "With the left hand, grasp the doritos from the table from the left.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Pick up the doritos from the table with the left hand at the left from a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Take the doritos from the table with the left hand from a diagonal angle.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "With the left hand, pick up the doritos from the table using a side grasp.", + "start_idx": 6390, + "end_idx": 6438 + }, + { + "text": "Put the doritos to the right of the pink stuffed toy with the left hand facing forwards.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Using the left hand, place the doritos to the right of the pink stuffed toy, facing forwards.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Have the left arm set the doritos to the right of the pink stuffed toy with the front facing forward.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "With the left hand, position the doritos to the right of the pink stuffed toy so the front faces forwards.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Place the doritos to the right of the pink stuffed toy facing forwards.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Set the doritos to the right of the pink stuffed toy with the front facing forward.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Position the doritos to the right of the pink stuffed toy so it faces forwards.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Using the left hand, put the doritos to the right of the pink stuffed toy.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "With the left hand, place the doritos to the right of the pink stuffed toy.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Have the left arm position the doritos to the right of the pink stuffed toy.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Put the doritos to the right of the pink stuffed toy.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Set the doritos to the right of the pink stuffed toy.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Position the doritos to the right of the pink stuffed toy.", + "start_idx": 6438, + "end_idx": 6468 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grasp at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Have the left arm pick the green bag of chips up from the table using a side grip at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a side hold at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Take the green bag of chips from the table with a side grasp at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Grasp the green bag of chips from the table in a side hold at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side grasp.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a side hold.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the bottom-left diagonal.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Take the green bag of chips from the table with the left hand.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 6468, + "end_idx": 6504 + }, + { + "text": "Put the green bag of chips behind the pink stuffed toy with the left hand facing forwards.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Using the left hand, place the green bag of chips behind the pink stuffed toy with its front facing forward.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Have the left arm set the green bag of chips behind the pink stuffed toy, front oriented forward.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "With the left hand, position the green bag of chips behind the pink stuffed toy so the front faces forward.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Place the green bag of chips behind the pink stuffed toy with its front facing forward.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Set the green bag of chips behind the pink stuffed toy, front facing forward.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Position the green bag of chips behind the pink stuffed toy so it faces forward.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Using the left hand, place the green bag of chips behind the pink stuffed toy.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "With the left hand, set the green bag of chips behind the pink stuffed toy.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Have the left arm position the green bag of chips behind the pink stuffed toy.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Put the green bag of chips behind the pink stuffed toy.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Place the green bag of chips behind the pink stuffed toy.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Set the green bag of chips behind the pink stuffed toy.", + "start_idx": 6504, + "end_idx": 6534 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Have the left hand grasp the silver bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a bottom-left lip grasp at a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Grasp the silver bowl from the table with a lip hold at the bottom left, keeping a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Take the silver bowl from the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Have the left hand take the silver bowl from the table using a lip hold.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using a lip grasp.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Pick up the silver bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Using the left hand, take the silver bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 6534, + "end_idx": 6564 + }, + { + "text": "Put the silver bowl behind the doritos with the left hand.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Using the left hand, place the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Have the left arm set the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "With the left hand, position the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Place the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Set the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Position the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "The silver bowl goes behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Move the silver bowl behind the doritos.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Put the silver bowl with the left hand.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Using the left hand, set down the silver bowl.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Have the left arm place the silver bowl.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Place the silver bowl.", + "start_idx": 6564, + "end_idx": 6603 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Using the left hand, grasp the white canned goods from the table with a side hold on the top at a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Have the left arm pick the white canned goods up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Take the white canned goods from the table with a side hold on the top from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Grasp the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "With the left hand, pick up the white canned goods from the table using a side grip at the top.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side hold on the top.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Have the left arm grasp the white canned goods from the table with a side grasp at the top.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "With the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Using the left hand, take the white canned goods from the table at a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Have the left arm grasp the white canned goods from the table from a diagonal angle.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Put the white canned goods to the right of the doritos with the left hand.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Have the left arm set the white canned goods down to the right of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Place the white canned goods to the right of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Set the white canned goods down to the right of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Position the white canned goods on the right side of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "The white canned goods should go to the right of the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Move the white canned goods to the doritos' right side.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Using the left hand, place the white canned goods by the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "With the left hand, set down the white canned goods near the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Have the left arm position the white canned goods next to the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Put the white canned goods beside the doritos.", + "start_idx": 6627, + "end_idx": 6672 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Get the pink stuffed toy from the table.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Put the pink stuffed toy on the bottom left side of the table with the left hand facing forwards.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Using the left hand, place the pink stuffed toy on the bottom left side of the table facing forwards.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Have the left arm set the pink stuffed toy on the table's bottom left side with its front facing forward.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "With the left hand, position the pink stuffed toy at the bottom left area of the table, front facing forwards.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Place the pink stuffed toy on the bottom left side of the table facing forwards.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Set the pink stuffed toy on the table's bottom left side with its front facing forward.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Position the pink stuffed toy at the bottom left area of the table facing forwards.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Using the left hand, put the pink stuffed toy on the bottom left side of the table.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "With the left hand, set the pink stuffed toy on the table's bottom left side.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Have the left arm place the pink stuffed toy at the bottom left area of the table.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Put the pink stuffed toy on the bottom left side of the table.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Set the pink stuffed toy on the table's bottom left side.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Place the pink stuffed toy at the bottom left area of the table.", + "start_idx": 6705, + "end_idx": 6735 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Have the left arm pick the silver bowl up from the table with a lip hold at the bottom left, angled diagonally.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Take the silver bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Grasp the silver bowl from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grasp.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a lip hold.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Pick up the silver bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "With the left hand, take the silver bowl from the table at the bottom left on a diagonal.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Pick up the silver bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 6735, + "end_idx": 6759 + }, + { + "text": "Put the silver bowl in front left of the pink bowl with the left hand.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Using the left hand, place the silver bowl in the front-left position relative to the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Have the left arm set the silver bowl down front-left of the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "With the left hand, position the silver bowl in front and to the left of the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Place the silver bowl in the front-left spot next to the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Set the silver bowl down in front and left of the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Position the silver bowl front-left of the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Using the left hand, place the silver bowl by the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "With the left hand, set the silver bowl near the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Have the left arm put the silver bowl next to the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Put the silver bowl beside the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Using the left hand, place the silver bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Set down the silver bowl by the pink bowl.", + "start_idx": 6759, + "end_idx": 6798 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "With the left hand, take the doritos from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Use the left hand to grasp the doritos from the table with a side grip on the left at a diagonal angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Have the left arm pick the doritos up from the table with a left-side grasp in a diagonal approach.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Grasp the doritos from the table at the left in a diagonal pick angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Pick up the doritos from the table on the left with a side grip.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the left.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "With the left hand, grasp the doritos from the table in a diagonal pick angle.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Use the left hand to pick up the doritos from the table at the left diagonally.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 6870, + "end_idx": 6906 + }, + { + "text": "Put the doritos to the left of the pink stuffed toy with the left hand facing forwards.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "With the left hand, place the doritos to the left of the pink stuffed toy, facing forwards.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Have the left arm set the doritos to the left of the pink stuffed toy with the front facing forward.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Using the left hand, position the doritos left of the pink stuffed toy so they face forwards.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Place the doritos to the left of the pink stuffed toy with the front facing forward.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Set the doritos left of the pink stuffed toy, facing forwards.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Position the doritos to the left of the pink stuffed toy so the front points forward.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "With the left hand, place the doritos to the left of the pink stuffed toy.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Using the left hand, set the doritos left of the pink stuffed toy.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Have the left arm position the doritos to the left of the pink stuffed toy.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Put the doritos to the left of the pink stuffed toy.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Set the doritos left of the pink stuffed toy.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "With the left hand, put the doritos to the left of the pink stuffed toy.", + "start_idx": 6906, + "end_idx": 6942 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left, held at a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table with a left-side grip and a diagonal orientation.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "With the left hand, secure the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Using a side grasp on the left, take the green bag of chips from the table at a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "The green bag of chips from the table should be grasped with a left-side hold at a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "With the left hand, pick up the green bag of chips from the table using a side grip.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Have the left arm take the green bag of chips from the table with a side grasp on the left.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Using the left hand, grasp the green bag of chips from the table.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at a diagonal angle.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Take the green bag of chips from the table using a side grip.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "The green bag of chips from the table should be picked up.", + "start_idx": 6942, + "end_idx": 6984 + }, + { + "text": "Put the green bag of chips to the left of the white canned goods with the left hand facing forwards.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the white canned goods, facing forwards.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the white canned goods with its front facing forward.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "With the left hand, position the green bag of chips left of the white canned goods so it faces forwards.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Place the green bag of chips to the left of the white canned goods, facing forwards.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Set the green bag of chips left of the white canned goods with its front forward.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Position the green bag of chips to the left of the white canned goods so it faces forwards.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the white canned goods.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "With the left hand, place the green bag of chips left of the white canned goods.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the white canned goods.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Put the green bag of chips to the left of the white canned goods.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Position the green bag of chips left of the white canned goods.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Arrange the green bag of chips to the left of the white canned goods.", + "start_idx": 6984, + "end_idx": 7017 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "With the left hand, grasp the doritos from the table using a side hold from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Have the left arm pick the doritos up from the table with a side grasp from the left on a diagonal.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Pick up the doritos from the table using a side grip from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Take the doritos from the table with a side grasp from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "From the table, grasp the doritos using a side hold from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side hold.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Pick up the doritos from the table with the left hand from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "With the left hand, take the doritos from the table from the left at a diagonal angle.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "From the table, grasp the doritos with the left hand.", + "start_idx": 7017, + "end_idx": 7062 + }, + { + "text": "Put the doritos between the pink stuffed toy and the green bag of chips with the left hand facing forwards.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Using the left hand, place the doritos between the pink stuffed toy and the green bag of chips, facing forwards.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Have the left arm set the doritos between the pink stuffed toy and the green bag of chips with the front facing forward.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "With the left hand, position the doritos between the pink stuffed toy and the green bag of chips so they face forwards.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Place the doritos between the pink stuffed toy and the green bag of chips.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Set the doritos down between the pink stuffed toy and the green bag of chips.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "The doritos go between the pink stuffed toy and the green bag of chips.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Using the left hand, put the doritos between the pink stuffed toy and the green bag of chips.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Arrange the doritos between the pink stuffed toy and the green bag of chips facing forwards.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Position the doritos between the pink stuffed toy and the green bag of chips with the front forward.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Set the doritos between the pink stuffed toy and the green bag of chips so the front faces forward.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Using the left hand, place the doritos between the pink stuffed toy and the green bag of chips.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Have the left arm put the doritos between the pink stuffed toy and the green bag of chips.", + "start_idx": 7062, + "end_idx": 7101 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Take the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "With the left hand, retrieve the pink stuffed toy from the table.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Get the pink stuffed toy from the table with the left hand.", + "start_idx": 7101, + "end_idx": 7137 + }, + { + "text": "Put the pink stuffed toy behind the doritos with the left hand facing forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Using the left hand, place the pink stuffed toy behind the doritos with its front facing forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Have the left arm set the pink stuffed toy behind the doritos, oriented so the front faces forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "With the left hand, position the pink stuffed toy behind the doritos, front facing forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Place the pink stuffed toy behind the doritos with its front facing forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Set the pink stuffed toy behind the doritos so it faces forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Position the pink stuffed toy behind the doritos with the front facing forwards.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Using the left hand, put the pink stuffed toy behind the doritos.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "With the left hand, place the pink stuffed toy behind the doritos.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Have the left arm set the pink stuffed toy behind the doritos.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Put the pink stuffed toy behind the doritos.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Place the pink stuffed toy behind the doritos.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Set the pink stuffed toy behind the doritos.", + "start_idx": 7137, + "end_idx": 7167 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Have the left arm take the silver bowl from the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "With the left hand, grasp the silver bowl from the table by its bottom left using a lip grip from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Take the silver bowl from the table using a lip grasp on the bottom-left area from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left with a lip grip from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom left.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "With the left hand, take the silver bowl from the table using a lip grasp on the bottom-left area.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Have the left arm grasp the silver bowl from the table with a lip grip.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "From a diagonal angle, take the silver bowl from the table with the left hand.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom left.", + "start_idx": 7167, + "end_idx": 7212 + }, + { + "text": "Place the silver bowl on the top left side of the table with the left hand.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Using the left hand, set the silver bowl on the table's top left side right side up, with its front facing forward.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Have the left arm place the silver bowl on the top-left area of the table, upright and front-forward.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "With the left hand, position the silver bowl on the upper left side of the table, keeping it right side up and the front to the front.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Place the silver bowl on the top left side of the table, right side up with the front facing forward.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Set the silver bowl on the table's top-left side, upright and facing front.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Position the silver bowl on the upper left area of the table with its front toward the front.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Using the left hand, place the silver bowl on the top left side of the table.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Have the silver bowl placed on the table's top-left area with the left arm.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "With the left hand, set the silver bowl on the upper left side of the table.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Put the silver bowl on the top left side of the table.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Set the silver bowl on the table's top-left area.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Position the silver bowl on the upper left side of the table.", + "start_idx": 7212, + "end_idx": 7254 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip from the left at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Have the left arm grasp the doritos from the table from the left side using a side grip at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "With the left hand, secure the doritos from the table by the left side in a side grasp at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Take the doritos from the table with a side grip from the left at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Grasp the doritos from the table from the left side using a side hold at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "The doritos from the table should be picked up with a side grip from the left at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Have the left arm grab the doritos from the table with a side hold.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Pick up the doritos from the table with the left hand from the left at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Using the left hand, take the doritos from the table at a diagonal angle from the left.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Have the left arm pick up the doritos from the table from the left side at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7383 + }, + { + "text": "Put the doritos on the bottom left side of the table with the left hand facing forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Using the left hand, place the doritos on the bottom left side of the table facing forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Have the left arm set the doritos on the table's bottom left side with the front facing forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "With the left hand, position the doritos on the bottom left area of the table so it faces forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Place the doritos on the bottom left side of the table facing forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Set the doritos on the table's bottom left side with the front facing forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Position the doritos on the bottom left area of the table so it faces forwards.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Using the left hand, put the doritos on the bottom left side of the table.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "With the left hand, place the doritos on the table's bottom left side.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Have the left arm set the doritos on the bottom left area of the table.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Put the doritos on the bottom left side of the table.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Place the doritos on the table's bottom left side.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Set the doritos on the bottom left area of the table.", + "start_idx": 7383, + "end_idx": 7422 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Have the left arm pick the white canned goods off the table using a top side grasp with a diagonal approach.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "With the left hand, grasp the white canned goods from the table at the top using a side hold and a diagonal angle.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Take the white canned goods off the table with a top side grasp and a diagonal approach.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Grasp the white canned goods from the table at the top with a side hold and a diagonal angle.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "With the left hand, pick up the white canned goods from the table using a side grip.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Have the left arm take the white canned goods off the table with a side grasp.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Using the left hand, grasp the white canned goods from the table from the side.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Take the white canned goods off the table with the left hand using a diagonal approach.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "With the left hand, grasp the white canned goods from the table at the top.", + "start_idx": 7512, + "end_idx": 7560 + }, + { + "text": "Put the white canned goods on the right side of the table with the left hand.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Using the left hand, place the white canned goods on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Have the left arm set the white canned goods on the table's right side.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Place the white canned goods on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Set the white canned goods on the table's right side.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Position the white canned goods on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "The white canned goods go on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Put the white canned goods on the table's right side.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Arrange the white canned goods on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "On the right side of the table, place the white canned goods.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Set the white canned goods on the right side of the table.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "The white canned goods should be placed on the table's right side.", + "start_idx": 7560, + "end_idx": 7593 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table by gripping the middle at a diagonal angle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "From the table, collect the pink stuffed toy by grasping the middle at a diagonal angle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Have the left hand take the pink stuffed toy from the table.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Take the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 7593, + "end_idx": 7638 + }, + { + "text": "Put the pink stuffed toy to the left of the white canned goods with the left hand facing forwards.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white canned goods, facing forwards.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the white canned goods with its front facing forward.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "With the left hand, position the pink stuffed toy left of the white canned goods so the front faces forward.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Place the pink stuffed toy to the left of the white canned goods, facing forwards.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Set the pink stuffed toy left of the white canned goods with its front facing forward.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Position the pink stuffed toy to the left of the white canned goods so it faces forwards.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Using the left hand, put the pink stuffed toy to the left of the white canned goods.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "With the left hand, place the pink stuffed toy left of the white canned goods.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Have the left arm position the pink stuffed toy to the left of the white canned goods.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Put the pink stuffed toy to the left of the white canned goods.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Set the pink stuffed toy left of the white canned goods.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white canned goods.", + "start_idx": 7638, + "end_idx": 7668 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Using the left hand, pick up the doritos from the table at a diagonal angle, grasping the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Have the left arm take the doritos from the table with a diagonal approach, holding the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "With the left hand, retrieve the doritos from the table diagonally by the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle, grasping the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Take the doritos from the table with a diagonal approach, holding the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Retrieve the doritos from the table diagonally by the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Using the left hand, pick up the doritos from the table, grasping the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Have the left arm take the doritos from the table by the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "With the left hand, retrieve the doritos from the table from the middle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Using the left hand, pick up the doritos from the table at a diagonal angle.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Have the left arm take the doritos from the table with a diagonal approach.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "With the left hand, get the doritos from the table.", + "start_idx": 7743, + "end_idx": 7785 + }, + { + "text": "Put the doritos behind the white canned goods with the left hand facing forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Using the left hand, place the doritos behind the white canned goods with the front facing forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Have the left arm set the doritos behind the white canned goods, oriented forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "With the left hand, position the doritos behind the white canned goods so the front faces forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Place the doritos behind the white canned goods with the front facing forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Set the doritos behind the white canned goods, facing forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Position the doritos behind the white canned goods so the front points forwards.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Using the left hand, put the doritos behind the white canned goods.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "With the left hand, place the doritos behind the white canned goods.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Have the left arm set the doritos behind the white canned goods.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Place the doritos behind the white canned goods.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Set the doritos behind the white canned goods.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Position the doritos behind the white canned goods.", + "start_idx": 7785, + "end_idx": 7815 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom and a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grip at the bottom and a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Have the left arm grasp the silver bowl from the table by its bottom edge with a lip grasp, held diagonally.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "With the left hand, secure the silver bowl from the table using a bottom lip hold at a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom and a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Take the silver bowl from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Grasp the silver bowl from the table by the bottom lip at a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a lip grasp at the bottom.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Have the left arm pick up the silver bowl from the table at a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Pick up the silver bowl from the table with the left hand at a diagonal angle.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 7815, + "end_idx": 7863 + }, + { + "text": "Put the silver bowl on the bottom side of the table with the left hand.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Using the left hand, place the silver bowl on the bottom side of the table right side up.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Have the left arm set the silver bowl on the bottom side of the table, keeping it upright.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "With the left hand, position the silver bowl on the bottom side of the table in an upright orientation.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Place the silver bowl on the bottom side of the table right side up.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Set the silver bowl on the bottom side of the table in an upright position.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Position the silver bowl on the bottom side of the table upright.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Using the left hand, put the silver bowl on the bottom side of the table.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "With the left hand, set the silver bowl on the bottom side of the table.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Have the left arm place the silver bowl on the bottom side of the table.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Put the silver bowl on the bottom side of the table.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Set the silver bowl on the bottom side of the table.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Position the silver bowl on the bottom side of the table.", + "start_idx": 7863, + "end_idx": 7902 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Have the left hand grasp the white canned goods from the table from the top with a diagonal side hold.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp at the top on a diagonal.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Grasp the white canned goods from the table from the top with a diagonal side hold.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Have the left hand take the white canned goods from the table with a side grasp.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "With the left hand, grasp the white canned goods from the table using a side hold.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at the top with a diagonal angle.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "From the table, take the white canned goods with the left hand at a diagonal angle.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "With the left hand, pick up the white canned goods from the table.", + "start_idx": 7989, + "end_idx": 8031 + }, + { + "text": "Put the white canned goods inside the silver bowl with the left hand.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Using the left hand, place the white canned goods inside the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Have the left arm put the white canned goods into the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "With the left hand, deposit the white canned goods in the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Place the white canned goods inside the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Put the white canned goods into the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Have the white canned goods placed in the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "The white canned goods go inside the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Set the white canned goods into the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Move the white canned goods inside the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Position the white canned goods in the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Arrange the white canned goods inside the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Transfer the white canned goods into the silver bowl.", + "start_idx": 8031, + "end_idx": 8076 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Using the left hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Have the left arm take the pink stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "With the left hand, collect the pink stuffed toy from the table by gripping its middle at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "From the table, collect the pink stuffed toy by holding its middle at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand, grasping the middle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at the middle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Have the left arm pick up the pink stuffed toy from the table.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Take the pink stuffed toy from the table with the left hand.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "From the table, collect the pink stuffed toy at a diagonal angle.", + "start_idx": 8076, + "end_idx": 8109 + }, + { + "text": "Place the pink stuffed toy inside the pink bowl with the left hand facing forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the pink bowl with its front facing forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Have the left arm set the pink stuffed toy into the pink bowl, front side facing forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "With the left hand, deposit the pink stuffed toy in the pink bowl so the front faces forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Place the pink stuffed toy inside the pink bowl with its front facing forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Set the pink stuffed toy into the pink bowl so it faces forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Put the pink stuffed toy in the pink bowl with the front facing forwards.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Using the left hand, place the pink stuffed toy inside the pink bowl.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Have the left arm put the pink stuffed toy into the pink bowl.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "With the left hand, set the pink stuffed toy in the pink bowl.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Place the pink stuffed toy inside the pink bowl.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Put the pink stuffed toy into the pink bowl.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Set the pink stuffed toy in the pink bowl.", + "start_idx": 8109, + "end_idx": 8142 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the left in a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side hold on the left at a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "With the left hand, secure the doritos from the table using a side grasp at the left in a diagonal orientation.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left in a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Grasp the doritos from the table with a side hold at the left in a diagonal orientation.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Have the left arm take the doritos from the table using a side grasp.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "With the left hand, secure the doritos from the table using a side hold.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Using the left hand, pick up the doritos from the table at the left in a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Have the left arm take the doritos from the table on the left at a diagonal orientation.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Pick up the doritos from the table at the left in a diagonal angle.", + "start_idx": 8141, + "end_idx": 8168 + }, + { + "text": "Put the doritos to the right of the silver bowl facing forwards with the left hand.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Using the left hand, place the doritos to the right of the silver bowl with the front facing forward.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Have the left arm set the doritos to the right of the silver bowl, oriented forward.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "With the left hand, position the doritos to the right of the silver bowl so the front faces forwards.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Place the doritos to the right of the silver bowl with the front facing forward.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Set the doritos to the right of the silver bowl, oriented forwards.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Position the doritos to the right of the silver bowl so the front faces forward.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "With the left hand, put the doritos to the right of the silver bowl.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Using the left hand, set the doritos to the right of the silver bowl.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Have the left arm place the doritos to the right of the silver bowl.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Put the doritos to the right of the silver bowl.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Arrange the doritos to the right of the silver bowl.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "The doritos go to the right of the silver bowl.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Pick up the white canned goods from the silver bowl with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Using the left hand, take the white canned goods from the silver bowl with a side grip at the top from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Have the left arm grasp the white canned goods from the silver bowl with a side hold at the top on a diagonal approach.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "With the left hand, seize the white canned goods from the silver bowl using a side grasp on the top from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Remove the white canned goods from the silver bowl with a side grip at the top from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Take the white canned goods from the silver bowl using a side grasp on the top from a diagonal approach.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Grasp the white canned goods from the silver bowl with a side hold at the top on the diagonal.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Using the left hand, pick up the white canned goods from the silver bowl.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "The white canned goods from the silver bowl should be taken with the left hand.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Have the left arm remove the white canned goods from the silver bowl.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Pick up the white canned goods from the silver bowl with the left hand from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "With the left hand, take the white canned goods from the silver bowl at the top from a diagonal approach.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Get the white canned goods from the silver bowl from a diagonal angle.", + "start_idx": 8283, + "end_idx": 8322 + }, + { + "text": "Put the white canned goods to the left of the silver bowl with the left hand.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "With the left hand, position the white canned goods on the left side of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Place the white canned goods to the left of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Set the white canned goods on the left side of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Position the white canned goods left of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "The white canned goods go to the left of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Put the white canned goods beside the silver bowl on its left side.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Arrange the white canned goods to the silver bowl's left.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Place the white canned goods next to the silver bowl, on the left.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Set the white canned goods to the left of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Move the white canned goods to the left side of the silver bowl.", + "start_idx": 8322, + "end_idx": 8361 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Have the left hand take the silver bowl from the table by the bottom left with a lip grasp at a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the bottom left using the lip from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Take the silver bowl from the table by the bottom left with a lip grasp at a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Grasp the silver bowl from the table at the bottom left from a diagonal angle using the lip.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Have the left hand take the silver bowl from the table using a lip grasp.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "With the left hand, grasp the silver bowl from the table using the lip.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Have the left hand take the silver bowl from the table by the bottom left at a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "With the left hand, grasp the silver bowl from the table from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8388 + }, + { + "text": "Place the silver bowl to the right of the doritos with the left hand.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Using the left hand, set the silver bowl to the right of the doritos.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Have the left arm place the silver bowl on the doritos' right side.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "With the left hand, position the silver bowl to the right of the doritos.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Place the silver bowl to the right of the doritos.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Set the silver bowl on the right side of the doritos.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Position the silver bowl right of the doritos.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "The silver bowl goes to the right of the doritos.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Using the left hand, place the silver bowl.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "With the left arm, set down the silver bowl.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Have the left hand position the silver bowl.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Place the silver bowl.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Set down the silver bowl.", + "start_idx": 8388, + "end_idx": 8433 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by the bottom edge with a diagonal lip hold.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "With the left hand, collect the pink bowl from the table using a diagonal bottom lip grasp.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Grasp the pink bowl from the table by the bottom with a diagonal lip grip.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 8433, + "end_idx": 8475 + }, + { + "text": "Dump the pink stuffed toy between the white canned goods and the doritos with the left hand.", + "start_idx": 8475, + "end_idx": 8541 + }, + { + "text": "Put the pink bowl behind the white canned goods with the left hand.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Using the left hand, place the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Have the left arm set the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "With the left hand, position the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Place the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Set the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Position the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Move the pink bowl behind the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Put the pink bowl by the white canned goods with the left hand.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Using the left hand, place the pink bowl near the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Set the pink bowl next to the white canned goods with the left hand.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Put the pink bowl by the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Position the pink bowl near the white canned goods.", + "start_idx": 8541, + "end_idx": 8601 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Have the left arm grasp the white canned goods from the table from a diagonal angle, contacting the top with a side hold.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "With the left hand, secure the white canned goods from the table by the top using a side grasp at a diagonal approach.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Take the white canned goods from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Grasp the white canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "With the left hand, take the white canned goods from the table.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Have the left arm collect the white canned goods from the table.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Using the left hand, grasp the white canned goods from the table at the top.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "From the table, take the white canned goods with a side grip at the top.", + "start_idx": 8601, + "end_idx": 8634 + }, + { + "text": "Put the white canned goods to the left of the green bag of chips with the left hand.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "With the left hand, position the white canned goods left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Place the white canned goods to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Set the white canned goods down left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "The white canned goods go to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Position the white canned goods to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Move the white canned goods left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Arrange the white canned goods to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Leave the white canned goods to the left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Have the white canned goods placed left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Put the white canned goods left of the green bag of chips.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Using the left hand, take the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Have the left arm pick the pink stuffed toy off the table with a diagonal approach at the middle.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "With the left hand, grasp the middle of the pink stuffed toy on the table and retrieve it diagonally.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Grasp the middle of the pink stuffed toy on the table with a diagonal approach.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Take the pink stuffed toy from the table, contacting it at the middle on a diagonal.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Pick up the pink stuffed toy from the table with the left hand.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Using the left hand, take the pink stuffed toy off the table.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Have the left arm retrieve the pink stuffed toy from the table.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Take the pink stuffed toy off the table.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Grasp the pink stuffed toy from the table and remove it.", + "start_idx": 8670, + "end_idx": 8709 + }, + { + "text": "Put the pink stuffed toy to the left of the white canned goods with the left hand facing forwards.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white canned goods with its front facing forwards.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Have the left arm set the pink stuffed toy to the left of the white canned goods, front facing forward.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "With the left hand, position the pink stuffed toy left of the white canned goods so the front faces forwards.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Place the pink stuffed toy to the left of the white canned goods with its front facing forwards.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Set the pink stuffed toy left of the white canned goods with the front facing forward.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Position the pink stuffed toy to the left of the white canned goods, front facing forwards.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Using the left hand, place the pink stuffed toy to the left of the white canned goods.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Have the left arm set the pink stuffed toy left of the white canned goods.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "With the left hand, position the pink stuffed toy to the left of the white canned goods.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Put the pink stuffed toy to the left of the white canned goods.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Set the pink stuffed toy left of the white canned goods.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Position the pink stuffed toy to the left of the white canned goods.", + "start_idx": 8709, + "end_idx": 8742 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp at the bottom left at a diagonal.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Grasp the pink bowl from the table with a lip grasp at the bottom left at a diagonal.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a lip grasp.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Have the left arm take the pink bowl from the table at the bottom left on a diagonal.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Pick up the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 8742, + "end_idx": 8772 + }, + { + "text": "Put the pink bowl to the left of the doritos with the left hand.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Have the left arm set the pink bowl down left of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "With the left hand, position the pink bowl to the doritos' left.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Place the pink bowl to the left of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Set the pink bowl down left of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Position the pink bowl on the left side of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Move the pink bowl to the doritos' left.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Put the pink bowl beside the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Set the pink bowl next to the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Place the pink bowl left of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Have the bowl placed to the left of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "The pink bowl goes on the left side of the doritos.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Have the left hand grasp the white canned goods from the table with a top side hold at a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Take the white canned goods from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "The white canned goods from the table should be grasped with a side hold at the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp on the top.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Have the left hand collect the white canned goods from the table with a side hold at the top.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "With the left hand, grasp the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Pick up the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 8883, + "end_idx": 8925 + }, + { + "text": "Put the white canned goods on the top side of the table with the left hand.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Using the left hand, place the white canned goods on the top side of the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Have the left arm set the white canned goods on the top side of the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "With the left hand, position the white canned goods on the table's top side.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Place the white canned goods on the top side of the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Set the white canned goods on the top side of the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Position the white canned goods on the table's top side.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Put the white canned goods on the upper side of the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Arrange the white canned goods on the top side of the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Place the white canned goods on the table's top side.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Using the left hand, place the white canned goods on the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "With the left hand, set the white canned goods down on the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Have the left arm put the white canned goods on the table.", + "start_idx": 8925, + "end_idx": 8961 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Have the left arm grasp the doritos from the table from a diagonal angle, contacting the top with a side hold.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "With the left hand, collect the doritos from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Pick up the doritos from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "From a diagonal angle, grasp the doritos from the table with a side hold at the top.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Take the doritos from the table with a side grasp on the top from a diagonal approach.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Get the doritos from the table.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 8961, + "end_idx": 8985 + }, + { + "text": "Put the doritos on the top left side of the table with the left hand facing forwards.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Using the left hand, place the doritos on the table's top-left side, facing forwards.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Have the left arm set the doritos on the top left area of the table with the front facing forward.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "With your left hand, position the doritos on the upper-left side of the table so it faces forwards.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Set the doritos on the top left side of the table facing forwards.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Place the doritos on the table's top-left side with the front facing forward.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Position the doritos on the upper-left area of the table so it faces forwards.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Using the left hand, put the doritos on the top left side of the table.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "With the left hand, place the doritos on the table's upper-left side.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Have the left arm set the doritos on the top left area of the table.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Put the doritos on the top left side of the table.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Place the doritos on the upper-left side of the table.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Position the doritos on the table's top-left area.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Have the right arm pick the pink bowl up from the table by the bottom-right edge in a diagonal lip grasp.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "With the right hand, grasp the pink bowl from the table at the bottom right using a diagonal lip hold.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold at the bottom-right area.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Take the pink bowl from the table in a diagonal lip grasp at the bottom right.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 138, + "end_idx": 165 + }, + { + "text": "Put the pink bowl to the right of the silver bowl with the right hand.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the silver bowl, right side up from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Have the right arm set the pink bowl to the silver bowl's right, keeping it right side up from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "With the right hand, position the pink bowl on the right side of the silver bowl, right side up relative to the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Place the pink bowl to the right of the silver bowl, right side up from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Set the pink bowl on the silver bowl's right side, keeping it right side up from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Position the pink bowl to the right of the silver bowl, with its right-side-up orientation referenced from the front.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Using the right hand, put the pink bowl to the right of the silver bowl.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "With the right hand, place the pink bowl on the right side of the silver bowl.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Have the right arm set the pink bowl to the silver bowl's right.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Put the pink bowl to the right of the silver bowl.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Set the pink bowl on the silver bowl's right side.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Position the pink bowl to the right of the silver bowl.", + "start_idx": 165, + "end_idx": 195 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "The pink bowl should be taken from the table by the right hand using a lip grip on the bottom-right side from a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Take the pink bowl from the table using a lip hold on the bottom right at a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Grasp the pink bowl from the table with a lip grip on the bottom-right area from a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "With the right hand, pick up the pink bowl from the table using a lip grip.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Use the right hand to take the pink bowl from the table with a lip hold.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with the lip grip.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 297, + "end_idx": 321 + }, + { + "text": "Put the pink bowl to the right of the green bag of chips with the right hand.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Have the right arm set the pink bowl to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "With your right hand, position the pink bowl to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Place the pink bowl to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Set the pink bowl to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Position the pink bowl to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "The pink bowl goes to the right of the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Using the right hand, put the pink bowl by the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "With your right hand, place the pink bowl next to the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Have the right arm set the pink bowl beside the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Put the pink bowl by the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "The pink bowl should be placed beside the green bag of chips.", + "start_idx": 321, + "end_idx": 357 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a bottom diagonal lip hold.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "With the right hand, secure the pink bowl from the table using a diagonal grip on the bottom lip.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Take the pink bowl from the table with a diagonal bottom lip grip.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Using the right hand, collect the pink bowl from the table.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 519, + "end_idx": 543 + }, + { + "text": "Put the pink bowl in front of the silver bowl with the right hand.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Using the right hand, place the pink bowl in front of the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Have the right arm set the pink bowl before the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "With the right hand, position the pink bowl in front of the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Place the pink bowl in front of the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Set the pink bowl before the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Position the pink bowl in front of the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Move the pink bowl to the front of the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Using the right hand, place the pink bowl by the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Have the right arm set the pink bowl near the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Place the pink bowl beside the silver bowl with the right hand.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Set the pink bowl by the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Position the pink bowl near the silver bowl.", + "start_idx": 543, + "end_idx": 579 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grasp at the right in a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Have the right arm pick up the green bag of chips from the table with a side grip on the right side at a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "With the right hand, retrieve the green bag of chips from the table using a side hold at the right in a diagonal orientation.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the right in a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the right side at a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Retrieve the green bag of chips from the table using a side hold at the right in a diagonal orientation.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Have the right arm take the green bag of chips from the table using a side grasp.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "With the right hand, collect the green bag of chips from the table using a side hold.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at the right in a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Take the green bag of chips from the table with the right hand.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Pick up the green bag of chips from the table at the right in a diagonal angle.", + "start_idx": 1104, + "end_idx": 1131 + }, + { + "text": "Put the green bag of chips to the left of the doritos with the right hand facing forwards.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Using the right hand, place the green bag of chips to the left of the doritos with the front facing forward.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Have the right arm set the green bag of chips to the left of the doritos, front facing forward.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "With the right hand, position the green bag of chips left of the doritos so its front faces forward.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Place the green bag of chips to the left of the doritos with the front facing forward.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Set the green bag of chips left of the doritos, keeping its front forward.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Position the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Using the right hand, place the green bag of chips to the left of the doritos.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Have the right arm set the green bag of chips left of the doritos.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "With the right hand, position the green bag of chips to the left of the doritos.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Place the green bag of chips to the left of the doritos.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Set the green bag of chips left of the doritos.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Position the green bag of chips beside the doritos on the left.", + "start_idx": 1131, + "end_idx": 1152 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right from a diagonal angle.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the right from a diagonal angle.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Have the right arm grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "With the right hand, collect the doritos from the table using a side grasp on the right from a diagonal approach.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Take the doritos from the table with a side grip at the right from a diagonal angle.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Grasp the doritos from the table on the right with a side hold from a diagonal angle.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "From a diagonal angle, pick up the doritos from the table with a side grasp on the right.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Have the right arm take the doritos from the table using a side grasp.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right from a diagonal angle.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Take the doritos from the table with the right hand from a diagonal approach on the right.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "With the right hand, collect the doritos from the table.", + "start_idx": 1152, + "end_idx": 1173 + }, + { + "text": "Put the doritos to the right of the pink bowl with the right hand facing top left from the front.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "With the right hand, place the doritos to the right of the pink bowl, facing top left from the front.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Have the right arm set the doritos to the right of the pink bowl with the front facing top left.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Using the right hand, position the doritos to the right of the pink bowl so it faces top left from the front.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Place the doritos to the right of the pink bowl, facing top left from the front.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Set the doritos to the right of the pink bowl with the front facing top left.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Position the doritos to the right of the pink bowl so the front points top left.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "With the right hand, put the doritos to the right of the pink bowl.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Using the right hand, place the doritos to the right of the pink bowl.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Have the right arm set the doritos to the right of the pink bowl.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Put the doritos to the right of the pink bowl.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Set the doritos to the right of the pink bowl.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Position the doritos to the right of the pink bowl.", + "start_idx": 1173, + "end_idx": 1191 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right in a diagonal angle.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip at the bottom right in a diagonal angle.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Have the right hand take the silver bowl from the table with a lip grasp on the bottom-right area at a diagonal angle.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "With the right hand, grasp the silver bowl from the table using the lip at the bottom right on a diagonal.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom right in a diagonal angle.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Take the silver bowl from the table using a lip grasp on the bottom-right area at a diagonal angle.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Grasp the silver bowl from the table with the lip at the bottom right on a diagonal.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Have the right hand take the silver bowl from the table using a lip grasp.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the lip.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table at the bottom right in a diagonal angle.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Take the silver bowl from the table with the right hand on a diagonal from the bottom-right area.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 1536, + "end_idx": 1569 + }, + { + "text": "Put the silver bowl to the right of the doritos with the right hand.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Have the right arm set the silver bowl down to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "With your right hand, position the silver bowl on the right side of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Place the silver bowl to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Set the silver bowl on the right side of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "The silver bowl goes to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Position the silver bowl beside the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Put the silver bowl next to the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Set down the silver bowl to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Place the silver bowl on the right side of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "The silver bowl should be placed to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Position the silver bowl to the right of the doritos.", + "start_idx": 1569, + "end_idx": 1596 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Have the right hand take the white canned goods off the table, grasping the top with a side hold from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top using a side grip from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Take the white canned goods off the table, using a side hold at the top from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "The white canned goods should be grasped from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "With the right hand, take the white canned goods off the table using a side grasp.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Have the right hand grasp the white canned goods from the table with a side hold.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Take the white canned goods off the table from a diagonal angle.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "The white canned goods should be grasped from the table.", + "start_idx": 1632, + "end_idx": 1641 + }, + { + "text": "Put the white canned goods behind the pink stuffed toy with the right hand.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Using the right hand, place the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Have the right arm set the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "With the right hand, position the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Place the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Set the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Position the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Move the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "The white canned goods should go behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Put the white canned goods behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Have the white canned goods placed behind the pink stuffed toy.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Behind the pink stuffed toy, place the white canned goods.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Set the white canned goods behind the pink stuffed toy there.", + "start_idx": 1641, + "end_idx": 1674 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "With the right hand, grasp the white canned goods on the table using a side hold at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Have the right arm pick the white canned goods up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Grasp the white canned goods on the table with a side hold at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "With the right hand, take the white canned goods from the table.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Have the right arm grasp the white canned goods on the table.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Take the white canned goods from the table with the right hand.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1937, + "end_idx": 1958 + }, + { + "text": "Put the white canned goods behind the pink bowl with the right hand.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Using the right hand, place the white canned goods behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Have the right arm set the white canned goods behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "With the right hand, position the white canned goods behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Place the white canned goods behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Set the white canned goods behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Position the white canned goods behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "The white canned goods go behind the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Put the white canned goods by the pink bowl with the right hand.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Using the right hand, place the white canned goods near the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Have the right arm set the white canned goods next to the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Place the white canned goods by the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Set the white canned goods near the pink bowl.", + "start_idx": 1959, + "end_idx": 1986 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Have the right hand pick the pink stuffed toy off the table with a diagonal approach at its middle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "With the right hand, collect the pink stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Take the pink stuffed toy off the table with a diagonal approach, holding its middle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Grasp the middle of the pink stuffed toy and pick it up from the table at a diagonal angle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Have the right hand take the pink stuffed toy off the table.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "With the right hand, collect the pink stuffed toy from the table.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Take the pink stuffed toy off the table.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Have the right hand pick up the pink stuffed toy from the table at a diagonal angle.", + "start_idx": 2199, + "end_idx": 2229 + }, + { + "text": "Put the pink stuffed toy to the right of the green bag of chips with the right hand facing forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the right of the green bag of chips, facing forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Have the right hand set the pink stuffed toy to the right of the green bag of chips with its front facing forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "With the right hand, position the pink stuffed toy to the right of the green bag of chips so it faces forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Place the pink stuffed toy to the right of the green bag of chips with its front facing forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Set the pink stuffed toy to the right of the green bag of chips, facing forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Position the pink stuffed toy to the right of the green bag of chips with the front forward.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the right of the green bag of chips.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "With the right hand, set the pink stuffed toy to the right of the green bag of chips.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Have the right hand position the pink stuffed toy to the right of the green bag of chips.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Put the pink stuffed toy to the right of the green bag of chips.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Using the right hand, put the pink stuffed toy beside the green bag of chips.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Set the pink stuffed toy beside the green bag of chips, facing forwards.", + "start_idx": 2229, + "end_idx": 2253 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right grasp location with a diagonal pick angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the right grasp location and a diagonal pick angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Have the right hand grasp the doritos from the table from the right side using a side grip at a diagonal angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "With the right hand, seize the doritos from the table using a side grasp at the right grasp point with a diagonal approach.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right grasp location with a diagonal pick angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Take the doritos from the table with a side grasp at the right grasp point and a diagonal angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Grasp the doritos from the table from the right grasp location using a side hold at a diagonal pick angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Have the right hand take the doritos from the table.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right grasp location with a diagonal pick angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Using the right hand, take the doritos from the table with a diagonal pick angle.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Grasp the doritos from the table at the right grasp location with a diagonal approach.", + "start_idx": 2376, + "end_idx": 2406 + }, + { + "text": "Put the doritos to the right of the white canned goods with the right hand facing forwards.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Using the right hand, place the doritos to the right of the white canned goods, facing forwards.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Have the right hand set the doritos to the right of the white canned goods with the front facing forward.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "With the right hand, position the doritos to the right of the white canned goods so the front faces forward.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Place the doritos to the right of the white canned goods facing forwards.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Set the doritos to the right of the white canned goods with the front facing forward.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "The doritos go to the right of the white canned goods, facing forwards.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Using the right hand, place the doritos to the right of the white canned goods.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "With the right hand, set the doritos to the right of the white canned goods.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Have the right hand put the doritos to the right of the white canned goods.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Put the doritos to the right of the white canned goods.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Set the doritos to the right of the white canned goods.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "The doritos go to the right of the white canned goods.", + "start_idx": 2406, + "end_idx": 2433 + }, + { + "text": "Pick up the silver bowl from the table with the right hand from the bottom right at a diagonal using a lip grip.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Using the right hand, take the silver bowl from the table from the bottom right at a diagonal with a lip grip.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Have the right arm grasp the silver bowl from the table at a diagonal from the bottom right using a lip grip.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "With a lip grip, the right hand should pick the silver bowl from the table from the bottom right at a diagonal.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Pick up the silver bowl from the table from the bottom right at a diagonal using a lip grip.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "From the bottom right at a diagonal, grasp the silver bowl from the table with a lip grip.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Take the silver bowl from the table at a diagonal from the bottom right with a lip grasp.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "With the right hand, take the silver bowl from the table using a lip grasp.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Have the right arm grasp the silver bowl from the table.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Pick up the silver bowl from the table from the bottom right at a diagonal.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "From the bottom right at a diagonal, take the silver bowl from the table.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Using the right hand, grasp the silver bowl from the table from the bottom right at a diagonal.", + "start_idx": 2502, + "end_idx": 2526 + }, + { + "text": "Put the silver bowl to the right of the doritos with the right hand.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "With the right hand, place the silver bowl to the right of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Using the right hand, set the silver bowl to the right side of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Have the right arm position the silver bowl to the right of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Place the silver bowl to the right of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Set the silver bowl on the right side of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Position the silver bowl to the right of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "The silver bowl goes to the right of the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Arrange the silver bowl on the doritos' right side.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "With the right hand, place the silver bowl by the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Using the right hand, set the silver bowl next to the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Have the right arm position the silver bowl beside the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Place the silver bowl beside the doritos.", + "start_idx": 2526, + "end_idx": 2559 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "With the right hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table using a diagonal approach at its middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Using the right hand, retrieve the pink stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Take the pink stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Retrieve the pink stuffed toy from the table with a diagonal pickup at the middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "With the right hand, pick up the pink stuffed toy from the table.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Using the right hand, retrieve the pink stuffed toy from the table.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Take the pink stuffed toy from the table by grasping its middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "With the right hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 2559, + "end_idx": 2580 + }, + { + "text": "Put the pink stuffed toy behind the silver bowl with the right hand facing forwards.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Using the right hand, place the pink stuffed toy behind the silver bowl facing forwards.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Have the right arm set the pink stuffed toy behind the silver bowl with its front facing forward.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "With the right hand, position the pink stuffed toy behind the silver bowl so it faces forwards.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Place the pink stuffed toy behind the silver bowl facing forwards.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Set the pink stuffed toy behind the silver bowl with its front forward.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Position the pink stuffed toy behind the silver bowl so it faces forward.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Using the right hand, put the pink stuffed toy behind the silver bowl.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Have the right arm place the pink stuffed toy behind the silver bowl.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "With the right hand, set the pink stuffed toy behind the silver bowl.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Put the pink stuffed toy behind the silver bowl.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Place the pink stuffed toy behind the silver bowl.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Set the pink stuffed toy behind the silver bowl.", + "start_idx": 2580, + "end_idx": 2604 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Have the right arm pick the pink stuffed toy up from the table with a diagonal approach at its middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "With the right hand, retrieve the pink stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Retrieve the pink stuffed toy from the table at a diagonal angle by gripping its middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Using the right hand, pick up the pink stuffed toy from the table.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "With the right hand, take the pink stuffed toy from the table.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Have the right arm retrieve the pink stuffed toy from the table.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Take the pink stuffed toy from the table.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Have the right arm pick up the pink stuffed toy from the table at the middle.", + "start_idx": 2997, + "end_idx": 3027 + }, + { + "text": "Put the pink stuffed toy to the right of the silver bowl with the right hand facing forwards.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the right of the silver bowl with its front facing forwards.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Have the right hand set the pink stuffed toy to the right of the silver bowl, front facing forward.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "With the right hand, position the pink stuffed toy to the right of the silver bowl so its front faces forwards.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Place the pink stuffed toy to the right of the silver bowl with its front facing forwards.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Set the pink stuffed toy to the right of the silver bowl, front facing forward.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Position the pink stuffed toy to the right of the silver bowl with the front facing forwards.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Using the right hand, place the pink stuffed toy to the right of the silver bowl.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Have the right hand set the pink stuffed toy to the right of the silver bowl.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "With the right hand, position the pink stuffed toy to the right of the silver bowl.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Place the pink stuffed toy to the right of the silver bowl.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Set the pink stuffed toy to the right of the silver bowl.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Put the pink stuffed toy to the right of the silver bowl.", + "start_idx": 3027, + "end_idx": 3054 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "From a diagonal angle, have the right hand seize the white canned goods on the table with a top side hold.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "With the right hand, collect the white canned goods from the table using a side grip on the top at a diagonal approach.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "The white canned goods from the table should be picked up with a top side hold from a diagonal angle.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Have the right hand take the white canned goods from the table.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "With the right hand, collect the white canned goods from the table.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Take the white canned goods from the table with the right hand.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "The white canned goods from the table should be picked up using a side grip at the top.", + "start_idx": 3156, + "end_idx": 3183 + }, + { + "text": "Put the white canned goods behind the green bag of chips with the right hand.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Using the right hand, place the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Have the right arm set the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "With the right hand, position the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Place the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Set the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "The white canned goods go behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Position the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Put the white canned goods behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Have the white canned goods placed behind the green bag of chips.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Using the right hand, place the white canned goods.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "With the right hand, set down the white canned goods.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Have the right arm position the white canned goods.", + "start_idx": 3183, + "end_idx": 3222 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grip at the right, held at a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "With the right hand, secure the green bag of chips from the table using a right-side grip at a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the right with a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Take the green bag of chips from the table in a right-side grasp at a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip at the right.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Have the right arm take the green bag of chips from the table using a side grasp on the right.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table via its right side.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at a diagonal angle.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Take the green bag of chips from the table with the right hand.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 3525, + "end_idx": 3558 + }, + { + "text": "Put the green bag of chips to the right of the pink bowl with the right hand.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the pink bowl, front facing top right.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the pink bowl with its front toward the top right.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the pink bowl, front oriented top right.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Place the green bag of chips to the right of the pink bowl, front facing top right.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Set the green bag of chips to the right of the pink bowl with its front toward the top right.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Position the green bag of chips to the right of the pink bowl, keeping the front pointed top right.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Using the right hand, put the green bag of chips to the right of the pink bowl.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Have the right arm place the green bag of chips to the right of the pink bowl.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "With the right hand, set the green bag of chips to the right of the pink bowl.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Place the green bag of chips to the right of the pink bowl.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Set the green bag of chips beside the pink bowl on its right side.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Have the green bag of chips positioned on the right side of the pink bowl.", + "start_idx": 3558, + "end_idx": 3585 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right side with a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the right side and a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Have the right arm take the doritos from the table, applying a side grasp on the right side at a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold on the right side at a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Pick up the doritos from the table with a side grip at the right side and a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Take the doritos from the table using a side grasp on the right side at a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Grasp the doritos from the table with a side hold at the right side and a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Have the right arm take the doritos from the table using a side grasp.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "With the right hand, grasp the doritos from the table in a side hold.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right side with a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Using the right hand, take the doritos from the table at the right side with a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Have the right arm grasp the doritos from the table on the right side at a diagonal angle.", + "start_idx": 3585, + "end_idx": 3606 + }, + { + "text": "Put the doritos inside the pink bowl with the right hand right side up.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Using the right hand, place the doritos in the pink bowl right side up.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Have the right arm put the doritos into the pink bowl with the front oriented right side up.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "With the right hand, set the doritos inside the pink bowl in a right-side-up position.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Place the doritos into the pink bowl right side up.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Set the doritos inside the pink bowl with the front right side up.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Put the doritos in the pink bowl in a right-side-up orientation.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Using the right hand, place the doritos in the pink bowl.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "With the right hand, set the doritos inside the pink bowl.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Have the right arm put the doritos into the pink bowl.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Put the doritos in the pink bowl.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Set the doritos inside the pink bowl.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Place the doritos into the pink bowl.", + "start_idx": 3606, + "end_idx": 3633 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grasp at the right and a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Have the right arm pick up the green bag of chips from the table, gripping its right side diagonally.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table using a side hold on the right at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Pick up the green bag of chips from the table using a side grasp at the right and a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Take the green bag of chips from the table with a side grip at the right and a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Have the right arm take the green bag of chips from the table using a side grasp.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table using a side hold.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at the right with a diagonal angle.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Using the right hand, take the green bag of chips from the table at a diagonal angle on the right.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Grasp the green bag of chips from the table with the right hand.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Put the green bag of chips inside the silver bowl with the right hand right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Using the right hand, place the green bag of chips into the silver bowl with its front right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Have the right arm put the green bag of chips inside the silver bowl, front facing right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "With the right hand, set the green bag of chips in the silver bowl so the front stays right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Place the green bag of chips into the silver bowl with its front right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Set the green bag of chips inside the silver bowl, keeping the front right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Put the green bag of chips in the silver bowl with the front right side up.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Using the right hand, place the green bag of chips into the silver bowl.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "With the right hand, set the green bag of chips inside the silver bowl.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Have the right arm put the green bag of chips in the silver bowl.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Put the green bag of chips into the silver bowl.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Set the green bag of chips in the silver bowl.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Have the green bag of chips placed inside the silver bowl.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "With the right arm, grasp the pink bowl from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Have the right hand pick the pink bowl off the table using a diagonal grasp on the bottom-right lip.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Take the pink bowl off the table with a diagonal lip hold at the bottom right.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-right lip on a diagonal.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "With the right hand, take the pink bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Have the right arm grasp the pink bowl off the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 4055, + "end_idx": 4098 + }, + { + "text": "Dump the doritos to the right of the white canned goods with the right hand.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Using the right hand, dump the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Have the right arm dump the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "With the right hand, pour out the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Dump the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Pour out the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Empty the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "The doritos should be dumped to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Place the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Set the doritos down to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Position the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Have the doritos placed to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Move the doritos to the right of the white canned goods.", + "start_idx": 4098, + "end_idx": 4146 + }, + { + "text": "Put the pink bowl in the center of the table with the right hand.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Using the right hand, place the pink bowl in the center of the table right side up.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Have the right arm set the pink bowl in the center of the table with its front facing forward.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "With the right hand, position the pink bowl in the center of the table upright.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Place the pink bowl in the center of the table right side up.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Set the pink bowl in the center of the table with its front facing forward.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Position the pink bowl in the center of the table upright.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Using the right hand, place the pink bowl in the center of the table.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Have the right arm set the pink bowl in the center of the table.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "With the right hand, position the pink bowl in the center of the table.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Put the pink bowl in the center of the table.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Set the pink bowl at the table center.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Place the pink bowl at the center of the table.", + "start_idx": 4146, + "end_idx": 4194 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Have the right hand grasp the white canned goods from the table from the top using a side grasp at a diagonal angle.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "With the right hand, secure the white canned goods from the table via a side hold at the top with a diagonal approach.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Take the white canned goods from the table using a side grasp at the top with a diagonal approach.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "From the table, grasp the white canned goods at the top with a side hold and a diagonal pick angle.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "With the right hand, take the white canned goods from the table from the top using a side grasp.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Have the right hand grasp the white canned goods from the table with a side hold at the top.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a diagonal pick angle.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Pick up the white canned goods from the table with the right hand.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Take the white canned goods from the table from the top with a diagonal approach.", + "start_idx": 4389, + "end_idx": 4419 + }, + { + "text": "Put the white canned goods to the right of the doritos with the right hand.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "With the right hand, position the white canned goods on the right side of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Place the white canned goods to the right of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Set the white canned goods on the right side of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Move the white canned goods to the right of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "The white canned goods go to the right of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Put the white canned goods beside the doritos on the right.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Position the white canned goods by the doritos, on their right side.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Using the right hand, place the white canned goods beside the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Have the right arm move the white canned goods to the doritos' right side.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "With the right hand, set the white canned goods on the right side of the doritos.", + "start_idx": 4419, + "end_idx": 4455 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "With the right hand, pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Have the right arm take the pink stuffed toy from the table with a diagonal approach, holding its middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Using the right hand, retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Pick up the pink stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Take the pink stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Retrieve the pink stuffed toy from the table diagonally by the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "With the right hand, pick up the pink stuffed toy from the table, grasping the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Using the right hand, take the pink stuffed toy from the table by the middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Have the right arm retrieve the pink stuffed toy from the table while holding its middle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Pick up the pink stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Take the pink stuffed toy from the table with the right hand using a diagonal approach.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Pick up the pink stuffed toy from the table.", + "start_idx": 4650, + "end_idx": 4683 + }, + { + "text": "Put the pink stuffed toy inside the pink bowl with the right hand facing right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Using the right hand, place the pink stuffed toy into the pink bowl with its front facing right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Have the right arm put the pink stuffed toy inside the pink bowl so the front points right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "With the right hand, set the pink stuffed toy in the pink bowl, front facing right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Place the pink stuffed toy into the pink bowl with its front facing right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Set the pink stuffed toy inside the pink bowl so the front points right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Put the pink stuffed toy in the pink bowl with the front oriented to the right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Using the right hand, place the pink stuffed toy into the pink bowl.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "With the right hand, set the pink stuffed toy inside the pink bowl.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Have the right arm put the pink stuffed toy in the pink bowl.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Put the pink stuffed toy into the pink bowl.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Using the right hand, place the pink stuffed toy with its front facing right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Set the pink stuffed toy down with the front pointing right.", + "start_idx": 4683, + "end_idx": 4704 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Have the right arm take the white canned goods off the table, grasping the top with a side hold from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table by securing the top in a side grasp at a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Take the white canned goods off the table using a side grasp at the top from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Retrieve the white canned goods from the table, holding the top with a side grip from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Have the right arm take the white canned goods from the table using a side hold on the top.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "With the right hand, collect the white canned goods from the table from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Take the white canned goods off the table with the right hand.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 4836, + "end_idx": 4863 + }, + { + "text": "Put the white canned goods inside the silver bowl with the right hand.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Using the right hand, place the white canned goods inside the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Have the right hand set the white canned goods into the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "With the right hand, deposit the white canned goods in the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Place the white canned goods inside the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Set the white canned goods into the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Deposit the white canned goods in the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "The white canned goods go inside the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Put the white canned goods in the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Move the white canned goods into the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Place the white canned goods into the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Have the white canned goods placed in the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Transfer the white canned goods to the inside of the silver bowl.", + "start_idx": 4863, + "end_idx": 4911 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Have the right arm take the pink bowl from the table with a lip grasp at the bottom right, diagonally angled.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using the lip at the bottom right at a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Take the pink bowl from the table using a lip grasp at the bottom right with a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Grasp the pink bowl from the table with the lip at the bottom right at a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Have the right arm take the pink bowl from the table using a lip grasp.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by the lip.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 4989, + "end_idx": 5025 + }, + { + "text": "Put the pink bowl in front of the green bag of chips with the right hand.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Using the right hand, place the pink bowl in front of the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Have the right arm set the pink bowl down in front of the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "With the right hand, position the pink bowl before the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Place the pink bowl in front of the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Set the pink bowl down in front of the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Position the pink bowl before the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "The pink bowl goes in front of the green bag of chips.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Place the pink bowl with the right hand.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Using the right hand, set down the pink bowl.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Have the right arm position the pink bowl.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Put the pink bowl down.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Set the pink bowl in place.", + "start_idx": 5025, + "end_idx": 5061 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom right, angled diagonally.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Have the right hand grasp the pink bowl from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "With the right hand, collect the pink bowl from the table using a lip grasp on the bottom right at a diagonal.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Take the pink bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "The pink bowl from the table should be picked up using a lip grasp at the bottom right with a diagonal orientation.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Have the right hand collect the pink bowl from the table with a lip hold.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Take the pink bowl from the table with the right hand from the bottom right at a diagonal.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Pick up the pink bowl from the table at the bottom right with a diagonal angle.", + "start_idx": 5214, + "end_idx": 5253 + }, + { + "text": "Dump the pink stuffed toy between the doritos and the white canned goods with the right hand.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Using the right hand, dump the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Have the right arm place the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "With the right hand, deposit the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Dump the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Place the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Set the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Position the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Move the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Put the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Arrange the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Transfer the pink stuffed toy between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Get the pink stuffed toy placed between the doritos and the white canned goods.", + "start_idx": 5253, + "end_idx": 5295 + }, + { + "text": "Put the pink bowl behind the silver bowl with the right hand.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Using the right hand, place the pink bowl behind the silver bowl, right side up from the front.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Have the right arm set the pink bowl behind the silver bowl with its front kept right side up.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "With the right hand, position the pink bowl behind the silver bowl, maintaining a right-side-up front orientation.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Place the pink bowl behind the silver bowl.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Set the pink bowl behind the silver bowl.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Position the pink bowl behind the silver bowl.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Put the pink bowl behind the silver bowl, right side up from the front.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Arrange the pink bowl behind the silver bowl with its front right side up.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Set the pink bowl behind the silver bowl so the front stays right side up.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Using the right hand, place the pink bowl behind the silver bowl.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Have the right arm set the pink bowl behind the silver bowl.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "With the right hand, position the pink bowl behind the silver bowl.", + "start_idx": 5295, + "end_idx": 5346 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the bottom right using a lip grasp at a diagonal angle.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Have the right hand pick the silver bowl up from the table with a diagonal lip grip on the bottom right.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Pick up the silver bowl from the table using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Take the silver bowl from the table with a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Grasp the silver bowl from the table at the bottom right using a lip grip with a diagonal approach.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "With the right hand, take the silver bowl from the table using a lip grasp.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Have the right hand grasp the silver bowl from the table with a lip grip.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table at the bottom right with a diagonal pick angle.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Take the silver bowl from the table with the right hand at a diagonal angle from the bottom right.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Pick up the silver bowl from the table at the bottom right with a diagonal approach.", + "start_idx": 5568, + "end_idx": 5598 + }, + { + "text": "Put the silver bowl to the right of the white canned goods with the right hand.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Have the right arm set the silver bowl down to the right of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "With the right hand, position the silver bowl on the right side of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Place the silver bowl to the right of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Set the silver bowl on the right side of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Position the silver bowl to the right of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "The silver bowl goes to the right of the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Using the right hand, put the silver bowl by the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "With the right hand, place the silver bowl next to the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Set the silver bowl beside the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Have the right arm place the silver bowl beside the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "The silver bowl should be placed next to the white canned goods.", + "start_idx": 5598, + "end_idx": 5646 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the bottom diagonally.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Have the right hand take the doritos from the table in a diagonal bottom side grasp.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "With the right arm, grasp the doritos from the table from the side at the bottom on a diagonal.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom diagonally.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Take the doritos from the table in a diagonal bottom side grasp.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Grasp the doritos from the table from the side at the bottom diagonally.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Have the right hand take the doritos from the table.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "With the right arm, grasp the doritos from the table diagonally.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Pick up the doritos from the table with the right hand at the bottom diagonally.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Using the right hand, take the doritos from the table.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Grasp the doritos from the table.", + "start_idx": 5703, + "end_idx": 5751 + }, + { + "text": "Put the doritos to the right of the silver bowl with the right hand facing forwards with the front as the reference point.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Using the right hand, place the doritos to the right of the silver bowl, facing forwards relative to the front.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Have the right arm set the doritos to the right of the silver bowl with the front facing forward.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "With the right hand, position the doritos to the right of the silver bowl so the front faces forwards.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Place the doritos to the right of the silver bowl with the front facing forwards.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Set the doritos to the right of the silver bowl, oriented forward from the front.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Position the doritos to the right of the silver bowl so its front faces forward.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Put the doritos to the right of the silver bowl.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Place the doritos to the right of the silver bowl beside the silver bowl.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Set the doritos on the right side of the silver bowl.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Using the right hand, place the doritos to the right of the silver bowl.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "With the right hand, set the doritos on the right side of the silver bowl.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Have the right arm position the doritos beside the silver bowl on its right side.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the bottom.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "With the right hand, pick up the pink bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Using a diagonal lip grasp at the bottom, have the right hand take the pink bowl from the table.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "The right hand should grasp the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal bottom lip grip.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Remove the pink bowl from the table with the right hand.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Have the right hand grasp the pink bowl from the table.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "With the right hand, pick up the pink bowl from the table.", + "start_idx": 5781, + "end_idx": 5811 + }, + { + "text": "Put the pink bowl to the right of the doritos with the right hand.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the doritos upright.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Have the right arm set the pink bowl to the right of the doritos, right side up.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "With the right hand, position the pink bowl on the right side of the doritos upright.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Place the pink bowl to the right of the doritos upright.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Set the pink bowl on the right side of the doritos, right side up.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Position the pink bowl to the right of the doritos.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Move the pink bowl to the right of the doritos.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Put the pink bowl on the right side of the doritos.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Set the pink bowl to the right of the doritos with the right hand.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Using the right hand, place the pink bowl on the right side of the doritos.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Have the right arm put the pink bowl to the right of the doritos.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "With the right hand, move the pink bowl to the right of the doritos.", + "start_idx": 5811, + "end_idx": 5847 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a lip hold on the bottom-right side at a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "With the right hand, collect the pink bowl from the table by the bottom right using a lip grasp from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Take the pink bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Grasp the pink bowl from the table on the bottom-right side with a lip hold from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "The pink bowl should be picked up from the table with a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using a lip hold on the bottom-right side.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Have the right arm take the pink bowl from the table from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Using the right hand, take the pink bowl from the table at the bottom right.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Grasp the pink bowl from the table on the bottom-right side.", + "start_idx": 6183, + "end_idx": 6222 + }, + { + "text": "Place the pink bowl on the top right side of the table with the right hand.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Using the right hand, set the pink bowl on the table's top right side.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Have the right arm place the pink bowl at the upper-right area of the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "With the right hand, position the pink bowl on the upper-right side of the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Place the pink bowl on the table's top right side.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Set the pink bowl at the upper-right area of the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Position the pink bowl on the upper-right side of the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Put the pink bowl on the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "The pink bowl goes on the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Place the pink bowl on the table with the right hand.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Using the right hand, set the pink bowl on the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Have the right arm place the pink bowl on the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Set the pink bowl on the table.", + "start_idx": 6222, + "end_idx": 6255 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right diagonal using a lip grip.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Using a lip grip, pick up the pink bowl from the table with the right hand.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Take the pink bowl from the table in the right hand.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Have the right hand take the pink bowl from the table at the bottom right diagonal.", + "start_idx": 6798, + "end_idx": 6831 + }, + { + "text": "Put the pink bowl to the right of the white canned goods with the right hand.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the white canned goods, right side up with the front oriented forward.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Have the right arm set the pink bowl to the right of the white canned goods, keeping it upright and front-facing.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "With the right hand, position the pink bowl to the right of the white canned goods so it stays right side up, front forward.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Place the pink bowl to the right of the white canned goods, keeping it right side up with the front oriented forward.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Set the pink bowl to the right of the white canned goods, upright with the front facing forward.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Position the pink bowl to the right of the white canned goods so it remains right side up and front-forward.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Using the right hand, put the pink bowl to the right of the white canned goods.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Have the right arm place the pink bowl to the right of the white canned goods.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "With the right hand, set the pink bowl to the right of the white canned goods.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Put the pink bowl to the right of the white canned goods.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Set the pink bowl to the right of the white canned goods.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Position the pink bowl to the right of the white canned goods.", + "start_idx": 6831, + "end_idx": 6870 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Have the right hand pick the white canned goods off the table using a top side grip from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "With the right hand, collect the white canned goods from the table using a side hold at the top from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Pick up the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Take the white canned goods off the table with a side grip at the top from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "The white canned goods from the table should be picked up with a side hold at the top from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Have the right hand take the white canned goods from the table using a side grasp at the top.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "With the right hand, remove the white canned goods from the table using a side hold at the top.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Have the right hand take the white canned goods off the table from a diagonal angle.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 7254, + "end_idx": 7296 + }, + { + "text": "Put the white canned goods behind the green bag of chips with the right hand.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Using the right hand, place the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Have the right arm set the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "With the right hand, position the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Place the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Set the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Position the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Move the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "The white canned goods should go behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Put the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Arrange the white canned goods behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Behind the green bag of chips, place the white canned goods.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Have the white canned goods placed behind the green bag of chips.", + "start_idx": 7296, + "end_idx": 7338 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grasp at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Have the right hand pick the green bag of chips up from the table using a side hold at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table in a side grip at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Take the green bag of chips from the table with a side grasp at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Grasp the green bag of chips from the table in a side hold at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "With the right hand, take the green bag of chips from the table using a side grasp.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table with a side hold.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at the bottom right diagonal.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Take the green bag of chips from the table with the right hand.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 7422, + "end_idx": 7470 + }, + { + "text": "Put the green bag of chips on the right side of the table with the right hand facing forwards.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Using the right hand, place the green bag of chips on the table's right side facing forwards.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Have the right arm set the green bag of chips on the right side of the table with its front facing forward.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "With the right hand, position the green bag of chips on the right side of the table, facing forwards.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Place the green bag of chips on the right side of the table facing forwards.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Set the green bag of chips on the table's right side with its front forward.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Position the green bag of chips on the right side of the table facing forward.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Using the right hand, put the green bag of chips on the right side of the table.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "With the right hand, set the green bag of chips on the table's right side.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Have the right arm place the green bag of chips on the right side of the table.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Put the green bag of chips on the right side of the table.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Set the green bag of chips on the table's right side.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Using the right hand, place the green bag of chips on the right side of the table.", + "start_idx": 7470, + "end_idx": 7512 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Have the right arm grasp the white canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "With the right hand, seize the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Grasp the white canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "The white canned goods from the table should be picked up using a side grasp on the top from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Have the right arm take the white canned goods from the table.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "With the right hand, grasp the white canned goods from the table.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Pick up the white canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Using the right hand, take the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 7668, + "end_idx": 7704 + }, + { + "text": "Put the white canned goods to the left of the pink stuffed toy with the right hand.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Using the right hand, place the white canned goods to the left of the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Have the right arm set the white canned goods left of the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "With the right hand, position the white canned goods on the left side of the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Place the white canned goods to the left of the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Set the white canned goods on the left side of the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "The white canned goods go to the left of the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Arrange the white canned goods beside the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Using the right hand, place the white canned goods by the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "With the right hand, set the white canned goods next to the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Have the right arm place the white canned goods beside the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Put the white canned goods by the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Position the white canned goods next to the pink stuffed toy.", + "start_idx": 7704, + "end_idx": 7743 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right, held at a diagonal angle.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a lip hold on the bottom-right area at a diagonal.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip grasp at the bottom right on a diagonal.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal angle.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Take the pink bowl from the table using a lip hold at the bottom-right area on a diagonal.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Grasp the pink bowl from the table with a lip grasp at the bottom right, keeping a diagonal angle.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip hold.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a lip grasp.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right and a diagonal angle.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "With the right hand, take the pink bowl from the table at the bottom right on a diagonal.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Have the right hand pick up the pink bowl from the table.", + "start_idx": 7901, + "end_idx": 7934 + }, + { + "text": "Put the pink bowl to the left of the white canned goods with the right hand.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Using the right hand, place the pink bowl to the left of the white canned goods, right side up.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Have the right arm set the pink bowl left of the white canned goods with its front facing forward.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "With the right hand, position the pink bowl on the left side of the white canned goods, upright.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Place the pink bowl to the left of the white canned goods, right side up.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Set the pink bowl on the left of the white canned goods with its front facing forward.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Position the pink bowl left of the white canned goods, upright.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Using the right hand, put the pink bowl to the left of the white canned goods.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "With the right hand, place the pink bowl on the left side of the white canned goods.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Have the right arm position the pink bowl left of the white canned goods.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Put the pink bowl to the left of the white canned goods.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Set the pink bowl on the left of the white canned goods.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Position the pink bowl left of the white canned goods.", + "start_idx": 7935, + "end_idx": 7989 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grasp at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "With the right hand, pick the green bag of chips up from the table using a side hold at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Have the right arm retrieve the green bag of chips from the table with a side grip on the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Take the green bag of chips from the table with a side grasp at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Retrieve the green bag of chips from the table with a side hold at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "With the right hand, take the green bag of chips from the table using a side grasp.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Have the right arm get the green bag of chips from the table with a side hold.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at the bottom right diagonal.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Take the green bag of chips from the table with the right hand.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 8205, + "end_idx": 8250 + }, + { + "text": "Put the green bag of chips in the center of the table with the right hand facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the right hand, place the green bag of chips in the center of the table facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the right arm set the green bag of chips at the table center with its front facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "With the right hand, position the green bag of chips in the center of the table, front facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Place the green bag of chips in the center of the table facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Set the green bag of chips at the table center with its front facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Position the green bag of chips in the middle of the table facing forwards.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Using the right hand, place the green bag of chips in the center of the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "With the right hand, set the green bag of chips at the table center.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Have the right arm position the green bag of chips in the middle of the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Place the green bag of chips in the center of the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Set the green bag of chips at the table center.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Put the green bag of chips in the middle of the table.", + "start_idx": 8250, + "end_idx": 8283 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grip at the right with a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table using a side hold on the right at a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "With the right hand, secure the green bag of chips from the table in a side grasp on the right with a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the right with a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Take the green bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Grasp the green bag of chips from the table at the right with a diagonal angle using a side grip.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Have the right hand take the green bag of chips from the table using a side hold.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table in a side grasp.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at the right with a diagonal angle.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Take the green bag of chips from the table with the right hand.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 8811, + "end_idx": 8847 + }, + { + "text": "Put the green bag of chips on the right side of the table with the right hand facing forwards.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Using the right hand, place the green bag of chips on the right side of the table with its front facing forward.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Have the right arm set the green bag of chips on the table's right side, front facing forwards.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "With the right hand, position the green bag of chips on the right side of the table so the front faces forward.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Place the green bag of chips on the right side of the table with its front facing forward.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Set the green bag of chips on the table's right side, front facing forwards.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "The green bag of chips goes on the right side of the table with the front facing forward.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Using the right hand, put the green bag of chips on the right side of the table.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Have the right arm place the green bag of chips on the table's right side.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "With the right hand, set the green bag of chips on the right side of the table.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Put the green bag of chips on the right side of the table.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Place the green bag of chips on the table's right side.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "The green bag of chips should be set on the right side of the table.", + "start_idx": 8847, + "end_idx": 8883 + }, + { + "text": "Return both hands to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Move both hands back to the home position.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Bring both arms to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Have both hands return to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Return the hands to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Move the hands back to the home position.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Bring the arms to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Have the hands return to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Send the hands back home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Place the hands in the home position.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Both hands should go to home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Move the arms back home.", + "start_idx": 9024, + "end_idx": 9051 + }, + { + "text": "Set the hands to home.", + "start_idx": 9024, + "end_idx": 9051 + } + ] + }, + "2026-03-17-04-17-00-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 human data collection", + "total_frames": 8882, + "num_annotations": 3249, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, take the croissant from the table with a diagonal grasp at the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left arm pick up the croissant from the table, approaching diagonally at its middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the left hand, grasp the croissant from the table at the middle on a diagonal.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the croissant from the table at the middle on a diagonal.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the croissant from the table with a diagonal grasp at the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Grasp the croissant from the table diagonally at its middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left arm pick up the croissant from the table diagonally.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Place the croissant on top of the white plate with the left hand.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Using the left hand, set the croissant on the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Have the left arm place the croissant onto the top of the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "With the left hand, position the croissant on top of the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Place the croissant on top of the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Set the croissant onto the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Put the croissant on the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Position the croissant atop the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Rest the croissant on the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Transfer the croissant onto the white plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Place the croissant on the plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Set the croissant atop the plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Put the croissant onto the plate.", + "start_idx": 135, + "end_idx": 174 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach at its middle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Take the brown stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach, gripping the middle.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Put the brown stuffed toy to the left of the white plate with the left hand facing top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the white plate with its front facing the top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the white plate, front oriented toward the top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "With the left hand, position the brown stuffed toy left of the white plate so the front points top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Place the brown stuffed toy to the left of the white plate with its front facing the top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Set the brown stuffed toy to the left of the white plate, front pointing toward the top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Position the brown stuffed toy left of the white plate with the front oriented top right.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the white plate.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "With the left hand, set the brown stuffed toy left of the white plate.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the white plate.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Place the brown stuffed toy to the left of the white plate.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Using the left hand, put the brown stuffed toy beside the white plate.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Set the brown stuffed toy beside the white plate.", + "start_idx": 207, + "end_idx": 234 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Have the left arm take the corn from the table, angled diagonally and held at the middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "With the left hand, collect the corn from the table at a diagonal angle, grasping its middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Take the corn from the table at a diagonal angle while holding the middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "From the table, collect the corn at a diagonal angle by the middle.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "With the left hand, collect the corn from the table.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Take the corn from the table.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "From the table, collect the corn.", + "start_idx": 288, + "end_idx": 318 + }, + { + "text": "Put the corn in front of the brown stuffed toy with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Using the left hand, place the corn in front of the brown stuffed toy with the tip facing bottom left.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Have the left arm set the corn in front of the brown stuffed toy, oriented bottom left at the tip.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "With the left hand, position the corn before the brown stuffed toy so its tip points bottom left.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Place the corn in front of the brown stuffed toy with the tip facing bottom left.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Set the corn before the brown stuffed toy, with its tip oriented bottom left.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Position the corn in front of the brown stuffed toy so the tip points bottom left.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Put the corn in front of the brown stuffed toy.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Place the corn before the brown stuffed toy.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Set the corn in front of the brown stuffed toy.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Using the left hand, put the corn in front of the brown stuffed toy.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Have the left arm place the corn before the brown stuffed toy.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "With the left hand, set the corn in front of the brown stuffed toy.", + "start_idx": 318, + "end_idx": 351 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp on the left side.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Have the left hand pick up the white plate from the table by the left edge with a diagonal lip grasp.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "With the left arm, grasp the white plate from the table using a diagonal lip hold at the left.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the left.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Take the white plate from the table with a diagonal lip grasp on the left side.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Have the robot collect the white plate from the table by the left edge with a diagonal lip hold.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "With the left arm, take the white plate from the table.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Have the left hand grasp the white plate from the table.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Using the left hand, collect the white plate from the table.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Take the white plate from the table by the left edge.", + "start_idx": 483, + "end_idx": 528 + }, + { + "text": "Dump the croissant to the right of the brown stuffed toy with the left hand.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Using the left hand, dump the croissant to the right of the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Have the left arm place the croissant on the right side of the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "With the left hand, put down the croissant to the brown stuffed toy's right.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Dump the croissant to the right of the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Place the croissant on the right side of the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Set the croissant down to the brown stuffed toy's right.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Position the croissant to the right of the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "The croissant goes to the right of the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Using the left hand, place the croissant by the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "With the left hand, set down the croissant beside the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Have the left arm put the croissant next to the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Place the croissant beside the brown stuffed toy.", + "start_idx": 528, + "end_idx": 567 + }, + { + "text": "Place the white plate to the left of the brown stuffed toy with the left hand right side up with the front as the reference point.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Using the left hand, set the white plate to the left of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Have the left arm place the white plate left of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "With the left hand, position the white plate to the brown stuffed toy's left, right side up using the front as the reference point.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Place the white plate to the left of the brown stuffed toy, keeping it right side up with the front as the reference point.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Set the white plate left of the brown stuffed toy, right side up relative to the front.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Position the white plate to the left of the brown stuffed toy with the front as the reference point.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Using the left hand, place the white plate to the left of the brown stuffed toy.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Have the left arm set the white plate left of the brown stuffed toy.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "With the left hand, position the white plate to the brown stuffed toy's left.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Place the white plate to the left of the brown stuffed toy.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Set the white plate beside the brown stuffed toy on its left.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Have the white plate placed to the left of the brown stuffed toy.", + "start_idx": 567, + "end_idx": 609 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "With the left hand, collect the croissant from the table diagonally while holding the entire object.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a whole-object hold.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "From the table, collect the croissant diagonally with a full-object grasp.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Have the left hand take the croissant from the table with a whole-object grasp.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "With the left hand, collect the croissant from the table by holding the entire object.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 609, + "end_idx": 630 + }, + { + "text": "Put the croissant in front of the white plate with the left hand.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Using the left hand, place the croissant in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Have the left arm set the croissant down in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "With your left hand, position the croissant before the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Place the croissant in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Set the croissant down in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Position the croissant before the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "The croissant goes in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Put the croissant before the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Arrange the croissant in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Have the croissant placed before the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Set the croissant in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Move the croissant to a spot in front of the white plate.", + "start_idx": 630, + "end_idx": 660 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach and hold it at the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "From the table, take the corn.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Have the arm retrieve the corn from the table.", + "start_idx": 711, + "end_idx": 741 + }, + { + "text": "Put the corn to the left of the asparagus with the left hand facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Using the left hand, place the corn to the left of the asparagus with its tip facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Have the left arm set the corn to the asparagus's left, tip pointing backward.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "With the left hand, position the corn left of the asparagus, keeping the tip oriented backward.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Place the corn to the left of the asparagus with its tip facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Set the corn to the asparagus's left, with the tip pointing backward.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Position the corn left of the asparagus, tip facing backwards.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Using the left hand, put the corn to the left of the asparagus.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Have the left arm place the corn to the asparagus's left.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "With the left hand, set the corn left of the asparagus.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Put the corn to the left of the asparagus.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Set the corn to the asparagus's left.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Have the corn placed left of the asparagus.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal grasp at the middle.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Get the brown stuffed toy from the table, holding the middle at a diagonal angle.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Retrieve the brown stuffed toy from the table using a diagonal middle grasp.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Using the left hand, collect the brown stuffed toy from the table.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 777, + "end_idx": 810 + }, + { + "text": "Put the brown stuffed toy to the left of the corn with the left hand facing forwards.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn with its front facing forwards.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the corn, front facing forward.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the corn so the front faces forwards.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Place the brown stuffed toy to the left of the corn with its front facing forwards.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Set the brown stuffed toy to the left of the corn, front facing forward.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Position the brown stuffed toy to the left of the corn with the front forwards.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "With the left hand, set the brown stuffed toy to the left of the corn.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the corn.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Place the brown stuffed toy to the left of the corn.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Set the brown stuffed toy with the left hand, front facing forwards.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Position the brown stuffed toy to the left of the corn.", + "start_idx": 810, + "end_idx": 837 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Have the left arm grasp the white plate from the table by the bottom-left edge with a diagonal lip grip.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With the left hand, secure the white plate from the table using a diagonal lip hold at the bottom left.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Take the white plate from the table with a diagonal lip grip at the bottom-left area.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Grasp the white plate from the table by the bottom-left lip in a diagonal hold.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With a diagonal lip grasp at the bottom left, pick up the white plate from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Have the left arm take the white plate from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With the left hand, grasp the white plate from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Put the white plate behind the corn with the left hand right side up.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Using the left hand, place the white plate behind the corn with its right side up.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Have the left arm set the white plate behind the corn, right side up.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "With the left hand, position the white plate behind the corn in an upright orientation.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Place the white plate behind the corn with its right side up.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Set the white plate behind the corn, keeping it right side up.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Position the white plate behind the corn in the correct upright orientation.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Using the left hand, put the white plate behind the corn.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "With the left hand, set the white plate behind the corn.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Have the left arm place the white plate behind the corn.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Put the white plate behind the corn.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Set the white plate behind the corn.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Position the white plate behind the corn.", + "start_idx": 864, + "end_idx": 906 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table using a side grip at the top diagonal.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table in a side hold at the top diagonally.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the top diagonally.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Grasp the brown stuffed toy from the table in a side hold at the top diagonally.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 906, + "end_idx": 939 + }, + { + "text": "Put the brown stuffed toy on top of the white plate with the left hand facing forwards.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Using the left hand, place the brown stuffed toy on top of the white plate facing forwards.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Have the left arm set the brown stuffed toy atop the white plate with its front facing forward.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "With the left hand, position the brown stuffed toy on the white plate so it faces forwards.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Place the brown stuffed toy on top of the white plate facing forwards.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Set the brown stuffed toy atop the white plate with its front facing forward.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Position the brown stuffed toy on the white plate facing forwards.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Using the left hand, put the brown stuffed toy on top of the white plate.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "With the left hand, set the brown stuffed toy atop the white plate.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Have the left arm place the brown stuffed toy on the white plate.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Put the brown stuffed toy on top of the white plate.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Set the brown stuffed toy atop the white plate.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Position the brown stuffed toy on the white plate.", + "start_idx": 939, + "end_idx": 972 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "With the left hand, retrieve the croissant from the table on a diagonal approach and grip the middle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Retrieve the croissant from the table on a diagonal approach, holding the middle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, gripping it at the center.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Using the left hand, retrieve the croissant from the table.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Get the croissant from the table at a diagonal angle.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "From the table, take the croissant with the left hand.", + "start_idx": 972, + "end_idx": 1011 + }, + { + "text": "Place the croissant to the left of the white plate with the left hand.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Using the left hand, set the croissant to the left of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Have the left arm place the croissant on the left side of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "With the left hand, position the croissant left of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Place the croissant to the left of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Set the croissant on the left side of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Position the croissant left of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "The croissant should go to the left of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Move the croissant to the white plate's left side.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Put the croissant beside the white plate on its left.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Arrange the croissant left of the white plate.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Using the left side of the plate as reference, place the croissant.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Have the croissant placed to the plate's left.", + "start_idx": 1011, + "end_idx": 1044 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Retrieve the corn from the table on a diagonal, holding the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Get the corn from the table at the middle.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 1185, + "end_idx": 1221 + }, + { + "text": "Put the corn to the front left of the white plate with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Using the left hand, place the corn at the front left of the white plate, with its tip pointing bottom left.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Have the left arm set the corn to the white plate's front-left, oriented bottom left using the tip as reference.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "With the left hand, position the corn in front-left of the white plate, tip facing bottom left.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Place the corn at the front left of the white plate, with its tip pointing bottom left.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Set the corn to the white plate's front-left, oriented bottom left from the tip.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Position the corn in front-left of the white plate, with the tip facing bottom left.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Using the left hand, place the corn at the front left of the white plate.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Have the left arm set the corn to the white plate's front-left.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "With the left hand, position the corn in front-left of the white plate.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Place the corn at the front left of the white plate.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Set the corn to the white plate's front-left.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Position the corn in front-left of the white plate.", + "start_idx": 1221, + "end_idx": 1251 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle from the middle.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Have the left arm take the croissant from the table, grasping it diagonally at the middle.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "With the left hand, retrieve the croissant from the table using a diagonal middle grasp.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle from the middle.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Take the croissant from the table with a diagonal grasp at the middle.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Retrieve the croissant from the table, grasping it diagonally from the middle.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Using the left hand, retrieve the croissant from the table.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 1251, + "end_idx": 1281 + }, + { + "text": "Put the croissant to the left of the corn with the left hand.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Using the left hand, place the croissant to the left of the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Have the left arm set the croissant on the corn's left side.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "With your left hand, position the croissant left of the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Place the croissant to the left of the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Set the croissant on the left side of the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Position the croissant left of the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Move the croissant to the corn's left side.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "The croissant goes to the left of the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Arrange the croissant beside the corn on its left.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Using the left hand, place the croissant by the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Have the left arm set the croissant beside the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "With the left hand, move the croissant next to the corn.", + "start_idx": 1281, + "end_idx": 1314 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Have the left arm pick the corn up from the table with a diagonal approach at the middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "With the left hand, grasp the corn at its middle from the table on a diagonal.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Grasp the corn from the table at the middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Retrieve the corn from the table by its middle.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1314, + "end_idx": 1338 + }, + { + "text": "Put the corn behind the croissant with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Using the left hand, place the corn behind the croissant with the tip facing backward.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Have the left arm set the corn behind the croissant, oriented backward relative to its tip.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "With the left hand, position the corn behind the croissant so the tip points backward.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Place the corn behind the croissant with the tip facing backward.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Set the corn behind the croissant with its tip oriented backward.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Position the corn behind the croissant, keeping the tip pointed backward.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Using the left hand, put the corn behind the croissant.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "With the left hand, place the corn behind the croissant.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Have the left arm position the corn behind the croissant.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Place the corn behind the croissant.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Set the corn behind the croissant.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Position the corn behind the croissant.", + "start_idx": 1338, + "end_idx": 1368 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Have the left arm pick the croissant up from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "With the left hand, collect the croissant from the table diagonally while enclosing the entire object.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Collect the croissant from the table diagonally while holding the entire object.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "With the left hand, take the croissant from the table using a whole-object grasp.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Have the left arm pick up the croissant from the table at a diagonal angle.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Take the croissant from the table with the left hand.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Using the left hand, collect the croissant from the table.", + "start_idx": 1368, + "end_idx": 1398 + }, + { + "text": "Place the croissant to the left of the white plate with the left hand.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Using the left hand, set the croissant to the left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Have the left arm place the croissant on the left side of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "With the left hand, position the croissant left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Place the croissant to the left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Set the croissant on the left side of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Position the croissant left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Have the croissant placed to the left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "The croissant goes to the left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Put the croissant beside the white plate on its left side.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Arrange the croissant to the plate's left.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Place the croissant left of the white plate area.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Set the croissant down to the left of the white plate.", + "start_idx": 1398, + "end_idx": 1428 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Have the left hand grasp the white plate from the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Pick up the white plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Take the white plate from the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Grasp the white plate from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grasp.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Have the left hand grasp the white plate from the table with a lip hold.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Using the left hand, pick up the white plate from the table at the bottom left with a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "From the table, take the white plate with the left hand at the bottom left on a diagonal.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Have the left hand grasp the white plate from the table at a diagonal angle from the bottom-left area.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Dump the brown stuffed toy and the yellow stuffed toy to the center of the table with the left hand.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Using the left hand, dump the brown stuffed toy and the yellow stuffed toy at the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Have the left arm deposit the brown stuffed toy together with the yellow stuffed toy in the table center.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "With the left hand, unload the brown stuffed toy and the yellow stuffed toy onto the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Dump the brown stuffed toy and the yellow stuffed toy at the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Place the brown stuffed toy together with the yellow stuffed toy in the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Set the brown stuffed toy and the yellow stuffed toy down in the table center.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Move the brown stuffed toy and the yellow stuffed toy to the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Transfer the brown stuffed toy along with the yellow stuffed toy to the table center.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "At the center of the table, dump the brown stuffed toy and the yellow stuffed toy.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "The brown stuffed toy and the yellow stuffed toy should go to the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Put the brown stuffed toy and the yellow stuffed toy in the center of the table.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Deposit the brown stuffed toy together with the yellow stuffed toy at the table center.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Put the white plate to the front left of the asparagus with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Using the left hand, place the white plate to the front left of the asparagus, right side up with the front as the reference point.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Have the left arm set the white plate front-left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "With the left hand, position the white plate to the asparagus's front left, oriented right side up using the front as the reference point.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Place the white plate to the front left of the asparagus, right side up with the front as the reference point.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Set the white plate front-left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Position the white plate to the asparagus's front left, with the front as the orientation reference point and the plate right side up.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Using the left hand, place the white plate to the front left of the asparagus.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Have the left arm set the white plate front-left of the asparagus.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "With the left hand, position the white plate to the asparagus's front left.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Place the white plate to the front left of the asparagus.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Set the white plate front-left of the asparagus.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Position the white plate to the asparagus's front left.", + "start_idx": 1542, + "end_idx": 1608 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal pickup and a full-object grasp.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Using the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Put the brown stuffed toy in front of the croissant with the left hand facing top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the croissant, facing top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the croissant with its orientation toward the top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "With the left hand, position the brown stuffed toy before the croissant so it faces top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Place the brown stuffed toy in front of the croissant facing top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Set the brown stuffed toy before the croissant with its orientation toward the top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Position the brown stuffed toy in front of the croissant so it faces top right.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the croissant.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Have the left arm place the brown stuffed toy before the croissant.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "With the left hand, set the brown stuffed toy in front of the croissant.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Put the brown stuffed toy in front of the croissant.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Place the brown stuffed toy before the croissant.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Set the brown stuffed toy in front of the croissant.", + "start_idx": 1716, + "end_idx": 1746 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal pickup while holding the whole object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "From the table, collect the brown stuffed toy at a diagonal angle with a full-object grasp.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "From the table, take the brown stuffed toy at a diagonal angle.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1929, + "end_idx": 1959 + }, + { + "text": "Put the brown stuffed toy in front of the white plate with the left hand facing bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the white plate facing bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the white plate with its orientation toward the bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "With the left hand, position the brown stuffed toy before the white plate so it faces bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Place the brown stuffed toy in front of the white plate facing bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Set the brown stuffed toy before the white plate with its orientation toward the bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Position the brown stuffed toy in front of the white plate so it faces bottom right.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the white plate.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "With the left hand, set the brown stuffed toy before the white plate.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Have the left arm place the brown stuffed toy in front of the white plate.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Put the brown stuffed toy in front of the white plate.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Set the brown stuffed toy before the white plate.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Position the brown stuffed toy in front of the white plate.", + "start_idx": 1959, + "end_idx": 1992 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach while enclosing the whole item.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "With the left hand, collect the croissant from the table diagonally, holding the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Take the croissant from the table with a diagonal approach while holding the whole object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "From the table, retrieve the croissant diagonally and grasp the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Pick up the croissant from the table with the left hand, grasping the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Using the left hand, take the croissant from the table and hold the whole object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Have the left hand retrieve the croissant from the table, enclosing the entire object.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "With the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Take the croissant from the table with the left hand.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Pick up the croissant from the table diagonally.", + "start_idx": 1992, + "end_idx": 2016 + }, + { + "text": "Place the croissant to the front right of the corn with the left hand.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Using the left hand, set the croissant in front of and to the right of the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Have the left arm place the croissant at the corn's front-right side.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "With the left hand, position the croissant to the corn's front right.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Place the croissant to the front right of the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Set the croissant at the corn's front-right side.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Position the croissant in front of and to the right of the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Put the croissant by the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Place the croissant next to the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Set the croissant near the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Put the croissant at the corn's side.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Using the left hand, place the croissant by the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Have the left arm set the croissant next to the corn.", + "start_idx": 2016, + "end_idx": 2046 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Have the left arm take the corn from the table, approaching diagonally and holding it at the middle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "With the left hand, retrieve the corn from the table with a diagonal approach, grasping its middle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach by holding the middle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Take the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 2046, + "end_idx": 2070 + }, + { + "text": "Put the corn to the left of the white plate with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Using the left hand, place the corn to the left of the white plate with the tip facing bottom left.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Have the left arm set the corn to the left of the white plate, oriented bottom-left from the tip.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "With the left hand, position the corn left of the white plate so its tip points toward the bottom left.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Place the corn to the left of the white plate with the tip facing bottom left.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Set the corn left of the white plate, with the tip oriented toward the bottom left.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Position the corn to the left of the white plate, tip pointing bottom left.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Using the left hand, put the corn to the left of the white plate.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Have the left arm place the corn left of the white plate.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "With the left hand, set the corn to the left of the white plate.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Place the corn to the left of the white plate.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Set the corn left of the white plate.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Position the corn to the left of the white plate.", + "start_idx": 2070, + "end_idx": 2106 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Take the croissant from the table diagonally while holding the entire object.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Take the croissant from the table with the left hand.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Put the croissant to the left of the corn with the left hand.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Using the left hand, place the croissant to the left of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Have the left arm set the croissant down to the corn's left side.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "With the left hand, position the croissant left of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Place the croissant to the left of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Set the croissant down on the left side of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Position the croissant left of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Move the croissant to the corn's left side.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Arrange the croissant beside the corn on its left.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Put the croissant next to the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Set the croissant by the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Place the croissant on the left side of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Have the croissant placed to the left of the corn.", + "start_idx": 2130, + "end_idx": 2166 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Take the brown stuffed toy from the table diagonally using an all-over grasp.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Take the brown stuffed toy from the table diagonally.", + "start_idx": 2166, + "end_idx": 2190 + }, + { + "text": "Put the brown stuffed toy in front of the croissant with the left hand facing top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the croissant with it facing the top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the croissant, oriented toward the top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "With the left hand, position the brown stuffed toy in front of the croissant so it faces top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Place the brown stuffed toy in front of the croissant with it facing the top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Set the brown stuffed toy in front of the croissant, oriented top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Position the brown stuffed toy in front of the croissant so it faces the top right.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "With the left hand, put the brown stuffed toy in front of the croissant.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the croissant.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the croissant.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Put the brown stuffed toy in front of the croissant.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Set the brown stuffed toy in front of the croissant.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Position the brown stuffed toy in front of the croissant.", + "start_idx": 2190, + "end_idx": 2220 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Have the left arm pick the brown stuffed toy off the table diagonally with a whole-object grasp.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table on a diagonal, holding the entire object.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Take the brown stuffed toy off the table diagonally with a whole-object grasp.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Grab the brown stuffed toy from the table on a diagonal angle, enclosing the entire object.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Have the left arm take the brown stuffed toy off the table.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "With the left hand, grab the brown stuffed toy from the table.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Take the brown stuffed toy off the table at a diagonal angle.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Grab the brown stuffed toy from the table diagonally.", + "start_idx": 2418, + "end_idx": 2457 + }, + { + "text": "Put the brown stuffed toy to the right of the white plate with the left hand facing top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the white plate with its front facing the top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the white plate, front oriented toward the top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the white plate so its front points top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Place the brown stuffed toy to the right of the white plate with its front facing the top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Set the brown stuffed toy to the right of the white plate, front pointing toward the top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Position the brown stuffed toy to the right of the white plate so the front faces top right.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the white plate.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the white plate.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the white plate.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Put the brown stuffed toy to the right of the white plate.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Place the brown stuffed toy to the right of the white plate.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Set the brown stuffed toy to the right of the white plate.", + "start_idx": 2457, + "end_idx": 2487 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Using the left hand, collect the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Retrieve the yellow stuffed toy from the table diagonally while grasping the entire object.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table using a whole-object grasp.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Have the left arm retrieve the yellow stuffed toy from the table with a diagonal approach.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 2556, + "end_idx": 2592 + }, + { + "text": "Place the yellow stuffed toy behind the white plate with the left hand facing forwards.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Using the left hand, place the yellow stuffed toy behind the white plate facing forwards.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Have the left arm set the yellow stuffed toy behind the white plate with its front facing forward.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "With the left hand, position the yellow stuffed toy behind the white plate so it faces forwards.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Place the yellow stuffed toy behind the white plate facing forwards.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Set the yellow stuffed toy behind the white plate with its front forward.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Position the yellow stuffed toy behind the white plate so it faces forward.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Using the left hand, place the yellow stuffed toy behind the white plate.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Have the left arm set the yellow stuffed toy behind the white plate.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "With the left hand, position the yellow stuffed toy behind the white plate.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Place the yellow stuffed toy behind the white plate.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Set the yellow stuffed toy behind the white plate.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Position the yellow stuffed toy behind the white plate.", + "start_idx": 2592, + "end_idx": 2628 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup from the middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "With the left hand, grasp the corn from the table diagonally at its middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Take the corn from the table with a diagonal approach from the middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Grasp the corn from the table diagonally from its middle.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Using the left hand, grasp the corn from the table.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 2628, + "end_idx": 2667 + }, + { + "text": "Put the corn in front of the brown stuffed toy with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Using the left hand, place the corn in front of the brown stuffed toy with the tip facing bottom left.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Have the left arm set the corn in front of the brown stuffed toy, oriented bottom left at the tip.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "With the left hand, position the corn before the brown stuffed toy so its tip points bottom left.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Place the corn in front of the brown stuffed toy with the tip facing bottom left.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Set the corn before the brown stuffed toy, with the tip oriented bottom left.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Position the corn in front of the brown stuffed toy so the tip points toward the bottom left.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Put the corn in front of the brown stuffed toy.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Have the corn placed before the brown stuffed toy.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Set the corn in front of the brown stuffed toy.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Using the left hand, place the corn in front of the brown stuffed toy.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "With the left arm, set the corn before the brown stuffed toy.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Have the left hand position the corn in front of the brown stuffed toy.", + "start_idx": 2667, + "end_idx": 2703 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Have the left arm take the asparagus from the table, grasping it diagonally at the middle.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "With the left hand, grasp the asparagus from the table at the middle on a diagonal.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Take the asparagus from the table, grasping it diagonally at the middle.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Grasp the asparagus from the table at the middle with a diagonal approach.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Put the asparagus in front of the croissant with the left hand with its tip facing top right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Using the left hand, place the asparagus in front of the croissant with its tip facing the top right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Have the left arm set the asparagus before the croissant, tip oriented toward the top right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "With the left hand, position the asparagus in front of the croissant so its tip points to the upper right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Place the asparagus in front of the croissant with its tip facing the top right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Set the asparagus before the croissant, with the tip pointing toward the upper right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Position the asparagus in front of the croissant so the tip points to the top right.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Using the left hand, place the asparagus in front of the croissant.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "With the left hand, set the asparagus before the croissant.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Have the left arm position the asparagus in front of the croissant.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Place the asparagus in front of the croissant.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Set the asparagus before the croissant.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Put the asparagus in front of the croissant.", + "start_idx": 2742, + "end_idx": 2778 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Have the left hand grasp the white plate from the table with a bottom-left lip grip, approaching diagonally.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "With the left hand, secure the white plate from the table using a lip grasp at the bottom left on a diagonal angle.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Grasp the white plate from the table with a lip hold at the bottom left and a diagonal approach.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "The white plate should be picked up from the table with a bottom-left lip grip at a diagonal angle.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip at the bottom left.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grip at the bottom left.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Have the left hand grasp the white plate from the table with a lip hold at the bottom left.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Using the left hand, pick up the white plate from the table at a diagonal angle.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Grasp the white plate from the table using a lip grip at the bottom left.", + "start_idx": 2778, + "end_idx": 2817 + }, + { + "text": "Place the white plate to the right of the croissant with the left hand right side up with the front as the reference point.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Using the left hand, set the white plate to the right of the croissant right side up, using the front as the reference point.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Have the left arm place the white plate to the croissant's right, keeping it right side up relative to the front.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "With the left hand, position the white plate on the right side of the croissant, right side up from the front reference.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Place the white plate to the right of the croissant, keeping it right side up with the front as the reference point.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Set the white plate on the croissant's right side right side up, using the front as the reference point.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Position the white plate to the right of the croissant, oriented right side up relative to the front.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Using the left hand, place the white plate to the right of the croissant.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Have the left arm set the white plate on the right side of the croissant.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "With the left hand, position the white plate to the croissant's right.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Place the white plate to the right of the croissant.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Set the white plate on the right side of the croissant.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Position the white plate to the croissant's right.", + "start_idx": 2817, + "end_idx": 2850 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grasp at the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "With the left arm, grasp the asparagus from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Have the left hand pick the asparagus up from the table with a side hold at the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Grasp the asparagus from the table with a side hold on the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "The asparagus from the table should be picked up with a side grasp at the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grasp on the bottom.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Have the left arm grasp the asparagus from the table with a side hold at the bottom.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Using the left hand, pick up the asparagus from the table diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "With the left arm, take the asparagus from the table diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "The asparagus from the table should be grasped with the left hand at the bottom diagonally.", + "start_idx": 2850, + "end_idx": 2880 + }, + { + "text": "Put the asparagus in front of the white plate with the left hand with the tip facing top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Using the left hand, place the asparagus in front of the white plate with its tip pointing to the top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Have the left arm set the asparagus in front of the white plate, tip oriented toward the top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "With the left hand, position the asparagus before the white plate so the tip faces top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Place the asparagus in front of the white plate with its tip pointing to the top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Set the asparagus before the white plate, with the tip facing the top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Position the asparagus in front of the white plate so its tip points top left.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Using the left hand, put the asparagus in front of the white plate.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "With the left hand, place the asparagus before the white plate.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Have the left arm set the asparagus in front of the white plate.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Put the asparagus in front of the white plate.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Set the asparagus before the white plate.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Position the asparagus in front of the white plate.", + "start_idx": 2880, + "end_idx": 2919 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Have the left arm pick the croissant up from the table with a diagonal approach, enclosing the whole item.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "With the left hand, collect the croissant from the table diagonally using a whole-object grasp.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Take the croissant from the table with a diagonal approach, enclosing the whole item.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "From the table, pick the croissant up diagonally with a full-object hold.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "With the left hand, collect the croissant from the table.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "From the table, take the croissant with the left hand at a diagonal approach.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Have the left arm pick up the croissant from the table with a diagonal approach.", + "start_idx": 2919, + "end_idx": 2949 + }, + { + "text": "Put the croissant on top of the white plate with the left hand.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Using the left hand, place the croissant on top of the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Have the left arm set the croissant atop the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "With the left hand, position the croissant on the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Place the croissant on top of the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Set the croissant atop the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Put the croissant onto the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Position the croissant on the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Arrange the croissant atop the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Transfer the croissant onto the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Using the left hand, place the croissant on the white plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Have the left arm set the croissant on top of the plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Put the croissant on top of the plate.", + "start_idx": 2949, + "end_idx": 2973 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally, gripping the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "From the table, retrieve the yellow stuffed toy diagonally while enclosing the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Pick up the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table while grasping the entire object.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "With the left hand, take the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Retrieve the yellow stuffed toy from the table.", + "start_idx": 3108, + "end_idx": 3150 + }, + { + "text": "Put the yellow stuffed toy to the right of the white plate with the left hand facing top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the white plate with its front facing the top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the right of the white plate, front oriented toward the top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the right of the white plate so the front points top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Place the yellow stuffed toy to the right of the white plate with its front facing the top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Set the yellow stuffed toy to the right of the white plate, front pointing toward the top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Position the yellow stuffed toy to the right of the white plate with the front oriented top left.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the white plate.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "With the left hand, set the yellow stuffed toy to the right of the white plate.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Have the left arm position the yellow stuffed toy to the right of the white plate.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Place the yellow stuffed toy to the right of the white plate.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Set the yellow stuffed toy beside the white plate on its right side.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Have the left hand place the yellow stuffed toy to the right of the white plate.", + "start_idx": 3150, + "end_idx": 3180 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Have the left arm pick the white plate off the table with a diagonal lip grasp at its bottom left.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "With the left hand, grasp the white plate from the table by the bottom-left edge using a diagonal lip hold.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Take the white plate off the table with a diagonal lip hold at the bottom left.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Grasp the white plate from the table at the bottom-left edge with a diagonal lip grasp.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "With the left hand, pick up the white plate from the table.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Have the left arm take the white plate off the table.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Using the left hand, grasp the white plate from the table.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Take the white plate off the table using a diagonal lip grasp at the bottom left.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Grasp the white plate from the table.", + "start_idx": 3180, + "end_idx": 3222 + }, + { + "text": "Dump the croissant to the left of the yellow stuffed toy with the left hand.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Using the left hand, dump the croissant to the left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Have the left arm place the croissant to the left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "With the left hand, set down the croissant on the left side of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Dump the croissant to the left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Place the croissant on the left side of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Set the croissant down to the left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Position the croissant left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "The croissant goes to the left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Put the croissant to the yellow stuffed toy's left.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Leave the croissant on the left side of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Arrange the croissant left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Deposit the croissant to the left of the yellow stuffed toy.", + "start_idx": 3222, + "end_idx": 3255 + }, + { + "text": "Put the white plate to the right of the brown stuffed toy with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Using the left hand, place the white plate to the right of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Have the left arm set the white plate to the right of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "With the left hand, position the white plate to the right of the brown stuffed toy so it stays right side up using the front as the reference point.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Place the white plate to the right of the brown stuffed toy, right side up with the front as the reference point.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Set the white plate to the right of the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Position the white plate to the right of the brown stuffed toy so the plate is right side up with the front as the reference point.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Using the left hand, put the white plate to the right of the brown stuffed toy.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Have the left arm place the white plate to the right of the brown stuffed toy.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "With the left hand, set the white plate to the right of the brown stuffed toy.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Place the white plate to the right of the brown stuffed toy.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Set the white plate to the right of the brown stuffed toy.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Position the white plate to the right of the brown stuffed toy.", + "start_idx": 3255, + "end_idx": 3312 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping its middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "With the left hand, collect the asparagus from the table, holding it at a diagonal angle around the center.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle from its middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Pick up the asparagus from the table with the left hand, grasping the middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "With the left hand, pick up the asparagus from the table diagonally.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "The asparagus from the table should be picked up by the middle.", + "start_idx": 3444, + "end_idx": 3480 + }, + { + "text": "Put the asparagus to the top side of the table with the left hand with the tip facing top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Using the left hand, place the asparagus on the table's top side with the tip pointing to the top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Have the left arm set the asparagus at the top side of the table, tip directed top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "With the left hand, position the asparagus on the top side of the table so its tip faces the top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Place the asparagus on the top side of the table with the tip facing the top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Set the asparagus at the table's top side with its tip pointing top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Position the asparagus on the table's top side, tip directed to the top right.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Using the left hand, put the asparagus on the top side of the table.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "With the left hand, place the asparagus at the table's top side.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Have the left arm set the asparagus on the top side of the table.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Put the asparagus on the top side of the table.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Set the asparagus at the table's top side.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Position the asparagus on the table's top side.", + "start_idx": 3480, + "end_idx": 3519 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Have the left arm pick the croissant off the table diagonally with a full-object grasp.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "With the left hand, collect the croissant from the table at a diagonal angle by enclosing the entire object.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Take the croissant off the table diagonally while holding the whole object.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "From the table, pick the croissant up at a diagonal angle with a full-object hold.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "From the table, collect the croissant with a full-object grasp.", + "start_idx": 3519, + "end_idx": 3546 + }, + { + "text": "Put the croissant to the right of the yellow stuffed toy with the left hand.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Using the left hand, place the croissant to the right of the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Have the left arm set the croissant down to the yellow stuffed toy's right.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "With the left hand, position the croissant on the right side of the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Place the croissant to the right of the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Set the croissant down on the right side of the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Position the croissant to the yellow stuffed toy's right.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Put the croissant beside the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Move the croissant next to the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Place the croissant by the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Set down the croissant to the right of the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Arrange the croissant on the yellow stuffed toy's right side.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Have the croissant placed to the right of the yellow stuffed toy.", + "start_idx": 3546, + "end_idx": 3621 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "With the left arm, retrieve the juice pouch from the table by gripping its top from the side at a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Have the left hand pick the juice pouch off the table with a side hold on the top from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Retrieve the juice pouch from the table by grasping the top from the side at a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Pick the juice pouch up from the table with a side hold on its top from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "With the left arm, take the juice pouch from the table using a side grasp at the top.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Have the left hand retrieve the juice pouch from the table from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Using the left hand, grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "From the table, take the juice pouch with the left hand.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Get the juice pouch from the table.", + "start_idx": 4044, + "end_idx": 4074 + }, + { + "text": "Place the juice pouch to the left of the corn with the left hand right side up with the front as the reference point.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the corn right side up, using the front as the reference point.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Have the left arm place the juice pouch left of the corn, keeping it right side up relative to the front.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "With the left hand, position the juice pouch on the corn's left side, right side up with the front as the reference point.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Place the juice pouch to the left of the corn right side up with the front as the reference point.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Set the juice pouch on the left side of the corn, keeping it right side up relative to the front.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Position the juice pouch left of the corn, right side up using the front as the reference point.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the corn.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Have the left arm set the juice pouch on the left side of the corn.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "With the left hand, position the juice pouch left of the corn.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Put the juice pouch to the left of the corn.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Set the juice pouch on the corn's left side.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Position the juice pouch left of the corn.", + "start_idx": 4074, + "end_idx": 4104 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the left in a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a side hold on the left at a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table using a side grasp on the left in a diagonal orientation.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the left in a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Retrieve the juice pouch from the table using a side hold at the left in a diagonal orientation.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "From the table, grasp the juice pouch with a side grip at the left in a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Have the left arm take the juice pouch from the table using a side grasp.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table using a side hold.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Pick up the juice pouch from the table in a diagonal angle.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 4104, + "end_idx": 4155 + }, + { + "text": "Put the juice pouch to the left of the yellow stuffed toy with the left hand right side up.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the yellow stuffed toy right side up.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Have the left arm set the juice pouch to the left of the yellow stuffed toy in an upright orientation.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "With the left hand, position the juice pouch left of the yellow stuffed toy so its right side faces up.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Place the juice pouch to the left of the yellow stuffed toy right side up.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Set the juice pouch left of the yellow stuffed toy with its right side up.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Position the juice pouch to the left of the yellow stuffed toy in an upright orientation.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "With the left hand, put the juice pouch to the left of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Using the left hand, set the juice pouch left of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Have the left arm position the juice pouch to the left of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Put the juice pouch to the left of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Set the juice pouch left of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Position the juice pouch to the left of the yellow stuffed toy.", + "start_idx": 4155, + "end_idx": 4194 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "With the left hand, retrieve the corn from the table by grasping its middle at a diagonal angle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 4308, + "end_idx": 4344 + }, + { + "text": "Put the corn to the left of the juice pouch with the left hand facing forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Using the left hand, place the corn to the left of the juice pouch with its tip facing forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Have the left arm set the corn to the left of the juice pouch, tip pointed forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "With the left hand, position the corn left of the juice pouch so the tip faces forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Place the corn to the left of the juice pouch with its tip facing forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Set the corn left of the juice pouch, with the tip pointed forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Position the corn to the left of the juice pouch so it faces forwards.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Using the left hand, place the corn to the left of the juice pouch.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Have the left arm set the corn left of the juice pouch.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "With the left hand, position the corn to the left of the juice pouch.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Put the corn to the left of the juice pouch.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Set the corn left of the juice pouch.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Position the corn to the left of the juice pouch.", + "start_idx": 4344, + "end_idx": 4383 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a left-side hold at a diagonal angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "With the left hand, secure the juice pouch from the table using a side grasp on the left in a diagonal approach.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Grasp the juice pouch from the table with a left-side hold in a diagonal approach.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Have the left arm take the juice pouch from the table from the left side.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "With the left hand, grasp the juice pouch from the table at a diagonal angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table in a diagonal pick angle.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Take the juice pouch from the table with a side grip at the left.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Grasp the juice pouch from the table.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Put the juice pouch to the left of the asparagus with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the asparagus, right side up, with the front as the orientation reference point.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Have the left arm set the juice pouch left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "With the left hand, position the juice pouch to the asparagus's left, right side up, using the front as the reference point.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Place the juice pouch to the left of the asparagus, right side up, with the front as the orientation reference point.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Set the juice pouch left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Position the juice pouch to the asparagus's left, with the front as the orientation reference point and the pouch right side up.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Put the juice pouch to the left of the asparagus.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Set the juice pouch down to the asparagus's left.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Have the juice pouch placed left of the asparagus.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Using the left hand, put the juice pouch to the left of the asparagus.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "With the left hand, set the juice pouch down to the asparagus's left.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Have the left arm place the juice pouch left of the asparagus.", + "start_idx": 4479, + "end_idx": 4515 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally while holding the whole object.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Take the croissant from the table diagonally while holding the whole object.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "With the left hand, take the croissant from the table at a diagonal angle.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Have the left arm retrieve the croissant from the table.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Get the croissant from the table at a diagonal angle.", + "start_idx": 4731, + "end_idx": 4770 + }, + { + "text": "Put the croissant in front of the juice pouch with the left hand.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the left hand, place the croissant in front of the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the left arm set the croissant down in front of the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the left hand, position the croissant before the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Place the croissant in front of the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Set the croissant down in front of the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Position the croissant before the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "The croissant goes in front of the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Arrange the croissant in front of the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "In front of the juice pouch, place the croissant.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the croissant placed before the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Set down the croissant before the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Put the croissant before the juice pouch.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "With the left hand, collect the asparagus from the table diagonally by grasping the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Take the asparagus from the table on a diagonal while holding the center.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Grab the asparagus from the table diagonally at the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Using the left hand, pick up the asparagus from the table grasping the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Have the left arm collect the asparagus from the table at the center.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Get the asparagus from the table with the left hand.", + "start_idx": 4803, + "end_idx": 4836 + }, + { + "text": "Put the asparagus to the right of the croissant with the left hand facing top right with the tip as the reference point.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Using the left hand, place the asparagus to the right of the croissant with the tip facing top right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Have the left arm set the asparagus to the croissant's right, oriented top right from the tip.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "With the left hand, position the asparagus right of the croissant so its tip points top right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Place the asparagus to the right of the croissant with its tip facing top right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Set the asparagus to the croissant's right, with the tip oriented top right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Position the asparagus right of the croissant so the tip points top right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Arrange the asparagus to the right of the croissant.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Place the asparagus to the right of the croissant.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Set the asparagus down to the croissant's right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Using the left hand, place the asparagus to the right of the croissant.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "With the left hand, set the asparagus to the croissant's right.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Have the left arm position the asparagus to the right of the croissant.", + "start_idx": 4836, + "end_idx": 4875 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "With the left hand, collect the yellow stuffed toy from the table diagonally using a whole-object hold.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Collect the yellow stuffed toy from the table diagonally using a whole-object hold.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "With the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Using the left hand, collect the yellow stuffed toy from the table.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "With the left hand, pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 4875, + "end_idx": 4905 + }, + { + "text": "Put the yellow stuffed toy to the right of the asparagus with the left hand facing top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the asparagus with its front facing the top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the asparagus's right, front pointed toward the top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the right side of the asparagus, front facing top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Place the yellow stuffed toy to the right of the asparagus with its front facing the top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Set the yellow stuffed toy on the right side of the asparagus, front pointed toward the top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Position the yellow stuffed toy to the asparagus's right with the front facing top right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the asparagus.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the right side of the asparagus.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the asparagus's right.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Put the yellow stuffed toy to the right of the asparagus.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Set the yellow stuffed toy on the right side of the asparagus.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Have the left arm place the yellow stuffed toy to the right of the asparagus.", + "start_idx": 4905, + "end_idx": 4935 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a side hold on the left at a diagonal angle.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "With the left hand, pick the juice pouch up from the table using a side grasp on the left in a diagonal approach.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Grasp the juice pouch from the table at the left with a side hold in a diagonal approach.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "With the left hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Have the left arm take the juice pouch from the table with a side grasp.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Using the left hand, grasp the juice pouch from the table with a side hold.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Take the juice pouch from the table with the left hand from the left side.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Grasp the juice pouch from the table with the left hand.", + "start_idx": 4935, + "end_idx": 4968 + }, + { + "text": "Place the juice pouch to the left of the corn with the left hand right side up with the front as the reference point.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the corn, right side up with the front as the reference point.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Have the left arm place the juice pouch left of the corn, keeping it right side up relative to the front.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "With the left hand, position the juice pouch on the corn's left side, oriented right side up from the front reference.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Place the juice pouch to the left of the corn.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Set the juice pouch on the left side of the corn.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Position the juice pouch left of the corn.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Arrange the juice pouch to the left of the corn.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the corn.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Have the left arm set the juice pouch on the corn's left side.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "With the left hand, position the juice pouch left of the corn.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Place the juice pouch to the left of the corn with the front as the reference point.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Set the juice pouch on the left side of the corn, right side up.", + "start_idx": 4968, + "end_idx": 5004 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a diagonal lip grasp at the left.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Have the left arm take the white plate from the table using a diagonal lip grasp on the left side.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "With the left hand, grasp the white plate from the table via a left-side diagonal lip grip.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the left.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Grasp the white plate from the table with a diagonal lip grip on the left side.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Take the white plate from the table with a diagonal left-side lip grasp.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Have the left arm take the white plate from the table.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "With the left hand, grasp the white plate from the table.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Grasp the white plate from the table.", + "start_idx": 5070, + "end_idx": 5112 + }, + { + "text": "Place the white plate behind the croissant with the left hand right side up.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Using the left hand, set the white plate behind the croissant right side up.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Have the left arm place the white plate behind the croissant with its right side facing up.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "With the left hand, position the white plate behind the croissant upright on its right side.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Place the white plate behind the croissant right side up.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Set the white plate behind the croissant with its right side facing up.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Position the white plate behind the croissant upright.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Using the left hand, place the white plate behind the croissant.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Have the left arm set the white plate behind the croissant.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "With the left hand, position the white plate behind the croissant.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Put the white plate behind the croissant.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Set the white plate behind the croissant.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Position the white plate behind the croissant.", + "start_idx": 5112, + "end_idx": 5154 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, gripping the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Have the left hand take the asparagus from the table on a diagonal, grasping its middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "With the left hand, collect the asparagus from the table at a diagonal angle by holding the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, gripping the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Take the asparagus from the table on a diagonal, grasping the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "From the table, collect the asparagus at a diagonal angle while holding the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Pick up the asparagus from the table with the left hand, gripping the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "With the left hand, collect the asparagus from the table.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Pick up the asparagus from the table, gripping the middle.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Take the asparagus from the table on a diagonal.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "From the table, collect the asparagus.", + "start_idx": 5154, + "end_idx": 5178 + }, + { + "text": "Put the asparagus to the right of the white plate with the left hand facing top right with the tip as the reference point.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Using the left hand, place the asparagus to the right of the white plate with the tip facing top right.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Have the left arm set the asparagus to the right of the white plate, oriented top right from the tip.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "With the left hand, position the asparagus to the right of the white plate so its tip points top right.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Place the asparagus to the right of the white plate with the tip facing top right.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Set the asparagus to the right of the white plate, oriented top right from the tip.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Position the asparagus to the right of the white plate so the tip points top right.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Put the asparagus to the right of the white plate.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Place the asparagus beside the white plate on its right side.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Set the asparagus on the right side of the white plate.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Using the left hand, place the asparagus to the right of the white plate.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "With the left hand, set the asparagus beside the white plate on its right side.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Have the left arm position the asparagus on the right side of the white plate.", + "start_idx": 5178, + "end_idx": 5211 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Using the left hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Have the left arm pick up the yellow stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table at a diagonal angle using a full-object hold.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Retrieve the yellow stuffed toy from the table at a diagonal angle using a full-object hold.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a whole-object grasp.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 5211, + "end_idx": 5241 + }, + { + "text": "Put the yellow stuffed toy to the right of the asparagus with the left hand facing top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the asparagus with its front facing the top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the asparagus's right, oriented with the front toward the top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "With the left hand, position the yellow stuffed toy on the right side of the asparagus, front facing top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Place the yellow stuffed toy to the right of the asparagus with its front facing the top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Set the yellow stuffed toy on the right side of the asparagus, with the front toward the top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Position the yellow stuffed toy to the asparagus's right, front facing top right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the right of the asparagus.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Have the left arm set the yellow stuffed toy on the right side of the asparagus.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the asparagus's right.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Put the yellow stuffed toy to the right of the asparagus.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Set the yellow stuffed toy on the right side of the asparagus.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Using the left hand, place the yellow stuffed toy beside the asparagus.", + "start_idx": 5241, + "end_idx": 5271 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "At a diagonal angle, have the left hand take the croissant from the table with a whole-object grasp.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "With the left arm, retrieve the croissant from the table diagonally while holding the full object.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "At a diagonal angle, take the croissant from the table with a whole-object grasp.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Retrieve the croissant from the table diagonally while holding the full object.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "With the left arm, retrieve the croissant from the table.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "From the table, take the croissant at a diagonal angle.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5271, + "end_idx": 5310 + }, + { + "text": "Put the croissant to the left of the juice pouch with the left hand.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Using the left hand, place the croissant to the left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Have the left arm set the croissant on the left side of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "With the left hand, position the croissant left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Place the croissant to the left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Set the croissant on the left side of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Position the croissant left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "The croissant goes to the left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Move the croissant to a spot left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Put the croissant beside the juice pouch on its left side.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Arrange the croissant to the juice pouch's left.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Leave the croissant to the left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Transfer the croissant to the left of the juice pouch.", + "start_idx": 5310, + "end_idx": 5337 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left, angled diagonally.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Have the left arm grasp the white plate from the table with a lip hold on the bottom-left edge at a diagonal angle.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "With the left hand, secure the white plate from the table using a lip grasp at the bottom left in a diagonal orientation.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Grasp the white plate from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "The white plate should be taken from the table with a lip grasp at the bottom left, diagonally angled.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "With the left hand, take the white plate from the table using a lip grasp.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Have the left arm collect the white plate from the table with a lip hold.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Pick up the white plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Using the left hand, grasp the white plate from the table at the bottom left in a diagonal orientation.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Take the white plate from the table at the bottom left with a diagonal angle.", + "start_idx": 5397, + "end_idx": 5430 + }, + { + "text": "Place the white plate to the left of the juice pouch with the left hand right side up front.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Using the left hand, set the white plate to the left of the juice pouch right side up with the front facing forward.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Have the left arm place the white plate left of the juice pouch, keeping it right side up and the front forward.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "With the left hand, position the white plate to the juice pouch's left, oriented right side up with the front facing front.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Place the white plate to the left of the juice pouch right side up with the front facing forward.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Set the white plate left of the juice pouch, keeping it upright and the front forward.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Position the white plate to the juice pouch's left, right side up, front facing front.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Using the left hand, place the white plate to the left of the juice pouch.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Have the left arm set the white plate left of the juice pouch.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "With the left hand, position the white plate to the juice pouch's left.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Put the white plate to the left of the juice pouch.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Set the white plate left of the juice pouch with the front facing forward.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Using the left hand, place the white plate to the left of the juice pouch right side up.", + "start_idx": 5430, + "end_idx": 5472 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Have the left arm take the juice pouch from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a left-side hold in a diagonal pickup angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Grasp the juice pouch from the table in a diagonal pick angle with a side hold at the left.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Have the left arm take the juice pouch from the table using a side grasp.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "With the left hand, grasp the juice pouch from the table with a side hold.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at the left in a diagonal pick angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Take the juice pouch from the table with the left hand in a diagonal pick angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Grasp the juice pouch from the table using a side grip.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Put the juice pouch on top of the white plate with the left hand right side up.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Using the left hand, place the juice pouch on top of the white plate right side up.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Have the left arm set the juice pouch atop the white plate with its right side up.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "With the left hand, position the juice pouch on the white plate in a right-side-up orientation.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Place the juice pouch on top of the white plate right side up.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Set the juice pouch atop the white plate with its right side up.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Position the juice pouch on the white plate right side up.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Put the juice pouch on top of the white plate with the left hand.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Using the left hand, place the juice pouch atop the white plate.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Have the left arm put the juice pouch on the white plate.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Put the juice pouch on top of the white plate.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Set the juice pouch atop the white plate.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Position the juice pouch on the white plate.", + "start_idx": 5589, + "end_idx": 5625 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom diagonally.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal side grasp at the bottom.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "With the left hand, grasp the asparagus from the table on its bottom side at a diagonal angle.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom diagonally.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Grasp the asparagus from the table diagonally at the bottom.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Take the asparagus from the table from the bottom at a diagonal angle.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grasp.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Have the left hand grasp the asparagus from the table from the side.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Pick up the asparagus from the table diagonally at the bottom.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "From the table, take the asparagus with a side grip.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5688, + "end_idx": 5718 + }, + { + "text": "Put the asparagus in front of the yellow stuffed toy with the left hand facing top right with the tip as the reference point.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Using the left hand, place the asparagus in front of the yellow stuffed toy with the tip facing top right.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Have the left arm set the asparagus in front of the yellow stuffed toy, tip oriented toward the top right.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "With the left hand, position the asparagus before the yellow stuffed toy so its tip points top right.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Place the asparagus in front of the yellow stuffed toy with the tip facing top right.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Set the asparagus before the yellow stuffed toy, with the tip oriented toward the top right.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Position the asparagus in front of the yellow stuffed toy so the tip points to the top right.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Using the left hand, put the asparagus in front of the yellow stuffed toy.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "With the left hand, place the asparagus before the yellow stuffed toy.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Have the left arm position the asparagus in front of the yellow stuffed toy.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Put the asparagus in front of the yellow stuffed toy.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Set the asparagus before the yellow stuffed toy.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Place the asparagus in front of the yellow stuffed toy.", + "start_idx": 5718, + "end_idx": 5754 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Take the corn from the table at a diagonal angle while holding the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, grasping it at the middle.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Take the corn from the table.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 5754, + "end_idx": 5793 + }, + { + "text": "Put the corn to the left of the asparagus with the left hand facing top left with the tip as the reference point.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Using the left hand, place the corn to the left of the asparagus with the tip facing top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Have the left arm set the corn to the asparagus's left, oriented top left by its tip.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "With the left hand, position the corn left of the asparagus, using the tip as the reference point and facing top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Place the corn to the left of the asparagus with the tip facing top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Set the corn to the asparagus's left, oriented top left by the tip.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Position the corn left of the asparagus, with the tip as the reference point facing top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Using the left hand, place the corn to the left of the asparagus.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Have the left arm set the corn to the asparagus's left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "With the left hand, position the corn left of the asparagus.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Put the corn to the left of the asparagus.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Set the corn to the asparagus's left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Position the corn left of the asparagus.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Pick up the juice pouch from the white plate with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Using the left hand, take the juice pouch from the white plate with a side grasp at the left in a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "With the left hand, collect the juice pouch from the white plate using a side grip on the left at a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Have the left arm pick the juice pouch off the white plate with a side hold at the left in a diagonal orientation.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Pick up the juice pouch from the white plate using a side grip at the left in a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Take the juice pouch off the white plate with a side grasp on the left at a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "The juice pouch from the white plate should be picked up with a side hold at the left in a diagonal orientation.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Using the left hand, pick up the juice pouch from the white plate with a side grip.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "With the left hand, remove the juice pouch from the white plate using a side grasp.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Have the left arm take the juice pouch off the white plate with a side hold.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Using the left hand, pick up the juice pouch from the white plate at the left in a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "With the left hand, remove the juice pouch from the white plate in a diagonal orientation on the left.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Pick up the juice pouch from the white plate at the left in a diagonal angle.", + "start_idx": 5901, + "end_idx": 5943 + }, + { + "text": "Place the juice pouch to the center of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Using the left hand, set the juice pouch at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Have the left arm place the juice pouch in the table center, keeping it right side up relative to the front.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "With the left hand, position the juice pouch at the center of the table so it is right side up using the front as reference.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Place the juice pouch at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Set the juice pouch in the center of the table, keeping it right side up relative to the front.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Position the juice pouch at the table center so it remains right side up with the front as reference.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Using the left hand, place the juice pouch at the center of the table.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Have the left arm set the juice pouch in the center of the table.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "With the left hand, position the juice pouch at the table center.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Place the juice pouch at the center of the table.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Set the juice pouch in the center of the table.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Position the juice pouch at the table center.", + "start_idx": 5943, + "end_idx": 5976 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Have the left arm grasp the white plate from the table using a lip hold at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "With the left hand, secure the white plate from the table in a lip grasp at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Take the white plate from the table with a lip hold at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Grasp the white plate from the table in a lip grasp at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Get the white plate from the table.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Have the left arm take the white plate from the table.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "With the left hand, grasp the white plate from the table.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Pick up the white plate from the table at the bottom left diagonal.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Take the white plate from the table with the left hand.", + "start_idx": 5976, + "end_idx": 6030 + }, + { + "text": "Put the white plate behind the asparagus with the left hand right side up with the front as the reference point.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Using the left hand, place the white plate behind the asparagus right side up, with the front as the reference point.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Have the left arm set the white plate behind the asparagus in a right-side-up orientation, referenced to the front.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "With the left hand, position the white plate behind the asparagus so it is right side up relative to the front.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Place the white plate behind the asparagus right side up, with the front as the reference point.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Set the white plate behind the asparagus in a right-side-up position using the front as the reference point.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Position the white plate behind the asparagus so it is right side up relative to the front.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Using the left hand, put the white plate behind the asparagus.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "With the left hand, place the white plate behind the asparagus.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Have the left arm set the white plate behind the asparagus.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Put the white plate behind the asparagus.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Set the white plate behind the asparagus.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Position the white plate behind the asparagus.", + "start_idx": 6030, + "end_idx": 6075 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Take the corn from the table diagonally while holding the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Retrieve the corn from the table by the middle.", + "start_idx": 6075, + "end_idx": 6108 + }, + { + "text": "Put the corn to the left of the juice pouch with the left hand with the tip facing right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Using the left hand, place the corn to the left of the juice pouch with its tip facing right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Have the left arm set the corn left of the juice pouch, tip pointed to the right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "With the left hand, position the corn to the left of the juice pouch so the tip faces right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Place the corn to the left of the juice pouch with its tip facing right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Set the corn left of the juice pouch, with the tip pointed right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Position the corn to the left of the juice pouch so its tip faces right.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Using the left hand, place the corn to the left of the juice pouch.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Have the left arm set the corn left of the juice pouch.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "With the left hand, position the corn to the left of the juice pouch.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Place the corn to the left of the juice pouch.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Set the corn left of the juice pouch.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Position the corn to the left of the juice pouch.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Have the left arm grasp the white plate from the table with a bottom-left lip hold at a diagonal pick angle.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "With the left hand, secure the white plate from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Take the white plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Grasp the white plate from the table with a lip hold at the bottom left on a diagonal angle.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "The white plate should be picked from the table using a bottom-left lip grasp with a diagonal approach.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grip.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "With the left hand, collect the white plate from the table using a lip grasp.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Have the left arm take the white plate from the table with a bottom-left lip hold.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Using the left hand, grasp the white plate from the table at the bottom left with a diagonal pick angle.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Take the white plate from the table using a lip grip.", + "start_idx": 6225, + "end_idx": 6264 + }, + { + "text": "Put the white plate to the right of the asparagus with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Using the left hand, place the white plate to the right of the asparagus right side up, with the front as the orientation reference point.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Have the left arm set the white plate to the asparagus's right, keeping it right side up relative to the front.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "With the left hand, position the white plate on the right side of the asparagus, right side up using the front as reference.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Place the white plate to the right of the asparagus, keeping it right side up with the front as the orientation reference point.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Set the white plate on the right side of the asparagus right side up, using the front as the reference point.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Position the white plate to the asparagus's right, right side up relative to the front.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Arrange the white plate to the right of the asparagus with its front as the orientation reference point, right side up.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Using the left hand, place the white plate to the right of the asparagus.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Have the left arm set the white plate on the right side of the asparagus.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "With the left hand, position the white plate to the asparagus's right.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Place the white plate to the right of the asparagus.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Set the white plate on the right side of the asparagus.", + "start_idx": 6264, + "end_idx": 6312 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "With the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Using the left hand, take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Have the left arm collect the asparagus from the table at a diagonal angle by grasping its middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "The asparagus should be picked up from the table at a diagonal angle by the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "With the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Using the left hand, take the asparagus from the table.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Have the left arm collect the asparagus from the table by grasping the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "The asparagus should be picked up from the table at a diagonal angle.", + "start_idx": 6375, + "end_idx": 6405 + }, + { + "text": "Put the asparagus on top of the white plate with the left hand facing top right with the tip as the reference point.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Using the left hand, place the asparagus on the white plate with the tip facing the top right.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Have the left arm set the asparagus on top of the white plate, oriented top right by its tip.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "With the left hand, position the asparagus atop the white plate so the tip points to the upper right.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Place the asparagus on top of the white plate with the tip facing the top right.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Set the asparagus on the white plate, with the tip oriented toward the upper right.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Position the asparagus atop the white plate so its tip points top right.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Using the left hand, put the asparagus on top of the white plate.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "With the left hand, set the asparagus atop the white plate.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Have the left arm place the asparagus on the white plate.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Put the asparagus on top of the white plate.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Set the asparagus atop the white plate.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Place the asparagus on the white plate.", + "start_idx": 6405, + "end_idx": 6438 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the left and a diagonal angle.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Have the left arm take the juice pouch from the table, grasping its left side with a diagonal side hold.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "With the left hand, collect the juice pouch from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the left and a diagonal angle.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Take the juice pouch from the table, using a side hold on the left with a diagonal angle.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Grasp the juice pouch from the table at the left with a diagonal side grip.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Remove the juice pouch from the table with the left hand using a side grip.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Take the juice pouch from the table using a side grip.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Grasp the juice pouch from the table.", + "start_idx": 6579, + "end_idx": 6621 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "With the left hand, retrieve the corn from the table by holding the middle at a diagonal angle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Take the corn from the table by grasping its middle at a diagonal angle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 6738, + "end_idx": 6765 + }, + { + "text": "Put the corn to the right of the white plate with the left hand facing forwards with the tip forwards.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Using the left hand, place the corn to the right of the white plate with its tip pointing forward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Have the left arm set the corn to the right of the white plate, oriented forward at the tip.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "With the left hand, position the corn to the right of the white plate so the tip faces forward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Place the corn to the right of the white plate with its tip pointing forward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Set the corn to the right of the white plate with the tip facing forward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Position the corn to the right of the white plate so the tip points forward.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Using the left hand, put the corn to the right of the white plate.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "With the left hand, set the corn to the right of the white plate.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Have the left arm place the corn to the right of the white plate.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Place the corn to the right of the white plate.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Set the corn to the right of the white plate.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Position the corn to the right of the white plate.", + "start_idx": 6765, + "end_idx": 6804 + }, + { + "text": "Pick up the asparagus from the white plate with the left hand at a diagonal angle from the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Using the left hand, pick up the asparagus from the white plate at a diagonal angle from the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Have the left arm grasp the asparagus from the white plate diagonally at its middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "With the left hand, take the asparagus off the white plate using a diagonal approach at the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Pick up the asparagus from the white plate at a diagonal angle from the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Take the asparagus off the white plate diagonally from the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Grasp the asparagus from the white plate with a diagonal approach at the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Remove the asparagus from the white plate at a diagonal angle from the middle.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Using the left hand, pick up the asparagus from the white plate.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "With the left hand, take the asparagus off the white plate.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Have the left arm grasp the asparagus from the white plate.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Pick up the asparagus from the white plate.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Remove the asparagus from the white plate.", + "start_idx": 6954, + "end_idx": 6993 + }, + { + "text": "Put the asparagus to the left of the white plate with the left hand facing top left with the tip as the reference point.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Using the left hand, place the asparagus to the left of the white plate with the tip facing top left.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Have the left arm set the asparagus to the left of the white plate, oriented top left from the tip.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "With the left hand, position the asparagus left of the white plate so its tip points toward the top left.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Place the asparagus to the left of the white plate with the tip facing top left.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Set the asparagus left of the white plate, with the tip oriented toward the top left.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Position the asparagus to the left of the white plate, keeping the tip directed top left.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Using the left hand, place the asparagus to the left of the white plate.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Have the left arm set the asparagus left of the white plate.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "With the left hand, position the asparagus to the left of the white plate.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Place the asparagus to the left of the white plate.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Set the asparagus left of the white plate.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Position the asparagus to the left of the white plate.", + "start_idx": 6993, + "end_idx": 7026 + }, + { + "text": "Pick up the white plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Have the left arm grasp the white plate from the table with a lip hold at the bottom left from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "From a diagonal angle, secure the white plate from the table with the left hand using a bottom-left lip grasp.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Take the white plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "From a diagonal angle, grasp the white plate from the table with a lip hold at the bottom left.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Secure the white plate from the table at the bottom left with a lip grasp from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "With the left hand, pick up the white plate from the table using a lip grip.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Using the left hand, take the white plate from the table with a lip hold.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Have the left arm grasp the white plate from the table with a lip grasp.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Pick up the white plate from the table with the left hand from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Using the left hand, take the white plate from the table at the bottom left.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Grasp the white plate from the table from a diagonal angle.", + "start_idx": 7026, + "end_idx": 7053 + }, + { + "text": "Place the white plate to the left of the juice pouch with the left hand right side up with the front as the orientation reference point.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Using the left hand, set the white plate to the left of the juice pouch, right side up with the front as the reference point.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Have the left arm place the white plate left of the juice pouch, keeping it right side up relative to the front.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "With the left hand, position the white plate to the juice pouch's left, oriented right side up using the front as the reference.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Place the white plate to the left of the juice pouch, right side up with the front as the reference point.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Set the white plate left of the juice pouch, keeping it right side up relative to the front.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Position the white plate to the left of the juice pouch, with the front as the orientation reference and right side up.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Using the left hand, place the white plate to the left of the juice pouch.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "With the left hand, set the white plate left of the juice pouch.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Have the left arm position the white plate to the juice pouch's left.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Place the white plate to the left of the juice pouch.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Set the white plate left of the juice pouch.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Position the white plate to the juice pouch's left.", + "start_idx": 7053, + "end_idx": 7095 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by its middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal hold at its middle.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Get the asparagus from the table diagonally.", + "start_idx": 7095, + "end_idx": 7134 + }, + { + "text": "Put the asparagus to the left of the brown stuffed toy with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Using the left hand, place the asparagus to the left of the brown stuffed toy, with the tip facing bottom right.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Have the left arm set the asparagus to the left of the brown stuffed toy, oriented bottom right at the tip.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "With the left hand, position the asparagus left of the brown stuffed toy so its tip points bottom right.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Place the asparagus to the left of the brown stuffed toy with its tip facing bottom right.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Set the asparagus left of the brown stuffed toy, oriented bottom right at the tip.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Position the asparagus to the left of the brown stuffed toy, with the tip pointed toward the bottom right.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Using the left hand, place the asparagus to the left of the brown stuffed toy.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Have the left arm set the asparagus left of the brown stuffed toy.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "With the left hand, position the asparagus to the left of the brown stuffed toy.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Put the asparagus to the left of the brown stuffed toy.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Set the asparagus left of the brown stuffed toy.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Position the asparagus beside the brown stuffed toy on its left side.", + "start_idx": 7134, + "end_idx": 7173 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Have the left arm pick the white plate up from the table using a bottom-left diagonal lip grip.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "With the left hand, grasp the white plate from the table by its bottom-left edge in a diagonal lip hold.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Take the white plate from the table with a diagonal lip grip at the bottom left.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Grasp the white plate from the table by the bottom-left area with a diagonal lip hold.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "With the left hand, take the white plate from the table.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Have the left arm grasp the white plate from the table.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Take the white plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Grasp the white plate from the table.", + "start_idx": 7251, + "end_idx": 7284 + }, + { + "text": "Put the white plate in front of the asparagus with the left hand right side up with the front as the reference point.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Using the left hand, place the white plate in front of the asparagus right side up, using the front as the reference point.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Have the left arm set the white plate before the asparagus with its right side up relative to the front.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "With the left hand, position the white plate in front of the asparagus upright, taking the front as the reference point.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Place the white plate in front of the asparagus right side up, using the front as the reference point.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Set the white plate before the asparagus with its right side up relative to the front.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Position the white plate in front of the asparagus upright with the front as the reference point.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Using the left hand, put the white plate in front of the asparagus.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Have the left arm place the white plate before the asparagus.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "With the left hand, set the white plate in front of the asparagus.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Put the white plate in front of the asparagus.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Place the white plate before the asparagus.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Position the white plate in front of the asparagus.", + "start_idx": 7284, + "end_idx": 7338 + }, + { + "text": "Pick up the juice pouch fro the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Have the left hand grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "With the left hand, seize the juice pouch from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Take the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Grasp the juice pouch from the table at the top with a side grip from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Have the left hand pick up the juice pouch from the table with a side hold on the top.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "With the left hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Take the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 7407, + "end_idx": 7449 + }, + { + "text": "Place the juice pouch to the left of the croissant with the left hand right side up with the front as the reference point.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the croissant right side up, with the front as the reference point.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Have the left arm place the juice pouch left of the croissant in a right-side-up orientation, referenced to the front.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "With the left hand, position the juice pouch to the croissant's left, keeping it right side up using the front as the reference point.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Place the juice pouch to the left of the croissant right side up, with the front as the reference point.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Set the juice pouch left of the croissant in a right-side-up position, using the front as the reference point.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Position the juice pouch to the croissant's left, right side up relative to the front.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the croissant.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Have the left arm set the juice pouch left of the croissant.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "With the left hand, position the juice pouch to the croissant's left.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Place the juice pouch to the left of the croissant.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Set the juice pouch left of the croissant.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Have the juice pouch placed to the croissant's left.", + "start_idx": 7449, + "end_idx": 7506 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Using the left hand, collect the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Have the left arm take the croissant off the table diagonally with a whole-object grasp.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "With the left hand, retrieve the croissant from the table on a diagonal approach while holding the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Take the croissant off the table diagonally with a whole-object grasp.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Retrieve the croissant from the table on a diagonal path while holding the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "With the left hand, take the croissant off the table using a whole-object grasp.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Have the left arm retrieve the croissant from the table while holding the entire object.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "With the left hand, collect the croissant from the table diagonally.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Have the left arm take the croissant off the table with a diagonal approach.", + "start_idx": 7584, + "end_idx": 7617 + }, + { + "text": "Place the croissant to the left side of the table with the left hand.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Using the left hand, place the croissant on the table's left side.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Have the left arm set the croissant down at the left side of the table.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "With the left hand, position the croissant on the left side of the table.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Place the croissant on the left side of the table.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Set the croissant at the table's left side.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Put the croissant down on the table's left side.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "The croissant goes on the left side of the table.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Move the croissant to the left side of the table.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Using the left hand, place the croissant on the table.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "With the left hand, set the croissant down.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Place the croissant on the left side of the table with the left arm.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Have the croissant placed at the table's left side by the left hand.", + "start_idx": 7617, + "end_idx": 7647 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Have the left hand grasp the juice pouch from the table using a side hold on the left at a diagonal angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "With the left hand, secure the juice pouch from the table in a side grip on the left with a diagonal pickup angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Take the juice pouch from the table with a side hold on the left at a diagonal angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Grasp the juice pouch from the table at the left in a diagonal pick angle using a side grip.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Have the left hand take the juice pouch from the table using a side hold.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "With the left hand, grasp the juice pouch from the table in a side grip.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at the left in a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Take the juice pouch from the table with the left hand.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Grasp the juice pouch from the table at the left in a diagonal pick angle.", + "start_idx": 7647, + "end_idx": 7680 + }, + { + "text": "Place the juice pouch to the left of the croissant with the left hand right side up with the front as the reference point.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the croissant right side up, with the front as the reference point.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Have the left arm place the juice pouch left of the croissant, keeping it right side up relative to the front.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "With the left hand, position the juice pouch on the croissant's left side right side up, using the front as the reference point.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Place the juice pouch to the left of the croissant.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Set the juice pouch on the left side of the croissant.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Position the juice pouch left of the croissant.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the croissant.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Have the left arm set the juice pouch left of the croissant.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "With the left hand, position the juice pouch on the croissant's left side.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Place the juice pouch to the left of the croissant right side up.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Set the juice pouch left of the croissant with the front as the reference point.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the croissant right side up.", + "start_idx": 7680, + "end_idx": 7719 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the left and a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Have the left hand take the juice pouch from the table in a left-side grasp at a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a side hold on the left at a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the left with a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Take the juice pouch from the table in a left-side grasp at a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Grasp the juice pouch from the table with a side hold on the left at a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Have the left hand take the juice pouch from the table with a side grasp.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Take the juice pouch from the table with the left hand.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Grasp the juice pouch from the table.", + "start_idx": 7848, + "end_idx": 7875 + }, + { + "text": "Put the juice pouch on top of the white plate right side up with the front as the reference using the left hand.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Using the left hand, place the juice pouch on top of the white plate right side up with the front as the reference.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Have the left arm set the juice pouch onto the white plate in an upright orientation, referencing the front.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "With the left hand, position the juice pouch atop the white plate right side up, using the front as the reference.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Place the juice pouch on top of the white plate right side up with the front as the reference.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Set the juice pouch atop the white plate in an upright orientation, referencing the front.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Position the juice pouch on the white plate right side up, using the front as the reference.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Arrange the juice pouch on top of the white plate with the front as the reference.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Using the left hand, put the juice pouch on top of the white plate.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Have the left arm place the juice pouch onto the white plate.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "With the left hand, set the juice pouch atop the white plate.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Put the juice pouch on top of the white plate.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Place the juice pouch onto the white plate.", + "start_idx": 7875, + "end_idx": 7911 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Grab the brown stuffed toy from the table diagonally with a full-object hold.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Have the left arm collect the brown stuffed toy from the table.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle with the left hand.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Take the brown stuffed toy from the table diagonally.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Put the brown stuffed toy between the white plate and the croissant with the left hand facing top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Using the left hand, place the brown stuffed toy between the white plate and the croissant with its front facing the top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Have the left arm set the brown stuffed toy between the white plate and the croissant, front oriented toward the top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "With the left hand, position the brown stuffed toy between the white plate and the croissant so the front points top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Place the brown stuffed toy between the white plate and the croissant with its front facing the top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Set the brown stuffed toy between the white plate and the croissant, front pointing toward the top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Position the brown stuffed toy between the white plate and the croissant so its front faces the top left.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Using the left hand, put the brown stuffed toy between the white plate and the croissant.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "With the left hand, set the brown stuffed toy between the white plate and the croissant.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Have the left arm place the brown stuffed toy between the white plate and the croissant.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Put the brown stuffed toy between the white plate and the croissant.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Place the brown stuffed toy between the white plate and the croissant.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Set the brown stuffed toy between the white plate and the croissant.", + "start_idx": 8006, + "end_idx": 8036 + }, + { + "text": "Pick up the juice pouch from the white plate with the left hand using a side grasp at the left in a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Using the left hand, take the juice pouch from the white plate with a side grasp at the left in a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "With the left arm, grasp the juice pouch off the white plate using a left-side hold at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Have the left hand pick the juice pouch from the white plate with a side grip on the left at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Pick up the juice pouch from the white plate using a side grasp at the left in a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Take the juice pouch off the white plate with a side grip on the left at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Grasp the juice pouch from the white plate with a left-side hold at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Using the left hand, pick up the juice pouch from the white plate with a side grasp.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "With the left hand, take the juice pouch off the white plate using a side grip.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Have the left arm grasp the juice pouch from the white plate with a left-side hold.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Using the left hand, pick up the juice pouch from the white plate at the left in a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "With the left hand, take the juice pouch off the white plate at a diagonal angle.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Have the left arm grasp the juice pouch from the white plate at the left.", + "start_idx": 8109, + "end_idx": 8148 + }, + { + "text": "Place the juice pouch to the left of the white plate with the left hand right side up front.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the white plate right side up with the front facing forward.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Have the left arm place the juice pouch left of the white plate, keeping it upright and the front outward.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "With the left hand, position the juice pouch to the white plate's left, right side up and front-facing.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Place the juice pouch to the left of the white plate right side up with the front facing forward.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Set the juice pouch left of the white plate, keeping it upright and the front outward.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Position the juice pouch to the white plate's left, right side up and front-facing.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the white plate.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Have the left arm set the juice pouch left of the white plate.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "With the left hand, position the juice pouch to the white plate's left.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Place the juice pouch to the left of the white plate.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Set the juice pouch left of the white plate.", + "start_idx": 8148, + "end_idx": 8181 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, holding the whole object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "With the left hand, retrieve the croissant from the table at a diagonal angle using a full-object grasp.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Retrieve the croissant from the table with a diagonal pickup while holding the whole object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Take the croissant from the table at a diagonal angle with a full-object grasp.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Using the left hand, pick up the croissant from the table grasping the entire object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Have the left arm take the croissant from the table while holding the whole object.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 8241, + "end_idx": 8280 + }, + { + "text": "Put the croissant on top of the white plate with the left hand.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Using the left hand, place the croissant on top of the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Have the left arm set the croissant onto the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "With the left hand, position the croissant on the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Place the croissant on top of the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Set the croissant onto the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "The croissant goes on the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Put the croissant on the plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Arrange the croissant atop the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Transfer the croissant to the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Move the croissant onto the plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Set the croissant on top of the plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Position the croissant on the white plate.", + "start_idx": 8280, + "end_idx": 8307 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal pickup, holding the whole object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table diagonally by grasping the full object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Retrieve the yellow stuffed toy from the table with a diagonal pickup while holding the whole object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Take the yellow stuffed toy from the table at a diagonal angle with a full-object grasp.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table by holding the whole object.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table using a full-object grasp.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Using the left hand, pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Have the left arm take the yellow stuffed toy from the table with a diagonal pickup.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "With the left hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 8382, + "end_idx": 8415 + }, + { + "text": "Put the yellow stuffed toy to the left of the asparagus with the left hand facing top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the asparagus with its front facing the top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the left of the asparagus, front oriented toward the top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the left of the asparagus so the front points top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Place the yellow stuffed toy to the left of the asparagus with its front facing the top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Set the yellow stuffed toy to the left of the asparagus, front pointing toward the top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Position the yellow stuffed toy to the left of the asparagus so its front faces the top right.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Using the left hand, place the yellow stuffed toy to the left of the asparagus.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Have the left arm set the yellow stuffed toy to the left of the asparagus.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "With the left hand, position the yellow stuffed toy to the left of the asparagus.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Put the yellow stuffed toy to the left of the asparagus.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Set the yellow stuffed toy to the left of the asparagus.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Have the left arm place the yellow stuffed toy to the left of the asparagus.", + "start_idx": 8415, + "end_idx": 8439 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, enclosing the whole item.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "With the left hand, grasp the croissant from the table diagonally around the full object.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Take the croissant from the table diagonally while enclosing the whole item.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "From the table, grasp the croissant at a diagonal angle around the entire object.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "With the left hand, collect the croissant from the table.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "From the table, take the croissant with the left hand.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Grasp the croissant from the table diagonally.", + "start_idx": 8559, + "end_idx": 8583 + }, + { + "text": "Put the croissant to the center of the table with the left hand.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Using the left hand, place the croissant at the center of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Have the left arm set the croissant in the middle of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "With the left hand, position the croissant at the table's center.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Place the croissant at the center of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Set the croissant in the middle of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Put the croissant at the table's center.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "The croissant should go in the center of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Move the croissant to the middle of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Position the croissant in the center of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "At the table's center, place the croissant.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Set the croissant down at the center of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "The croissant belongs in the middle of the table.", + "start_idx": 8583, + "end_idx": 8622 + }, + { + "text": "Pick up the white plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Using the left hand, take the white plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Have the left arm pick the white plate up from the table using a bottom-left diagonal lip grasp.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "With the left hand, grasp the white plate from the table by the bottom-left edge in a diagonal lip hold.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Take the white plate from the table with a bottom-left diagonal lip hold.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Grasp the white plate from the table by the bottom-left lip in a diagonal orientation.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Using the left hand, pick up the white plate from the table.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "With the left hand, take the white plate from the table.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Have the left arm grasp the white plate from the table.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Using a diagonal lip grasp at the bottom left, take the white plate from the table.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Grasp the white plate from the table.", + "start_idx": 8622, + "end_idx": 8664 + }, + { + "text": "Put the white plate behind the yellow stuffed toy with the left hand right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Using the left hand, place the white plate behind the yellow stuffed toy right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Have the left arm set the white plate behind the yellow stuffed toy with its right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "With the left hand, position the white plate behind the yellow stuffed toy so it stays right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Place the white plate behind the yellow stuffed toy right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Set the white plate behind the yellow stuffed toy with its right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Position the white plate behind the yellow stuffed toy right side up.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Put the white plate behind the yellow stuffed toy.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Using the left hand, place the white plate behind the yellow stuffed toy.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Have the left arm put the white plate behind the yellow stuffed toy.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Set the white plate behind the yellow stuffed toy.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Place the white plate behind the yellow stuffed toy.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Position the white plate behind the yellow stuffed toy.", + "start_idx": 8664, + "end_idx": 8703 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip from the left at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip from the left at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Have the left arm grasp the juice pouch from the table using a left-side grip at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "With the left hand, secure the juice pouch from the table in a side grasp from the left at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Pick up the juice pouch from the table using a side grip from the left at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Take the juice pouch from the table with a side grasp from the left at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Grasp the juice pouch from the table from the left with a side grip at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Have the left arm take the juice pouch from the table using a left-side grasp.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "With the left hand, grasp the juice pouch from the table at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Pick up the juice pouch from the table with the left hand from the left at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Grasp the juice pouch from the table with the left hand using a side grip.", + "start_idx": 8772, + "end_idx": 8811 + }, + { + "text": "Put the juice pouch on top of the white plate with the left hand right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Using the left hand, place the juice pouch on top of the white plate right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Have the left arm set the juice pouch atop the white plate with its right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "With the left hand, position the juice pouch on the white plate so it stays right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Place the juice pouch on top of the white plate right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Set the juice pouch atop the white plate with its right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Position the juice pouch on the white plate right side up.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Using the left hand, put the juice pouch on top of the white plate.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Have the left arm place the juice pouch atop the white plate.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "With the left hand, set the juice pouch on the white plate.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Put the juice pouch on top of the white plate.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Set the juice pouch atop the white plate.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Have the juice pouch placed on the white plate.", + "start_idx": 8811, + "end_idx": 8850 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "From a diagonal angle, have the right hand grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "With the right hand, take hold of the juice pouch from the table using a side grasp at the top on a diagonal approach.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Take the juice pouch from the table using a side grasp at the top on a diagonal approach.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "With the right hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Have the right hand take the juice pouch from the table with a side grasp.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Using the right hand, secure the juice pouch from the table with a side hold.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "With the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 234, + "end_idx": 258 + }, + { + "text": "Put the juice pouch in front of the white plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Using the right hand, place the juice pouch in front of the white plate right side up, with the front as the orientation reference point.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Have the right arm set the juice pouch in front of the white plate, keeping it right side up relative to its front.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "With the right hand, position the juice pouch in front of the white plate so it is right side up using the front as the reference point.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Place the juice pouch in front of the white plate right side up, with the front as the orientation reference point.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Set the juice pouch in front of the white plate, keeping it right side up relative to the front.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Position the juice pouch in front of the white plate so its front defines a right-side-up placement.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Using the right hand, put the juice pouch in front of the white plate.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "With the right hand, place the juice pouch in front of the white plate.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Have the right arm position the juice pouch in front of the white plate.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Put the juice pouch in front of the white plate.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Set the juice pouch in front of the white plate.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Position the juice pouch in front of the white plate.", + "start_idx": 258, + "end_idx": 288 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "With the right hand, retrieve the asparagus from the table at a diagonal angle by grasping the center.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Take the asparagus from the table at a diagonal angle, holding the middle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by grasping the center.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Put the asparagus to the right of the juice pouch with the right hand facing top left with the tip as the reference point.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Using the right hand, place the asparagus to the right of the juice pouch, with the tip facing top left.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Have the right arm set the asparagus to the right of the juice pouch, oriented top left at the tip.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "With the right hand, position the asparagus to the right of the juice pouch so its tip points toward the top left.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Place the asparagus to the right of the juice pouch with the tip facing top left.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Set the asparagus to the right of the juice pouch, oriented top left at the tip.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Position the asparagus to the right of the juice pouch so the tip points to the top left.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Using the right hand, place the asparagus to the right of the juice pouch.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Have the right arm set the asparagus to the right of the juice pouch.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "With the right hand, position the asparagus to the right of the juice pouch.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Put the asparagus to the right of the juice pouch.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Set the asparagus to the right of the juice pouch.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "To the right of the juice pouch, place the asparagus.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Have the right arm pick the yellow stuffed toy off the table with a diagonal approach and a full-object grasp.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table diagonally using an entire-object hold.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Take the yellow stuffed toy off the table with a diagonal approach and a full-object grasp.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "The yellow stuffed toy should be picked from the table at a diagonal angle with an entire-object hold.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Have the right arm take the yellow stuffed toy off the table.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 417, + "end_idx": 450 + }, + { + "text": "Put the yellow stuffed toy to the right of the white plate with the right hand facing bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Using the right hand, place the yellow stuffed toy to the right of the white plate with its front facing bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Have the right arm set the yellow stuffed toy to the right of the white plate, front pointed toward the bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "With the right hand, position the yellow stuffed toy to the right of the white plate so the front faces bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Place the yellow stuffed toy to the right of the white plate with its front facing bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Set the yellow stuffed toy to the right of the white plate, front oriented toward the bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Position the yellow stuffed toy to the right of the white plate with the front pointed bottom right.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Using the right hand, place the yellow stuffed toy to the right of the white plate.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Have the right arm set the yellow stuffed toy to the right of the white plate.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "With the right hand, position the yellow stuffed toy to the right of the white plate.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Put the yellow stuffed toy to the right of the white plate.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Set the yellow stuffed toy to the right of the white plate.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Position the yellow stuffed toy to the right of the white plate.", + "start_idx": 450, + "end_idx": 483 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Have the right arm grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "From a diagonal angle, the right hand should seize the juice pouch from the table with a side grasp at the top.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table at the top with a side hold.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side hold at the top.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Have the right arm take the juice pouch from the table at the top with a side grasp.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Using the right hand, collect the juice pouch from the table.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table.", + "start_idx": 660, + "end_idx": 681 + }, + { + "text": "Place the juice pouch to the right of the asparagus with the right hand right side up with the front as the orientation reference point.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Using the right hand, set the juice pouch to the right of the asparagus right side up, with the front as the orientation reference point.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Have the right arm place the juice pouch to the asparagus's right, keeping it right side up relative to the front.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the asparagus, right side up with the front as the reference point.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Place the juice pouch to the right of the asparagus.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Set the juice pouch on the right side of the asparagus.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Position the juice pouch to the asparagus's right.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Put the juice pouch to the right of the asparagus.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the asparagus.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Have the right arm set the juice pouch on the right side of the asparagus.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "With the right hand, position the juice pouch to the asparagus's right.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Place the juice pouch to the right of the asparagus right side up.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Set the juice pouch on the right side of the asparagus, keeping it right side up.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "With the right hand, grasp the yellow stuffed toy from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Have the right hand pick the yellow stuffed toy off the table with a side hold on the top at a diagonal angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Pick up the yellow stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Grasp the yellow stuffed toy off the table by the top using a side hold at a diagonal angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Take the yellow stuffed toy from the table with a side grasp on the top and a diagonal approach.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table with a side grip at the top.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "With the right hand, take the yellow stuffed toy off the table by the top using a side grasp.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Have the right hand grasp the yellow stuffed toy from the table with a side hold at the top.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table with a diagonal pick angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "With the right hand, take the yellow stuffed toy off the table at a diagonal angle.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Pick up the yellow stuffed toy from the table by the top with a diagonal approach.", + "start_idx": 1044, + "end_idx": 1077 + }, + { + "text": "Put the yellow stuffed toy on top of the white plate with the right hand facing top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on top of the white plate with its front facing the top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Have the right arm set the yellow stuffed toy atop the white plate, front oriented toward the top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "With the right hand, position the yellow stuffed toy on the white plate so its front points top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Place the yellow stuffed toy on top of the white plate with its front facing the top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Set the yellow stuffed toy atop the white plate, front pointing toward the top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Position the yellow stuffed toy on the white plate so the front faces top left.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Using the right hand, put the yellow stuffed toy on top of the white plate.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Have the right arm place the yellow stuffed toy atop the white plate.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "With the right hand, set the yellow stuffed toy on the white plate.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Put the yellow stuffed toy on top of the white plate.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Place the yellow stuffed toy on the white plate.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Set the yellow stuffed toy atop the white plate.", + "start_idx": 1077, + "end_idx": 1104 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup at the middle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 1104, + "end_idx": 1146 + }, + { + "text": "Put the asparagus behind the juice pouch with the right hand with its tip facing top right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Using the right hand, place the asparagus behind the juice pouch with its tip pointing to the top right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Have the right arm set the asparagus behind the juice pouch, tip oriented toward the top right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "With the right hand, position the asparagus behind the juice pouch so its tip faces the upper right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Place the asparagus behind the juice pouch with its tip facing the top right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Set the asparagus behind the juice pouch with the tip pointed upper right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Position the asparagus behind the juice pouch so the tip points to the top right.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Using the right hand, put the asparagus behind the juice pouch.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "With the right hand, place the asparagus behind the juice pouch.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Have the right arm position the asparagus behind the juice pouch.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Put the asparagus behind the juice pouch.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Set the asparagus behind the juice pouch.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Position the asparagus behind the juice pouch.", + "start_idx": 1146, + "end_idx": 1185 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Have the right arm grasp the juice pouch from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "With the right hand, secure the juice pouch from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Grasp the juice pouch from the table by the top using a side hold from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "From a diagonal angle, pick up the juice pouch from the table with a side grasp at the top.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Using a side grip at the top, pick up the juice pouch from the table with the right hand.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "With the right hand, take the juice pouch from the table from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Have the right arm grasp the juice pouch from the table using a side hold at the top.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 1428, + "end_idx": 1449 + }, + { + "text": "Put the juice pouch to the left of the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Have the right arm set the juice pouch left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "With the right hand, position the juice pouch on the asparagus's left side, right side up using the front as the reference point.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Place the juice pouch to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Set the juice pouch left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Position the juice pouch on the left side of the asparagus, right side up using the front as the reference point.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Using the right hand, put the juice pouch to the left of the asparagus.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Have the right arm place the juice pouch on the asparagus's left side.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "With the right hand, set the juice pouch left of the asparagus.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Put the juice pouch to the left of the asparagus.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Place the juice pouch on the left side of the asparagus.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Set the juice pouch left of the asparagus.", + "start_idx": 1449, + "end_idx": 1479 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "At a diagonal angle, have the right hand take the yellow stuffed toy from the table with a whole-object grasp.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "At a diagonal angle, take the yellow stuffed toy from the table with a whole-object grasp.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Retrieve the yellow stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table, grasping the entire object.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Have the right hand take the yellow stuffed toy from the table with a whole-object grasp.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Take the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Get the yellow stuffed toy from the table.", + "start_idx": 1605, + "end_idx": 1641 + }, + { + "text": "Put the yellow stuffed toy on top of the white plate with the right hand facing top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Using the right hand, place the yellow stuffed toy on top of the white plate with its front facing the top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Have the right arm set the yellow stuffed toy atop the white plate, front oriented toward the top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "With the right hand, position the yellow stuffed toy on the white plate so the front points to the top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Place the yellow stuffed toy on top of the white plate with its front facing the top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Set the yellow stuffed toy atop the white plate, front pointing toward the top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Position the yellow stuffed toy on the white plate so its front faces the top left.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Using the right hand, put the yellow stuffed toy on top of the white plate.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "With the right hand, set the yellow stuffed toy atop the white plate.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Have the right arm place the yellow stuffed toy on the white plate.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Put the yellow stuffed toy on top of the white plate.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Set the yellow stuffed toy atop the white plate.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Place the yellow stuffed toy on the white plate.", + "start_idx": 1641, + "end_idx": 1680 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Using the right hand, take the white plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Have the right hand grasp the white plate from the table with a bottom-right diagonal lip hold.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "With the right hand, secure the white plate from the table using a diagonal lip grip at the bottom right.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Take the white plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Grasp the white plate from the table using a diagonal lip grip at the bottom right.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "The white plate should be picked up from the table with a bottom-right diagonal lip hold.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Using the right hand, pick up the white plate from the table.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "With the right hand, take the white plate from the table.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Have the right hand grasp the white plate from the table.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "The white plate should be grasped from the table.", + "start_idx": 1746, + "end_idx": 1782 + }, + { + "text": "Dump the yellow stuffed toy to the right of the brown stuffed toy with the right hand.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Using the right hand, dump the yellow stuffed toy to the right of the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Have the right arm place the yellow stuffed toy on the brown stuffed toy's right side.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "With the right hand, set the yellow stuffed toy down to the right of the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Dump the yellow stuffed toy to the right of the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Place the yellow stuffed toy on the right side of the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Set the yellow stuffed toy down to the right of the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Position the yellow stuffed toy just right of the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Move the yellow stuffed toy over beside the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Put the yellow stuffed toy next to the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Using the right hand, dump the yellow stuffed toy next to the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Have the right arm place the yellow stuffed toy beside the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "With the right hand, set the yellow stuffed toy by the brown stuffed toy.", + "start_idx": 1782, + "end_idx": 1809 + }, + { + "text": "Put the white plate behind the yellow stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Using the right hand, place the white plate behind the yellow stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Have the right arm set the white plate behind the yellow stuffed toy in a right-side-up position, referencing the front.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "With the right hand, position the white plate behind the yellow stuffed toy so it is right side up relative to the front.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Place the white plate behind the yellow stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Set the white plate behind the yellow stuffed toy in a right-side-up position, using the front as the reference point.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Position the white plate behind the yellow stuffed toy so it stays right side up relative to the front.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Using the right hand, place the white plate behind the yellow stuffed toy.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Have the right arm set the white plate behind the yellow stuffed toy.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "With the right hand, position the white plate behind the yellow stuffed toy.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Put the white plate behind the yellow stuffed toy.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Place the white plate behind the yellow stuffed toy right side up.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Set the white plate behind the yellow stuffed toy with the front as the orientation reference point.", + "start_idx": 1809, + "end_idx": 1878 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Using the right hand, collect the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Have the right arm pick the yellow stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "From the table, take the yellow stuffed toy with the right hand at a diagonal angle using an entire-object grasp.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Take the yellow stuffed toy off the table with a diagonal approach and a whole-object hold.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "From the table, collect the yellow stuffed toy at a diagonal angle using a full-body grasp.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table grasping the entire object.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "With the right arm, take the yellow stuffed toy off the table using a whole-object grasp.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Have the right hand collect the yellow stuffed toy from the table with a full-object hold.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Using the right hand, take the yellow stuffed toy off the table.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 1878, + "end_idx": 1899 + }, + { + "text": "Place the yellow stuffed toy to the front left of the asparagus with the right hand facing top left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Using the right hand, position the yellow stuffed toy at the asparagus's front left, facing top left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Have the right arm place the yellow stuffed toy to the front left of the asparagus with its orientation toward the top left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "The yellow stuffed toy goes to the front left of the asparagus, placed with the right hand and facing top left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Place the yellow stuffed toy to the front left of the asparagus, facing top left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Set the yellow stuffed toy at the asparagus's front left with the top oriented leftward.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Position the yellow stuffed toy in front-left of the asparagus, facing top left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "With the right hand, place the yellow stuffed toy to the front left of the asparagus.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Using the right hand, set the yellow stuffed toy at the asparagus's front left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Have the right arm position the yellow stuffed toy in front-left of the asparagus.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Place the yellow stuffed toy beside the asparagus on the front-left side.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Set the yellow stuffed toy to the front left of the asparagus.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "The yellow stuffed toy should go at the asparagus's front left.", + "start_idx": 1899, + "end_idx": 1929 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Have the right arm take hold of the yellow stuffed toy from the table diagonally around the whole object.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table using a diagonal whole-object grasp.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal grasp around the whole object.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "From the table, retrieve the yellow stuffed toy at a diagonal angle with the whole object in your grasp.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Have the right arm retrieve the yellow stuffed toy from the table.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle with the right hand.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "From the table, grasp the yellow stuffed toy with the right hand.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Take the yellow stuffed toy from the table diagonally.", + "start_idx": 2220, + "end_idx": 2250 + }, + { + "text": "Put the yellow stuffed toy in front of the white plate with the right hand facing forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Using the right hand, place the yellow stuffed toy in front of the white plate with it facing forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Have the right arm set the yellow stuffed toy in front of the white plate, oriented forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "With the right hand, position the yellow stuffed toy before the white plate so it faces forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Set the yellow stuffed toy in front of the white plate with it facing forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Place the yellow stuffed toy before the white plate, facing forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Position the yellow stuffed toy in front of the white plate so it faces forwards.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Using the right hand, put the yellow stuffed toy in front of the white plate.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Have the right arm place the yellow stuffed toy before the white plate.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "With the right hand, set the yellow stuffed toy in front of the white plate.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Put the yellow stuffed toy in front of the white plate.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Place the yellow stuffed toy before the white plate.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Set the yellow stuffed toy in front of the white plate.", + "start_idx": 2250, + "end_idx": 2277 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top at a diagonal angle.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top, held diagonally.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Have the right arm grasp the juice pouch from the table by the top with a side hold at a diagonal angle.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "With the right hand, secure the juice pouch from the table in a side grasp at the top on a diagonal.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top at a diagonal angle.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Grasp the juice pouch from the table by the top with a side hold, keeping it diagonal.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Take the juice pouch from the table at the top with a side grasp in a diagonal orientation.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Have the right arm take the juice pouch from the table by the top using a side hold.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side grip.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Pick up the juice pouch from the table with the right hand at the top at a diagonal angle.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Take the juice pouch from the table with the right hand in a diagonal orientation.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table at the top.", + "start_idx": 2277, + "end_idx": 2304 + }, + { + "text": "Put the juice pouch to the front left of the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Using the right hand, place the juice pouch front-left of the asparagus, right side up, with the front as the reference point.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Have the right arm set the juice pouch to the asparagus's front left, keeping it right side up relative to the front.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "With the right hand, position the juice pouch at the front-left of the asparagus, oriented right side up using the front as reference.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Place the juice pouch to the front left of the asparagus.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Set the juice pouch at the asparagus's front left.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Position the juice pouch front-left of the asparagus.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Put the juice pouch to the left front of the asparagus.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Using the right hand, place the juice pouch to the front left of the asparagus.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "With the right hand, set the juice pouch at the asparagus's front-left side.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Have the right arm position the juice pouch to the asparagus's front left.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Place the juice pouch right side up with the front as the reference point.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Set the juice pouch down upright using the front as the reference point.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal angle, gripping the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 2343, + "end_idx": 2382 + }, + { + "text": "Put the asparagus in front of the corn with the right hand facing top left by the tip.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Using the right hand, place the asparagus in front of the corn with its tip facing the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Have the right arm set the asparagus in front of the corn, oriented top left at the tip.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "With the right hand, position the asparagus before the corn so the tip points to the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Place the asparagus in front of the corn with its tip facing the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Set the asparagus before the corn, with the tip oriented toward the top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Position the asparagus in front of the corn so the tip faces top left.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Using the right hand, put the asparagus in front of the corn.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Have the right arm place the asparagus before the corn.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "With the right hand, set the asparagus in front of the corn.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Put the asparagus in front of the corn.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Place the asparagus before the corn.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Set the asparagus in front of the corn.", + "start_idx": 2382, + "end_idx": 2418 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "From a diagonal angle, have the right hand take the juice pouch from the table by the top with a side grasp.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table, gripping its top from the side at a diagonal angle.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table by the top using a side grasp.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Retrieve the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Take the juice pouch from the table at the top with the right hand using a side grip.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Have the right hand pick up the juice pouch from the table with a side grasp.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Using the right hand, get the juice pouch from the table by the top.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Grab the juice pouch from the table by the top.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "With a side grip, pick up the juice pouch from the table.", + "start_idx": 2487, + "end_idx": 2517 + }, + { + "text": "Place the juice pouch to the right of the brown stuffed toy with the right hand right side up.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Using the right hand, set the juice pouch to the right of the brown stuffed toy, right side up.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Have the right arm place the juice pouch just right of the brown stuffed toy with its right side facing up.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "With the right hand, position the juice pouch on the brown stuffed toy's right side, right side up.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Place the juice pouch to the right of the brown stuffed toy.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Set the juice pouch just to the right of the brown stuffed toy.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Position the juice pouch on the right side of the brown stuffed toy.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the brown stuffed toy.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Have the right arm set the juice pouch beside the brown stuffed toy on its right.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "With the right hand, position the juice pouch to the brown stuffed toy's right.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Place the juice pouch with the right hand, to the right of the brown stuffed toy.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "To the right of the brown stuffed toy, place the juice pouch.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Have the juice pouch placed to the right of the brown stuffed toy.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup from the middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "With the right hand, grasp the corn from the table diagonally at its middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Grasp the corn from the table diagonally from its middle.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "With the right hand, grasp the corn from the table.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Have the right arm collect the corn from the table.", + "start_idx": 2973, + "end_idx": 3009 + }, + { + "text": "Put the corn to the right of the asparagus with the right hand facing forwards with the tip facing forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Using the right hand, place the corn to the right of the asparagus with its tip facing forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Have the right arm set the corn to the asparagus's right, oriented forwards with the tip pointing forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "With the right hand, position the corn on the right side of the asparagus, facing forwards and with the tip forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Place the corn to the right of the asparagus with its tip facing forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Set the corn on the right side of the asparagus, facing forwards with the tip forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Position the corn to the asparagus's right, oriented forwards with the tip pointing forwards.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Using the right hand, put the corn to the right of the asparagus.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Have the right arm place the corn on the right side of the asparagus.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "With the right hand, set the corn to the asparagus's right.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Put the corn to the right of the asparagus.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Place the corn on the right side of the asparagus.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Set the corn to the asparagus's right.", + "start_idx": 3009, + "end_idx": 3042 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Take the brown stuffed toy from the table with the right hand.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 3042, + "end_idx": 3078 + }, + { + "text": "Put the brown stuffed toy to the right of the corn with the right hand facing top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the corn with its front facing the top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the corn, front pointed toward the top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the corn so the front faces the top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Place the brown stuffed toy to the right of the corn with its front facing the top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Set the brown stuffed toy to the right of the corn, front toward the top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Position the brown stuffed toy to the right of the corn so it faces the top right.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the corn.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "With the right hand, set the brown stuffed toy to the right of the corn.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Have the right arm position the brown stuffed toy to the right of the corn.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Put the brown stuffed toy to the right of the corn.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Set the brown stuffed toy to the right of the corn.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Place the brown stuffed toy to the right of the corn.", + "start_idx": 3078, + "end_idx": 3108 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Have the right hand collect the corn from the table with a diagonal approach at its middle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "With the right hand, take the corn from the table by the middle at a diagonal angle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Take the corn from the table by the middle at a diagonal angle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Grab the corn from the table at a diagonal angle at its middle.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "With the right hand, take the corn from the table.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Have the right hand collect the corn from the table.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Take the corn from the table with the right hand.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Get the corn from the table with the right hand.", + "start_idx": 3312, + "end_idx": 3345 + }, + { + "text": "Place the corn on top of the white plate with the right hand facing forwards with the tip as the orientation reference point.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Using the right hand, set the corn on top of the white plate, facing forwards with the tip as the reference point.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Have the right arm place the corn onto the white plate with the tip oriented forward as the reference point.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "With the right hand, position the corn on the white plate so it faces forwards using the tip as the orientation reference.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Place the corn on top of the white plate facing forwards with the tip as the orientation reference point.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Set the corn onto the white plate with the tip facing forwards as the reference point.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Position the corn on the white plate so it faces forwards, using the tip as the reference point.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Using the right hand, place the corn on top of the white plate.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Have the right arm set the corn onto the white plate.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "With the right hand, put the corn on the white plate.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Place the corn on top of the white plate.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Set the corn onto the white plate.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Have the corn placed on the white plate.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grasp at the top from a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Have the right arm pick up the juice pouch from the table by gripping the top from a diagonal angle with a side grasp.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "With the right hand, secure the juice pouch from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Pick up the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Take the juice pouch from the table by gripping the top from a diagonal angle with a side hold.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "The juice pouch from the table should be picked up with a side grasp on the top from a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grasp.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Have the right arm take the juice pouch from the table using a side grip at the top.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "With the right hand, grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Pick up the juice pouch from the table with the right hand at the top from a diagonal angle.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Take the juice pouch from the table using the right hand and a side grasp.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Have the juice pouch picked up from the table with a side grasp.", + "start_idx": 3375, + "end_idx": 3405 + }, + { + "text": "Place the juice pouch right side up with the front to the left of the brown stuffed toy with the right hand.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Using the right hand, set the juice pouch upright with its front facing left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Have the right arm place the juice pouch right side up, front oriented to the left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "With the right hand, position the juice pouch upright so the front is to the left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Place the juice pouch right side up with the front to the left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Set the juice pouch upright, with its front left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Position the juice pouch right side up so its front faces left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Have the right arm set the juice pouch by the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "With the right hand, position the juice pouch next to the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Put the juice pouch beside the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Set the juice pouch to the left of the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Position the juice pouch near the brown stuffed toy.", + "start_idx": 3405, + "end_idx": 3444 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "From a diagonal angle, have the right hand grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "With the right hand, secure the juice pouch from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "The juice pouch from the table should be picked up at the top with a side grasp from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Have the right hand take the juice pouch from the table.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "With the right hand, grasp the juice pouch from the table.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Using the right hand, take the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 3621, + "end_idx": 3663 + }, + { + "text": "Put the juice pouch on top of the white plate with the right hand right side up with the front as the reference point.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Using the right hand, place the juice pouch on top of the white plate right side up, using the front as the reference point.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Have the right arm set the juice pouch atop the white plate with its right side up relative to the front.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "With the right hand, position the juice pouch on the white plate so it is right side up from the front reference point.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Place the juice pouch on top of the white plate right side up, using the front as the reference point.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Set the juice pouch atop the white plate with its right side up relative to the front.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Position the juice pouch on the white plate so it is right side up from the front reference point.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Using the right hand, put the juice pouch on top of the white plate.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "With the right arm, set the juice pouch atop the white plate.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Have the right hand place the juice pouch on the white plate.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Put the juice pouch on top of the white plate.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Set the juice pouch on the white plate with the right hand.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Place the juice pouch atop the white plate.", + "start_idx": 3663, + "end_idx": 3702 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "At a diagonal angle, the right hand should retrieve the brown stuffed toy from the table by enclosing the whole object.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "The brown stuffed toy should be picked up from the table at a diagonal angle, enclosing the whole object.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "With the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "The brown stuffed toy should be picked up from the table with the right hand.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Grasp the brown stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Using the right hand, collect the brown stuffed toy from the table by grasping the entire object.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 3702, + "end_idx": 3729 + }, + { + "text": "Put the brown stuffed toy on top of the white plate with the right hand facing top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Using the right hand, place the brown stuffed toy on top of the white plate with its front facing the top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Have the right arm set the brown stuffed toy onto the white plate, front pointed toward the top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "With the right hand, position the brown stuffed toy on the white plate so the front faces top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Place the brown stuffed toy on top of the white plate with its front facing the top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Set the brown stuffed toy onto the white plate, front oriented toward the top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Position the brown stuffed toy on the white plate so its front points to the top left.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Using the right hand, place the brown stuffed toy on top of the white plate.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Have the right arm set the brown stuffed toy onto the white plate.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "With the right hand, position the brown stuffed toy on the white plate.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Put the brown stuffed toy on top of the white plate.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Set the brown stuffed toy onto the white plate.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Place the brown stuffed toy on the white plate.", + "start_idx": 3729, + "end_idx": 3750 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Have the right hand pick the croissant off the table diagonally with a full-object grasp.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "With the right hand, remove the croissant from the table using a diagonal approach and an all-over grasp.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Take the croissant off the table diagonally with a full-object grasp.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Remove the croissant from the table using a diagonal approach and an all-over grasp.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Have the right hand take the croissant off the table with a whole-object grasp.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "With the right hand, remove the croissant from the table while grasping the full item.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Have the right hand take the croissant off the table diagonally.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3750, + "end_idx": 3786 + }, + { + "text": "Put the croissant to the right of the white plate with the right hand.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "With the right hand, place the croissant to the right of the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Have the right arm set the croissant down to the right of the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Using the right hand, position the croissant on the right side of the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Place the croissant to the right of the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Set the croissant on the right side of the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Position the croissant to the right of the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Put the croissant beside the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Set the croissant next to the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Move the croissant to the white plate's right side.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Using the right hand, place the croissant beside the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Have the right arm set the croissant next to the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "With the right hand, position the croissant by the white plate.", + "start_idx": 3786, + "end_idx": 3831 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Have the right arm pick the yellow stuffed toy off the table with a diagonal approach and a full-object grasp.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table diagonally, holding the whole object.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Take the yellow stuffed toy off the table diagonally while holding the whole object.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Grasp the yellow stuffed toy from the table at a diagonal angle with a full-object hold.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Have the right arm take the yellow stuffed toy off the table.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "With the right hand, grasp the yellow stuffed toy from the table.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "From the table, take the yellow stuffed toy with the right hand.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Get the yellow stuffed toy off the table.", + "start_idx": 3831, + "end_idx": 3861 + }, + { + "text": "Put the yellow stuffed toy to the left of the white plate with the right hand facing top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Using the right hand, place the yellow stuffed toy to the left of the white plate with its front facing top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Have the right arm set the yellow stuffed toy left of the white plate, front oriented toward the top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "With the right hand, position the yellow stuffed toy to the left of the white plate so the front faces top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Place the yellow stuffed toy to the left of the white plate with its front facing top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Set the yellow stuffed toy left of the white plate with the front toward the top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Position the yellow stuffed toy to the left of the white plate, front facing top left.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Using the right hand, put the yellow stuffed toy to the left of the white plate.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "With the right hand, place the yellow stuffed toy left of the white plate.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Have the right arm set the yellow stuffed toy to the left of the white plate.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Put the yellow stuffed toy to the left of the white plate.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Place the yellow stuffed toy left of the white plate.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Set the yellow stuffed toy to the left of the white plate.", + "start_idx": 3860, + "end_idx": 3893 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Have the right hand grasp the juice pouch from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "From a diagonal angle, the right hand should seize the juice pouch from the table with a side grasp at the top.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "The juice pouch should be picked up from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "With the right hand, pick up the juice pouch from the table.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Have the right hand take the juice pouch from the table.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "The right hand should grasp the juice pouch from the table.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 3894, + "end_idx": 3927 + }, + { + "text": "Place the juice pouch right side up with the front to the left of the yellow stuffed toy using the right arm.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Using the right arm, set the juice pouch upright with its front facing left of the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Have the right arm place the juice pouch right side up, with the front oriented to the left of the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "With the right arm, position the juice pouch upright so its front is to the left of the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Place the juice pouch upright with its front to the left of the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Set the juice pouch right side up with the front facing left of the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Position the juice pouch upright, front to the left of the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Using the right arm, place the juice pouch by the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "With the right arm, set the juice pouch next to the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Have the right arm position the juice pouch beside the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Place the juice pouch beside the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Set the juice pouch next to the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Position the juice pouch by the yellow stuffed toy.", + "start_idx": 3927, + "end_idx": 3960 + }, + { + "text": "Pick up the corn from the white plate with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Using the right hand, take the corn from the white plate with a side grip at the bottom from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "With the right arm, grasp the corn from the white plate at its bottom using a side hold from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Have the right hand pick the corn from the white plate with a side grasp on the bottom at a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Take the corn from the white plate with a side grip at the bottom from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Grasp the corn from the white plate at its bottom using a side hold from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "The corn from the white plate should be picked up with a side grasp on the bottom at a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Using the right hand, pick up the corn from the white plate with a side grip at the bottom.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "With the right arm, take the corn from the white plate using a side hold on the bottom.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Have the right hand grasp the corn from the white plate from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Using the right hand, pick up the corn from the white plate from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Take the corn from the white plate at the bottom from a diagonal angle.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "The corn from the white plate should be picked up with the right hand.", + "start_idx": 3960, + "end_idx": 3999 + }, + { + "text": "Put the corn to the left of the juice pouch with the right hand facing forwards with the tip as the reference point.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Using the right hand, place the corn to the left of the juice pouch, facing forwards with the tip as the reference point.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Have the right arm set the corn to the left of the juice pouch with the tip facing forwards as the reference point.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "With the right hand, position the corn left of the juice pouch, oriented forwards using the tip as the reference point.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Place the corn to the left of the juice pouch, facing forwards with the tip as the reference point.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Set the corn left of the juice pouch with the tip as the reference point, facing forwards.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Position the corn to the left of the juice pouch so it faces forwards, using the tip as the reference point.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Using the right hand, place the corn to the left of the juice pouch.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Have the right arm set the corn left of the juice pouch.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "With the right hand, position the corn to the left of the juice pouch.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Put the corn to the left of the juice pouch.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Set the corn left of the juice pouch.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Using the right hand, place the corn to the left of the juice pouch, facing forwards.", + "start_idx": 3999, + "end_idx": 4044 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table by holding its middle at a diagonal angle.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "From the table, collect the yellow stuffed toy at a diagonal angle by grasping the middle.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Grab the yellow stuffed toy from the table, holding the middle.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "From the table, take the yellow stuffed toy.", + "start_idx": 4194, + "end_idx": 4221 + }, + { + "text": "Put the yellow stuffed toy in front of the asparagus with the right hand facing top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Using the right hand, place the yellow stuffed toy in front of the asparagus with it facing top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Have the right arm set the yellow stuffed toy in front of the asparagus, oriented toward the top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "With the right hand, position the yellow stuffed toy in front of the asparagus so it faces top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Place the yellow stuffed toy in front of the asparagus with it facing top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Set the yellow stuffed toy in front of the asparagus, oriented toward the top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Position the yellow stuffed toy in front of the asparagus so it faces top left.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Using the right hand, put the yellow stuffed toy in front of the asparagus.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Have the right arm place the yellow stuffed toy in front of the asparagus.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "With the right hand, set the yellow stuffed toy in front of the asparagus.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Put the yellow stuffed toy in front of the asparagus.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "In front of the asparagus, place the yellow stuffed toy.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Have the yellow stuffed toy positioned in front of the asparagus.", + "start_idx": 4221, + "end_idx": 4251 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Have the right arm pick the asparagus up from the table with a diagonal middle grasp.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "With the right hand, collect the asparagus from the table by gripping its middle at a diagonal angle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Take the asparagus from the table with a diagonal middle grasp.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "From the table, collect the asparagus by gripping the middle at a diagonal angle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "With the right hand, take the asparagus from the table at a diagonal angle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Have the right arm collect the asparagus from the table by grasping the middle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "From the table, grasp the asparagus at a diagonal angle.", + "start_idx": 4251, + "end_idx": 4275 + }, + { + "text": "Put the asparagus to the left of the yellow stuffed toy with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Using the right hand, place the asparagus to the left of the yellow stuffed toy with the tip facing bottom right.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Have the right arm set the asparagus left of the yellow stuffed toy, oriented bottom right using the tip as reference.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "With the right hand, position the asparagus to the left of the yellow stuffed toy so its tip points bottom right.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Place the asparagus to the left of the yellow stuffed toy with the tip facing bottom right.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Set the asparagus left of the yellow stuffed toy, oriented bottom right from the tip.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Position the asparagus to the left of the yellow stuffed toy so the tip faces bottom right.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Put the asparagus to the left of the yellow stuffed toy.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Place the asparagus left of the yellow stuffed toy.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Set the asparagus down to the left of the yellow stuffed toy.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Using the right hand, place the asparagus to the left of the yellow stuffed toy.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "With the right hand, set the asparagus left of the yellow stuffed toy.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Have the right arm put the asparagus to the left of the yellow stuffed toy.", + "start_idx": 4275, + "end_idx": 4308 + }, + { + "text": "Pick up the brown stuffed toy from the white plate with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the white plate at a diagonal angle, grasping the entire object.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Have the right hand retrieve the brown stuffed toy from the white plate with a diagonal approach and a whole-object grasp.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the white plate diagonally while holding the entire object.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Pick up the brown stuffed toy from the white plate at a diagonal angle, grasping the entire object.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "At a diagonal angle, pick the brown stuffed toy up from the white plate with a whole-object grasp.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Grasp the brown stuffed toy from the white plate at a diagonal angle, taking hold of the entire object.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Pick up the brown stuffed toy from the white plate with the right hand.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the white plate.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Have the right hand grasp the brown stuffed toy from the white plate.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Pick up the brown stuffed toy from the white plate at a diagonal angle with the right hand.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "With the right hand, pick up the brown stuffed toy from the white plate, grasping the entire object.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Take the brown stuffed toy from the white plate at a diagonal angle.", + "start_idx": 4383, + "end_idx": 4413 + }, + { + "text": "Put the brown stuffed toy to the right of the yellow stuffed toy with the right hand facing top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the yellow stuffed toy with its front facing the top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the yellow stuffed toy, front oriented toward the top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the yellow stuffed toy so its front points top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Place the brown stuffed toy to the right of the yellow stuffed toy with its front facing the top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Set the brown stuffed toy to the right of the yellow stuffed toy, front toward the top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Position the brown stuffed toy to the right of the yellow stuffed toy with the front pointed top left.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Using the right hand, put the brown stuffed toy to the right of the yellow stuffed toy.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "With the right hand, set the brown stuffed toy to the right of the yellow stuffed toy.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Have the right arm place the brown stuffed toy to the right of the yellow stuffed toy.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Put the brown stuffed toy to the right of the yellow stuffed toy.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Position the brown stuffed toy to the right of the yellow stuffed toy.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Set the brown stuffed toy to the right of the yellow stuffed toy.", + "start_idx": 4413, + "end_idx": 4443 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Have the right arm pick the croissant up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "With the right hand, collect the croissant from the table diagonally while enclosing the entire item.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "From the table, retrieve the croissant at a diagonal angle with the whole object enclosed.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "With the right hand, take the croissant from the table using a full-object grasp.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Have the right arm retrieve the croissant from the table.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Take the croissant from the table with the right hand.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "From the table, collect the croissant.", + "start_idx": 4515, + "end_idx": 4548 + }, + { + "text": "Put the croissant in front of the asparagus with the right hand.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Using the right hand, place the croissant in front of the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Have the right arm set the croissant down in front of the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "With your right hand, position the croissant before the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Place the croissant in front of the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Set the croissant down in front of the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Position the croissant before the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Move the croissant to a spot in front of the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "The croissant goes in front of the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Put the croissant by the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Arrange the croissant near the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Using the right hand, place the croissant by the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Have the right arm set the croissant near the asparagus.", + "start_idx": 4548, + "end_idx": 4581 + }, + { + "text": "Pick up the white plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Using the right hand, take the white plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "From a diagonal angle, have the right hand grasp the white plate from the table with a lip hold at the bottom right.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "With the right hand, secure the white plate from the table using a lip grasp on the bottom-right edge at a diagonal approach.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Pick up the white plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "From a diagonal angle, grasp the white plate from the table with a lip hold at the bottom right.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Take the white plate from the table with a lip grasp on the bottom-right area from a diagonal angle.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Using the right hand, pick up the white plate from the table with a lip grip.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Have the right hand take the white plate from the table using a lip grasp.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "With the right hand, secure the white plate from the table using a lip hold.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Pick up the white plate from the table from a diagonal angle.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Using the right hand, grasp the white plate from the table.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 4581, + "end_idx": 4623 + }, + { + "text": "Place the white plate to the right of the brown stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Using the right hand, set the white plate to the right of the brown stuffed toy, right side up with the front as the orientation reference point.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Have the right arm place the white plate to the brown stuffed toy's right, keeping it right side up relative to the front.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "With the right hand, position the white plate to the right of the brown stuffed toy, oriented right side up using the front as reference.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Place the white plate to the right of the brown stuffed toy, keeping it right side up with the front as the orientation reference point.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Set the white plate to the brown stuffed toy's right, right side up relative to the front.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Position the white plate to the right of the brown stuffed toy with its front as the orientation reference, right side up.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Place the white plate to the right of the brown stuffed toy with the right hand.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Using the right hand, set the white plate to the brown stuffed toy's right.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Have the right arm position the white plate to the right of the brown stuffed toy.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Place the white plate to the right of the brown stuffed toy.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Set the white plate to the brown stuffed toy's right.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Position the white plate to the right of the brown stuffed toy.", + "start_idx": 4623, + "end_idx": 4665 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "With the right hand, retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Retrieve the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Retrieve the corn from the table by grasping the middle.", + "start_idx": 4665, + "end_idx": 4695 + }, + { + "text": "Put the corn in front of the white plate with the right hand with its tip facing top left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Using the right hand, place the corn in front of the white plate with its tip pointed to the top left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Have the right arm set the corn in front of the white plate, tip facing the upper left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "With the right hand, position the corn before the white plate so its tip faces top left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Place the corn in front of the white plate with its tip facing top left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Set the corn before the white plate with the tip pointed toward the top left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Position the corn in front of the white plate so the tip faces the upper left.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Using the right hand, put the corn in front of the white plate.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "With the right hand, place the corn before the white plate.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Have the right arm set the corn in front of the white plate.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Put the corn in front of the white plate.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Place the corn before the white plate.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Set the corn in front of the white plate.", + "start_idx": 4695, + "end_idx": 4731 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a whole-object grasp.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table while enclosing the entire object.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 5004, + "end_idx": 5037 + }, + { + "text": "Put the brown stuffed toy to the right of the corn with the right hand facing top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the corn with its front facing the top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the corn, front pointing top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the corn so the front faces top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Place the brown stuffed toy to the right of the corn with its front facing the top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Set the brown stuffed toy to the right of the corn, front pointing top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Position the brown stuffed toy to the right of the corn so the front faces top left.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the corn.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the corn.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the corn.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Put the brown stuffed toy to the right of the corn.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Arrange the brown stuffed toy to the right of the corn.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "The brown stuffed toy goes to the right of the corn.", + "start_idx": 5037, + "end_idx": 5070 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the right in a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Have the right arm pick the juice pouch up from the table using a side grip on the right at a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "With the right hand, grasp the juice pouch from the table in a side hold at the right with a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the right in a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Grasp the juice pouch from the table in a side hold at the right with a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grasp.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Have the right arm grasp the juice pouch from the table with a side hold.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Pick up the juice pouch from the table with the right hand at the right in a diagonal angle.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Using the right hand, take the juice pouch from the table.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 5337, + "end_idx": 5361 + }, + { + "text": "Put the juice pouch to the left of the croissant with the right hand right side up front.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the croissant, right side up with the front facing forward.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Have the right arm set the juice pouch to the left of the croissant in an upright orientation, front forward.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "With the right hand, position the juice pouch left of the croissant, keeping it right side up and the front outward.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Place the juice pouch to the left of the croissant, right side up with the front facing forward.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Set the juice pouch to the left of the croissant in an upright orientation, front forward.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Position the juice pouch left of the croissant, keeping it right side up and the front outward.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the croissant.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Have the right arm set the juice pouch to the left of the croissant.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "With the right hand, position the juice pouch left of the croissant.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Place the juice pouch to the left of the croissant.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Set the juice pouch to the left of the croissant.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Position the juice pouch left of the croissant.", + "start_idx": 5361, + "end_idx": 5397 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Retrieve the corn from the table diagonally, holding the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Take the corn from the table by the middle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 5472, + "end_idx": 5505 + }, + { + "text": "Put the corn from the table with the tip facing top left using the right hand.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Using the right hand, place the corn from the table with its tip pointing to the top left.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Have the right arm set the corn from the table down with the tip oriented top left.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "With the right hand, position the corn from the table so the tip faces the upper left.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Place the corn from the table with its tip pointing to the top left.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Set the corn from the table down with the tip oriented top left.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Position the corn from the table so the tip faces the upper left.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Using the right hand, put the corn from the table down.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Have the right arm place the corn from the table.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "With the right hand, set down the corn from the table.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Put the corn from the table.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Set the corn from the table in place.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Have the corn from the table placed down.", + "start_idx": 5505, + "end_idx": 5553 + }, + { + "text": "Pick up the croissant from the table with the right hand using a diagonal grasp on the entire object.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Using the right hand, take the croissant from the table with a diagonal grasp on the entire object.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Have the right arm pick up the croissant from the table by grasping the whole object diagonally.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "With the right hand, retrieve the croissant from the table using a diagonal whole-object grasp.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Pick up the croissant from the table using a diagonal grasp on the entire object.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Take the croissant from the table with a diagonal grasp on the whole object.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Retrieve the croissant from the table by grasping the entire object diagonally.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Have the right arm take the croissant from the table.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Have the right arm pick up the croissant from the table.", + "start_idx": 5625, + "end_idx": 5658 + }, + { + "text": "Place the croissant to the left of the brown stuffed toy with the right hand.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Using the right hand, set the croissant to the left of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Have the right arm place the croissant left of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "With the right hand, position the croissant on the brown stuffed toy's left side.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Place the croissant to the left of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Set the croissant left of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Position the croissant on the left side of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Put the croissant beside the brown stuffed toy on its left.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "The croissant goes to the left of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Place the croissant next to the brown stuffed toy on the left.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Set the croissant to the brown stuffed toy's left side.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Have the croissant placed left of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Put the croissant on the left side of the brown stuffed toy.", + "start_idx": 5658, + "end_idx": 5688 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table with a diagonal pickup, holding the whole object.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table diagonally using a whole-object grasp.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Retrieve the yellow stuffed toy from the table with a diagonal pickup while holding the whole object.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Take the yellow stuffed toy from the table at a diagonal angle with a full-object grasp.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Retrieve the yellow stuffed toy from the table.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Put the yellow stuffed toy behind the brown stuffed toy with the right hand facing top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Using the right hand, place the yellow stuffed toy behind the brown stuffed toy with its front facing the top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Have the right arm set the yellow stuffed toy behind the brown stuffed toy, front oriented toward the top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "With the right hand, position the yellow stuffed toy behind the brown stuffed toy so the front points top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Place the yellow stuffed toy behind the brown stuffed toy with its front facing the top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Set the yellow stuffed toy behind the brown stuffed toy, front directed toward the top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Position the yellow stuffed toy behind the brown stuffed toy so it faces top left.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Put the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Place the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Set the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Using the right hand, put the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "With the right hand, place the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Have the right arm position the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 5862, + "end_idx": 5901 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "With the right hand, grasp the asparagus from the table in the middle at a diagonal angle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Take the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Grasp the asparagus from the table in the middle at a diagonal angle.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "With the right hand, grasp the asparagus from the table.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Grasp the asparagus from the table.", + "start_idx": 6147, + "end_idx": 6189 + }, + { + "text": "Put the asparagus in front of the corn with the right hand facing top left with the tip as the reference point.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Using the right hand, place the asparagus in front of the corn with the tip facing top left.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Have the right arm set the asparagus in front of the corn, oriented top left at the tip.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "With the right hand, position the asparagus before the corn so its tip points toward the top left.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Place the asparagus in front of the corn with the tip facing top left.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Set the asparagus before the corn, with its tip oriented toward the top left.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Position the asparagus in front of the corn so the tip points top left.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Using the right hand, put the asparagus in front of the corn.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "With the right hand, place the asparagus before the corn.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Have the right arm position the asparagus in front of the corn.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Put the asparagus in front of the corn.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Set the asparagus before the corn.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Position the asparagus in front of the corn.", + "start_idx": 6189, + "end_idx": 6225 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Have the right arm pick the croissant up from the table diagonally with a full-object grasp.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "With the right hand, retrieve the croissant from the table using a diagonal approach and grasp the entire object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Take the croissant from the table diagonally with a full-object grasp.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Retrieve the croissant from the table using a diagonal approach while holding the whole object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "With the right hand, take the croissant from the table using a full-object grasp.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Have the right arm retrieve the croissant from the table while grasping the whole object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Take the croissant from the table with the right hand at a diagonal angle.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Pick up the croissant from the table, grasping the entire object.", + "start_idx": 6312, + "end_idx": 6348 + }, + { + "text": "Place the croissant to the right of the white plate with the right hand.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "With the right hand, set the croissant to the right of the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Have the right arm place the croissant on the right side of the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Using your right hand, position the croissant to the white plate's right.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Place the croissant to the right of the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Set the croissant on the right side of the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Position the croissant to the white plate's right.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "The croissant goes to the right of the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Move the croissant to the spot right of the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "With the right hand, place the croissant by the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Using the right hand, set the croissant next to the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Have the right arm position the croissant beside the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Put the croissant beside the white plate.", + "start_idx": 6348, + "end_idx": 6375 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Take the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Take the brown stuffed toy from the table with the right hand.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 6438, + "end_idx": 6471 + }, + { + "text": "Put the brown stuffed toy to the right side of the table with the right hand facing top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Using the right hand, place the brown stuffed toy on the right side of the table with its front facing top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Have the right hand set the brown stuffed toy to the table's right side, front facing top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "With the right hand, position the brown stuffed toy at the right side of the table, with the front oriented top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Place the brown stuffed toy on the right side of the table with its front facing top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Set the brown stuffed toy to the table's right side, front facing top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Position the brown stuffed toy at the right side of the table with the front pointed top left.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Using the right hand, put the brown stuffed toy on the right side of the table.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Have the right hand place the brown stuffed toy to the table's right side.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "With the right hand, set the brown stuffed toy at the right side of the table.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Put the brown stuffed toy on the right side of the table.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Place the brown stuffed toy to the table's right side.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Set the brown stuffed toy at the right side of the table.", + "start_idx": 6471, + "end_idx": 6504 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Using the right hand, take the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Have the right arm pick the yellow stuffed toy up from the table with a diagonal approach at the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "With the right hand, collect the yellow stuffed toy from the table, contacting it diagonally at the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal approach at the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Grab the yellow stuffed toy from the table diagonally by the middle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Have the right arm take the yellow stuffed toy from the table.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "With the right hand, grab the yellow stuffed toy from the table.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Take the yellow stuffed toy from the table.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 6504, + "end_idx": 6540 + }, + { + "text": "Put the yellow stuffed toy behind the brown stuffed toy with the right hand facing top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Using the right hand, place the yellow stuffed toy behind the brown stuffed toy with its front facing top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Have the right hand set the yellow stuffed toy behind the brown stuffed toy, front oriented toward the top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "With the right hand, position the yellow stuffed toy behind the brown stuffed toy so the front faces top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Place the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Set the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Position the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Using the right hand, put the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Have the right hand place the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "With the right hand, set the yellow stuffed toy behind the brown stuffed toy.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Arrange the yellow stuffed toy behind the brown stuffed toy with its front facing top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "The yellow stuffed toy goes behind the brown stuffed toy with the front pointed top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Position the yellow stuffed toy behind the brown stuffed toy, front facing top left.", + "start_idx": 6540, + "end_idx": 6579 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "With the right hand, retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "With the right hand, take the croissant from the table using a whole-object grasp.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Have the right hand retrieve the croissant from the table while holding the entire object.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "With the right hand, take the croissant from the table diagonally.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 6660, + "end_idx": 6708 + }, + { + "text": "Put the croissant to the right side of the table with the right hand.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Using the right hand, place the croissant on the table's right side.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Have the right arm set the croissant at the right side of the table.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "With the right hand, position the croissant to the table's right side.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Place the croissant on the right side of the table.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Set the croissant at the table's right side.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "The croissant goes on the right side of the table.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Position the croissant on the table's right side.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Arrange the croissant at the right side of the table.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Put the croissant down.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Set the croissant in place.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Place the croissant.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Have the croissant placed there.", + "start_idx": 6708, + "end_idx": 6738 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grasp at the top with a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Using the right arm, grasp the juice pouch from the table with a side hold at the top on a diagonal.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Have the right hand pick the juice pouch up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top with a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top on a diagonal.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Grasp the juice pouch from the table at the top with a side hold and a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "With the right hand, pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Using the right arm, take the juice pouch from the table with a side grasp.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Have the right hand collect the juice pouch from the table at the top.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Pick up the juice pouch from the table with the right hand at a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Take the juice pouch from the table with the right hand using a side grasp.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Grasp the juice pouch from the table at the top with a diagonal angle.", + "start_idx": 6804, + "end_idx": 6837 + }, + { + "text": "Put the juice pouch behind the white plate with the right hand facing bottom right from the front.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Using the right hand, place the juice pouch behind the white plate with its front facing the bottom right.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Have the right arm set the juice pouch behind the white plate, front oriented toward the bottom right.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "With the right hand, position the juice pouch behind the white plate so the front points bottom right.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Place the juice pouch behind the white plate with its front facing the bottom right.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Set the juice pouch behind the white plate with the front toward the bottom right.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Position the juice pouch behind the white plate, front facing bottom right.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Using the right hand, put the juice pouch behind the white plate.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Have the right arm place the juice pouch behind the white plate.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "With the right hand, set the juice pouch behind the white plate.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Put the juice pouch behind the white plate.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Behind the white plate, place the juice pouch.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Have the juice pouch placed behind the white plate.", + "start_idx": 6837, + "end_idx": 6879 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "With the right hand, collect the corn from the table, gripping the middle at a diagonal angle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "From the table, retrieve the corn at a diagonal angle by the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Use the right hand to pick up the corn from the table, grasping the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "With the right hand, take the corn from the table by the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Have the right arm retrieve the corn from the table, holding the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Grab the corn from the table by the middle.", + "start_idx": 6879, + "end_idx": 6918 + }, + { + "text": "Put the corn to the left of the croissant with the right hand facing left with the tip as the reference point.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "With the right hand, place the corn to the left of the croissant, facing left using the tip as the reference point.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Have the right arm set the corn left of the croissant with its tip taken as the reference point and oriented left.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Using the right hand, position the corn to the croissant's left with the tip as the reference point, facing left.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Place the corn to the left of the croissant, facing left with the tip as the reference point.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Set the corn left of the croissant with its tip as the reference point and oriented left.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Position the corn to the croissant's left, with the tip defining the reference point and the corn facing left.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "With the right hand, put the corn to the left of the croissant.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Have the right arm place the corn left of the croissant.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Using the right hand, set the corn to the croissant's left.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Put the corn to the left of the croissant.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Set the corn left of the croissant.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Position the corn to the croissant's left.", + "start_idx": 6918, + "end_idx": 6954 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "With the right hand, grasp the middle of the corn on the table and retrieve it at a diagonal angle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Grasp the middle of the corn on the table and remove it at a diagonal angle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Using the right hand, grasp the middle of the corn from the table.", + "start_idx": 7173, + "end_idx": 7206 + }, + { + "text": "Put the corn in front of the juice pouch with the right hand facing top left with the tip as the reference point.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Using the right hand, place the corn in front of the juice pouch, facing top left with the tip as the reference point.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Have the right hand set the corn in front of the juice pouch with its tip oriented toward the top left.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "With the right hand, position the corn in front of the juice pouch so the tip faces top left.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Place the corn in front of the juice pouch with its tip facing top left.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Set the corn in front of the juice pouch, oriented top left by the tip.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Position the corn in front of the juice pouch so the tip points top left.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Using the right hand, put the corn in front of the juice pouch.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "With the right hand, place the corn in front of the juice pouch.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Have the right hand set the corn in front of the juice pouch.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Put the corn in front of the juice pouch.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Place the corn in front of the juice pouch.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Set the corn in front of the juice pouch.", + "start_idx": 7206, + "end_idx": 7251 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Have the right arm pick the croissant off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "With the right hand, collect the croissant from the table diagonally using a full-object hold.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Take the croissant off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "From the table, collect the croissant diagonally with a full grasp.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "With the right hand, take the croissant from the table using a whole-object grasp.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Have the right arm collect the croissant off the table with a full-object hold.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "With the right hand, take the croissant off the table diagonally.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 7338, + "end_idx": 7371 + }, + { + "text": "Put the croissant to the left of the corn with the right hand.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Using the right hand, place the croissant to the left of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Have the right arm set the croissant down left of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "With the right hand, position the croissant on the corn's left side.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Place the croissant to the left of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Set the croissant down left of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Position the croissant on the left side of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Arrange the croissant to the corn's left.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Put the croissant beside the corn on its left side.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "The croissant goes to the left of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Set the croissant next to the corn, on the left.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Place the croissant left of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Have the croissant placed on the left side of the corn.", + "start_idx": 7371, + "end_idx": 7407 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "With the right hand, retrieve the corn from the table by grasping its middle at a diagonal angle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Take the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Take the corn from the table.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 7506, + "end_idx": 7542 + }, + { + "text": "Put the corn to the right of the brown stuffed toy with the right hand facing top right by the tip.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Using the right hand, place the corn to the right of the brown stuffed toy with the tip facing the top right.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Have the right arm set the corn to the right of the brown stuffed toy, oriented so its tip points top right.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "With the right hand, position the corn to the right of the brown stuffed toy, tip directed toward the top right.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Place the corn to the right of the brown stuffed toy with the tip facing the top right.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Set the corn to the right of the brown stuffed toy, with its tip pointing top right.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Position the corn to the right of the brown stuffed toy so the tip faces the top right.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Using the right hand, place the corn to the right of the brown stuffed toy.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Have the right arm set the corn to the right of the brown stuffed toy.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "With the right hand, position the corn to the right of the brown stuffed toy.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Place the corn to the right of the brown stuffed toy.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Set the corn to the right of the brown stuffed toy.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "To the right of the brown stuffed toy, position the corn.", + "start_idx": 7542, + "end_idx": 7584 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Using the right hand, take the white plate from the table with a diagonal lip grasp on the right side.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Have the right arm pick the white plate up from the table using a diagonal lip hold on its right edge.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "With the right hand, grasp the white plate from the table in a diagonal lip grip at the right side.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Pick up the white plate from the table using a diagonal lip grasp on the right side.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Take the white plate from the table with a diagonal lip hold on the right edge.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Grasp the white plate from the table in a diagonal lip grip on its right side.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Pick up the white plate from the table with the right hand.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Using the right hand, take the white plate from the table.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Have the right arm grasp the white plate from the table.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "With the right hand, take the white plate from the table.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Using a diagonal lip grasp on the right side, pick up the white plate from the table.", + "start_idx": 7719, + "end_idx": 7749 + }, + { + "text": "Put the white plate in front of the juice pouch with the right hand right side up.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Using the right hand, place the white plate in front of the juice pouch right side up.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Have the right arm set the white plate down in front of the juice pouch with its right side facing up.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "With the right hand, position the white plate in front of the juice pouch so it is right side up.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Place the white plate in front of the juice pouch right side up.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Set the white plate in front of the juice pouch with its right side facing up.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Position the white plate in front of the juice pouch upright.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Using the right hand, put the white plate in front of the juice pouch.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "With the right hand, set the white plate down in front of the juice pouch.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Have the right arm place the white plate in front of the juice pouch.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Put the white plate in front of the juice pouch.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Set the white plate down in front of the juice pouch.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Using the right hand, position the white plate by the juice pouch.", + "start_idx": 7749, + "end_idx": 7788 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the whole object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Have the right hand pick the croissant up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "With the right hand, retrieve the croissant from the table diagonally while holding the entire object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Take the croissant from the table with a diagonal approach and a full-object hold.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Retrieve the croissant from the table diagonally while grasping the whole object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Have the right hand take the croissant from the table with a full-object grasp.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "With the right hand, retrieve the croissant from the table while holding the whole object.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Have the right hand take the croissant from the table diagonally.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 7788, + "end_idx": 7818 + }, + { + "text": "Place the croissant in front of the asparagus with the right hand.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "With the right hand, set the croissant in front of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Have the right arm place the croissant ahead of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Using the right hand, position the croissant in front of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Put the croissant in front of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Set the croissant ahead of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Position the croissant in front of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Place the croissant before the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Move the croissant to the spot in front of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Put the croissant in front of the asparagus with your hand.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Arrange the croissant in front of the asparagus by hand.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Using your hand, place the croissant ahead of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Have the croissant placed in front of the asparagus.", + "start_idx": 7818, + "end_idx": 7848 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Have the right hand collect the asparagus from the table with a diagonal pickup at the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "With the right hand, secure the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Grasp the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "With the right hand, pick up the asparagus from the table grasping the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Using the right hand, take the asparagus from the table by the middle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Have the right hand grasp the asparagus from the table at a diagonal angle.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Take the asparagus from the table diagonally.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Have the right hand collect the asparagus from the table.", + "start_idx": 7911, + "end_idx": 7938 + }, + { + "text": "Put the asparagus to the right of the croissant with the right hand with its tip facing bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Using the right hand, place the asparagus to the right of the croissant with its tip pointing toward the bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Have the right arm set the asparagus to the croissant's right, tip oriented to the bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "With the right hand, position the asparagus on the right side of the croissant, tip facing bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Place the asparagus to the right of the croissant with its tip facing bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Set the asparagus on the right side of the croissant, with the tip directed bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Position the asparagus to the croissant's right, keeping its tip pointed toward the bottom right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Using the right hand, put the asparagus to the right of the croissant.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Have the right arm place the asparagus on the right side of the croissant.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "With the right hand, position the asparagus to the croissant's right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Place the asparagus to the right of the croissant.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Set the asparagus on the right side of the croissant.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Position the asparagus to the croissant's right.", + "start_idx": 7938, + "end_idx": 7974 + }, + { + "text": "Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Have the right hand take the yellow stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "With the right hand, retrieve the yellow stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Pick up the yellow stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Take the yellow stuffed toy from the table with a diagonal pickup, holding the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Retrieve the yellow stuffed toy from the table by grasping the middle at a diagonal angle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table, grasping the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "With the right hand, take the yellow stuffed toy from the table by holding its middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Have the right hand retrieve the yellow stuffed toy from the table at the middle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Using the right hand, pick up the yellow stuffed toy from the table at a diagonal angle.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Take the yellow stuffed toy from the table with the right hand.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Pick up the yellow stuffed toy from the table.", + "start_idx": 8036, + "end_idx": 8066 + }, + { + "text": "Put the yellow stuffed toy behind the white plate with the right hand facing top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Using the right hand, place the yellow stuffed toy behind the white plate with its front facing top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Have the right arm set the yellow stuffed toy behind the white plate, front oriented toward the top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "With the right hand, position the yellow stuffed toy behind the white plate so the front points top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Place the yellow stuffed toy behind the white plate with its front facing top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Set the yellow stuffed toy behind the white plate, front oriented toward the top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Position the yellow stuffed toy behind the white plate so the front points top left.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Using the right hand, put the yellow stuffed toy behind the white plate.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "With the right hand, place the yellow stuffed toy behind the white plate.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Have the right arm set the yellow stuffed toy behind the white plate.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Put the yellow stuffed toy behind the white plate.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Position the yellow stuffed toy behind the white plate.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Set the yellow stuffed toy behind the white plate.", + "start_idx": 8066, + "end_idx": 8108 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "With the right hand, collect the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Collect the brown stuffed toy from the table diagonally using a full-body hold.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table using a whole-object grasp.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Have the right arm collect the brown stuffed toy from the table with a full-object hold.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Have the right arm collect the brown stuffed toy from the table with a diagonal approach.", + "start_idx": 8181, + "end_idx": 8211 + }, + { + "text": "Put the brown stuffed toy in front of the corn with the right hand facing top left.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the corn, facing the top left.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Have the right arm set the brown stuffed toy before the corn with its orientation toward the top left.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "With the right hand, position the brown stuffed toy in front of the corn so it faces top left.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Place the brown stuffed toy in front of the corn, facing the top left.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Set the brown stuffed toy before the corn with the top oriented leftward.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Position the brown stuffed toy in front of the corn so it points toward the top left.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the corn.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "With the right hand, place the brown stuffed toy before the corn.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Have the right arm position the brown stuffed toy in front of the corn.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Put the brown stuffed toy in front of the corn.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Set the brown stuffed toy before the corn.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Position the brown stuffed toy in front of the corn.", + "start_idx": 8211, + "end_idx": 8241 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "With the right hand, retrieve the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Take the asparagus from the table at a diagonal angle while holding the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, grasping it at the middle.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Using the right hand, take the asparagus from the table.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 8307, + "end_idx": 8334 + }, + { + "text": "Put the asparagus to the right of the white plate with the right hand facing top left by the tip.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white plate with the tip facing the top left.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Have the right hand set the asparagus to the right of the white plate, tip oriented toward the top left.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "With the right hand, position the asparagus to the right of the white plate so its tip points top left.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Place the asparagus to the right of the white plate with the tip facing the top left.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Set the asparagus to the right of the white plate, with its tip pointing toward the top left.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Position the asparagus to the right of the white plate so the tip faces the top left.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white plate.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Have the right hand set the asparagus to the right of the white plate.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "With the right hand, position the asparagus to the right of the white plate.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Place the asparagus to the right of the white plate.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Set the asparagus to the right of the white plate.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Position the asparagus to the right of the white plate.", + "start_idx": 8334, + "end_idx": 8382 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Retrieve the corn from the table, grasping the middle at a diagonal angle.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "With the right hand, pick up the corn from the table.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Using the right hand, take the corn from the table.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Have the right arm retrieve the corn from the table.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Take the corn from the table with the right hand.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Retrieve the corn from the table with the right hand.", + "start_idx": 8439, + "end_idx": 8478 + }, + { + "text": "Put the corn behind the asparagus with the right hand facing top left with the tip as the orientation reference point.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Using the right hand, place the corn behind the asparagus with its tip facing the top left.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Have the right hand set the corn behind the asparagus, oriented top left at the tip.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "With the right hand, position the corn behind the asparagus so the tip points toward the top left.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Place the corn behind the asparagus with its tip facing the top left.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Set the corn behind the asparagus so the tip points to the top left.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Position the corn behind the asparagus with the tip oriented toward the top left.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Using the right hand, put the corn behind the asparagus.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "With the right hand, place the corn behind the asparagus.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Have the right hand set the corn behind the asparagus.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Put the corn behind the asparagus.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Using the right hand, position the corn behind the asparagus.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Set the corn behind the asparagus with the tip toward the top left.", + "start_idx": 8478, + "end_idx": 8523 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table at a diagonal angle using a full-body hold.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Retrieve the brown stuffed toy from the table at a diagonal angle using a full-body hold.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a full-object grasp.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Take the brown stuffed toy from the table with the right hand.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Put the brown stuffed toy to the center of the table with the right hand facing top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Using the right hand, place the brown stuffed toy at the center of the table with its front facing top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Have the right arm set the brown stuffed toy in the table center, front oriented toward the top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "With the right hand, position the brown stuffed toy at the center of the table so its front points top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Place the brown stuffed toy at the center of the table with its front facing top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Set the brown stuffed toy in the center of the table, front toward the top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Position the brown stuffed toy at the table center with the front pointing top left.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Using the right hand, place the brown stuffed toy at the center of the table.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "With the right hand, set the brown stuffed toy in the center of the table.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Have the right arm position the brown stuffed toy at the table center.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Put the brown stuffed toy at the center of the table.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Set the brown stuffed toy in the middle of the table.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Have the brown stuffed toy placed at the center of the table.", + "start_idx": 8733, + "end_idx": 8772 + }, + { + "text": "Return both hands to home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Move both hands back to the home position.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Have both arms return to home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Bring both hands to their home position.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Return the hands to home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Bring the hands back to home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Move the hands to the home position.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Have the hands return home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Send the hands back to home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Bring both arms home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Move both arms to home.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Return both arms to the home position.", + "start_idx": 8850, + "end_idx": 8883 + }, + { + "text": "Have both hands go back home.", + "start_idx": 8850, + "end_idx": 8883 + } + ] + }, + "2026-03-17-16-51-33-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 human data collection", + "total_frames": 9260, + "num_annotations": 3261, + "annotations": [ + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, contacting its middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Retrieve the orange screwdriver from the table, grasping its middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, take the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, get the orange screwdriver from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Put the orange screwdriver to the bottom side of the table with the left hand with the tip facing right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Using the left hand, place the orange screwdriver on the bottom side of the table with its tip pointing right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Have the left hand set the orange screwdriver against the bottom side of the table, tip facing right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "With the left arm, position the orange screwdriver at the bottom side of the table so the tip faces right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Place the orange screwdriver on the bottom side of the table with its tip pointing right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Set the orange screwdriver against the bottom side of the table, with the tip facing right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Position the orange screwdriver at the bottom side of the table so its tip points right.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Using the left hand, put the orange screwdriver on the bottom side of the table.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "With the left hand, set the orange screwdriver against the bottom side of the table.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Have the left arm place the orange screwdriver at the bottom side of the table.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Put the orange screwdriver on the bottom side of the table.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Set the orange screwdriver at the bottom side of the table.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Place the orange screwdriver against the bottom side of the table.", + "start_idx": 105, + "end_idx": 141 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally by its middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Retrieve the asparagus from the table while holding the middle at a diagonal angle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Have the left arm retrieve the asparagus from the table, holding its middle.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 141, + "end_idx": 177 + }, + { + "text": "Put the asparagus to the right of the orange screwdriver with the left hand facing bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Using the left hand, place the asparagus to the right of the orange screwdriver with its tip facing bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Have the left arm set the asparagus to the right of the orange screwdriver, tip oriented toward the bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "With the left hand, position the asparagus right of the orange screwdriver so the tip points bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Place the asparagus to the right of the orange screwdriver with its tip facing bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Set the asparagus right of the orange screwdriver, with the tip oriented toward the bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Position the asparagus to the right of the orange screwdriver so its tip points to the bottom left.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Using the left hand, put the asparagus to the right of the orange screwdriver.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "With the left hand, place the asparagus right of the orange screwdriver.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Have the left arm position the asparagus to the right of the orange screwdriver.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Put the asparagus to the right of the orange screwdriver.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Set the asparagus right of the orange screwdriver.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Position the asparagus to the right of the orange screwdriver.", + "start_idx": 177, + "end_idx": 207 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "With the left hand, collect the corn from the table by grasping its middle at a diagonal angle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Take the corn from the table diagonally, holding the middle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Grasp the corn from the table at the middle and pick it up diagonally.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Using the left hand, collect the corn from the table.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Grasp the corn from the table at the middle.", + "start_idx": 207, + "end_idx": 246 + }, + { + "text": "Put the corn to the left of the orange screwdriver with the left hand facing top right at the tip.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Using the left hand, place the corn to the left of the orange screwdriver with its tip facing the top right.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Have the left arm set the corn left of the orange screwdriver, tip oriented toward the top right.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "With the left hand, position the corn on the orange screwdriver's left side, keeping the tip pointed top right.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Place the corn to the left of the orange screwdriver with the tip facing the top right.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Set the corn left of the orange screwdriver, with its tip directed toward the top right.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Position the corn on the left side of the orange screwdriver, tip pointing to the top right.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Using the left hand, place the corn to the left of the orange screwdriver.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Have the left arm set the corn left of the orange screwdriver.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "With the left hand, position the corn on the orange screwdriver's left side.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Put the corn to the left of the orange screwdriver.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Set the corn left of the orange screwdriver.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Position the corn on the left side of the orange screwdriver.", + "start_idx": 245, + "end_idx": 282 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Have the left arm pick the red marker off the table with a diagonal approach, holding it at the middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Take the red marker off the table diagonally while holding its middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach, gripping the middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Pick up the red marker from the table by the middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "From the table, take the red marker by its middle.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Grasp the middle of the red marker and pick it up from the table.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Get the red marker from the table with the left hand.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Have the left arm retrieve the red marker from the table.", + "start_idx": 420, + "end_idx": 462 + }, + { + "text": "Put the red marker behind the corn with the left hand with its tip facing forwards.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Using the left hand, place the red marker behind the corn with its tip pointing forward.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Have the left arm set the red marker behind the corn, tip facing forwards.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "With the left hand, position the red marker behind the corn so its tip faces forward.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Place the red marker behind the corn with its tip facing forwards.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Set the red marker behind the corn with the tip pointing forward.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Position the red marker behind the corn so the tip faces forward.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Using the left hand, put the red marker behind the corn.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Have the left arm place the red marker behind the corn.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "With the left hand, set the red marker behind the corn.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Put the red marker behind the corn.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Position the red marker behind the corn.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Have the marker placed behind the corn.", + "start_idx": 462, + "end_idx": 495 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by grasping its middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Retrieve the corn from the table, grasping the middle.", + "start_idx": 495, + "end_idx": 540 + }, + { + "text": "Put the corn to the left of the red marker with the left hand with the tip facing bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Using the left hand, place the corn to the left of the red marker with its tip facing the bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Have the left arm set the corn left of the red marker, tip oriented toward the bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "With the left hand, position the corn to the left of the red marker so the tip points bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Place the corn to the left of the red marker with its tip facing the bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Set the corn left of the red marker, with the tip pointed toward the bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Position the corn to the left of the red marker so its tip faces bottom left.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Using the left hand, place the corn to the left of the red marker.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Have the left arm set the corn left of the red marker.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "With the left hand, position the corn to the left of the red marker.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Place the corn to the left of the red marker.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Set the corn left of the red marker.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Position the corn to the left of the red marker.", + "start_idx": 540, + "end_idx": 582 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Have the left arm take the orange screwdriver off the table diagonally by its middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Take the orange screwdriver from the table diagonally by the middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Retrieve the orange screwdriver from the table while holding its middle at a diagonal angle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Have the left arm take the orange screwdriver off the table.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Remove the orange screwdriver from the table at a diagonal angle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Take the orange screwdriver from the table by the middle.", + "start_idx": 582, + "end_idx": 621 + }, + { + "text": "Put the orange screwdriver in front of the corn with the left hand facing forwards with the tip as the reference point.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Using the left hand, place the orange screwdriver in front of the corn with its tip facing forwards.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Have the left arm set the orange screwdriver in front of the corn, oriented forward by the tip.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "With the left hand, position the orange screwdriver in front of the corn so the tip points forwards.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Place the orange screwdriver in front of the corn with its tip facing forwards.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Set the orange screwdriver in front of the corn, with the tip oriented forwards.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Position the orange screwdriver in front of the corn so its tip faces forwards.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Using the left hand, put the orange screwdriver in front of the corn.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Have the left arm place the orange screwdriver in front of the corn.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "With the left hand, set the orange screwdriver in front of the corn.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Put the orange screwdriver in front of the corn.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Place the orange screwdriver in front of the corn.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Set the orange screwdriver in front of the corn.", + "start_idx": 621, + "end_idx": 654 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grip on the left.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grip on the left.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a left-side diagonal lip hold.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "With the left hand, take hold of the white coffee cup from the table in a diagonal lip grasp on the left.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip on the left.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Grasp the white coffee cup from the table with a left-side diagonal lip hold.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 654, + "end_idx": 696 + }, + { + "text": "Put the white coffee cup in front of the red marker with the left hand right side up with the front facing backwards.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the red marker, right side up, with its front facing backward.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Have the left arm set the white coffee cup in front of the red marker, keeping it upright and the front directed backward.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "With the left hand, position the white coffee cup before the red marker so it stays right side up and faces backward.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Place the white coffee cup in front of the red marker, right side up, with the front facing backward.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Set the white coffee cup in front of the red marker, upright, with its front toward the back.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Position the white coffee cup before the red marker, keeping it right side up and facing backward.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Using the left hand, put the white coffee cup in front of the red marker.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Have the left arm place the white coffee cup before the red marker.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "With the left hand, set the white coffee cup in front of the red marker.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Put the white coffee cup in front of the red marker.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Set the white coffee cup before the red marker.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Position the white coffee cup in front of the red marker.", + "start_idx": 696, + "end_idx": 732 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle from the middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Have the left arm grasp the red marker from the table diagonally at its middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "With the left hand, retrieve the red marker from the table by approaching diagonally at the middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Take the red marker from the table diagonally from the middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach at its middle.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "With the left hand, grasp the red marker from the table.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 867, + "end_idx": 915 + }, + { + "text": "Put the red marker in front of the stuffed toy with the left hand facing forwards with the tip forwards.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Using the left hand, place the red marker in front of the stuffed toy with the tip facing forwards.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Have the left arm set the red marker in front of the stuffed toy, oriented tip-forward.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "With the left hand, position the red marker in front of the stuffed toy so it faces forwards at the tip.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Place the red marker in front of the stuffed toy with the tip facing forwards.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Set the red marker in front of the stuffed toy, tip-forward.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Position the red marker in front of the stuffed toy with its tip pointed forwards.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Using the left hand, put the red marker in front of the stuffed toy.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "With the left hand, set the red marker in front of the stuffed toy.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Have the left arm place the red marker in front of the stuffed toy.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Place the red marker in front of the stuffed toy.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Set the red marker in front of the stuffed toy.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Position the red marker in front of the stuffed toy.", + "start_idx": 915, + "end_idx": 957 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a diagonal approach, holding the middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "The asparagus should be taken from the table with the left hand.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Have the asparagus picked up from the table.", + "start_idx": 957, + "end_idx": 996 + }, + { + "text": "Put the asparagus to the bottom side of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Using the left hand, place the asparagus on the bottom side of the table with the tip facing forwards.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Have the left arm set the asparagus at the table's bottom side, oriented forward relative to its tip.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "With the left hand, position the asparagus on the bottom side of the table so the tip faces forwards.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Place the asparagus on the bottom side of the table with the tip facing forwards.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Set the asparagus at the table's bottom side with the tip oriented forwards.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Position the asparagus on the bottom side of the table so its tip points forwards.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Using the left hand, put the asparagus on the bottom side of the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Have the left arm place the asparagus at the table's bottom side.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "With the left hand, set the asparagus on the bottom side of the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Put the asparagus on the bottom side of the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Place the asparagus at the table's bottom side.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Set the asparagus on the bottom side of the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a diagonal lip grasp on its left side.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip hold on its left side.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Take the white coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Take the white coffee cup from the table using the left hand.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Grasp the white coffee cup from the table with the left hand.", + "start_idx": 1032, + "end_idx": 1074 + }, + { + "text": "Put the white coffee cup behind the brown stuffed toy with the left hand right side up with the front as the reference point.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Using the left hand, place the white coffee cup behind the brown stuffed toy right side up with the front as the reference point.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Have the left arm set the white coffee cup behind the brown stuffed toy, keeping it right side up relative to the front.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "With the left hand, position the white coffee cup behind the brown stuffed toy so it is right side up using the front as the reference point.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Place the white coffee cup behind the brown stuffed toy right side up with the front as the reference point.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Set the white coffee cup behind the brown stuffed toy, oriented right side up from the front reference point.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Position the white coffee cup behind the brown stuffed toy so it remains right side up relative to the front.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Using the left hand, put the white coffee cup behind the brown stuffed toy.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "With the left hand, place the white coffee cup behind the brown stuffed toy.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Have the left arm position the white coffee cup behind the brown stuffed toy.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Put the white coffee cup behind the brown stuffed toy.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Set the white coffee cup behind the brown stuffed toy.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Position the white coffee cup behind the brown stuffed toy.", + "start_idx": 1074, + "end_idx": 1116 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Have the left arm pick the corn up from the table with a diagonal approach at the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Retrieve the corn from the table by the middle at a diagonal angle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Have the left arm pick up the corn from the table at the middle.", + "start_idx": 1116, + "end_idx": 1158 + }, + { + "text": "Put the corn in between the orange screwdriver and asparagus with the left hand facing top left with the tip as the reference point.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Using the left hand, place the corn between the orange screwdriver and the asparagus, with the tip facing top left.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Have the left arm set the corn between the orange screwdriver and asparagus, oriented top left from the tip.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "With the left hand, position the corn between the orange screwdriver and asparagus so its tip points top left.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Place the corn between the orange screwdriver and asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Set the corn in between the orange screwdriver and asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Position the corn between the orange screwdriver and the asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Arrange the corn in between the orange screwdriver and asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Using the left hand, put the corn between the orange screwdriver and asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "With the left hand, place the corn in between the orange screwdriver and asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Have the left arm position the corn between the orange screwdriver and asparagus.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Put the corn between the orange screwdriver and asparagus with the tip facing top left.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Set the corn between the orange screwdriver and asparagus, oriented top left from the tip.", + "start_idx": 1158, + "end_idx": 1194 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Take the orange screwdriver from the table diagonally by the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal pickup at the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "From the table, pick up the orange screwdriver by the middle.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Grab the orange screwdriver from the table.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 1194, + "end_idx": 1215 + }, + { + "text": "Put the orange screwdriver behind the corn with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the orange screwdriver behind the corn with the tip facing forwards.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Have the left arm set the orange screwdriver behind the corn, oriented forward using the tip as the reference point.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "With the left hand, position the orange screwdriver behind the corn so its tip faces forwards.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Place the orange screwdriver behind the corn with the tip facing forwards.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Set the orange screwdriver behind the corn, with the tip oriented forwards.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Position the orange screwdriver behind the corn so the tip points forwards.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Using the left hand, put the orange screwdriver behind the corn.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "With the left hand, place the orange screwdriver behind the corn.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Have the left arm set the orange screwdriver behind the corn.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Put the orange screwdriver behind the corn.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Place the orange screwdriver behind the corn.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Set the orange screwdriver behind the corn.", + "start_idx": 1215, + "end_idx": 1245 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Using the left arm, take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Have the left hand retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand, grasping the entire object.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Take the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 1326, + "end_idx": 1362 + }, + { + "text": "Put the brown stuffed toy in between the corn and the red marker with the left hand facing forwards.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Using the left hand, place the brown stuffed toy between the corn and the red marker facing forwards.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Have the left arm set the brown stuffed toy between the corn and the red marker with its front facing forward.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "With the left hand, position the brown stuffed toy in between the corn and the red marker, front facing forward.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Place the brown stuffed toy between the corn and the red marker facing forwards.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Set the brown stuffed toy in between the corn and the red marker with its front forward.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Position the brown stuffed toy between the corn and the red marker, facing forward.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Using the left hand, put the brown stuffed toy between the corn and the red marker.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "With the left hand, place the brown stuffed toy in between the corn and the red marker.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Have the left arm position the brown stuffed toy between the corn and the red marker.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Put the brown stuffed toy between the corn and the red marker.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Set the brown stuffed toy between the corn and the red marker.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Position the brown stuffed toy in between the corn and the red marker.", + "start_idx": 1362, + "end_idx": 1389 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Have the left arm take the white coffee cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "With the left hand, retrieve the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Retrieve the white coffee cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Have the left arm take the white coffee cup from the table by its handle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "With the left hand, retrieve the white coffee cup from the table.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Take the white coffee cup from the table by the handle.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1464, + "end_idx": 1506 + }, + { + "text": "Put the white coffee cup to the left of the corn with the handle facing backwards right side up with the front facing backwards using the left hand.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn, handle facing backwards, right side up, with the front facing backwards.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn with its handle backward, upright, and the front facing backward.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "With the left hand, position the white coffee cup to the corn's left, keeping the handle backward, right side up, and the front backward.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Place the white coffee cup to the left of the corn with the handle facing backwards, right side up, and the front facing backwards.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Set the white coffee cup left of the corn with its handle facing backwards, right side up, and the front facing backwards.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Position the white coffee cup to the left of the corn, keeping the handle backwards, right side up, and the front facing backwards.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "With the left hand, position the white coffee cup to the corn's left.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Put the white coffee cup to the left of the corn.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Place the white coffee cup left of the corn.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Set the white coffee cup to the corn's left.", + "start_idx": 1506, + "end_idx": 1548 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a diagonal grasp on the entire object.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a diagonal grasp on the entire object.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table by grasping the whole object diagonally.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table diagonally across the entire object.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Pick up the brown stuffed toy from the table with a diagonal grasp on the entire object.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Take the brown stuffed toy from the table, grasping the whole object diagonally.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Grasp the brown stuffed toy from the table with a diagonal hold on the full object.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Have the left arm grasp the brown stuffed toy from the table.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Take the brown stuffed toy from the table with the left hand.", + "start_idx": 1548, + "end_idx": 1584 + }, + { + "text": "Put the brown stuffed toy to the left of the orange screwdriver with the left hand facing forwards.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the orange screwdriver, facing forwards.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Have the left arm set the brown stuffed toy left of the orange screwdriver with its front facing forward.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the orange screwdriver so it faces forwards.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Place the brown stuffed toy to the left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Set the brown stuffed toy left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Position the brown stuffed toy to the left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Have the left arm set the brown stuffed toy left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Put the brown stuffed toy to the left of the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Place the brown stuffed toy next to the orange screwdriver.", + "start_idx": 1584, + "end_idx": 1611 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Have the left arm collect the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Take the orange screwdriver from the table diagonally while holding its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal pickup by the middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "With the left hand, pick up the orange screwdriver from the table, grasping its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table by its middle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Have the left arm collect the orange screwdriver from the table at a diagonal angle.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Take the orange screwdriver from the table with the left hand.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally.", + "start_idx": 1611, + "end_idx": 1650 + }, + { + "text": "Place the orange screwdriver to the right of the corn with the left hand facing top left with the tip as the reference point.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Using the left hand, position the orange screwdriver to the right of the corn with the tip facing top left.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Have the left arm place the orange screwdriver to the right of the corn, oriented top left at the tip.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "With the left hand, set the orange screwdriver right of the corn so its tip points toward the top left.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Place the orange screwdriver to the right of the corn with the tip facing top left.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Set the orange screwdriver right of the corn, with the tip oriented toward the top left.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Position the orange screwdriver to the right of the corn so the tip points top left.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Using the left hand, place the orange screwdriver to the right of the corn.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "With the left hand, set the orange screwdriver right of the corn.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Have the left arm position the orange screwdriver to the right of the corn.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Place the orange screwdriver to the right of the corn.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Set the orange screwdriver right of the corn.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Position the orange screwdriver to the right of the corn.", + "start_idx": 1650, + "end_idx": 1680 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Take the corn from the table on a diagonal, holding the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, gripping its middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Take the corn from the table, grasping the middle.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Retrieve the corn from the table on a diagonal.", + "start_idx": 1680, + "end_idx": 1716 + }, + { + "text": "Put the corn to the center of the table with the left hand facing right with the tip as the orientation reference point.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Using the left hand, place the corn at the table center with the tip facing right.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Have the left arm set the corn in the center of the table, oriented rightward from the tip.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "With the left hand, position the corn at the center of the table so its tip points right.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Place the corn at the center of the table with its tip facing right.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Set the corn in the table center with the tip oriented to the right.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Position the corn at the center of the table so the tip faces right.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Using the left hand, put the corn in the center of the table.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "With the left hand, set the corn at the table center.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Have the left arm place the corn in the center of the table.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Put the corn at the center of the table.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Set the corn in the middle of the table.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Position the corn at the table center.", + "start_idx": 1716, + "end_idx": 1749 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "From the table, retrieve the brown stuffed toy diagonally while holding the full object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand, grasping the entire object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table and hold the whole object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table by grasping the entire object.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1749, + "end_idx": 1785 + }, + { + "text": "Put the brown stuffed toy in between the white coffee cup and the orange screwdriver with the left hand facing forwards.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Using the left hand, place the brown stuffed toy between the white coffee cup and the orange screwdriver, facing forwards.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Have the left arm set the brown stuffed toy in between the white coffee cup and the orange screwdriver with its front facing forward.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "With the left hand, position the brown stuffed toy between the white coffee cup and the orange screwdriver so it faces forwards.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Place the brown stuffed toy between the white coffee cup and the orange screwdriver, facing forwards.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Set the brown stuffed toy in between the white coffee cup and the orange screwdriver with its front facing forward.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Position the brown stuffed toy between the white coffee cup and the orange screwdriver so it faces forwards.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Using the left hand, place the brown stuffed toy between the white coffee cup and the orange screwdriver.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "With the left hand, set the brown stuffed toy in between the white coffee cup and the orange screwdriver.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Have the left arm position the brown stuffed toy between the white coffee cup and the orange screwdriver.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Put the brown stuffed toy between the white coffee cup and the orange screwdriver.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Arrange the brown stuffed toy in between the white coffee cup and the orange screwdriver.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Move the brown stuffed toy to a spot between the white coffee cup and the orange screwdriver.", + "start_idx": 1785, + "end_idx": 1809 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a lip grip on the left side at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "With the left hand, take the white coffee cup from the table in a left-side lip grasp at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Take the white coffee cup from the table in a left-side lip grasp at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Grasp the white coffee cup from the table with a lip grip on the left side at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip grasp.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand from the left at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Take the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Grasp the white coffee cup from the table from the left at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1845 + }, + { + "text": "Put the white coffee cup to the left of the corn with the left hand right side up while the handle faces backwards.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn upright with its handle facing backward.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn, right side up, with the handle pointing backward.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "With the left hand, position the white coffee cup to the corn's left, keeping it upright and the handle facing back.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Place the white coffee cup to the left of the corn upright with its handle facing backward.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Set the white coffee cup left of the corn, right side up, with the handle pointing backward.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Position the white coffee cup to the corn's left, upright and with the handle facing back.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "With the left hand, position the white coffee cup to the corn's left.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Place the white coffee cup to the left of the corn.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Set the white coffee cup left of the corn.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Position the white coffee cup to the corn's left.", + "start_idx": 1845, + "end_idx": 1881 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Have the left hand take the corn from the table on a diagonal approach, holding it at the middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by its middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Retrieve the corn from the table on a diagonal approach, holding the middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "The corn from the table should be picked up diagonally at its middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Have the left hand retrieve the corn from the table.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "The corn from the table should be taken with the left hand.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Using the left hand, pick up the corn from the table at the middle.", + "start_idx": 1944, + "end_idx": 1980 + }, + { + "text": "Put the corn to the left side of the white coffee cup with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Using the left hand, place the corn to the left of the white coffee cup with its tip facing forwards.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Have the left arm set the corn on the white coffee cup's left side, tip oriented forward.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "With the left hand, position the corn left of the white coffee cup, keeping the tip pointed forwards.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Place the corn to the left of the white coffee cup.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Set the corn on the left side of the white coffee cup.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Position the corn left of the white coffee cup.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Using the left hand, place the corn to the left of the white coffee cup.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Have the left arm set the corn on the white coffee cup's left side.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "With the left hand, position the corn left of the white coffee cup.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Place the corn to the left of the white coffee cup with its tip facing forwards.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Set the corn on the white coffee cup's left side, with the tip pointed forward.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Position the corn left of the white coffee cup, tip facing forwards.", + "start_idx": 1980, + "end_idx": 2013 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Using the left hand, take hold of the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Have the left arm pick the white coffee cup up from the table by the handle with a diagonal grasp.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Take the white coffee cup from the table by the handle using a diagonal grasp.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Use the left hand to take the white coffee cup from the table.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Grasp the white coffee cup from the table by the handle.", + "start_idx": 2012, + "end_idx": 2052 + }, + { + "text": "Put the white coffee cup to the left of the brown stuffed toy with the handle facing backwards right side up with the left hand.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the brown stuffed toy, handle facing back, right side up.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Have the left arm set the white coffee cup left of the brown stuffed toy with its handle pointing backward and upright.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "With the left hand, position the white coffee cup to the brown stuffed toy's left, keeping the handle oriented backward and the cup right side up.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Place the white coffee cup to the left of the brown stuffed toy with the handle facing backwards right side up.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Set the white coffee cup to the left of the brown stuffed toy, with its handle pointing backward and upright.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Position the white coffee cup left of the brown stuffed toy, keeping the handle to the back and the cup upright.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Have the left arm place the white coffee cup left of the brown stuffed toy.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "With the left hand, set the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Put the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Place the white coffee cup beside the brown stuffed toy on its left.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Set the white coffee cup on the left side of the brown stuffed toy.", + "start_idx": 2052, + "end_idx": 2082 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle gripping the entire object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "With the left arm, collect the brown stuffed toy from the table diagonally, holding the whole object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Have the left hand pick the brown stuffed toy up from the table on a diagonal, enclosing the entire object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, gripping the entire object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Take the brown stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "The brown stuffed toy should be picked up from the table at a diagonal angle with a full-object hold.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "With the left arm, take the brown stuffed toy from the table.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Have the left hand collect the brown stuffed toy from the table.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Pick up the brown stuffed toy from the table gripping the entire object.", + "start_idx": 2082, + "end_idx": 2106 + }, + { + "text": "Put the brown stuffed toy to the left of the white coffee cup with the left hand facing forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the white coffee cup with its front facing forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Have the left arm set the brown stuffed toy left of the white coffee cup, oriented forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the white coffee cup so the front faces forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Place the brown stuffed toy to the left of the white coffee cup with its front facing forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Set the brown stuffed toy left of the white coffee cup, facing forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Position the brown stuffed toy to the left of the white coffee cup so its front points forwards.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Put the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Set the brown stuffed toy left of the white coffee cup.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Position the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "With the left hand, set the brown stuffed toy left of the white coffee cup.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 2106, + "end_idx": 2130 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach and hold it at the middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "With the left hand, retrieve the corn from the table at a diagonal angle by grasping its middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle with a middle grasp.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Get the corn from the table by grasping the middle.", + "start_idx": 2130, + "end_idx": 2169 + }, + { + "text": "Put the corn to the right of the white coffee cup with the left hand facing left with the tip as the reference point.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Using the left hand, place the corn to the right of the white coffee cup with its tip facing left.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Have the left arm set the corn to the right of the white coffee cup, tip pointed left.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "With the left hand, position the corn to the right of the white coffee cup so the tip faces left.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Place the corn to the right of the white coffee cup with its tip facing left.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Set the corn to the right of the white coffee cup, with the tip oriented left.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Position the corn to the right of the white coffee cup so its tip points left.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Put the corn to the right of the white coffee cup.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Set the corn to the right of the white coffee cup.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Position the corn to the right of the white coffee cup.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Place the corn to the right of the white coffee cup with the left hand.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Using the left hand, set the corn to the right of the white coffee cup.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Have the left arm place the corn to the right of the white coffee cup.", + "start_idx": 2169, + "end_idx": 2211 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Take the corn from the table on a diagonal path, holding the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Retrieve the corn from the table with the left hand.", + "start_idx": 2424, + "end_idx": 2460 + }, + { + "text": "Put the corn to the center of the table with the left hand facing forwards with the tip facing forwards.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Using the left hand, place the corn at the center of the table with the tip facing forwards.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Have the left arm set the corn in the middle of the table, tip oriented forward.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "With the left hand, position the corn at the table's center so its tip points forwards.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Place the corn at the center of the table with the tip facing forwards.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Set the corn in the middle of the table with its tip pointing forwards.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Position the corn at the table's center, keeping the tip directed forwards.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Using the left hand, place the corn at the center of the table.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Have the left arm set the corn in the middle of the table.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "With the left hand, position the corn at the table's center.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Place the corn at the center of the table.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Set the corn in the middle of the table.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Position the corn at the table's center.", + "start_idx": 2460, + "end_idx": 2493 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the handle using a diagonal hold.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Take the white coffee cup from the table by the handle in a diagonal grasp.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Using the left hand, take the white coffee cup from the table by the handle.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Grasp the white coffee cup from the table at the handle.", + "start_idx": 2493, + "end_idx": 2547 + }, + { + "text": "Put the white coffee cup to the left of the asparagus with the left hand right side up with the front facing top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus, right side up, with the front facing top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus, keeping it upright and the front pointed top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "With the left hand, position the white coffee cup to the asparagus's left, right side up and with the front toward the top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Place the white coffee cup to the left of the asparagus, right side up, with the front facing top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Set the white coffee cup left of the asparagus, keeping it upright with the front toward the top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Position the white coffee cup to the asparagus's left, upright and with the front pointed top left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the asparagus.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Have the left arm place the white coffee cup left of the asparagus.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "With the left hand, set the white coffee cup to the asparagus's left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Put the white coffee cup to the left of the asparagus.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Place the white coffee cup left of the asparagus.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Set the white coffee cup to the asparagus's left.", + "start_idx": 2547, + "end_idx": 2580 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "From the table, collect the brown stuffed toy diagonally while holding the entire object.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Pick up the brown stuffed toy from the table diagonally.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "From the table, take the brown stuffed toy with the left hand.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 2580, + "end_idx": 2625 + }, + { + "text": "Put the brown stuffed toy behind the corn with the left hand facing forwards.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Using the left hand, place the brown stuffed toy behind the corn with its front facing forwards.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Have the left arm set the brown stuffed toy behind the corn, front facing forward.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "With the left hand, position the brown stuffed toy behind the corn so the front faces forwards.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Place the brown stuffed toy behind the corn with its front facing forwards.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Set the brown stuffed toy behind the corn, front facing forward.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Position the brown stuffed toy behind the corn so it faces forwards.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Using the left hand, put the brown stuffed toy behind the corn.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Have the left arm place the brown stuffed toy behind the corn.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "With the left hand, set the brown stuffed toy behind the corn.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Place the brown stuffed toy behind the corn.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Set the brown stuffed toy behind the corn.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Position the brown stuffed toy behind the corn.", + "start_idx": 2625, + "end_idx": 2658 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Have the left arm take the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Take the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Grasp the white coffee cup from the table at the handle in a diagonal hold.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Take the white coffee cup from the table by the handle with the left hand.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Grasp the white coffee cup from the table with the left hand.", + "start_idx": 2730, + "end_idx": 2772 + }, + { + "text": "Put the white coffee cup to the center of the table with the left hand right side up with the front facing left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Using the left hand, place the white coffee cup in the center of the table, right side up with the front facing left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Have the left arm set the white coffee cup at the table center, keeping it upright and the front pointed left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "With the left hand, position the white coffee cup at the center of the table so it stays right side up and faces left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Place the white coffee cup in the center of the table, right side up with the front facing left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Set the white coffee cup at the center of the table, upright with the front pointed left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Position the white coffee cup in the middle of the table with its front facing left.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Put the white coffee cup at the center of the table upright.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Arrange the white coffee cup in the center of the table.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Set the white coffee cup down at the center of the table.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Place the white coffee cup at the center of the table with the left hand.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Using the left hand, put the white coffee cup in the middle of the table.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Have the left arm place the white coffee cup at the table center.", + "start_idx": 2772, + "end_idx": 2811 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping its middle.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by its middle.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the center.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Have the left arm retrieve the asparagus from the table.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 2811, + "end_idx": 2850 + }, + { + "text": "Put the asparagus to the bottom side of the table with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Using the left hand, place the asparagus at the bottom side of the table with its tip facing bottom right.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Have the left hand set the asparagus on the table's bottom side, oriented bottom right by the tip.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "With the left hand, position the asparagus at the bottom side of the table so the tip points bottom right.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Place the asparagus at the bottom side of the table with the tip pointing bottom right.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Set the asparagus on the bottom side of the table, oriented bottom right from the tip.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Position the asparagus at the table's bottom side so its tip faces bottom right.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Put the asparagus at the bottom side of the table.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Set the asparagus on the table's bottom side.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Position the asparagus at the bottom side of the table.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Using the left hand, place the asparagus at the bottom side of the table.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Have the left hand set the asparagus on the table's bottom side.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "With the left hand, position the asparagus at the table's bottom side.", + "start_idx": 2850, + "end_idx": 2886 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Take the corn from the table on a diagonal, holding the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 2886, + "end_idx": 2922 + }, + { + "text": "Put the corn to the left side of the table with the left hand facing forwards with the tip facing forwards.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Using the left hand, place the corn on the table's left side with its tip facing forward.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Have the left arm set the corn at the left side of the table, oriented forward with the tip forward.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "With the left hand, position the corn on the table's left side so it faces forward and the tip points forward.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Place the corn on the left side of the table with its tip facing forward.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Set the corn at the table's left side, facing forward with the tip forward.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Position the corn to the left of the table so the tip points forward.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Using the left hand, put the corn on the table's left side.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Have the left arm place the corn at the table's left side.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "With the left hand, set the corn to the left side of the table.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Place the corn on the table's left side.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Set the corn at the left side of the table.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Position the corn to the left side of the table.", + "start_idx": 2922, + "end_idx": 2955 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip hold on the top right at a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a lip grasp at the cup's top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Take the white coffee cup from the table with a lip hold on the top right at a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Grasp the white coffee cup from the table using a lip grasp at the top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "With the left hand, take the white coffee cup from the table using a lip hold.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip grasp.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "With the left hand, take the white coffee cup from the table at the top right from a diagonal angle.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 2955, + "end_idx": 2994 + }, + { + "text": "Put the white coffee cup to the right of the asparagus with the left hand right side up with the front facing backwards.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the asparagus, right side up, with the front facing backward.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Have the left arm set the white coffee cup to the asparagus's right, upright, with its front directed backward.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "With the left hand, position the white coffee cup on the right side of the asparagus, right side up and facing backward at the front.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Place the white coffee cup to the right of the asparagus, right side up, with the front facing backward.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Set the white coffee cup on the asparagus's right side, upright, with its front directed backward.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Position the white coffee cup to the right of the asparagus, keeping it right side up and the front facing backward.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Put the white coffee cup to the right of the asparagus.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Place the white coffee cup on the right side of the asparagus.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Set the white coffee cup beside the asparagus on its right.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Using the left hand, put the white coffee cup to the right of the asparagus.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Have the left arm place the white coffee cup on the asparagus's right side.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Position the white coffee cup to the right of the asparagus with the left hand.", + "start_idx": 2994, + "end_idx": 3030 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Take the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "From the table, take the brown stuffed toy with the left hand at a diagonal angle.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Using the left hand, retrieve the brown stuffed toy from the table diagonally.", + "start_idx": 3099, + "end_idx": 3135 + }, + { + "text": "Put the brown stuffed toy to the left of the corn with the left hand facing forwards.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn with its front facing forwards.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the corn, front facing forward.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the corn so the front faces forwards.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Place the brown stuffed toy to the left of the corn with its front facing forwards.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Set the brown stuffed toy to the left of the corn, facing forwards.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Position the brown stuffed toy to the left of the corn with the front forward.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "With the left hand, set the brown stuffed toy to the left of the corn.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the corn.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Put the brown stuffed toy to the left of the corn.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Set the brown stuffed toy beside the left side of the corn.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Using the left hand, put the brown stuffed toy to the left of the corn.", + "start_idx": 3135, + "end_idx": 3165 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table via a diagonal lip hold on the left.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Grasp the white coffee cup from the table with a left-side diagonal lip hold.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Take the white coffee cup from the table via a diagonal lip grasp on the left.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Using a diagonal lip grasp at the left, pick up the white coffee cup from the table.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 3234, + "end_idx": 3270 + }, + { + "text": "Put the white coffee cup to the center of the table with the left hand right side up.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table right side up.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Have the left arm set the white coffee cup in the table center, keeping it upright.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "With the left hand, position the white coffee cup at the center of the table right side up.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Place the white coffee cup at the center of the table right side up.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Set the white coffee cup in the center of the table upright.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Position the white coffee cup at the table center right side up.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Move the white coffee cup to the center of the table.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Put the white coffee cup in the center of the table.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Set the white coffee cup down at the table center.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Have the left arm set the white coffee cup in the center of the table.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Put the white coffee cup at the center of the table with the left hand.", + "start_idx": 3270, + "end_idx": 3306 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Have the left arm pick the corn off the table diagonally, holding it at the middle.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "With the left hand, retrieve the corn from the table in a diagonal approach, gripping the center.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Take the corn off the table diagonally, holding the middle.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup, grasping its center.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Have the left arm take the corn off the table.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Take the corn off the table.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 3306, + "end_idx": 3345 + }, + { + "text": "Place the corn to the center of the table with the left hand tip facing right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Using the left hand, place the corn at the center of the table with its tip facing right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Have the left arm set the corn in the table center, tip pointed to the right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "With the left hand, position the corn at the center of the table so the tip faces right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Place the corn at the center of the table with its tip facing right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Set the corn in the center of the table, tip pointed right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Position the corn at the table center with the tip facing right.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Using the left hand, place the corn at the center of the table.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Have the left arm set the corn in the center of the table.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "With the left hand, position the corn at the table center.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Place the corn at the center of the table.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Set the corn in the center of the table.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Have the corn positioned in the table center.", + "start_idx": 3345, + "end_idx": 3375 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grasp at the top diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table using a side hold on the top at a diagonal angle.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table in a side grip at the top, diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grasp at the top diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Take the brown stuffed toy from the table with a side hold on the top diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Grasp the brown stuffed toy from the table in a side grip at the top on a diagonal.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table with a side grip.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table using a side grasp at the top.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table from the side.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at the top diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Pick up the brown stuffed toy from the table at the top diagonally.", + "start_idx": 3375, + "end_idx": 3423 + }, + { + "text": "Put the brown stuffed toy to the left of the white coffee cup with the left hand facing forwards.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the white coffee cup, facing forwards.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the white coffee cup with its front facing forward.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "With the left hand, position the brown stuffed toy left of the white coffee cup so it faces forwards.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Place the brown stuffed toy to the left of the white coffee cup, facing forwards.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Set the brown stuffed toy left of the white coffee cup with its front facing forward.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Position the brown stuffed toy to the left of the white coffee cup so it faces forwards.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Have the left arm set the brown stuffed toy left of the white coffee cup.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Put the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Set the brown stuffed toy left of the white coffee cup.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Position the brown stuffed toy to the left of the white coffee cup.", + "start_idx": 3423, + "end_idx": 3465 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top right with a diagonal pick angle.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top right and a diagonal pick angle.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold on the top right at a diagonal angle.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "With the left hand, secure the white cup from the table using a top-right lip grasp and a diagonal approach.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top right with a diagonal pick angle.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Grasp the white cup from the table with a lip hold at the top right and a diagonal angle.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "The white cup should be picked up from the table with a top-right lip grasp and a diagonal approach.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Using the left hand, collect the white cup from the table with a diagonal pick angle.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Take the white cup from the table from the top right with a diagonal approach.", + "start_idx": 3465, + "end_idx": 3504 + }, + { + "text": "Put the white coffee cup to the bottom side of the table with the left hand right side up with the front facing backwards.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Using the left hand, place the white coffee cup on the bottom side of the table, right side up, with its front facing backward.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Have the left arm set the white coffee cup at the bottom side of the table, keeping it upright and the front pointed backward.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "With the left hand, position the white coffee cup on the bottom side of the table so it stays right side up and faces backward.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Place the white coffee cup on the bottom side of the table, right side up, with its front facing backward.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Set the white coffee cup at the bottom side of the table, keeping it upright with the front toward the back.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Position the white coffee cup on the bottom side of the table so it is right side up and its front faces backward.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Using the left hand, put the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "With the left hand, place the white coffee cup at the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Have the left arm set the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Put the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Set the white coffee cup at the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Position the white coffee cup on the bottom side of the table.", + "start_idx": 3504, + "end_idx": 3540 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Have the left arm pick the asparagus up from the table diagonally, grasping its middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "With the left hand, retrieve the asparagus from the table and hold it at a diagonal angle from the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Retrieve the asparagus from the table while holding its middle at a diagonal angle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Using the left hand, pick up the asparagus from the table by the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "With the left hand, take the asparagus from the table, grasping its middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Have the left arm retrieve the asparagus from the table from the middle.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 3540, + "end_idx": 3573 + }, + { + "text": "Put the asparagus to the left of the corn with the left hand facing top left with the tip as the reference point.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Using the left hand, place the asparagus to the left of the corn with the tip facing the top left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Have the left hand set the asparagus left of the corn, oriented top left from the tip.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "With the left hand, position the asparagus to the corn's left, with the tip pointing toward the top left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Place the asparagus to the left of the corn with the tip facing the top left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Set the asparagus left of the corn, with the tip oriented toward the top left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Position the asparagus to the left of the corn, tip pointing top left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Put the asparagus to the left of the corn.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Place the asparagus on the left side of the corn.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Set the asparagus beside the corn on its left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Position the asparagus to the corn's left.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Using the left hand, place the asparagus to the left of the corn.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Have the left hand set the asparagus on the left side of the corn.", + "start_idx": 3573, + "end_idx": 3606 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table with a diagonal approach around the whole toy.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach around the whole toy.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table and hold the whole object.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Take the brown stuffed toy from the table diagonally.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 3606, + "end_idx": 3642 + }, + { + "text": "Put the brown stuffed toy to the right of the white coffee cup with the left hand facing top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the white coffee cup with its front facing the top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the white coffee cup, front oriented toward the top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the white coffee cup so the front points to the top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Place the brown stuffed toy to the right of the white coffee cup with its front facing the top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Set the brown stuffed toy to the right of the white coffee cup, front toward the top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Position the brown stuffed toy to the right of the white coffee cup so it faces the top right.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Using the left hand, put the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Have the left arm place the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "With the left hand, set the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Place the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Set the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Have the brown stuffed toy placed to the right of the white coffee cup.", + "start_idx": 3642, + "end_idx": 3669 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by holding its middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Take the corn from the table with a diagonal approach at its middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Retrieve the corn from the table diagonally by holding the middle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 3738, + "end_idx": 3774 + }, + { + "text": "Put the corn to the left of the brown stuffed toy with the left hand facing forwards.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy with its tip facing forwards.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Have the left arm set the corn to the left of the brown stuffed toy, tip pointed forward.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "With the left hand, position the corn to the left of the brown stuffed toy so the tip faces forwards.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Place the corn to the left of the brown stuffed toy with its tip facing forwards.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Set the corn to the left of the brown stuffed toy, tip pointed forward.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Position the corn to the left of the brown stuffed toy so its tip faces forwards.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Have the left arm set the corn to the left of the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "With the left hand, position the corn to the left of the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Put the corn to the left of the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Set the corn to the left of the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Position the corn to the left of the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3804 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Have the left hand pick the asparagus up from the table diagonally by its middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Retrieve the asparagus from the table while holding the middle at a diagonal angle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Pick the asparagus up from the table with the left hand.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Using the left hand, take the asparagus from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Have the left hand retrieve the asparagus from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Have the asparagus taken from the table by the middle.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Put the asparagus to the center of the table with the left hand with the tip facing right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Using the left hand, place the asparagus at the table center with its tip pointing right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Have the left arm set the asparagus in the center of the table, tip facing right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "With the left hand, position the asparagus at the center of the table so the tip faces right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Place the asparagus in the center of the table with its tip pointing right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Set the asparagus at the table center with the tip facing right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Position the asparagus at the center of the table, keeping the tip directed right.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Have the left arm set the asparagus in the middle of the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "With the left hand, position the asparagus at the table center.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Place the asparagus in the center of the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Set the asparagus at the table center with the left hand.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Position the asparagus at the middle of the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Have the left arm pick the brown stuffed toy off the table with a diagonal approach at the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "With the left hand, seize the brown stuffed toy from the table diagonally by the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Take the brown stuffed toy off the table diagonally by the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Grab the brown stuffed toy from the table with a diagonal approach at the middle.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Have the left arm take the brown stuffed toy off the table.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "With the left hand, grab the brown stuffed toy from the table.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Take the brown stuffed toy off the table with the left arm.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "With the left hand, seize the brown stuffed toy from the table.", + "start_idx": 3867, + "end_idx": 3903 + }, + { + "text": "Put the brown stuffed toy to the top side of the table with the left hand facing top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Using the left hand, place the brown stuffed toy at the top side of the table with its front facing the top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Have the left arm set the brown stuffed toy on the table's top side, front oriented toward the top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "With the left hand, position the brown stuffed toy at the top side of the table so the front points top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Place the brown stuffed toy at the top side of the table with its front facing the top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Set the brown stuffed toy on the table's top side, front toward the top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Position the brown stuffed toy on the top side of the table so it faces top right.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Using the left hand, place the brown stuffed toy at the top side of the table.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Have the left arm set the brown stuffed toy on the table's top side.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "With the left hand, position the brown stuffed toy on the top side of the table.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Place the brown stuffed toy at the top side of the table.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Set the brown stuffed toy on the table's top side.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Position the brown stuffed toy on the top side of the table.", + "start_idx": 3903, + "end_idx": 3930 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold on the top left at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a lip grasp at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Take the white coffee cup from the table with a lip hold on the top left at a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Grasp the white coffee cup from the table using a lip grasp at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Have the left hand take the white coffee cup from the table using a lip hold.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a lip grasp.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Using the left hand, take the white coffee cup from the table at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Pick up the white coffee cup from the table at the top left from a diagonal angle.", + "start_idx": 3930, + "end_idx": 3966 + }, + { + "text": "Put the white coffee cup to the right of the asparagus with the handle facing bottom right using the left hand right side up.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the asparagus with the handle pointing bottom right, right side up.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Have the left arm set the white coffee cup to the asparagus's right, right side up, with the handle aimed bottom right.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "With the left hand, position the white coffee cup on the right side of the asparagus, keeping it upright and the handle facing bottom right.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Place the white coffee cup to the right of the asparagus with the handle facing bottom right, right side up.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Set the white coffee cup on the asparagus's right side, with the handle directed bottom right and the cup upright.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Position the white coffee cup to the right of the asparagus, upright, with its handle pointing bottom right.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the asparagus.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Have the left arm set the white coffee cup on the right side of the asparagus.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "With the left hand, position the white coffee cup to the asparagus's right.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Place the white coffee cup to the right of the asparagus.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Set the white coffee cup on the right side of the asparagus.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Position the white coffee cup to the asparagus's right.", + "start_idx": 3965, + "end_idx": 4001 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a left-side diagonal lip grip.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table in a diagonal lip hold on the left.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip on the left.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Grasp the white coffee cup from the table in a left-side diagonal lip hold.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a lip grasp.", + "start_idx": 4140, + "end_idx": 4182 + }, + { + "text": "Put the white coffee cup to the right of the red marker with the left hand right side up with the front facing backwards.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the red marker, upright with its front facing backward.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Have the left arm set the white coffee cup to the right of the red marker, keeping it right side up and the front pointed backward.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "With the left hand, position the white coffee cup to the right of the red marker so it stays upright and faces backward.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Place the white coffee cup to the right of the red marker, upright with its front facing backward.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Set the white coffee cup to the right of the red marker, right side up with the front directed backward.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Position the white coffee cup to the right of the red marker, keeping the front facing backward.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Using the left hand, put the white coffee cup to the right of the red marker.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "With the left hand, place the white coffee cup to the right of the red marker.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Have the left arm position the white coffee cup to the right of the red marker.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Set the white coffee cup to the right of the red marker.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Using the left hand, set the white coffee cup to the right of the red marker.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Have the left arm place the white coffee cup to the right of the red marker.", + "start_idx": 4182, + "end_idx": 4221 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup at the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally, holding the middle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Have the left arm pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 4221, + "end_idx": 4260 + }, + { + "text": "Place the orange screwdriver to the center of the table with the left hand facing left with the tip as the reference point.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Using the left hand, set the orange screwdriver at the center of the table with the tip facing left.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Have the left arm place the orange screwdriver in the table center, oriented left by its tip.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "With the left hand, position the orange screwdriver at the center of the table so the tip points left.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Place the orange screwdriver at the center of the table with the tip facing left.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Set the orange screwdriver in the center of the table, oriented left from the tip.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Position the orange screwdriver at the table center so its tip points left.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "With the left hand, set the orange screwdriver in the center of the table.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Have the left arm position the orange screwdriver at the table center.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Put the orange screwdriver at the center of the table.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Set the orange screwdriver in the center of the table.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Position the orange screwdriver at the table center.", + "start_idx": 4260, + "end_idx": 4293 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Have the left arm pick up the corn from the table with a diagonal approach at its middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "With the left hand, collect the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding it at the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Grab the corn from the table at a diagonal angle by the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Use the left hand to pick up the corn from the table.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Have the left arm collect the corn from the table.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Pick up the corn from the table, grasping the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Take the corn from the table by the middle.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Grab the corn from the table.", + "start_idx": 4293, + "end_idx": 4329 + }, + { + "text": "Put the corn behind the orange screwdriver with the left hand facing top right with the tip as the reference point.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Using the left hand, place the corn behind the orange screwdriver with the tip facing top right.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Have the left arm set the corn behind the orange screwdriver, oriented top right from the tip.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "With the left hand, position the corn behind the orange screwdriver so its tip points to the top right.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Place the corn behind the orange screwdriver with the tip facing top right.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Set the corn behind the orange screwdriver, oriented top right from the tip.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Position the corn behind the orange screwdriver so the tip points top right.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Using the left hand, put the corn behind the orange screwdriver.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Have the left arm place the corn behind the orange screwdriver.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "With the left hand, set the corn behind the orange screwdriver.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Put the corn behind the orange screwdriver.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Set the corn behind the orange screwdriver.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Position the corn behind the orange screwdriver.", + "start_idx": 4329, + "end_idx": 4359 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Using the left hand, pick up the asparagus from the table grasping the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Have the left arm take the asparagus from the table, holding it at the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "With the left hand, retrieve the asparagus from the table by the middle.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Take the asparagus from the table with the left arm.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 4359, + "end_idx": 4389 + }, + { + "text": "Place the asparagus to the left of the orange screwdriver with the left hand with its tip facing top left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Using the left hand, set the asparagus to the left of the orange screwdriver with its tip pointing to the top left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "With the left arm, position the asparagus left of the orange screwdriver, tip directed toward the top left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Have the left hand place the asparagus to the left of the orange screwdriver, keeping the tip aimed at the upper left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Place the asparagus to the left of the orange screwdriver with its tip facing the top left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Set the asparagus left of the orange screwdriver with the tip pointing upper left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Position the asparagus to the left of the orange screwdriver, with the tip oriented toward the top left.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Using the left hand, place the asparagus to the left of the orange screwdriver.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "With the left arm, set the asparagus left of the orange screwdriver.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Have the left hand position the asparagus to the left of the orange screwdriver.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Place the asparagus to the left of the orange screwdriver.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Set the asparagus left of the orange screwdriver.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Position the asparagus beside the orange screwdriver on its left side.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally, holding the whole object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table and hold the whole object.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table with a full-object grasp.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 4422, + "end_idx": 4461 + }, + { + "text": "Put the brown stuffed toy to the left of the red marker with the left hand facing top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the red marker with its front facing the top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Have the left arm set the brown stuffed toy left of the red marker, front oriented toward the top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the red marker so the front points top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Place the brown stuffed toy to the left of the red marker with its front facing the top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Set the brown stuffed toy left of the red marker, front pointing toward the top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Position the brown stuffed toy to the left of the red marker, with the front directed to the top right.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the red marker.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "With the left hand, set the brown stuffed toy left of the red marker.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the red marker.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Put the brown stuffed toy to the left of the red marker.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Set the brown stuffed toy left of the red marker.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Position the brown stuffed toy to the left of the red marker.", + "start_idx": 4461, + "end_idx": 4497 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip grasp from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by its lip from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Grasp the white coffee cup from the table by the lip from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Have the left arm take the white coffee cup from the table by its lip.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Pick up the white coffee cup from the table from the left at a diagonal angle.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 4584, + "end_idx": 4626 + }, + { + "text": "Put the white coffee cup to the left of the asparagus with the left hand right side up with the front facing backwards.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus, right side up, with its front facing backward.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus, keeping it upright and oriented with the front toward the back.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "With the left hand, position the white coffee cup on the asparagus's left side, right side up and facing backward at the front.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Place the white coffee cup to the left of the asparagus, right side up, with the front facing backward.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Set the white coffee cup left of the asparagus, upright, with its front toward the back.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Position the white coffee cup on the left side of the asparagus, right side up and front facing backward.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Put the white coffee cup to the left of the asparagus.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Place the white coffee cup on the asparagus's left side.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Set the white coffee cup left of the asparagus.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Have the left arm set the white coffee cup on the left side of the asparagus.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "With the left hand, position the white coffee cup left of the asparagus.", + "start_idx": 4626, + "end_idx": 4665 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Have the left hand take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "From the table, collect the brown stuffed toy diagonally while holding the entire object.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Have the left hand take the brown stuffed toy from the table.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 4752, + "end_idx": 4791 + }, + { + "text": "Put the brown stuffed toy to the bottom side of the table with the left hand facing forwards.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "With the left hand, place the brown stuffed toy on the bottom side of the table facing forwards.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Have the left arm set the brown stuffed toy on the table's bottom side with its front facing forward.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Using the left hand, position the brown stuffed toy at the bottom side of the table, front facing forward.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Place the brown stuffed toy on the bottom side of the table facing forwards.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Set the brown stuffed toy on the table's bottom side with its front facing forward.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Position the brown stuffed toy at the bottom side of the table facing forward.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "With the left hand, put the brown stuffed toy on the bottom side of the table.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Using the left hand, place the brown stuffed toy at the bottom side of the table.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Have the left arm set the brown stuffed toy on the table's bottom side.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Put the brown stuffed toy on the bottom side of the table.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Set the brown stuffed toy at the bottom side of the table.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Place the brown stuffed toy on the table's bottom side.", + "start_idx": 4791, + "end_idx": 4821 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding its middle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Take the asparagus from the table diagonally with the left hand.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 4899, + "end_idx": 4944 + }, + { + "text": "Put the asparagus to the right of the orange screwdriver with the left hand facing top right by the tip.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Using the left hand, place the asparagus to the right of the orange screwdriver with the tip facing the top right.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Have the left arm set the asparagus to the right of the orange screwdriver, oriented top right at the tip.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "With the left hand, position the asparagus to the right of the orange screwdriver so its tip points to the top right.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Place the asparagus to the right of the orange screwdriver with the tip facing the top right.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Set the asparagus to the right of the orange screwdriver, with its tip oriented toward the top right.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Position the asparagus to the right of the orange screwdriver so the tip points top right.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Using the left hand, put the asparagus to the right of the orange screwdriver.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Have the left arm place the asparagus to the right of the orange screwdriver.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "With the left hand, set the asparagus to the right of the orange screwdriver.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Put the asparagus to the right of the orange screwdriver.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Set the asparagus to the right of the orange screwdriver.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Position the asparagus to the right of the orange screwdriver.", + "start_idx": 4944, + "end_idx": 4980 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pick, holding it at the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal pick at the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Take the orange screwdriver from the table, grasping the middle at a diagonal angle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Take the orange screwdriver from the table by grasping the middle.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Place the orange screwdriver to the center of the table with the left hand facing forwards.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table with its tip facing forwards.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Have the left arm set the orange screwdriver in the center of the table, tip pointed forward.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "With the left hand, position the orange screwdriver at the table center so the tip faces forwards.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Place the orange screwdriver at the center of the table.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Set the orange screwdriver in the center of the table.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Put the orange screwdriver at the table center.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Have the left arm set the orange screwdriver in the center of the table.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "With the left hand, put the orange screwdriver at the table center.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Place the orange screwdriver at the center of the table with its tip facing forwards.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Set the orange screwdriver in the center of the table, tip pointed forward.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Position the orange screwdriver at the table center so the tip faces forwards.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Have the left arm grasp the brown stuffed toy from the table with a side hold at the top on a diagonal approach.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "With the left hand, seize the brown stuffed toy from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Grasp the brown stuffed toy from the table with a side hold on the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table with a side grip.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table using a side grasp at the top.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Grab the brown stuffed toy from the table at the top from a diagonal angle.", + "start_idx": 5130, + "end_idx": 5181 + }, + { + "text": "Put the brown stuffed toy in front of the corn with the left hand facing top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the corn, facing top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the corn with its orientation toward the top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "With the left hand, position the brown stuffed toy before the corn so it faces top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Place the brown stuffed toy in front of the corn facing top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Set the brown stuffed toy before the corn with its front toward the top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Position the brown stuffed toy in front of the corn so it points top right.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the corn.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "With the left hand, place the brown stuffed toy before the corn.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the corn.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Put the brown stuffed toy in front of the corn.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Set the brown stuffed toy before the corn.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Position the brown stuffed toy in front of the corn.", + "start_idx": 5181, + "end_idx": 5208 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table in a diagonal lip hold on the left.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Take the white coffee cup from the table with a left-side diagonal lip hold.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Grasp the white coffee cup from the table in a diagonal lip grasp on the left.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Remove the white coffee cup from the table with the left hand.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "The white coffee cup from the table should be picked up with the left hand.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "The white coffee cup from the table should be picked up using a diagonal lip grasp on the left.", + "start_idx": 5208, + "end_idx": 5244 + }, + { + "text": "Put the white coffee cup in front of the orange screwdriver with the left hand right side up with the front facing backwards.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the orange screwdriver, right side up, with its front facing backward.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Have the left arm set the white coffee cup in front of the orange screwdriver, keeping it upright and the front pointed backward.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "With the left hand, position the white coffee cup before the orange screwdriver, right side up and with the front facing backward.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Place the white coffee cup in front of the orange screwdriver, right side up, with the front facing backward.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Set the white coffee cup before the orange screwdriver, keeping it upright with the front pointed backward.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Position the white coffee cup in front of the orange screwdriver so it stays right side up and faces backward.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Using the left hand, put the white coffee cup in front of the orange screwdriver.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Have the left arm place the white coffee cup before the orange screwdriver.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "With the left hand, set the white coffee cup in front of the orange screwdriver.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Place the white coffee cup in front of the orange screwdriver.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Set the white coffee cup before the orange screwdriver.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Position the white coffee cup in front of the orange screwdriver.", + "start_idx": 5244, + "end_idx": 5280 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table and hold the whole object.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table with a full-object grasp.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table with a diagonal approach.", + "start_idx": 5358, + "end_idx": 5394 + }, + { + "text": "Put the brown stuffed toy to the center of the table with the left hand facing forwards.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Using the left hand, place the brown stuffed toy at the table center with its front facing forward.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Have the left arm set the brown stuffed toy in the center of the table, front facing forward.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "With the left hand, position the brown stuffed toy in the middle of the table so it faces forward.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Place the brown stuffed toy at the center of the table with its front facing forward.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Set the brown stuffed toy in the middle of the table, front facing forward.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Position the brown stuffed toy at the table center so it faces forward.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Using the left hand, put the brown stuffed toy at the center of the table.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "With the left hand, place the brown stuffed toy in the middle of the table.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Have the left arm set the brown stuffed toy at the table center.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Put the brown stuffed toy at the center of the table.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Set the brown stuffed toy in the middle of the table.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Position the brown stuffed toy at the table center.", + "start_idx": 5394, + "end_idx": 5424 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a diagonal grasp on the left lip.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the left lip using a diagonal hold.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal hold on the left lip.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip at the left side.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Take the white coffee cup from the table using the left hand.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 5499, + "end_idx": 5538 + }, + { + "text": "Put the white coffee cup to the bottom side of the table with the handle facing backwards right side up with the left hand.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Using the left hand, place the white coffee cup on the bottom side of the table, upright, with the handle facing backward.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Have the left arm set the white coffee cup at the table's bottom side, right side up and with its handle toward the back.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "With the left hand, position the white coffee cup on the bottom side of the table so the handle points backward and the cup stays upright.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Place the white coffee cup on the bottom side of the table with the handle facing backward and upright.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Set the white coffee cup at the bottom side of the table, right side up, with its handle toward the back.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Position the white coffee cup on the table's bottom side so it remains upright and the handle points backward.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Put the white coffee cup on the bottom side of the table with the left hand.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Using the left hand, place the white coffee cup at the bottom side of the table.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Have the left arm set the white coffee cup on the table's bottom side.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Put the white coffee cup on the bottom side of the table.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Set the white coffee cup at the table's bottom side.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Position the white coffee cup on the table's bottom side.", + "start_idx": 5538, + "end_idx": 5574 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Have the left arm grasp the orange screwdriver off the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Pick up the orange screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Take the orange screwdriver off the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Retrieve the orange screwdriver from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Have the left arm take the orange screwdriver off the table.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "From a diagonal angle, take the orange screwdriver off the table with the left hand by the bottom.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Using the left hand, retrieve the orange screwdriver from the table with a side grip.", + "start_idx": 5574, + "end_idx": 5616 + }, + { + "text": "Put the orange screwdriver in between the red marker and the coffee white cup with the left hand with its tip facing right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Using the left hand, place the orange screwdriver between the red marker and the coffee white cup with its tip pointing right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Have the left arm set the orange screwdriver in between the red marker and the coffee white cup, tip facing right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "With the left hand, position the orange screwdriver between the red marker and the coffee white cup so its tip faces right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Place the orange screwdriver between the red marker and the coffee white cup with its tip pointing right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Set the orange screwdriver in between the red marker and the coffee white cup, with the tip facing right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Position the orange screwdriver between the red marker and the coffee white cup so the tip points right.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Using the left hand, put the orange screwdriver between the red marker and the coffee white cup.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "With the left hand, place the orange screwdriver in between the red marker and the coffee white cup.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Have the left arm position the orange screwdriver between the red marker and the coffee white cup.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Put the orange screwdriver between the red marker and the coffee white cup.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Arrange the orange screwdriver in between the red marker and the coffee white cup.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "The orange screwdriver goes between the red marker and the coffee white cup.", + "start_idx": 5616, + "end_idx": 5655 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Using the left hand, take the asparagus from the table with a diagonal middle grasp.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Have the left arm pick the asparagus up from the table at a diagonal angle from the middle.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "With the left hand, collect the asparagus from the table, grasping diagonally at the middle.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Take the asparagus from the table with a diagonal middle grasp.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "From the table, grasp the asparagus diagonally at the middle.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Use the left hand to pick up the asparagus from the table.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Have the left arm collect the asparagus from the table.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "From the table, retrieve the asparagus.", + "start_idx": 5733, + "end_idx": 5778 + }, + { + "text": "Put the asparagus to the left of the white coffee cup with the tip facing top right using the left hand.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Using the left hand, place the asparagus left of the white coffee cup with its tip pointing to the top right.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Have the left arm set the asparagus to the left of the white coffee cup, tip oriented top right.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "With the left hand, position the asparagus left of the white coffee cup so the tip faces the upper right.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Place the asparagus to the left of the white coffee cup with its tip facing the top right.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Set the asparagus left of the white coffee cup, with the tip pointed upper right.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Position the asparagus to the left of the white coffee cup, tip directed to the top right.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Put the asparagus to the left of the white coffee cup.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Arrange the asparagus left of the white coffee cup.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Set the asparagus down to the left of the white coffee cup.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Place the asparagus left of the white coffee cup with the left hand.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Using the left hand, put the asparagus to the left of the white coffee cup.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Have the left arm place the asparagus beside the white coffee cup on its left side.", + "start_idx": 5778, + "end_idx": 5814 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table on a diagonal, holding the full object.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Grasp the brown stuffed toy from the table at a diagonal angle around the entire object.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Grasp the brown stuffed toy from the table.", + "start_idx": 5814, + "end_idx": 5856 + }, + { + "text": "Put the brown stuffed toy to the right of the orange screwdriver with the left hand facing forwards.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the orange screwdriver, facing forwards.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the orange screwdriver with its front facing forward.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the orange screwdriver so the front faces forwards.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Place the brown stuffed toy to the right of the orange screwdriver, facing forwards.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Set the brown stuffed toy to the right of the orange screwdriver with its front facing forward.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Position the brown stuffed toy to the right of the orange screwdriver so it faces forwards.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Put the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Set the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Position the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 5856, + "end_idx": 5886 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Have the left arm pick the orange screwdriver off the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Take the orange screwdriver off the table diagonally while holding its middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal pickup by the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "With the left hand, take the orange screwdriver off the table by its middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table, holding the middle.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle with the left hand.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Retrieve the orange screwdriver from the table.", + "start_idx": 5886, + "end_idx": 5925 + }, + { + "text": "Put the orange screwdriver to the center of the table with the left hand with its tip facing top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Using the left hand, place the orange screwdriver at the table center with its tip pointing to the top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Have the left arm set the orange screwdriver in the center of the table, tip oriented toward the top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "With the left hand, position the orange screwdriver at the center of the table so the tip faces the top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Place the orange screwdriver at the center of the table with its tip pointing to the top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Set the orange screwdriver in the center of the table, with the tip directed toward the top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Position the orange screwdriver at the table center so its tip faces top right.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Using the left hand, put the orange screwdriver at the center of the table.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "With the left hand, place the orange screwdriver in the center of the table.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Have the left arm set the orange screwdriver at the table center.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Put the orange screwdriver in the center of the table.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Using the left hand, position the orange screwdriver at the table center.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Set the orange screwdriver at the center of the table.", + "start_idx": 5925, + "end_idx": 5961 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Have the left arm take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a diagonal lip hold on the left.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Grasp the white coffee cup from the table with a left-side diagonal lip grip.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Grasp the white coffee cup from the table using a diagonal hold at the left.", + "start_idx": 5961, + "end_idx": 5997 + }, + { + "text": "Put the white coffee cup to the center of the table with the left hand right side up with the front facing backwards.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table upright with the front facing backward.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Have the left arm set the white coffee cup in the center of the table right side up, front pointed backward.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "With the left hand, position the white coffee cup at the table's center upright and with its front facing backward.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Place the white coffee cup at the center of the table right side up with the front facing backward.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Set the white coffee cup in the center of the table upright, with its front pointed backward.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Position the white coffee cup at the table's center with the front facing backward.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Using the left hand, put the white coffee cup at the center of the table.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Have the left arm place the white coffee cup in the center of the table.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "With the left hand, set the white coffee cup at the table's center.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Put the white coffee cup at the center of the table.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Place the white coffee cup in the center of the table.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Set the white coffee cup at the table's center.", + "start_idx": 5997, + "end_idx": 6039 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Have the left arm take the asparagus from the table, grasping it diagonally at the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "With the left hand, collect the asparagus from the table at a diagonal middle grasp.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Take the asparagus from the table with a diagonal middle grasp.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "From the table, collect the asparagus at a diagonal angle from the middle.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "With the left hand, collect the asparagus from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "From the table, take the asparagus.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Have the asparagus taken from the table.", + "start_idx": 6039, + "end_idx": 6078 + }, + { + "text": "Put the asparagus to the left of the brown stuffed toy with the left hand with the tip facing top left.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Using the left hand, place the asparagus to the left of the brown stuffed toy with the tip pointing to the top left.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Have the left arm set the asparagus left of the brown stuffed toy, tip directed toward the top left.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "With the left hand, position the asparagus on the brown stuffed toy's left side, with its tip facing the upper left.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Place the asparagus to the left of the brown stuffed toy.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Set the asparagus on the left side of the brown stuffed toy.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Position the asparagus left of the brown stuffed toy.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Using the left hand, place the asparagus to the left of the brown stuffed toy.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Have the left arm set the asparagus left of the brown stuffed toy.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "With the left hand, position the asparagus on the brown stuffed toy's left side.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Place the asparagus with its tip facing the top left.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Set the asparagus to the left of the brown stuffed toy with the tip pointing to the upper left.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Position the asparagus on the brown stuffed toy's left side.", + "start_idx": 6078, + "end_idx": 6108 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with the lip at a diagonal on the left side.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a left-side diagonal lip grip.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp on the left lip.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Grasp the white coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "The white coffee cup should be picked up from the table with the left hand.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Use the left arm to grasp the white coffee cup from the table.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Take the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 6180, + "end_idx": 6219 + }, + { + "text": "Put the white coffee cup to the center of the table with the left hand right side up with the front facing backwards.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table upright with the front facing backward.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Have the left arm set the white coffee cup in the table center, right side up and with its front toward the back.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "With the left hand, position the white coffee cup in the center of the table upright, front facing backwards.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Place the white coffee cup at the center of the table right side up with the front facing backwards.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Set the white coffee cup in the center of the table upright with its front toward the back.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Position the white coffee cup at the table center right side up, front facing backward.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Using the left hand, put the white coffee cup at the center of the table.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Have the left arm place the white coffee cup in the center of the table.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "With the left hand, set the white coffee cup at the table center.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Put the white coffee cup at the center of the table.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Set the white coffee cup in the center of the table.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Position the white coffee cup at the table center.", + "start_idx": 6219, + "end_idx": 6264 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup angle and a middle grasp.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "From the table, retrieve the asparagus diagonally with a grasp at the middle.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "From the table, retrieve the asparagus.", + "start_idx": 6336, + "end_idx": 6384 + }, + { + "text": "Put the asparagus to the left side of the white coffee cup with the left hand with its tip facing top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Using the left hand, place the asparagus on the left side of the white coffee cup with its tip pointing to the top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Have the left arm set the asparagus to the white coffee cup's left, tip oriented toward the top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "With the left hand, position the asparagus left of the white coffee cup, keeping the tip directed to the top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Place the asparagus on the left side of the white coffee cup with its tip facing the top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Set the asparagus to the left of the white coffee cup, with the tip pointing top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Position the asparagus beside the white coffee cup on its left, tip aimed toward the top right.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Using the left hand, place the asparagus to the left of the white coffee cup.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Have the left arm set the asparagus on the white coffee cup's left side.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "With the left hand, position the asparagus beside the white coffee cup on the left.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Put the asparagus to the left of the white coffee cup.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Set the asparagus on the left side of the white coffee cup.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Position the asparagus beside the white coffee cup on its left.", + "start_idx": 6384, + "end_idx": 6417 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Have the left arm take the corn from the table diagonally by its middle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "With the left hand, retrieve the corn from the table, holding it at a diagonal angle around the middle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Retrieve the corn from the table while holding its middle at a diagonal angle.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Have the left arm retrieve the corn from the table.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Take the corn from the table.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 6417, + "end_idx": 6456 + }, + { + "text": "Put the corn to the center of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Using the left hand, place the corn at the center of the table with the tip facing forwards.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Have the left arm set the corn in the middle of the table, oriented forward by its tip.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "With the left hand, position the corn at the table's center so the tip points forwards.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Place the corn at the center of the table with the tip facing forwards.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Set the corn in the middle of the table with the tip oriented forwards.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Position the corn at the table's center so the tip points forwards.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Using the left hand, put the corn at the center of the table.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Have the left arm place the corn in the middle of the table.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "With the left hand, set the corn at the table's center.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Put the corn at the center of the table.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Using the left hand, place the corn at the center of the table.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Have the left arm set the corn in the middle of the table.", + "start_idx": 6456, + "end_idx": 6489 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "With the left hand, grasp the corn from the table at a diagonal angle around its middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Take the corn from the table with a diagonal pickup at the middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Grasp the corn from the table diagonally at its middle.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Take the corn from the table.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 6555, + "end_idx": 6600 + }, + { + "text": "Put the corn to the left of the brown stuffed toy with the left hand facing left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy with its tip facing left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Have the left arm set the corn left of the brown stuffed toy, tip pointing left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "With the left hand, position the corn on the stuffed toy's left side, with the tip oriented left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Place the corn to the left of the brown stuffed toy with its tip facing left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Set the corn on the left side of the brown stuffed toy, tip pointing left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Position the corn left of the brown stuffed toy with the tip directed left.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "With the left hand, set the corn on the stuffed toy's left side.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Have the left arm position the corn left of the brown stuffed toy.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Place the corn to the left of the brown stuffed toy.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Set the corn on the left side of the brown stuffed toy.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Position the corn left of the brown stuffed toy.", + "start_idx": 6600, + "end_idx": 6639 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Have the left arm grasp the asparagus from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "With the left hand, secure the asparagus from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Grasp the asparagus from the table using a side hold on the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "The asparagus from the table should be picked up with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "With the left hand, collect the asparagus from the table using a side grasp on the bottom.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Have the left arm take the asparagus from the table with a side hold at the bottom.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Using the left hand, pick up the asparagus from the table from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "With the left hand, grasp the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Take the asparagus from the table at the bottom from a diagonal angle.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Place the asparagus to the left of the corn with the left hand with the tip facing top right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Using the left hand, set the asparagus to the left of the corn with the tip pointing to the upper right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Have the left arm place the asparagus left of the corn, keeping its tip aimed top right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "With the left hand, position the asparagus on the corn's left side so the tip faces the top right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Place the asparagus to the left of the corn with the tip facing top right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Set the asparagus on the left side of the corn with the tip pointing upper right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Position the asparagus left of the corn, with its tip aimed to the top right.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Using the left hand, place the asparagus to the left of the corn.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "With the left hand, set the asparagus on the left side of the corn.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Have the left arm position the asparagus left of the corn.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Put the asparagus to the left of the corn.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Arrange the asparagus on the corn's left side.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Place the asparagus left of the corn.", + "start_idx": 6675, + "end_idx": 6711 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table with a diagonal approach at the middle.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, holding it at the middle on a diagonal.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Retrieve the orange screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Get the orange screwdriver from the table.", + "start_idx": 6783, + "end_idx": 6831 + }, + { + "text": "Put the orange screwdriver behind the corn with the left hand facing forwards with the tip forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Using the left hand, place the orange screwdriver behind the corn with the tip facing forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Have the left arm set the orange screwdriver behind the corn, tip pointed forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "With the left hand, position the orange screwdriver behind the corn so its tip faces forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Place the orange screwdriver behind the corn with the tip facing forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Set the orange screwdriver behind the corn with its tip pointed forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Position the orange screwdriver behind the corn so the tip faces forwards.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Using the left hand, put the orange screwdriver behind the corn.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Have the left arm place the orange screwdriver behind the corn.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "With the left hand, set the orange screwdriver behind the corn.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Put the orange screwdriver behind the corn.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Place the orange screwdriver behind the corn.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Set the orange screwdriver behind the corn.", + "start_idx": 6831, + "end_idx": 6885 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Have the left arm grasp the corn from the table with a side hold at the top on a diagonal approach.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Pick up the corn from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Take the corn from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Grasp the corn from the table with a side hold on the top from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the top.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp on the top.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Have the left arm grasp the corn from the table with a side hold at the top.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Using the left hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "From the table, take the corn with the left hand at the top from a diagonal approach.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Pick up the corn from the table at the top from a diagonal angle.", + "start_idx": 6957, + "end_idx": 6996 + }, + { + "text": "Put the corn to the right of the orange screwdriver with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Using the left hand, place the corn to the right of the orange screwdriver with its tip facing bottom left.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Have the left arm set the corn to the right of the orange screwdriver, oriented bottom-left at the tip.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "With the left hand, position the corn right of the orange screwdriver so the tip points toward the bottom left.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Place the corn to the right of the orange screwdriver with its tip facing bottom left.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Set the corn to the right of the orange screwdriver, with the tip oriented bottom left.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Position the corn right of the orange screwdriver so the tip faces the bottom left.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Using the left hand, put the corn to the right of the orange screwdriver.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "With the left hand, place the corn right of the orange screwdriver.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Have the left arm position the corn to the right of the orange screwdriver.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Put the corn to the right of the orange screwdriver.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Set the corn right of the orange screwdriver.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Position the corn to the right of the orange screwdriver.", + "start_idx": 6996, + "end_idx": 7029 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "With the left hand, collect the orange screwdriver from the table on a diagonal angle, gripping the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Take the orange screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "From the table, retrieve the orange screwdriver at a diagonal angle by the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "With the left hand, collect the orange screwdriver from the table.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Take the orange screwdriver from the table by the middle.", + "start_idx": 7029, + "end_idx": 7077 + }, + { + "text": "Place the orange screwdriver to the center of the table with the left hand with its tip facing right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Using the left hand, set the orange screwdriver at the center of the table with its tip pointing right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Have the left arm place the orange screwdriver in the table center, tip directed to the right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "With the left hand, position the orange screwdriver at the center of the table so its tip faces right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Place the orange screwdriver at the center of the table with its tip facing right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Set the orange screwdriver in the center of the table with the tip pointing right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Position the orange screwdriver at the table center so the tip faces right.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "With the left hand, set the orange screwdriver in the middle of the table.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Have the left arm position the orange screwdriver at the table center.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Put the orange screwdriver at the center of the table.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Set the orange screwdriver in the middle of the table.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Place the orange screwdriver on the table.", + "start_idx": 7077, + "end_idx": 7122 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally by the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Retrieve the corn from the table with a diagonal pickup at the middle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Take the corn from the table diagonally.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 7122, + "end_idx": 7161 + }, + { + "text": "Put the corn to the left side of the brown stuffed toy with the left hand facing backwards.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Using the left hand, place the corn on the left side of the brown stuffed toy with its tip facing backwards.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Have the left arm set the corn to the left of the brown stuffed toy, with the tip pointed backward.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "With the left hand, position the corn left of the brown stuffed toy so the tip faces backwards.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Place the corn on the left side of the brown stuffed toy.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Set the corn to the left of the brown stuffed toy.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Position the corn left of the brown stuffed toy.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Using the left hand, put the corn to the left of the brown stuffed toy.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Have the left arm place the corn on the brown stuffed toy's left side.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "With the left hand, set the corn on the toy's left side.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Place the corn to the left of the brown stuffed toy with its tip facing backwards.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Position the corn beside the brown stuffed toy on its left, tip facing backward.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Set the corn left of the brown stuffed toy with the tip pointed backward.", + "start_idx": 7161, + "end_idx": 7197 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Have the left arm take the corn from the table diagonally, holding it at the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "With the left hand, retrieve the corn from the table on a diagonal, gripping the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Retrieve the corn from the table diagonally, holding the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Take the corn from the table on a diagonal angle, gripping it at the middle.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Get the corn from the table.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Take the corn from the table.", + "start_idx": 7332, + "end_idx": 7368 + }, + { + "text": "Put the corn to the top side of the table with the left hand facing top left with the tip as the reference point.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Using the left hand, place the corn on the top side of the table with its tip facing the top left.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Have the left arm set the corn on the table's top side, oriented top-left using the tip as the reference point.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "With the left hand, position the corn at the top side of the table so the tip points toward the top left.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Place the corn on the top side of the table.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Set the corn at the top side of the table.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Have the corn placed on the table's top side.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Using the left hand, place the corn on the top side of the table.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "With the left hand, set the corn at the top side of the table.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Have the left arm place the corn on the table's top side.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Place the corn on the top side of the table with its tip facing the top left.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Set the corn at the top side of the table so the tip points to the top left.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "On the table's top side, position the corn with the tip directed toward the top left.", + "start_idx": 7368, + "end_idx": 7407 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Have the left arm pick the white coffee cup up from the table with a left-side diagonal lip hold.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a diagonal lip grip on the left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip on the left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Grasp the white coffee cup from the table with a left-side diagonal lip hold.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grasp on the left.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Grab the white coffee cup from the table with the left hand.", + "start_idx": 7641, + "end_idx": 7683 + }, + { + "text": "Put the white coffee cup to the center of the table with the left hand right side up with the front facing backwards.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table right side up with the front facing backward.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Have the left arm set the white coffee cup in the table center, upright, with the front oriented backward.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "With the left hand, position the white coffee cup at the center of the table so it stays right side up and its front faces backward.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Place the white coffee cup at the center of the table right side up with the front facing backward.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Set the white coffee cup in the center of the table upright, with the front directed backward.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Position the white coffee cup at the center of the table so it is right side up and facing backward.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Have the left arm set the white coffee cup in the table center.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "With the left hand, position the white coffee cup at the center of the table.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Put the white coffee cup at the center of the table.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Set the white coffee cup in the center of the table.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Position the white coffee cup at the center of the table.", + "start_idx": 7683, + "end_idx": 7728 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Using the left hand, retrieve the brown stuffed toy from the table at a diagonal angle with a whole-object grasp.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal pickup and a whole-object grasp.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Retrieve the brown stuffed toy from the table at a diagonal angle while enclosing the entire object.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Use the left hand to take the brown stuffed toy from the table.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 7728, + "end_idx": 7764 + }, + { + "text": "Put the brown stuffed toy in between the orange screwdriver and white coffee cup with the left hand facing forwards.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Using the left hand, place the brown stuffed toy between the orange screwdriver and the white coffee cup, facing forwards.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Have the left arm set the brown stuffed toy in between the orange screwdriver and white coffee cup with its front facing forward.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "With the left hand, position the brown stuffed toy between the orange screwdriver and the white coffee cup so it faces forwards.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Place the brown stuffed toy between the orange screwdriver and the white coffee cup facing forwards.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Set the brown stuffed toy in between the orange screwdriver and white coffee cup with its front forward.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Position the brown stuffed toy between the orange screwdriver and the white coffee cup so it faces forward.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Using the left hand, put the brown stuffed toy between the orange screwdriver and the white coffee cup.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "With the left arm, place the brown stuffed toy in between the orange screwdriver and white coffee cup.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Have the left hand position the brown stuffed toy between the orange screwdriver and the white coffee cup.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Put the brown stuffed toy in between the orange screwdriver and white coffee cup.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Place the brown stuffed toy between the orange screwdriver and white coffee cup.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Set the brown stuffed toy in between the orange screwdriver and the white coffee cup.", + "start_idx": 7764, + "end_idx": 7797 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "With the left hand, collect the asparagus from the table diagonally by the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "The asparagus from the table should be picked up diagonally from the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "With the left hand, collect the asparagus from the table by the middle.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Take the asparagus from the table with the left hand, omitting the diagonal approach.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "The asparagus from the table should be picked up.", + "start_idx": 7869, + "end_idx": 7914 + }, + { + "text": "Put the asparagus in front of the white coffee cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Using the left hand, place the asparagus in front of the white coffee cup with the tip facing forwards.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Have the left arm set the asparagus in front of the white coffee cup, oriented forward from the tip.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "With the left hand, position the asparagus before the white coffee cup so the tip points forwards.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Place the asparagus in front of the white coffee cup with the tip facing forwards.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Set the asparagus before the white coffee cup with the tip oriented forwards.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Position the asparagus in front of the white coffee cup so the tip points forward.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Using the left hand, put the asparagus in front of the white coffee cup.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "With the left hand, set the asparagus before the white coffee cup.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Have the left arm place the asparagus in front of the white coffee cup.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Put the asparagus in front of the white coffee cup.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Set the asparagus before the white coffee cup.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Position the asparagus in front of the white coffee cup.", + "start_idx": 7914, + "end_idx": 7950 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle while grasping the entire object.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Take the brown stuffed toy from the table using a diagonal pickup angle and grasp the entire object.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Get the brown stuffed toy from the table at a diagonal angle with a full-object hold.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table while grasping the entire object.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 7950, + "end_idx": 7986 + }, + { + "text": "Place the brown stuffed toy in front of the red marker with the left hand facing top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Using the left hand, set the brown stuffed toy in front of the red marker facing top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Have the left arm place the brown stuffed toy in front of the red marker with its orientation toward the top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "With the left hand, position the brown stuffed toy before the red marker so it faces top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Place the brown stuffed toy in front of the red marker facing top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Set the brown stuffed toy before the red marker facing top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Position the brown stuffed toy in front of the red marker with its front toward the top left.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "With the left hand, place the brown stuffed toy in front of the red marker.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Using the left hand, set the brown stuffed toy before the red marker.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Have the left arm position the brown stuffed toy in front of the red marker.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Put the brown stuffed toy in front of the red marker.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Place the brown stuffed toy before the red marker.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the red marker.", + "start_idx": 7986, + "end_idx": 8016 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom and at a diagonal angle.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grip at the bottom and hold it diagonally.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Have the left arm grasp the orange screwdriver from the table at its bottom with a side hold, keeping it at a diagonal angle.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "With the left hand, secure the orange screwdriver from the table by the bottom using a side grasp at a diagonal angle.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Pick up the orange screwdriver from the table with a side grip at the bottom and at a diagonal angle.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Take the orange screwdriver from the table by the bottom with a side grasp, keeping it diagonal.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Grasp the orange screwdriver from the table at the bottom with a side hold and orient it diagonally.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Using a side grip at the bottom, pick up the orange screwdriver from the table with the left hand.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "With the left hand, take the orange screwdriver from the table using a side grasp at the bottom.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Have the left arm secure the orange screwdriver from the table with a side hold at its bottom.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at the bottom and at a diagonal angle.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Take the orange screwdriver from the table with the left hand, holding it diagonally.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table at the bottom.", + "start_idx": 8016, + "end_idx": 8061 + }, + { + "text": "Put the orange screwdriver to the left of the asparagus with the left hand facing top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the asparagus with its tip facing top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Have the left arm set the orange screwdriver left of the asparagus, tip oriented toward the top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "With the left hand, position the orange screwdriver to the asparagus's left, keeping the tip pointed top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Place the orange screwdriver to the left of the asparagus with its tip facing top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Set the orange screwdriver left of the asparagus, with the tip oriented toward the top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Position the orange screwdriver to the left of the asparagus, tip pointed top left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Using the left hand, put the orange screwdriver to the left of the asparagus.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "With the left hand, place the orange screwdriver left of the asparagus.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Have the left arm position the orange screwdriver to the asparagus's left.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Set the orange screwdriver to the left of the asparagus.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Using the left hand, set the orange screwdriver to the left of the asparagus.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Place the orange screwdriver left of the asparagus.", + "start_idx": 8061, + "end_idx": 8097 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Using the left hand, take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Have the left arm pick the corn off the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "With the left hand, grasp the corn from the table by its bottom using a side grip from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Take the corn off the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Grasp the corn from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Using a side grip, pick up the corn from the table with the left hand.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "With the left hand, take the corn from the table using a side grasp.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Have the left arm grab the corn off the table with a side hold.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Take the corn off the table from a diagonal angle.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Grasp the corn from the table at the bottom.", + "start_idx": 8096, + "end_idx": 8132 + }, + { + "text": "Put the corn to the left of the white coffee cup with the left hand facing top right with the tip as the reference point.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Using the left hand, place the corn to the left of the white coffee cup with its tip facing the top right.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Have the left arm set the corn to the left of the white coffee cup, oriented top right from the tip.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "With the left hand, position the corn left of the white coffee cup so the tip points toward the top right.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Place the corn to the left of the white coffee cup with its tip facing the top right.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Set the corn left of the white coffee cup, with the tip oriented toward the top right.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Position the corn to the left of the white coffee cup so its tip faces top right.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Using the left hand, put the corn to the left of the white coffee cup.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "With the left hand, set the corn left of the white coffee cup.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Have the left arm place the corn to the left of the white coffee cup.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Place the corn to the left of the white coffee cup.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Set the corn left of the white coffee cup.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Position the corn beside the white coffee cup on its left side.", + "start_idx": 8133, + "end_idx": 8169 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Have the left arm grasp the corn from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp on the bottom from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "From a diagonal angle, grasp the corn from the table with a side hold at the bottom.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "The corn from the table should be taken with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Have the left arm take the corn from the table with a side grasp on the bottom.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom using a side hold.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "From a diagonal angle, take the corn from the table with the left hand at the bottom.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Have the left arm pick up the corn from the table from a diagonal angle.", + "start_idx": 8247, + "end_idx": 8286 + }, + { + "text": "Put the corn to the left of the orange screwdriver with the left hand facing top left with the tip as the reference point.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Using the left hand, place the corn to the left of the orange screwdriver, facing top left with the tip as the reference point.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Have the left hand set the corn left of the orange screwdriver with its tip oriented toward the top left.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "With the left hand, position the corn to the left of the orange screwdriver, keeping the tip pointing top left.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Place the corn to the left of the orange screwdriver, facing top left with the tip as the reference point.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Set the corn left of the orange screwdriver with the tip oriented toward the top left.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Position the corn to the left of the orange screwdriver so its tip points top left.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Place the corn to the left of the orange screwdriver.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Set the corn left of the orange screwdriver.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Position the corn to the left of the orange screwdriver.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Using the left hand, place the corn to the left of the orange screwdriver.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Have the left hand set the corn left of the orange screwdriver.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Place the corn to the left of the orange screwdriver with the left hand.", + "start_idx": 8286, + "end_idx": 8325 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a diagonal approach at its middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "With the left hand, collect the asparagus from the table, holding it at the middle on a diagonal.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "From the table, grasp the asparagus at the middle on a diagonal.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "With the left hand, take the asparagus from the table by its middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Have the left arm collect the asparagus from the table, holding the middle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Take the asparagus from the table with the left hand on a diagonal.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "From the table, grasp the asparagus with the left hand.", + "start_idx": 8325, + "end_idx": 8358 + }, + { + "text": "Put the asparagus in between the orange screwdriver and brown stuffed toy with the left hand facing backwards with the tip as the reference point.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Using the left hand, place the asparagus between the orange screwdriver and the brown stuffed toy, with the tip facing backwards.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Have the left arm set the asparagus in between the orange screwdriver and brown stuffed toy, oriented backwards from the tip.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "With the left hand, position the asparagus between the orange screwdriver and brown stuffed toy so its tip faces backward.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Place the asparagus between the orange screwdriver and brown stuffed toy with the tip facing backwards.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Set the asparagus in between the orange screwdriver and the brown stuffed toy, with the tip oriented backward.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Position the asparagus between the orange screwdriver and brown stuffed toy so the tip points backwards.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Using the left hand, put the asparagus between the orange screwdriver and brown stuffed toy.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "With the left hand, place the asparagus in between the orange screwdriver and the brown stuffed toy.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Have the left arm position the asparagus between the orange screwdriver and brown stuffed toy.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Put the asparagus between the orange screwdriver and brown stuffed toy.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Set the asparagus in between the orange screwdriver and the brown stuffed toy.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Position the asparagus between the orange screwdriver and brown stuffed toy.", + "start_idx": 8358, + "end_idx": 8397 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table using a side hold on the top at a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table in a side grip at the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Take the orange screwdriver from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Retrieve the orange screwdriver from the table in a side hold at the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table with a side grip.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "With the left hand, take the orange screwdriver from the table using a side grasp.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table with a side hold.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at the top from a diagonal angle.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 8469, + "end_idx": 8505 + }, + { + "text": "Place the orange screwdriver to the center of the table with the left hand facing forwards.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Using the left hand, set the orange screwdriver at the center of the table with its tip facing forwards.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Have the left arm place the orange screwdriver in the table center, tip pointed forward.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "With the left hand, position the orange screwdriver at the center of the table so the tip faces forwards.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Place the orange screwdriver at the center of the table with its tip facing forwards.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Set the orange screwdriver in the center of the table, tip facing forwards.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Position the orange screwdriver at the table center with the tip pointed forward.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "With the left hand, set the orange screwdriver in the center of the table.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Have the left arm position the orange screwdriver at the table center.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Place the orange screwdriver at the center of the table.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Set the orange screwdriver in the center of the table.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "At the table center, position the orange screwdriver.", + "start_idx": 8505, + "end_idx": 8541 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by grasping its middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Retrieve the asparagus from the table diagonally, grasping it at the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Using the left hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "With the left hand, retrieve the asparagus from the table, holding its middle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Take the asparagus from the table with the left hand.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Retrieve the asparagus from the table diagonally.", + "start_idx": 8541, + "end_idx": 8580 + }, + { + "text": "Put the asparagus to the left side of the white coffee cup with the left hand with its tip facing left.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Using the left hand, place the asparagus on the left side of the white coffee cup with its tip pointing left.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Have the left arm set the asparagus to the white coffee cup's left, tip directed left.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "With the left hand, position the asparagus left of the white coffee cup, keeping the tip facing left.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Place the asparagus on the left side of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Set the asparagus to the left of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "The asparagus goes to the white coffee cup's left side.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Put the asparagus to the left of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Position the asparagus on the left side of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Arrange the asparagus to the left of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Using the left hand, place the asparagus on the left side of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "With the left hand, set the asparagus to the left of the white coffee cup.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Have the left arm position the asparagus on the white coffee cup's left side.", + "start_idx": 8580, + "end_idx": 8616 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "With the left hand, collect the corn from the table on a diagonal approach, gripping the middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Take the corn from the table on a diagonal path, holding the middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "From the table, retrieve the corn at a diagonal angle while grasping its middle.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "With the left hand, collect the corn from the table.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Take the corn from the table.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 8616, + "end_idx": 8652 + }, + { + "text": "Put the corn to the bottom side of the table with the left hand facing right with the tip as the reference point.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Using the left hand, place the corn at the bottom side of the table with its tip facing right.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Have the left arm set the corn on the bottom side of the table, oriented rightward from the tip.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "With the left hand, position the corn at the table's bottom side so the tip points right.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Place the corn at the bottom side of the table with its tip facing right.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Set the corn on the bottom side of the table with the tip oriented to the right.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Position the corn at the table's bottom side so its tip points right.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Using the left hand, put the corn at the bottom side of the table.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Have the left arm place the corn on the bottom side of the table.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "With the left hand, set the corn at the table's bottom side.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Put the corn at the bottom side of the table.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Place the corn on the bottom side of the table.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Set the corn at the table's bottom side.", + "start_idx": 8652, + "end_idx": 8703 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal angle, grasping its middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 8760, + "end_idx": 8790 + }, + { + "text": "Put the asparagus to the bottom side of the table with the left hand facing forwards with the tip as the reference point.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Using the left hand, place the asparagus on the bottom side of the table with the tip facing forwards.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Have the left arm set the asparagus at the table's bottom side, oriented forward by its tip.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "With the left hand, position the asparagus on the bottom side of the table so the tip points forwards.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Place the asparagus on the bottom side of the table.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Set the asparagus at the table's bottom side.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Position the asparagus on the bottom side of the table.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Put the asparagus on the bottom side of the table with the left hand.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Using the left hand, place the asparagus at the table's bottom side.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Have the left arm set the asparagus on the bottom side of the table.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Place the asparagus on the bottom side of the table with the tip facing forwards.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Set the asparagus at the table's bottom side with the tip pointing forwards.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Position the asparagus on the bottom side of the table, oriented forward by its tip.", + "start_idx": 8790, + "end_idx": 8820 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table on a diagonal, holding it at the center.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Take the orange screwdriver from the table on a diagonal while holding the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally by the center.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "With the left hand, take the orange screwdriver from the table by the middle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table at a diagonal angle.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Take the orange screwdriver from the table with the left hand.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally.", + "start_idx": 8820, + "end_idx": 8850 + }, + { + "text": "Put the orange screwdriver to the center of the table with the left hand with its tip facing top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table with its tip pointing to the top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Have the left arm set the orange screwdriver in the table center, tip oriented toward the top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "With the left hand, position the orange screwdriver at the center of the table so its tip faces the top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Place the orange screwdriver at the center of the table with its tip pointing to the top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Set the orange screwdriver in the center of the table, with the tip facing top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Position the orange screwdriver at the table center so its tip points toward the top right.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Using the left hand, place the orange screwdriver at the center of the table.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Have the left arm set the orange screwdriver in the center of the table.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "With the left hand, position the orange screwdriver at the table center.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Place the orange screwdriver at the center of the table.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Set the orange screwdriver in the middle of the table.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "The orange screwdriver goes in the center of the table.", + "start_idx": 8850, + "end_idx": 8880 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at a diagonal angle.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at a diagonal angle.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "With a diagonal approach, have the left hand grasp the white coffee cup from the table using the lip grip.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "The left hand should pick the white coffee cup up from the table with a lip grasp at a diagonal angle.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Take the white coffee cup from the table using a lip grip at a diagonal angle.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold at a diagonal angle.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle using the lip grip.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "The left hand should grasp the white coffee cup from the table.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "With the left hand, collect the white coffee cup from the table.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Take the white coffee cup from the table at a diagonal angle.", + "start_idx": 8880, + "end_idx": 8916 + }, + { + "text": "Put the white coffee cup to the left of the asparagus with the left hand right side up with the front facing bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus, right side up, with the front facing bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus, keeping it upright and the front pointed bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "With the left hand, position the white coffee cup to the asparagus's left, right side up, front facing bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Place the white coffee cup to the left of the asparagus, right side up, with the front facing bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Set the white coffee cup left of the asparagus, keeping it upright with the front pointed bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Position the white coffee cup to the asparagus's left, right side up and with the front toward bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "With the left hand, position the white coffee cup to the asparagus's left.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Put the white coffee cup to the left of the asparagus.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus, keeping it upright.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus with the front facing bottom right.", + "start_idx": 8916, + "end_idx": 8952 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Using the left hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Have the left arm pick the corn off the table with a diagonal approach at its middle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "With the left hand, remove the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Take the corn off the table with a diagonal approach, holding the middle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Remove the corn from the table while grasping its middle at a diagonal angle.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Have the left arm take the corn off the table.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "With the left hand, remove the corn from the table.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Take the corn off the table.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Remove the corn from the table.", + "start_idx": 9021, + "end_idx": 9054 + }, + { + "text": "Put the corn behind the white coffee cup with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Using the left hand, place the corn behind the white coffee cup with the tip facing forwards.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Have the left arm set the corn behind the white coffee cup, oriented forwards by its tip.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "With the left hand, position the corn behind the white coffee cup so the tip points forwards.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Place the corn behind the white coffee cup with the tip facing forwards.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Set the corn behind the white coffee cup, oriented forwards by the tip.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Position the corn behind the white coffee cup so the tip points forwards.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Using the left hand, put the corn behind the white coffee cup.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Have the left arm place the corn behind the white coffee cup.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "With the left hand, set the corn behind the white coffee cup.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Place the corn behind the white coffee cup.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Set the corn behind the white coffee cup.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Position the corn behind the white coffee cup.", + "start_idx": 9054, + "end_idx": 9087 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pick, holding it at the middle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "With the left hand, grasp the middle of the asparagus on the table and retrieve it at a diagonal angle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Take the asparagus from the table with a diagonal pick at the middle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Grasp the asparagus from the table at the middle and remove it at a diagonal angle.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Grasp the asparagus from the table.", + "start_idx": 9087, + "end_idx": 9126 + }, + { + "text": "Put the asparagus to the center of the table with the left hand facing top right with the tip as the reference point.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table with its tip facing the top right.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Have the left arm set the asparagus in the table center, oriented top right relative to the tip.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "With the left hand, position the asparagus in the center of the table so the tip points toward the top right.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Place the asparagus at the center of the table with its tip oriented toward the top right.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Set the asparagus in the center of the table, keeping the tip facing top right.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Position the asparagus at the table center so the tip points to the top right.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "At the center of the table, put the asparagus.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Place the asparagus in the middle of the table.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Set the asparagus down at the center of the table.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Using the left hand, place the asparagus at the center of the table.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "With the left hand, set the asparagus in the middle of the table.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Have the left arm put the asparagus at the table center.", + "start_idx": 9126, + "end_idx": 9156 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the left side from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the left side from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "With the left hand, pick the white coffee cup up from the table using the lip grip on its left side from a diagonal approach.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the left side from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Grasp the white coffee cup from the table with the lip grip at the left side from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Have the left hand take the white coffee cup from the table using a lip grasp.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using the lip grip.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the left side from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Using the left hand, take the white coffee cup from the table from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Pick up the white coffee cup from the table at the left side from a diagonal angle.", + "start_idx": 9156, + "end_idx": 9195 + }, + { + "text": "Put the white coffee cup to the center of the table with the left hand right side up with the front facing backwards.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table right side up with the front facing backwards.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Have the left arm set the white coffee cup in the table center, upright and with the front pointed backward.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "With the left hand, position the white coffee cup at the center of the table, keeping it right side up and the front facing backwards.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Place the white coffee cup at the center of the table right side up with the front facing backwards.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Set the white coffee cup in the center of the table upright with the front pointed backward.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Position the white coffee cup at the table center right side up with the front facing backwards.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Have the left arm set the white coffee cup in the center of the table.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "With the left hand, position the white coffee cup at the table center.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Place the white coffee cup at the center of the table.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Set the white coffee cup in the table center.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Put the white coffee cup at the center of the table.", + "start_idx": 9195, + "end_idx": 9237 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Using the right hand, collect the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally, securing the whole toy.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Take the brown stuffed toy from the table with the right hand.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 282, + "end_idx": 315 + }, + { + "text": "Put the brown stuffed toy to the right side of the table with the right hand facing forwards.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Using the right hand, place the brown stuffed toy on the table's right side facing forward.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Have the right arm set the brown stuffed toy at the right side of the table with its front facing forward.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the table, front facing forward.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Place the brown stuffed toy on the right side of the table.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Set the brown stuffed toy to the table's right side.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Position the brown stuffed toy at the right side of the table.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Put the brown stuffed toy to the right side of the table.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Using the right hand, place the brown stuffed toy on the table's right side.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Have the right arm set the brown stuffed toy at the right side of the table.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the table.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Place the brown stuffed toy on the table's right side facing forward.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Set the brown stuffed toy at the right side of the table with its front facing forward.", + "start_idx": 315, + "end_idx": 345 + }, + { + "text": "Pick up the coffee cup from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Using the right hand, pick up the coffee cup from the table with a diagonal grasp on its right lip.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Have the right hand take the coffee cup from the table using a diagonal lip grip on the right side.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "With the right arm, grasp the coffee cup from the table by its right lip at a diagonal angle.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Pick up the coffee cup from the table with a diagonal grasp on its right lip.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Take the coffee cup from the table using a diagonal hold on the right lip.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Grasp the coffee cup from the table at the right lip with a diagonal angle.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Using the right hand, pick up the coffee cup from the table.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Have the right hand take the coffee cup from the table.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "With the right arm, grasp the coffee cup from the table.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Pick up the coffee cup from the table.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Using the right hand, take the coffee cup from the table.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Grasp the coffee cup from the table with the right hand.", + "start_idx": 345, + "end_idx": 381 + }, + { + "text": "Put the coffee cup behind the orange screwdriver with the handle facing backwards right side up using the right hand.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Using the right hand, place the coffee cup behind the orange screwdriver with the handle facing backwards and right side up.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Have the right hand set the coffee cup behind the orange screwdriver, handle pointing backward, upright.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "With the right hand, position the coffee cup behind the orange screwdriver so the handle faces back and the cup stays right side up.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Place the coffee cup behind the orange screwdriver with the handle facing backwards and right side up.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Set the coffee cup behind the orange screwdriver, with the handle pointing backward and the cup upright.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Position the coffee cup behind the orange screwdriver so the handle faces back and it remains right side up.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Using the right hand, put the coffee cup behind the orange screwdriver.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "With the right hand, place the coffee cup behind the orange screwdriver.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Have the right hand position the coffee cup behind the orange screwdriver.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Put the coffee cup behind the orange screwdriver.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Set the coffee cup behind the orange screwdriver with the right hand.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Place the coffee cup behind the orange screwdriver, keeping it right side up.", + "start_idx": 381, + "end_idx": 420 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pick, holding it at the middle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "With the right hand, grasp the asparagus at its middle and remove it from the table diagonally.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Take the asparagus from the table diagonally, holding it at the middle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Grasp the asparagus at the middle and pick it up from the table at a diagonal angle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "With the right hand, take the asparagus from the table.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Have the right arm grasp the asparagus and remove it from the table.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Take the asparagus from the table with the right hand.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Grasp the asparagus and remove it from the table at a diagonal angle.", + "start_idx": 732, + "end_idx": 765 + }, + { + "text": "Put the asparagus to the right of the red marker with the right hand with its tip facing bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Using the right hand, place the asparagus to the right of the red marker with its tip pointing to the bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Have the right arm set the asparagus to the right of the red marker, tip directed bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "With the right hand, position the asparagus right of the red marker so its tip faces the bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Place the asparagus to the right of the red marker with its tip facing bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Set the asparagus right of the red marker with the tip pointing bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Position the asparagus to the right of the red marker, its tip oriented toward the bottom left.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Using the right hand, put the asparagus to the right of the red marker.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Have the right arm place the asparagus right of the red marker.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "With the right hand, position the asparagus to the right of the red marker.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Put the asparagus to the right of the red marker.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Set the asparagus right of the red marker.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Have the asparagus placed to the right of the red marker.", + "start_idx": 765, + "end_idx": 810 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the whole object.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table at a diagonal angle by holding the entire object.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object hold.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Retrieve the brown stuffed toy from the table at a diagonal angle while grasping the whole toy.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Take the brown stuffed toy from the table with the right hand, grasping the entire object.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 810, + "end_idx": 849 + }, + { + "text": "Put the brown stuffed toy to the right of the asparagus with the right hand facing top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the asparagus with its front facing the top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the asparagus, front oriented toward the top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the asparagus so the front points top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Place the brown stuffed toy to the right of the asparagus with its front facing the top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Set the brown stuffed toy to the right of the asparagus, with the front oriented toward the top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Position the brown stuffed toy to the right of the asparagus so it faces top left.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the asparagus.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "With the right hand, set the brown stuffed toy to the right of the asparagus.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Have the right arm position the brown stuffed toy to the right of the asparagus.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Put the brown stuffed toy to the right of the asparagus.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Set the brown stuffed toy by the asparagus on its right side.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Position the brown stuffed toy to the asparagus's right.", + "start_idx": 849, + "end_idx": 867 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 1245, + "end_idx": 1284 + }, + { + "text": "Put the asparagus to the right of the red marker with the tip facing bottom right using the right hand.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Using the right hand, place the asparagus to the right of the red marker with the tip pointing bottom right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Have the right arm set the asparagus to the right of the red marker, tip directed toward the bottom right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "With the right hand, position the asparagus to the marker's right, keeping its tip aimed at the bottom right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Place the asparagus to the right of the red marker.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Set the asparagus on the right side of the red marker.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Position the asparagus to the marker's right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Move the asparagus to the right of the red marker.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Using the right hand, put the asparagus to the right of the red marker.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Have the right arm place the asparagus on the right side of the red marker.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "With the right hand, set the asparagus to the marker's right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Put the asparagus to the right of the red marker with the tip facing bottom right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Position the asparagus on the right side of the red marker, with its tip pointing bottom right.", + "start_idx": 1284, + "end_idx": 1326 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "With the right hand, retrieve the red marker from the table by grasping its middle at a diagonal angle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding the middle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Retrieve the red marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Have the right hand pick up the red marker from the table at a diagonal angle.", + "start_idx": 1389, + "end_idx": 1422 + }, + { + "text": "Put the red marker to the right of the white coffee cup with the right hand facing left with the tip as the reference point.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Using the right hand, place the red marker to the right of the white coffee cup, facing left with the tip as the reference point.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Have the right hand set the red marker to the right of the white coffee cup with its tip oriented left.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "With the right hand, position the red marker to the right of the white coffee cup so the tip faces left.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Place the red marker to the right of the white coffee cup, facing left with the tip as the reference point.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Set the red marker to the right of the white coffee cup with its tip pointing left.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Position the red marker to the right of the white coffee cup so it faces left at the tip.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Using the right hand, place the red marker to the right of the white coffee cup.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "With the right hand, set the red marker to the right of the white coffee cup.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Have the right hand position the red marker to the right of the white coffee cup.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Place the red marker to the right of the white coffee cup.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Set the red marker beside the white coffee cup on its right side.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Position the red marker on the right side of the white coffee cup.", + "start_idx": 1422, + "end_idx": 1464 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Have the right hand take the orange screwdriver off the table with a diagonal pickup from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "The orange screwdriver should be grasped from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Take the orange screwdriver off the table from the middle at a diagonal angle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "The orange screwdriver from the table should be grasped diagonally from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "With the right hand, pick up the orange screwdriver from the table.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Use the right hand to take the orange screwdriver off the table.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "The orange screwdriver should be picked up from the table with the right hand.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Take the orange screwdriver off the table from the middle.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "The orange screwdriver from the table should be grasped.", + "start_idx": 1881, + "end_idx": 1914 + }, + { + "text": "Put the orange screwdriver to the right of the asparagus with the tip facing forwards using the right hand.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the asparagus with its tip facing forwards.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Have the right hand set the orange screwdriver down to the asparagus's right, tip pointed forwards.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "With the right hand, position the orange screwdriver on the right side of the asparagus, keeping the tip facing forwards.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Place the orange screwdriver to the right of the asparagus with its tip facing forwards.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Set the orange screwdriver down to the asparagus's right with the tip pointed forwards.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Position the orange screwdriver on the right side of the asparagus, tip facing forwards.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Using the right hand, put the orange screwdriver to the right of the asparagus.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Have the right hand place the orange screwdriver to the asparagus's right.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "With the right hand, set the orange screwdriver down on the right side of the asparagus.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Put the orange screwdriver to the right of the asparagus.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Set the orange screwdriver down to the asparagus's right.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Place the orange screwdriver on the right side of the asparagus.", + "start_idx": 1914, + "end_idx": 1944 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grasp at the bottom diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Have the right arm pick the asparagus off the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "With the right hand, grasp the asparagus from the table by its bottom using a side hold diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Take the asparagus off the table with a side grasp on the bottom diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Grasp the asparagus from the table at the bottom diagonally with a side hold.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Using the right hand, pick up the asparagus from the table with a side grip.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Have the right arm take the asparagus off the table using a side grasp.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "With the right hand, grasp the asparagus from the table using a side hold.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Pick up the asparagus from the table with the right hand at the bottom diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Take the asparagus off the table with the right hand.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Grasp the asparagus from the table at the bottom diagonally.", + "start_idx": 2211, + "end_idx": 2250 + }, + { + "text": "Put the asparagus to the right of the corn with the right hand facing left with the tip as the reference point.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Using the right hand, place the asparagus to the right of the corn, with its tip as the reference point and facing left.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Have the right arm set the asparagus to the right of the corn, oriented leftward using the tip as the reference point.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "With the right hand, position the asparagus to the right of the corn so the tip defines the reference point and it faces left.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Place the asparagus to the right of the corn, with its tip as the reference point and facing left.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Set the asparagus to the right of the corn, oriented left with the tip as the reference point.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Position the asparagus to the right of the corn so it faces left, using the tip as the reference point.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Using the right hand, place the asparagus to the right of the corn.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Have the right arm set the asparagus to the right of the corn.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "With the right hand, position the asparagus to the right of the corn.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Put the asparagus to the right of the corn.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Set the asparagus to the right of the corn.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Arrange the asparagus to the right of the corn.", + "start_idx": 2250, + "end_idx": 2283 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Have the right hand take the red marker from the table with a bottom side grasp and a diagonal approach.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "With the right hand, grasp the red marker from the table on its bottom using a side hold at a diagonal angle.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Pick up the red marker from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Take the red marker from the table using a side grasp at the bottom with a diagonal approach.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "The red marker from the table should be grasped at the bottom with a side hold and a diagonal pick angle.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Have the right hand grasp the red marker from the table.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Pick up the red marker from the table with the right hand at the bottom with a diagonal pick angle.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "With the right hand, take the red marker from the table using a side grip.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Grasp the red marker from the table at the bottom with a diagonal approach.", + "start_idx": 2283, + "end_idx": 2316 + }, + { + "text": "Put the red marker to the left of the asparagus with the right hand facing forwards with the tip forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Using the right hand, place the red marker to the left of the asparagus with the tip facing forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Have the right hand set the red marker left of the asparagus, tip pointed forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "With the right hand, position the red marker to the asparagus's left, keeping the tip facing forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Place the red marker to the left of the asparagus with the tip facing forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Set the red marker left of the asparagus, with its tip pointed forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Position the red marker to the asparagus's left, tip facing forwards.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Using the right hand, put the red marker to the left of the asparagus.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Have the right hand place the red marker left of the asparagus.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "With the right hand, set the red marker to the asparagus's left.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Put the red marker to the left of the asparagus.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Using the right hand, place the red marker to the asparagus's left.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Set the red marker left of the asparagus.", + "start_idx": 2316, + "end_idx": 2352 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Have the right arm pick the orange screwdriver off the table at a diagonal angle by the middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "With the right hand, collect the orange screwdriver from the table, approaching diagonally and holding its middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Take the orange screwdriver off the table at a diagonal angle, holding the middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Get the orange screwdriver from the table with a diagonal approach, gripping its middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Have the right arm take the orange screwdriver off the table.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "With the right hand, get the orange screwdriver from the table.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Take the orange screwdriver off the table at a diagonal angle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Get the orange screwdriver from the table by the middle.", + "start_idx": 2352, + "end_idx": 2388 + }, + { + "text": "Put the orange screwdriver to the center of the table with the right hand facing forwards with the tip as the reference point.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Using the right hand, place the orange screwdriver at the center of the table with the tip facing forwards.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Have the right arm set the orange screwdriver in the table center, oriented forward by its tip.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "With the right hand, position the orange screwdriver at the center of the table so the tip points forwards.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Place the orange screwdriver at the center of the table with the tip facing forwards.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Set the orange screwdriver in the center of the table, with its tip oriented forwards.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Position the orange screwdriver at the table center so the tip points forwards.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Using the right hand, put the orange screwdriver at the center of the table.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "With the right hand, set the orange screwdriver in the center of the table.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Have the right arm place the orange screwdriver at the table center.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Put the orange screwdriver at the center of the table.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Set the orange screwdriver in the middle of the table.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Position the orange screwdriver at the table center.", + "start_idx": 2388, + "end_idx": 2424 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal approach, holding its middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Have the right arm take the orange screwdriver from the table by the middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table, holding its middle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Take the orange screwdriver from the table with the right hand using a diagonal approach.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Pick up the orange screwdriver from the table diagonally.", + "start_idx": 2658, + "end_idx": 2694 + }, + { + "text": "Put the orange screwdriver to the right side of the table with the right hand facing top left with the tip as the reference point.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Using the right hand, place the orange screwdriver on the table's right side with the tip facing top left.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Have the right hand set the orange screwdriver at the right side of the table, oriented top left from the tip.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "With the right hand, position the orange screwdriver to the right of the table with its tip directed toward the top left.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Place the orange screwdriver on the right side of the table with the tip facing top left.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Set the orange screwdriver to the right of the table, with the tip oriented top left.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Position the orange screwdriver at the table's right side so the tip points top left.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Using the right hand, put the orange screwdriver on the right side of the table.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "With the right hand, set the orange screwdriver to the right of the table.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Have the right hand place the orange screwdriver at the table's right side.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Put the orange screwdriver on the right side of the table.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Set the orange screwdriver to the table's right side.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Position the orange screwdriver to the right of the table.", + "start_idx": 2694, + "end_idx": 2730 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Have the right hand take the red marker from the table diagonally, holding it at the middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "With the right hand, retrieve the red marker from the table at a diagonal angle by grasping its middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Take the red marker from the table diagonally while holding the middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Using the right hand, take the red marker from the table.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Have the right hand retrieve the red marker from the table.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 3030, + "end_idx": 3060 + }, + { + "text": "Put the red marker to the right of the white coffee cup with the right hand with its tip facing bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Using the right hand, place the red marker to the right of the white coffee cup with its tip pointing bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Have the right hand set the red marker to the right of the white coffee cup, tip oriented toward the bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "With the right hand, position the red marker to the right of the white coffee cup so its tip faces bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Place the red marker to the right of the white coffee cup with its tip facing bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Set the red marker to the right of the white coffee cup, keeping the tip pointed bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Position the red marker to the right of the white coffee cup with the tip oriented toward the bottom left.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Using the right hand, place the red marker to the right of the white coffee cup.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Have the right hand set the red marker to the right of the white coffee cup.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "With the right hand, position the red marker to the right of the white coffee cup.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Place the red marker to the right of the white coffee cup.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Set the red marker with the right hand so it sits to the right of the white coffee cup.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Position the red marker with the right hand to the right of the white coffee cup.", + "start_idx": 3060, + "end_idx": 3099 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table at a diagonal angle by gripping the middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Retrieve the orange screwdriver from the table at a diagonal angle by gripping its middle.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Have the right arm take the orange screwdriver from the table.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Retrieve the orange screwdriver from the table.", + "start_idx": 3165, + "end_idx": 3201 + }, + { + "text": "Put the orange screwdriver to the right of the red marker with the tip facing forwards using the right hand.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the red marker with the tip facing forwards.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Have the right hand position the orange screwdriver right of the red marker, tip pointed forwards.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "With the right hand, set the orange screwdriver on the red marker's right side, keeping the tip facing forwards.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Place the orange screwdriver to the right of the red marker with the tip facing forwards.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Set the orange screwdriver on the right side of the red marker, tip facing forwards.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Position the orange screwdriver right of the red marker with its tip pointed forwards.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Put the orange screwdriver to the right of the red marker.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Place the orange screwdriver on the red marker's right side.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Set the orange screwdriver right of the red marker.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Using the right hand, put the orange screwdriver to the right of the red marker.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "With the right hand, place the orange screwdriver on the red marker's right side.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Have the right hand set the orange screwdriver right of the red marker.", + "start_idx": 3201, + "end_idx": 3234 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle from the middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Have the right hand grasp the red marker from the table diagonally at its middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "With the right hand, retrieve the red marker from the table, approaching diagonally at the middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle from the middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Take the red marker from the table diagonally from the middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Grasp the red marker from the table at the middle with a diagonal approach.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Get the red marker from the table with the right hand.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Using the right hand, collect the red marker from the table.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Have the right hand pick up the red marker from the table.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Remove the red marker from the table.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Pick up the red marker from the table from the middle.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 3669, + "end_idx": 3699 + }, + { + "text": "Put the red marker to the right of the corn with the right hand with its tip facing bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Using the right hand, place the red marker to the right of the corn with its tip pointing to the bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Have the right arm set the red marker to the right of the corn, tip oriented bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "With the right hand, position the red marker to the right of the corn so its tip faces bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Place the red marker to the right of the corn with its tip pointing to the bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Set the red marker to the right of the corn so the tip faces bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Position the red marker to the right of the corn, with the tip oriented toward the bottom left.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Using the right hand, put the red marker to the right of the corn.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "With the right hand, place the red marker to the right of the corn.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Have the right arm position the red marker to the right of the corn.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Place the red marker to the right of the corn.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Set the red marker to the right of the corn.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Position the red marker to the right of the corn.", + "start_idx": 3699, + "end_idx": 3738 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Have the right hand pick the orange screwdriver off the table, keeping it diagonal and grasping the middle.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "With the right hand, collect the orange screwdriver from the table in a diagonal orientation, holding the middle.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Take the orange screwdriver off the table at a diagonal angle by the middle.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "The orange screwdriver from the table should be picked up diagonally, with the middle grasped.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Have the right hand take the orange screwdriver off the table.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "With the right hand, collect the orange screwdriver from the table.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Take the orange screwdriver off the table.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "The orange screwdriver from the table should be picked up.", + "start_idx": 4002, + "end_idx": 4035 + }, + { + "text": "Put the orange screwdriver to the bottom side of the corn with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Using the right hand, place the orange screwdriver on the bottom side of the corn with the tip facing bottom left.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Have the right hand set the orange screwdriver against the corn's bottom side, tip oriented toward the bottom left.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "With the right hand, position the orange screwdriver at the bottom side of the corn, keeping the tip pointed bottom left.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Place the orange screwdriver on the bottom side of the corn with the tip facing bottom left.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Set the orange screwdriver against the corn's bottom side, with the tip oriented bottom left.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Position the orange screwdriver at the bottom side of the corn, tip pointed toward the bottom left.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Using the right hand, put the orange screwdriver on the bottom side of the corn.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "With the right hand, set the orange screwdriver against the corn's bottom side.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Have the right hand place the orange screwdriver at the bottom side of the corn.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Put the orange screwdriver on the bottom side of the corn.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Set the orange screwdriver against the corn's bottom side.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Position the orange screwdriver at the corn's bottom side.", + "start_idx": 4035, + "end_idx": 4071 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Have the right hand pick the red marker off the table with a diagonal approach, holding the center.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Take the red marker off the table with a diagonal approach, holding the center.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "With the right hand, take the red marker off the table by its center.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Have the right hand retrieve the red marker from the table, holding the middle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Take the red marker off the table with the right hand on a diagonal.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Using the right hand, retrieve the red marker from the table.", + "start_idx": 4070, + "end_idx": 4107 + }, + { + "text": "Put the red marker to the right of the orange screwdriver with the right hand with the tip facing backwards.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Using the right hand, place the red marker to the right of the orange screwdriver with its tip facing backward.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Have the right arm set the red marker to the orange screwdriver's right, tip pointing backward.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "With the right hand, position the red marker right of the orange screwdriver so the tip faces the back.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Place the red marker to the right of the orange screwdriver.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Set the red marker on the right side of the orange screwdriver.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Position the red marker to the orange screwdriver's right.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Put the red marker to the right of the orange screwdriver.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Using the right hand, place the red marker to the right of the orange screwdriver.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Have the right arm set the red marker to the orange screwdriver's right.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "With the right hand, position the red marker right of the orange screwdriver.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Place the red marker to the right of the orange screwdriver with its tip facing backward.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Set the red marker beside the orange screwdriver on the right, with the tip facing backward.", + "start_idx": 4107, + "end_idx": 4140 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Have the right arm take the white coffee cup from the table, gripping the handle at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Take the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "With the right hand, take the white coffee cup from the table by its handle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Take the white coffee cup from the table by the handle.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 4497, + "end_idx": 4539 + }, + { + "text": "Put the white coffee cup to the right of the corn with the handle facing backwards with the right hand right side up with the front as reference.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn, right side up, with the handle facing backward relative to the front.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the corn with its handle facing backward, keeping it right side up from the front reference.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the corn, upright, with the handle pointing backward based on the front.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Place the white coffee cup to the right of the corn, right side up, with the handle facing backward relative to the front.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Set the white coffee cup to the right of the corn with the handle pointing backward, keeping it upright from the front reference.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Position the white coffee cup to the right of the corn, upright, with its handle directed backward based on the front.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the corn.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the corn.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the corn.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Place the white coffee cup to the right of the corn.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Set the white coffee cup with the handle facing backward relative to the front using the right hand.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Using the right hand, put the white coffee cup right side up to the right of the corn.", + "start_idx": 4539, + "end_idx": 4584 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Have the right hand pick the red marker up from the table with a bottom side grip at a diagonal angle.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "From a diagonal angle, grasp the red marker from the table with the right hand using a side hold at the bottom.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "From a diagonal angle, take the red marker from the table with a side grasp at the bottom.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "The red marker should be picked up from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "With the right hand, collect the red marker from the table from a diagonal angle.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Take the red marker from the table using a side grip.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "The red marker should be picked up from the table.", + "start_idx": 4665, + "end_idx": 4713 + }, + { + "text": "Place the red marker behind the asparagus with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Using the right hand, position the red marker behind the asparagus with the tip facing backwards.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Have the right arm set the red marker behind the asparagus, oriented backwards relative to its tip.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "With the right hand, place the red marker behind the asparagus so the tip points backward.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Place the red marker behind the asparagus with the tip facing backwards.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Set the red marker behind the asparagus, with its tip oriented backward.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Position the red marker behind the asparagus so its tip faces backward.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Using the right hand, place the red marker behind the asparagus.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Have the right arm set the red marker behind the asparagus.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "With the right hand, position the red marker behind the asparagus.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Place the red marker behind the asparagus.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Set the red marker behind the asparagus.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Position the red marker behind the asparagus.", + "start_idx": 4713, + "end_idx": 4752 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Have the right arm pick up the red marker from the table with a diagonal approach, holding it at the center.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "The right hand should retrieve the red marker from the table diagonally, gripping the middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding the center.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Retrieve the red marker from the table diagonally, gripping its middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "With the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Use the right hand to take the red marker from the table, holding the center.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Have the right arm retrieve the red marker from the table by the middle.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Take the red marker from the table diagonally.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "The red marker should be picked up from the table.", + "start_idx": 4821, + "end_idx": 4863 + }, + { + "text": "Put the red marker to the bottom side of the table with the right hand with its tip facing bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Using the right hand, place the red marker at the table's bottom side with its tip pointing bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Have the right hand set the red marker on the bottom side of the table, tip directed toward the bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "With the right hand, position the red marker by the table's bottom side so its tip faces bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Place the red marker at the bottom side of the table with its tip pointing bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Set the red marker on the table's bottom side, with the tip aimed bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Position the red marker by the bottom side of the table so its tip faces bottom right.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Using the right hand, place the red marker at the bottom side of the table.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Have the right hand set the red marker by the table's bottom side.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "With the right hand, position the red marker on the bottom side of the table.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Put the red marker at the bottom side of the table.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Set the red marker by the table's bottom side.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Position the red marker on the table's bottom side.", + "start_idx": 4863, + "end_idx": 4899 + }, + { + "text": "Pick up the red marker from the table with the right hand at the middle using a diagonal angle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Using the right hand, take the red marker from the table at its middle with a diagonal angle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Have the right arm grasp the red marker from the table at the middle on a diagonal.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "With the right hand, collect the red marker from the table by its middle at a diagonal angle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Pick up the red marker from the table at the middle using a diagonal angle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Take the red marker from the table by the middle with a diagonal approach.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Grasp the red marker from the table at its middle on the diagonal.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Using the right hand, pick up the red marker from the table at the middle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "With the right hand, take the red marker from the table by its middle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Have the right arm grasp the red marker from the table at the middle.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Have the right arm collect the red marker from the table.", + "start_idx": 4980, + "end_idx": 5013 + }, + { + "text": "Put the red marker to the bottom side of the table with the right hand facing right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Using the right hand, place the red marker on the bottom side of the table with its tip facing right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Have the right arm set the red marker at the bottom side of the table, tip oriented to the right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "With the right hand, position the red marker on the table's bottom side so the tip points right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Place the red marker on the bottom side of the table with its tip facing right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Set the red marker at the bottom side of the table with the tip pointing to the right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Position the red marker on the table's bottom side so its tip faces right.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Using the right hand, put the red marker on the bottom side of the table.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "With the right hand, place the red marker at the bottom side of the table.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Have the right arm position the red marker on the table's bottom side.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Put the red marker on the bottom side of the table.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Set the red marker at the bottom side of the table.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Position the red marker on the table's bottom side.", + "start_idx": 5013, + "end_idx": 5052 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Have the right arm pick the red marker off the table diagonally by the middle.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "With the right hand, grasp the red marker from the table at a diagonal angle around its center.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Take the red marker off the table diagonally by the middle.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Grasp the red marker from the table at a diagonal angle around its center.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "With the right hand, take the red marker off the table.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Have the right arm grasp the red marker from the table.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Take the red marker off the table.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 5280, + "end_idx": 5322 + }, + { + "text": "Put the red marker to the right of the white coffee cup with the right hand facing top left with the tip as the reference point.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Using the right hand, place the red marker to the right of the white coffee cup, with the tip facing top left.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Have the right arm set the red marker to the right of the white coffee cup, oriented top left from the tip.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "With the right hand, position the red marker to the right of the white coffee cup so its tip points top left.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Place the red marker to the right of the white coffee cup, with the tip facing top left.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Set the red marker to the right of the white coffee cup, oriented top left from the tip.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Position the red marker to the right of the white coffee cup so the tip points top left.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Using the right hand, place the red marker to the right of the white coffee cup.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Have the right arm put the red marker to the right of the white coffee cup.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "With the right hand, set the red marker to the right of the white coffee cup.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Place the red marker to the right of the white coffee cup.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Set the red marker to the right of the white coffee cup.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Have the red marker placed to the right of the white coffee cup.", + "start_idx": 5322, + "end_idx": 5358 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal from the middle.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal from the middle.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Have the right arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "With the right hand, retrieve the asparagus from the table using a diagonal middle grasp.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Pick up the asparagus from the table at a diagonal from the middle.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Take the asparagus from the table diagonally from the middle.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "From the table, grasp the asparagus at a diagonal from its middle.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "With the right hand, grasp the asparagus from the table.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Using the right hand, retrieve the asparagus from the table diagonally.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Take the asparagus from the table with a diagonal grasp.", + "start_idx": 5424, + "end_idx": 5466 + }, + { + "text": "Put the asparagus to the right of the red marker with the right hand facing forwards with the tip forwards.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Using the right hand, place the asparagus to the right of the red marker with the tip facing forwards.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Have the right arm set the asparagus to the right of the red marker, oriented forward at the tip.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "With the right hand, position the asparagus to the right of the red marker so its tip points forwards.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Place the asparagus to the right of the red marker with the tip facing forwards.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Set the asparagus to the right of the red marker with its tip oriented forwards.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Position the asparagus to the right of the red marker, tip forwards.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Using the right hand, place the asparagus to the right of the red marker.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Have the right arm set the asparagus to the right of the red marker.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "With the right hand, position the asparagus to the right of the red marker.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Place the asparagus to the right of the red marker.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Set the asparagus to the right of the red marker.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "To the right of the red marker, put the asparagus.", + "start_idx": 5466, + "end_idx": 5499 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "With the right hand, grasp the red marker from the table at the middle using a diagonal angle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Grasp the red marker from the table diagonally at the middle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle.", + "start_idx": 5655, + "end_idx": 5691 + }, + { + "text": "Place the red marker to the right of the Asparagus with the right hand with its tip facing top right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Using the right hand, set the red marker to the right of the Asparagus with its tip pointing to the top right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Have the right arm place the red marker to the Asparagus's right, with the tip directed top right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "With the right hand, position the red marker on the right side of the Asparagus, tip facing the upper right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Place the red marker to the right of the Asparagus with its tip pointing to the top right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Set the red marker on the right side of the Asparagus, with the tip directed toward the upper right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Position the red marker to the Asparagus's right, tip facing top right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Using the right hand, place the red marker to the right of the Asparagus.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Have the right arm set the red marker to the Asparagus's right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "With the right hand, position the red marker on the right side of the Asparagus.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Place the red marker to the right of the Asparagus.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Set the red marker on the right side of the Asparagus.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Position the red marker to the Asparagus's right.", + "start_idx": 5691, + "end_idx": 5733 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table on a diagonal angle by gripping the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Take the orange screwdriver from the table on a diagonal pickup, holding the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal approach at the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "The orange screwdriver should be taken from the table with the right hand, gripping the middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "With the right hand, collect the orange screwdriver from the table by holding its middle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "The orange screwdriver should be picked up from the table.", + "start_idx": 6108, + "end_idx": 6147 + }, + { + "text": "Put the orange screwdriver to the right of the brown stuffed toy with the right hand with its tip facing top left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the brown stuffed toy with its tip pointing to the top left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Have the right arm set the orange screwdriver to the right of the brown stuffed toy, tip oriented toward the top left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "With the right hand, position the orange screwdriver to the right of the brown stuffed toy so its tip faces the upper left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Place the orange screwdriver to the right of the brown stuffed toy with its tip pointing to the top left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Set the orange screwdriver to the right of the brown stuffed toy, with the tip aimed toward the upper left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Position the orange screwdriver to the right of the brown stuffed toy so the tip faces top left.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Using the right hand, put the orange screwdriver to the right of the brown stuffed toy.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Have the right arm place the orange screwdriver to the right of the brown stuffed toy.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "With the right hand, set the orange screwdriver to the right of the brown stuffed toy.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Place the orange screwdriver to the right of the brown stuffed toy.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Using the right hand, position the orange screwdriver to the right of the brown stuffed toy.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Set the orange screwdriver to the right of the brown stuffed toy.", + "start_idx": 6147, + "end_idx": 6180 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Have the right hand pick the red marker up from the table diagonally, holding it at the center.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "With the right hand, retrieve the red marker from the table at a diagonal angle by gripping the middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Take the red marker from the table diagonally, holding its center.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Retrieve the red marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "With the right hand, take the red marker from the table by its middle.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Have the right hand retrieve the red marker from the table, holding the center.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Take the red marker from the table with the right hand.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Get the red marker from the table.", + "start_idx": 6264, + "end_idx": 6303 + }, + { + "text": "Put the red marker to the top right side of the table with the right hand with its tip facing top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Using the right hand, place the red marker on the table's top right side with the tip pointing toward the top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Have the right hand set the red marker at the top right area of the table, tip directed to the top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "With the right hand, position the red marker on the table's upper-right side so its tip faces top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Place the red marker on the top right side of the table with its tip facing top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Set the red marker at the table's top right area with the tip pointing toward the top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Position the red marker on the upper-right side of the table, with its tip directed top left.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Using the right hand, place the red marker on the top right side of the table.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "With the right hand, set the red marker at the table's top right area.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Have the right hand position the red marker on the upper-right side of the table.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Put the red marker on the top right side of the table.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Place the red marker at the table's top right area.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Set the red marker on the upper-right side of the table.", + "start_idx": 6303, + "end_idx": 6336 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "From a diagonal angle, have the right hand take the orange screwdriver from the table with a side grasp at the bottom.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "The right hand should grasp the orange screwdriver from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Pick up the orange screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "From a diagonal angle, grasp the orange screwdriver from the table with a side hold at the bottom.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Take the orange screwdriver from the table at the bottom using a side grasp from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table using a side hold at the bottom.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Have the right hand take the orange screwdriver from the table with a side grasp at the bottom.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table from a diagonal angle.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "From a diagonal angle, take the orange screwdriver from the table with the right hand.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 6489, + "end_idx": 6525 + }, + { + "text": "Put the orange screwdriver to the right of the white coffee cup with the right hand with its tip facing right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the white coffee cup with its tip pointing right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Have the right hand set the orange screwdriver to the right of the white coffee cup, tip facing right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "With the right hand, position the orange screwdriver to the right of the white coffee cup so its tip faces right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Place the orange screwdriver to the right of the white coffee cup with its tip pointing right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Set the orange screwdriver to the right of the white coffee cup, with the tip facing right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Position the orange screwdriver to the right of the white coffee cup so the tip points right.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the white coffee cup.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Have the right hand set the orange screwdriver to the right of the white coffee cup.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "With the right hand, position the orange screwdriver to the right of the white coffee cup.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Put the orange screwdriver to the right of the white coffee cup.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Set the orange screwdriver beside the white coffee cup on its right side.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Place the orange screwdriver on the right side of the white coffee cup.", + "start_idx": 6525, + "end_idx": 6555 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp on its right lip.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Have the right arm collect the white coffee cup from the table using a diagonal right-side lip grip.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the right lip on a diagonal.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grasp on the right lip.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Take the white coffee cup from the table with a diagonal right-lip grip.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Grasp the white coffee cup from the table at the cup's right lip with a diagonal hold.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 6711, + "end_idx": 6747 + }, + { + "text": "Put the white coffee cup to the right of the brown stuffed toy with the right hand right side up with the front facing backwards.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the brown stuffed toy, right side up, with its front facing backward.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Have the right arm set the white coffee cup to the brown stuffed toy's right, upright, with the front pointed backward.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "With the right hand, position the white coffee cup on the right side of the brown stuffed toy, right side up and facing backward.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Place the white coffee cup to the right of the brown stuffed toy, right side up, with the front facing backward.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Set the white coffee cup on the brown stuffed toy's right side, upright and with its front pointed backward.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Position the white coffee cup to the right of the brown stuffed toy, keeping it right side up and facing backward.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the brown stuffed toy.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Have the right arm set the white coffee cup on the right side of the brown stuffed toy.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "With the right hand, position the white coffee cup to the brown stuffed toy's right.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Place the white coffee cup to the right of the brown stuffed toy.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Set the white coffee cup on the right side of the brown stuffed toy.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Position the white coffee cup to the brown stuffed toy's right.", + "start_idx": 6747, + "end_idx": 6783 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom diagonally.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Have the right hand grasp the red marker from the table with a diagonal side hold near the bottom.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "With the right hand, pick the red marker up from the table using a side grip on the bottom at a diagonal.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom diagonally.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Take the red marker from the table with a side grasp near the bottom diagonally.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Grasp the red marker from the table with a diagonal side hold at the bottom.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Have the right hand grasp the red marker from the table.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Take the red marker from the table diagonally.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Grasp the red marker from the table at the bottom.", + "start_idx": 6885, + "end_idx": 6921 + }, + { + "text": "Put the red marker to the center of the table with the right hand with its tip facing top left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Using the right hand, place the red marker at the center of the table with its tip pointing to the top left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Have the right hand set the red marker in the table center, tip oriented toward the top left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "With the right hand, position the red marker at the center of the table so its tip faces the upper left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Place the red marker at the center of the table with its tip pointing to the top left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Set the red marker in the center of the table so the tip faces the upper left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Position the red marker at the table center with its tip directed to the top left.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Using the right hand, put the red marker at the center of the table.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Have the right hand place the red marker in the table center.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "With the right hand, set the red marker at the center of the table.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Put the red marker at the center of the table.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Place the red marker in the center of the table.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Set the red marker down at the table center.", + "start_idx": 6921, + "end_idx": 6957 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while gripping the entire object.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7197, + "end_idx": 7227 + }, + { + "text": "Put the brown stuffed toy to the right of the white coffee cup with the right hand facing top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the white coffee cup with its front facing top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the white coffee cup, front pointed top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the white coffee cup so the front faces top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Place the brown stuffed toy to the right of the white coffee cup with its front facing top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Set the brown stuffed toy to the right of the white coffee cup, front pointed top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Position the brown stuffed toy to the right of the white coffee cup so the front faces top left.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Put the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Arrange the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Leave the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7227, + "end_idx": 7260 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Have the right arm take the red marker from the table on a diagonal, holding it at the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Using the right hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Have the right arm take the red marker from the table by the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "With the right hand, retrieve the red marker from the table, holding the middle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Take the red marker from the table with the right hand on a diagonal.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Get the red marker from the table.", + "start_idx": 7260, + "end_idx": 7296 + }, + { + "text": "Place the red marker to the right side of the table with the right hand with its tip facing top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Using the right hand, set the red marker on the table's right side with its tip pointing to the top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Have the right hand place the red marker to the right of the table, tip directed toward the top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "With the right hand, position the red marker on the right side of the table so its tip faces top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Place the red marker on the right side of the table with its tip facing top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Set the red marker to the table's right side, with the tip pointing top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Position the red marker to the right of the table so the tip faces the top right.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Place the red marker on the right side of the table.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Set the red marker to the table's right side.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Position the red marker to the right of the table.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Using the right hand, place the red marker on the right side of the table.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Have the right hand set the red marker to the table's right side.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "With the right hand, position the red marker to the right of the table.", + "start_idx": 7296, + "end_idx": 7332 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table using a right-side diagonal lip grip.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand in a diagonal lip hold on the right side.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip on its right side.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "The white coffee cup from the table should be picked up with a diagonal lip grasp on the right side.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Using a diagonal lip grasp on the right side, pick up the white coffee cup from the table.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "The white coffee cup should be picked up from the table with the right hand.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 7407, + "end_idx": 7446 + }, + { + "text": "Put the white coffee cup to the right of the Asparagus with the right hand right side up with the front facing backwards.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the Asparagus, upright with the front facing backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Have the right arm set the white coffee cup to the Asparagus's right, right side up and with the front pointed backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the Asparagus, keeping it upright and the front facing backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Place the white coffee cup to the right of the Asparagus, upright with the front facing backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Set the white coffee cup to the Asparagus's right, right side up with the front pointed backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Position the white coffee cup to the right of the Asparagus, keeping it upright and its front facing backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Using the right hand, put the white coffee cup to the right of the Asparagus.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "With the right hand, place the white coffee cup to the Asparagus's right.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the Asparagus.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Put the white coffee cup to the right of the Asparagus.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Using the right hand, position the white coffee cup upright to the right of the Asparagus.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Set the white coffee cup to the Asparagus's right with its front facing backward.", + "start_idx": 7446, + "end_idx": 7503 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally, holding the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table, grasping the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table using a full-object grasp.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Have the right arm retrieve the brown stuffed toy from the table while holding the entire object.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Have the right arm retrieve the brown stuffed toy from the table.", + "start_idx": 7503, + "end_idx": 7542 + }, + { + "text": "Put the brown stuffed toy to the right of the white coffee cup with the right hand facing top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the white coffee cup with its front facing top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the white coffee cup, front oriented toward the top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the white coffee cup so its front points top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Place the brown stuffed toy to the right of the white coffee cup with its front facing top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Set the brown stuffed toy to the right of the white coffee cup, front toward the top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Position the brown stuffed toy to the right of the white coffee cup so the front faces top left.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Place the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Set the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Position the brown stuffed toy to the right of the white coffee cup.", + "start_idx": 7542, + "end_idx": 7569 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by holding its middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Take the red marker from the table with a diagonal approach, holding the middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Retrieve the red marker from the table diagonally by its middle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Take the red marker from the table diagonally.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Get the red marker from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Put the red marker to the right of the brown stuffed toy with the right hand facing forwards with the tip as the orientation reference point.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Using the right hand, place the red marker to the right of the brown stuffed toy, facing forwards with the tip as the reference point.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Have the right hand set the red marker to the right of the brown stuffed toy, with the tip defining a forward-facing orientation.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "With the right hand, position the red marker to the right of the brown stuffed toy so the tip faces forwards.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Place the red marker to the right of the brown stuffed toy, facing forwards with the tip as the reference point.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Set the red marker to the right of the brown stuffed toy with the tip pointing forwards.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Position the red marker to the right of the brown stuffed toy so its tip faces forwards.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Put the red marker to the right of the brown stuffed toy.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Set the red marker to the right of the brown stuffed toy.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Position the red marker to the right of the brown stuffed toy.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Using the right hand, put the red marker to the right of the brown stuffed toy.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "With the right hand, place the red marker to the right of the brown stuffed toy.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Have the right hand position the red marker to the right of the brown stuffed toy.", + "start_idx": 7611, + "end_idx": 7641 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Have the right arm take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "With the right hand, retrieve the red marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Take the red marker from the table by grasping its middle at a diagonal angle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Retrieve the red marker from the table with a diagonal approach, holding the middle.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Have the right arm retrieve the red marker from the table.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Using the right hand, grasp the middle of the red marker from the table.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Take the red marker from the table with a diagonal approach.", + "start_idx": 7796, + "end_idx": 7835 + }, + { + "text": "Place the red marker to the right of the red marker with the right hand with its tip facing top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Using the right hand, position the red marker to the right of the red marker with the tip pointing to the top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Have the right arm place the red marker to the right of the red marker, tip oriented toward the top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "With the right hand, set the red marker to the right of the red marker so its tip faces top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Place the red marker to the right of the red marker with its tip facing top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Set the red marker to the right of the red marker, with the tip pointing top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Position the red marker to the right of the red marker so the tip is directed toward the top left.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Using the right hand, place the red marker to the right of the red marker.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Have the right arm set the red marker to the right of the red marker.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "With the right hand, position the red marker to the right of the red marker.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Place the red marker to the right of the red marker.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Set the red marker to the right of the red marker.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Position the red marker to the right of the red marker.", + "start_idx": 7836, + "end_idx": 7869 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Have the right arm pick the red marker off the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "With the right hand, grasp the red marker from the table using a side hold at the bottom on a diagonal approach.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Take the red marker off the table with a side grasp at the bottom and a diagonal angle.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Grasp the red marker from the table with a side hold on the bottom using a diagonal approach.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Have the right arm take the red marker off the table.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Take the red marker off the table with the right hand at a diagonal angle.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Using a side grip at the bottom, pick up the red marker from the table.", + "start_idx": 8169, + "end_idx": 8205 + }, + { + "text": "Put the red marker behind the white coffee cup with the right hand facing forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Using the right hand, place the red marker behind the white coffee cup with the tip facing forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Have the right arm set the red marker behind the white coffee cup so the tip points forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "With the right hand, position the red marker behind the white coffee cup, tip facing forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Place the red marker behind the white coffee cup.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Set the red marker behind the white coffee cup.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Position the red marker behind the white coffee cup.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Using the right hand, put the red marker behind the white coffee cup.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Have the right arm place the red marker behind the white coffee cup.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Using the right hand, place the red marker behind the white coffee cup.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Put the red marker behind the white coffee cup with the tip facing forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Set the red marker behind the white coffee cup so the tip points forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Position the red marker behind the white coffee cup, tip facing forwards.", + "start_idx": 8205, + "end_idx": 8247 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "From the table, take the brown stuffed toy.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "The brown stuffed toy should be retrieved from the table.", + "start_idx": 8397, + "end_idx": 8433 + }, + { + "text": "Put the brown stuffed toy to the center of the table with the right hand facing forwards.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Using the right hand, place the brown stuffed toy at the center of the table facing forwards.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Have the right arm set the brown stuffed toy in the center of the table with its front facing forward.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "With the right hand, position the brown stuffed toy at the table's center so the front faces forwards.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Place the brown stuffed toy at the center of the table facing forwards.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Set the brown stuffed toy in the center of the table with its front facing forward.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Position the brown stuffed toy at the table's center facing forwards.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Using the right hand, put the brown stuffed toy at the center of the table.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "With the right hand, place the brown stuffed toy in the middle of the table.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Have the right arm set the brown stuffed toy at the table's center.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Put the brown stuffed toy in the center of the table.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Set the brown stuffed toy at the table's center.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Using the right hand, position the brown stuffed toy at the center of the table.", + "start_idx": 8433, + "end_idx": 8469 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "With the right arm, retrieve the brown stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Have the right hand take the brown stuffed toy from the table.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "With the right arm, retrieve the brown stuffed toy from the table.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "From the table, take the brown stuffed toy with the right hand.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Grab the brown stuffed toy from the table.", + "start_idx": 8703, + "end_idx": 8733 + }, + { + "text": "Put the brown stuffed toy to the right of the corn with the right hand facing forwards.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "With the right hand, place the brown stuffed toy to the right of the corn facing forwards.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the corn, with its front facing forwards.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Using the right hand, position the brown stuffed toy to the right of the corn so it faces forwards.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Place the brown stuffed toy to the right of the corn facing forwards.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Set the brown stuffed toy to the right of the corn with its front forward.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Position the brown stuffed toy to the right of the corn so it faces forwards.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Put the brown stuffed toy to the right of the corn with the right hand.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the corn.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the corn.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Place the brown stuffed toy to the right of the corn.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Set the brown stuffed toy to the right of the corn.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Position the brown stuffed toy to the right of the corn.", + "start_idx": 8733, + "end_idx": 8760 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Have the right hand pick the red marker off the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "With the right hand, grasp the red marker from the table using a side hold at the bottom from a diagonal approach.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Take the red marker off the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Grasp the red marker from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Have the right hand take the red marker off the table using a side grasp on the bottom.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "With the right hand, grasp the red marker from the table via the side at the bottom.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Using the right hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Have the right hand take the red marker off the table at the bottom from a diagonal angle.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 8952, + "end_idx": 8985 + }, + { + "text": "Put the red marker to the right of the brown stuffed toy with the right hand facing forwards with the tip as the reference point.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Using the right hand, place the red marker to the right of the brown stuffed toy, facing forwards with the tip as the reference point.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Have the right hand set the red marker to the brown stuffed toy's right, with the tip defining a forward-facing orientation.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "With the right hand, position the red marker on the right side of the brown stuffed toy, oriented forward using the tip as the reference point.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Place the red marker to the right of the brown stuffed toy, facing forwards with the tip as the reference point.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Set the red marker on the right side of the brown stuffed toy, with the tip as the reference point and facing forwards.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Position the red marker to the brown stuffed toy's right, oriented forward relative to the tip.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Using the right hand, put the red marker to the right of the brown stuffed toy.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Have the right hand place the red marker on the brown stuffed toy's right side.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "With the right hand, position the red marker to the right of the brown stuffed toy.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Place the red marker to the right of the brown stuffed toy.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Set the red marker on the right side of the brown stuffed toy.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Position the red marker to the brown stuffed toy's right.", + "start_idx": 8985, + "end_idx": 9024 + }, + { + "text": "Return both arms to home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Bring both arms to home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Have both arms return to their home position.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Return the arms to home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Move the arms back to the home position.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Bring the arms to home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Have the arms return to their home position.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Send the arms back home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "The arms should go to the home position.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Return both manipulators to home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Move both manipulators back to home.", + "start_idx": 9237, + "end_idx": 9261 + }, + { + "text": "Bring both manipulators to their home position.", + "start_idx": 9237, + "end_idx": 9261 + } + ] + }, + "2026-03-17-17-30-47-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 8948, + "num_annotations": 3635, + "annotations": [ + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal middle grasp.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "With the left hand, grasp the cabbage from the table diagonally at its middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Take the cabbage from the table with a diagonal grasp from the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Grasp the cabbage from the table diagonally from its middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left arm pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Put the cabbage to the left of the green bowl with the left hand facing backwards from the front.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Using the left hand, place the cabbage to the left of the green bowl with its front facing backward.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Have the left arm set the cabbage left of the green bowl, oriented backward relative to the front.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "With the left hand, position the cabbage to the left of the green bowl so the front faces backward.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Place the cabbage to the left of the green bowl with its front facing backward.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Set the cabbage left of the green bowl, oriented backward from the front.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Position the cabbage to the left of the green bowl so it faces backward from the front.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Put the cabbage to the left of the green bowl.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Arrange the cabbage left of the green bowl.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Set the cabbage down to the left of the green bowl.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Using the left hand, place the cabbage to the left of the green bowl.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Have the left arm put the cabbage left of the green bowl.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Place the cabbage to the left of the green bowl with the left hand.", + "start_idx": 33, + "end_idx": 60 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Using the left arm, grasp the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Have the left hand pick the green bag of chips off the table with a left-side grip in a diagonal orientation.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Take the green bag of chips off the table with a side grasp on the left at a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "The green bag of chips should be grasped from the table with a side hold at the left in a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "With the left hand, pick up the green bag of chips from the table using a side grip.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Using the left arm, take the green bag of chips off the table with a left-side grasp.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Have the left hand grab the green bag of chips from the table.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left in a diagonal angle.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Using the left hand, take the green bag of chips off the table.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Get the green bag of chips from the table.", + "start_idx": 60, + "end_idx": 90 + }, + { + "text": "Put the green bag of chips in front of the green bowl with the left hand facing forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the green bowl facing forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Have the left arm set the green bag of chips in front of the green bowl with its front facing forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "With the left hand, position the green bag of chips before the green bowl so it faces forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Place the green bag of chips in front of the green bowl facing forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Set the green bag of chips before the green bowl with its front facing forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Position the green bag of chips in front of the green bowl so it faces forwards.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Using the left hand, put the green bag of chips in front of the green bowl.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Have the left arm place the green bag of chips before the green bowl.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "With the left hand, set the green bag of chips in front of the green bowl.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Put the green bag of chips in front of the green bowl.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Arrange the green bag of chips before the green bowl.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Place the green bag of chips before the green bowl.", + "start_idx": 90, + "end_idx": 114 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom and a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the bottom and at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Have the left arm pick up the doritos from the table with a bottom side grip, held diagonally.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "With the left hand, grasp the doritos from the table using a side hold at the bottom in a diagonal orientation.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Take the doritos from the table using a side grasp at the bottom and diagonally.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Grasp the doritos from the table with a bottom side hold at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the bottom.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Have the left arm take the doritos from the table using a side grasp at the bottom.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "With the left hand, grasp the doritos from the table at the bottom using a side hold.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Using the left hand, pick up the doritos from the table at the bottom and diagonally.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Take the doritos from the table from the bottom at a diagonal angle.", + "start_idx": 168, + "end_idx": 189 + }, + { + "text": "Put the doritos behind the green bowl with the left hand facing right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Using the left hand, place the doritos behind the green bowl with the front facing right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Have the left arm set the doritos behind the green bowl, oriented so the front points right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "With the left hand, position the doritos behind the green bowl, front facing right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Place the doritos behind the green bowl with the front facing right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Set the doritos behind the green bowl so the front points right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Position the doritos behind the green bowl, keeping the front to the right.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Using the left hand, put the doritos behind the green bowl.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Have the left arm place the doritos behind the green bowl.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "With the left hand, set the doritos behind the green bowl.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Put the doritos behind the green bowl.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Place the doritos behind the green bowl.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Set the doritos behind the green bowl.", + "start_idx": 189, + "end_idx": 216 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a diagonal lip grasp on the left.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Have the left arm take the green bowl from the table using a left-side diagonal lip grip.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "With the left hand, grasp the green bowl from the table by its left lip at a diagonal angle.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Take the green bowl from the table with a left-side diagonal lip grip.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Grasp the green bowl from the table by the left lip at a diagonal.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Use the left hand to take the green bowl from the table.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "With the left hand, take the green bowl from the table.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Have the left arm pick up the green bowl from the table.", + "start_idx": 216, + "end_idx": 240 + }, + { + "text": "Put the green bowl to the right of the green bag of chips with the left hand.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Have the left arm set the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "With the left hand, position the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Place the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Set the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Position the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Move the green bowl to the right of the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the green bowl by the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "With the left hand, set the green bowl next to the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Have the left arm position the green bowl beside the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Place the green bowl by the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Set the green bowl beside the green bag of chips.", + "start_idx": 240, + "end_idx": 273 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left and a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left with a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Grasp the green bag of chips from the table at the left with a side hold and a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a side grasp at the left.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Have the left hand pick up the green bag of chips from the table.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left with a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Using the left hand, take the green bag of chips from the table.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Grasp the green bag of chips from the table at the left with a diagonal angle.", + "start_idx": 273, + "end_idx": 297 + }, + { + "text": "Put the green bag of chips inside the green bowl with the left hand facing forwards.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Using the left hand, place the green bag of chips into the green bowl with its front facing forward.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Have the left arm put the green bag of chips inside the green bowl, front facing forwards.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "With the left hand, set the green bag of chips in the green bowl so the front faces forward.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Place the green bag of chips into the green bowl.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Set the green bag of chips inside the green bowl.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Have the green bag of chips placed in the green bowl.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Using the left hand, place the green bag of chips into the green bowl.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "With the left hand, set the green bag of chips inside the green bowl.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Have the left arm put the green bag of chips in the green bowl.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Place the green bag of chips into the green bowl with its front facing forward.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Set the green bag of chips in the green bowl, front facing forwards.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Put the green bag of chips inside the green bowl so the front faces forward.", + "start_idx": 297, + "end_idx": 324 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Retrieve the cabbage from the table diagonally, holding its middle.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Take the cabbage from the table with the left arm.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Get the cabbage from the table with the left hand.", + "start_idx": 381, + "end_idx": 414 + }, + { + "text": "Put the cabbage to the right of the green bowl with the left hand facing bottom left from the front.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Using the left hand, place the cabbage to the right of the green bowl, facing bottom left from the front.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Have the left arm set the cabbage to the right of the green bowl with its front facing bottom left.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "With the left hand, position the cabbage to the right of the green bowl so the front points bottom left.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Place the cabbage to the right of the green bowl, facing bottom left from the front.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Set the cabbage to the right of the green bowl with its front facing bottom left.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Position the cabbage to the right of the green bowl so it faces bottom left from the front.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Using the left hand, put the cabbage to the right of the green bowl.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "With the left hand, place the cabbage to the right of the green bowl.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Have the left arm position the cabbage to the right of the green bowl.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Put the cabbage to the right of the green bowl.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Set the cabbage to the right of the green bowl.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Position the cabbage to the right of the green bowl.", + "start_idx": 414, + "end_idx": 447 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp on the left.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Have the left arm pick up the green bowl from the table using a left-side diagonal lip hold.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "With the left hand, grasp the green bowl from the table with a diagonal lip grip on the left.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip on the left.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "The green bowl should be picked up from the table with a diagonal lip hold on the left.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "With the left hand, take the green bowl from the table.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 504, + "end_idx": 531 + }, + { + "text": "Put the green bowl to the left of the pink plate with the left hand.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Using the left hand, place the green bowl to the left of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Have the left arm set the green bowl down left of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "With your left hand, position the green bowl on the left side of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Place the green bowl to the left of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Set the green bowl down left of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Position the green bowl on the left side of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Move the green bowl next to the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Put the green bowl beside the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Set the green bowl by the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Place the green bowl left of the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Using the left hand, move the green bowl beside the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Have the left arm place the green bowl by the pink plate.", + "start_idx": 531, + "end_idx": 570 + }, + { + "text": "Pick up the green bag of chips from the green bowl with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Using the left hand, take the green bag of chips from the green bowl with a side grip on the left at a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Have the left arm grasp the green bag of chips from the green bowl using a left-side hold at a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the green bowl in a side grasp from the left at a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Take the green bag of chips from the green bowl with a side grip on the left at a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Retrieve the green bag of chips from the green bowl using a side grasp from the left at a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Grasp the green bag of chips from the green bowl at the left with a diagonal angle using a side hold.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the green bowl with a side grip.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "With the left hand, remove the green bag of chips from the green bowl using a side grasp.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Have the left arm take the green bag of chips from the green bowl with a side hold.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the green bowl at the left with a diagonal angle.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "From the green bowl, take the green bag of chips with the left hand.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Pick up the green bag of chips from the green bowl.", + "start_idx": 621, + "end_idx": 651 + }, + { + "text": "Put the green bag of chips to the left of the cabbage with the left hand facing forwards.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the cabbage with its front facing forwards.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the cabbage, front facing forward.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the cabbage so the front faces forward.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Place the green bag of chips to the left of the cabbage with its front facing forwards.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Set the green bag of chips to the left of the cabbage, front facing forward.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Position the green bag of chips to the left of the cabbage with the front oriented forwards.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the cabbage.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "With the left hand, place the green bag of chips to the left of the cabbage.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the cabbage.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Put the green bag of chips to the left of the cabbage.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Place the green bag of chips beside the cabbage.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Set the green bag of chips on the cabbage's left side.", + "start_idx": 651, + "end_idx": 678 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "With the left arm, grasp the green bowl from the table using a lip hold on the bottom left diagonally.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Have the left hand collect the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Take the green bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "With the left arm, take the green bowl from the table using a lip hold.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a lip grasp.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "With the left arm, take the green bowl from the table at a diagonal angle.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 732, + "end_idx": 756 + }, + { + "text": "Put the green bowl behind the green bag of chips with the left hand.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Using the left hand, place the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Have the left arm set the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "With the left hand, position the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Place the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Set the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Position the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Move the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "The green bowl goes behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Behind the green bag of chips, place the green bowl.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Set the green bowl behind the green bag of chips with the left hand.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Using the left hand, move the green bowl behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Have the green bowl placed behind the green bag of chips.", + "start_idx": 756, + "end_idx": 789 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left grasp location and a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left grasp location and a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side grasp at the left grasp point with a diagonal approach.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a side hold at the left grasp location, using a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the left grasp location and a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Take the green bag of chips from the table using a side grasp at the left grasp point with a diagonal approach.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Grasp the green bag of chips from the table in a side hold at the left grasp location and a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left grasp location and a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Using the left hand, take the green bag of chips from the table.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Grab the green bag of chips from the table at the left grasp location and a diagonal pick angle.", + "start_idx": 846, + "end_idx": 867 + }, + { + "text": "Put the green bag of chips to the left of the green bowl with the left hand facing forwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green bowl with its front facing forwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the green bowl, front facing forward.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "With the left hand, position the green bag of chips left of the green bowl so the front faces forwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Place the green bag of chips to the left of the green bowl with its front facing forwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Set the green bag of chips left of the green bowl, front facing forward.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Position the green bag of chips to the left of the green bowl with the front facing forwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green bowl.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Have the left arm set the green bag of chips left of the green bowl.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the green bowl.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Put the green bag of chips to the left of the green bowl.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Place the green bag of chips left of the green bowl, front facing forwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Set the green bag of chips to the left of the green bowl.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "With the left arm, grasp the cabbage at its center from the table on a diagonal.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Have the left hand pick the cabbage up from the table diagonally by the middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Take the cabbage from the table diagonally by its middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Grasp the cabbage from the table at a diagonal angle by the center.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "With the left arm, take the cabbage from the table by the middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Have the left hand grasp the cabbage from the table diagonally.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Grasp the cabbage from the table by the middle.", + "start_idx": 897, + "end_idx": 930 + }, + { + "text": "Put the cabbage in front of the green bowl with the left hand facing bottom left from the front.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Using the left hand, place the cabbage in front of the green bowl facing bottom left from the front.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Have the left arm set the cabbage in front of the green bowl with its front facing bottom left.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "With the left hand, position the cabbage in front of the green bowl so the front points bottom left.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Place the cabbage in front of the green bowl facing bottom left from the front.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Set the cabbage in front of the green bowl with its front facing bottom left.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Position the cabbage in front of the green bowl so the front faces bottom left.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Using the left hand, put the cabbage in front of the green bowl.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "With the left hand, place the cabbage in front of the green bowl.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Have the left arm set the cabbage in front of the green bowl.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Put the cabbage in front of the green bowl.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Position the cabbage in front of the green bowl.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Set the cabbage in front of the green bowl.", + "start_idx": 930, + "end_idx": 966 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally while enclosing the entire object.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Retrieve the croissant from the table diagonally with a whole-object grasp.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Take the croissant from the table at a diagonal angle using an entire-object grasp.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 1020, + "end_idx": 1047 + }, + { + "text": "Put the croissant in front of the green bag of chips with the left hand.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Using the left hand, place the croissant in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Have the left arm set the croissant down in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "With the left hand, position the croissant before the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Place the croissant in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Set the croissant down in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Position the croissant before the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "The croissant goes in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Put the croissant before the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Arrange the croissant in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Have the croissant placed in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Set down the croissant in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Move the croissant to a spot in front of the green bag of chips.", + "start_idx": 1047, + "end_idx": 1083 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "With the left hand, secure the green bowl from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Take the green bowl from the table with a lip hold on the bottom-left area at a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Grasp the green bowl from the table using a lip grasp at the bottom left on a diagonal.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip hold.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "With the left hand, grasp the green bowl from the table with a lip grasp.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Using the left hand, pick up the green bowl from the table from a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Have the left arm take the green bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1083, + "end_idx": 1107 + }, + { + "text": "Put the green bowl to the right of the cabbage with the left hand.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Using the left hand, place the green bowl to the right of the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Have the left arm set the green bowl down to the cabbage's right.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "With the left hand, position the green bowl on the right side of the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Place the green bowl to the right of the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Set the green bowl down on the cabbage's right side.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Position the green bowl to the cabbage's right.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Move the green bowl to the right of the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Using the left hand, place the green bowl by the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Have the left arm set the green bowl down near the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Set the green bowl beside the cabbage with the left hand.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Place the green bowl next to the cabbage with the left hand.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Put the green bowl beside the cabbage.", + "start_idx": 1107, + "end_idx": 1140 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Have the left hand take the cabbage from the table with a diagonal pickup, holding its middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "With the left hand, retrieve the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle by grasping its middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "With the left hand, take the cabbage from the table by the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Have the left hand collect the cabbage from the table at a diagonal angle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "From the table, grasp the cabbage in the middle.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 1197, + "end_idx": 1215 + }, + { + "text": "Put the cabbage on the center of the table with the left hand facing left with the front as the orientation reference point.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, place the cabbage at the table's center with its front facing left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Have the left arm set the cabbage in the middle of the table, oriented left relative to its front.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "With the left hand, position the cabbage on the center of the table so the front points left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Place the cabbage at the center of the table with its front facing left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Set the cabbage down in the middle of the table, with the front directed left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Position the cabbage on the table's center so its front faces left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, place the cabbage on the center of the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Have the left arm set the cabbage in the middle of the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "With the left hand, position the cabbage at the table's center.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Place the cabbage on the center of the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Set the cabbage down in the middle of the table.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Position the cabbage at the table's center.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Have the left hand take the green bag of chips from the table by its bottom using a side grasp at a diagonal pick angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table at the bottom using a side hold and a diagonal approach.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Take the green bag of chips from the table by the bottom using a side grasp at a diagonal pick angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Grasp the green bag of chips from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the bottom.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "With the left hand, take the green bag of chips from the table by the bottom using a side grasp.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table at the bottom with a side hold.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at the bottom with a diagonal angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "With the left hand, take the green bag of chips from the table by the bottom at a diagonal pick angle.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Pick up the green bag of chips from the table by the bottom.", + "start_idx": 1317, + "end_idx": 1356 + }, + { + "text": "Put the green bag of chips behind the pink bowl with the left hand facing right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Using the left hand, place the green bag of chips behind the pink bowl with its front facing right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Have the left arm set the green bag of chips behind the pink bowl, front pointed to the right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "With the left hand, position the green bag of chips behind the pink bowl so the front faces right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Place the green bag of chips behind the pink bowl.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Set the green bag of chips behind the pink bowl.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Position the green bag of chips behind the pink bowl.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Using the left hand, place the green bag of chips behind the pink bowl.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Have the left arm set the green bag of chips behind the pink bowl.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "With the left hand, position the green bag of chips behind the pink bowl.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Put the green bag of chips behind the pink bowl facing right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Set the green bag of chips behind the pink bowl with its front to the right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Position the green bag of chips behind the pink bowl with the front facing right.", + "start_idx": 1356, + "end_idx": 1389 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping its middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping its middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Have the left arm pick the croissant up from the table diagonally by the middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "With the left hand, retrieve the croissant from the table at a diagonal angle from its middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping its middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Take the croissant from the table diagonally by its middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Retrieve the croissant from the table with a diagonal pickup at the middle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Have the left arm pick up the croissant from the table diagonally.", + "start_idx": 1389, + "end_idx": 1431 + }, + { + "text": "Put the croissant to the left of the cabbage with the left hand.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Using the left hand, place the croissant to the left of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Have the left arm set the croissant down to the cabbage's left side.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "With the left hand, position the croissant on the left side of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Place the croissant to the left of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Set the croissant down to the left of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Position the croissant on the cabbage's left side.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Arrange the croissant left of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Move the croissant to the left of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "The croissant goes to the left of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Put the croissant beside the cabbage on its left side.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Set the croissant on the left side of the cabbage.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Place the croissant beside the cabbage, on the left.", + "start_idx": 1431, + "end_idx": 1464 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grasp at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table using a side hold at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a side grip at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Take the green bag of chips from the table with a side grasp at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Grasp the green bag of chips from the table in a side hold at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side grasp.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a side hold.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Take the green bag of chips from the table with the left hand from the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "With the left hand, collect the green bag of chips from the table at the top left diagonal.", + "start_idx": 1464, + "end_idx": 1488 + }, + { + "text": "Put the green bag of chips inside the green bowl with the left hand facing bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Using the left hand, place the green bag of chips in the green bowl with its front facing bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Have the left arm put the green bag of chips inside the green bowl, front oriented toward the bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "With the left hand, deposit the green bag of chips into the green bowl so the front faces bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Place the green bag of chips in the green bowl with its front facing bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Set the green bag of chips inside the green bowl, front toward the bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Put the green bag of chips into the green bowl with the front facing bottom right.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Using the left hand, place the green bag of chips inside the green bowl.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Have the left arm put the green bag of chips in the green bowl.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "With the left hand, deposit the green bag of chips into the green bowl.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Place the green bag of chips in the green bowl.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Set the green bag of chips into the green bowl with the left hand.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Put the green bag of chips inside the green bowl.", + "start_idx": 1488, + "end_idx": 1512 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the top.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach, holding the top of the object.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "At a diagonal angle, the left hand should retrieve the croissant from the table by grasping its top.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the top.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Take the croissant from the table with a diagonal approach and hold it by the top.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle while grasping the top of the object.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Pick up the croissant from the table by grasping the top of the object.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Take the croissant from the table, holding the top.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 1563, + "end_idx": 1599 + }, + { + "text": "Put the croissant to the left of the green bowl with the left hand.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Using the left hand, place the croissant to the left of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Have the left arm set the croissant down to the left of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "With the left hand, position the croissant on the left side of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Place the croissant to the left of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Set the croissant down to the left of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Position the croissant on the left side of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "The croissant goes to the left of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Put the croissant beside the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Set the croissant next to the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Place the croissant by the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Have the croissant placed to the left of the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "The croissant should be set beside the green bowl.", + "start_idx": 1599, + "end_idx": 1635 + }, + { + "text": "Pick up the green bag of chips from the green bowl with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Using the left hand, take the green bag of chips from the green bowl with a side grasp at the top from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Have the left arm retrieve the green bag of chips from the green bowl using a side grip on the top at a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "With the left hand, grasp the green bag of chips from the green bowl from a diagonal angle using a side hold at the top.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Take the green bag of chips from the green bowl with a side grip at the top from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Grasp the green bag of chips from the green bowl at the top with a side hold from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Retrieve the green bag of chips from the green bowl using a side grasp on the top from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the green bowl.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Have the left arm take the green bag of chips from the green bowl.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the green bowl.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Pick up the green bag of chips from the green bowl with the left hand.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Using the left hand, take the green bag of chips from the green bowl from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Get the green bag of chips from the green bowl at the top from a diagonal angle.", + "start_idx": 1635, + "end_idx": 1659 + }, + { + "text": "Put the green bag of chips to the left of the cabbage with the left hand facing right.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the cabbage with its front facing right.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Have the left arm set the green bag of chips to the cabbage's left, front oriented right.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "With the left hand, position the green bag of chips left of the cabbage, facing right at the front.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Place the green bag of chips to the left of the cabbage with its front facing right.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Set the green bag of chips to the cabbage's left, front facing right.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Position the green bag of chips left of the cabbage with the front pointing right.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the cabbage.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Have the left arm place the green bag of chips to the cabbage's left.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "With the left hand, set the green bag of chips left of the cabbage.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Place the green bag of chips to the left of the cabbage.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Set the green bag of chips to the cabbage's left.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Position the green bag of chips left of the cabbage.", + "start_idx": 1659, + "end_idx": 1683 + }, + { + "text": "Pick up the green bowl from the table with the left hand at a diagonal angle grasping the bottom left using a lip grip.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle, grasping the bottom left with a lip grip.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Have the left hand take the green bowl from the table on a diagonal, securing the bottom left with a lip grasp.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "With the left hand, retrieve the green bowl from the table diagonally by the bottom left using a lip hold.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle, grasping the bottom left with a lip grip.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Take the green bowl from the table on a diagonal, holding the bottom left with a lip grasp.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Retrieve the green bowl from the table diagonally by the bottom left using a lip hold.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Have the left hand take the green bowl from the table using a lip grasp.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "With the left hand, retrieve the green bowl from the table with a lip hold.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle, grasping the bottom left.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Take the green bowl from the table on a diagonal by the bottom left.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Put the green bowl to the left of the croissant with the left hand.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Using the left hand, place the green bowl to the left of the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Have the left arm set the green bowl to the croissant's left side.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "With the left hand, position the green bowl on the left side of the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Place the green bowl to the left of the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Set the green bowl on the croissant's left side.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Position the green bowl left of the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Have the green bowl placed to the left of the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Using the left hand, put the green bowl by the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "With the left hand, place the green bowl beside the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Have the left arm set the green bowl next to the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Put the green bowl beside the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Set the green bowl near the croissant.", + "start_idx": 1761, + "end_idx": 1797 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach at its middle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Take the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Take the croissant from the table by grasping the middle.", + "start_idx": 1848, + "end_idx": 1884 + }, + { + "text": "Place the croissant on the top side of the table with the left hand.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Using the left hand, set the croissant on the top side of the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Have the left arm place the croissant onto the table's top side.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "With the left hand, position the croissant on the upper side of the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Place the croissant on the top side of the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Set the croissant onto the table's top side.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Position the croissant on the upper side of the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Put the croissant on the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Set the croissant onto the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Position the croissant on the table surface.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Place the croissant on the table's top.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Put the croissant on the top side of the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Set the croissant on the upper side of the table.", + "start_idx": 1884, + "end_idx": 1908 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table by the top using a side hold at a diagonal angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "With the left hand, secure the green bag of chips from the table using a side grasp on the top at a diagonal pick angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Take the green bag of chips from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold on the top at a diagonal pick angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "The green bag of chips should be picked up from the table with a side grip at the top.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "With the left hand, take the green bag of chips from the table by the top using a side grasp.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table at a diagonal angle.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the top.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 1908, + "end_idx": 1938 + }, + { + "text": "Put the green bag of chips to the left of the pink bowl with the left hand facing right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the pink bowl with its front facing right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the pink bowl, front pointed right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "With the left hand, position the green bag of chips left of the pink bowl so the front faces right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Place the green bag of chips to the left of the pink bowl with its front facing right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Set the green bag of chips left of the pink bowl, with the front pointed right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Position the green bag of chips to the left of the pink bowl so it faces right.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the pink bowl.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "With the left hand, set the green bag of chips left of the pink bowl.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Have the left arm place the green bag of chips to the left of the pink bowl.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Put the green bag of chips to the left of the pink bowl.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Set the green bag of chips left of the pink bowl.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Position the green bag of chips next to the left side of the pink bowl.", + "start_idx": 1937, + "end_idx": 1961 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Using the left hand, take the green bowl from the table with a side grasp at the bottom diagonally.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Have the left arm pick the green bowl up from the table using a diagonal side hold at its bottom.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "With the left hand, grasp the green bowl from the table from the side at the bottom on a diagonal.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Pick up the green bowl from the table using a side grip at the bottom diagonally.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Take the green bowl from the table with a side grasp at the bottom diagonally.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "From the table, grasp the green bowl with a side hold at the bottom diagonally.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Using the left hand, take the green bowl from the table diagonally.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Pick up the green bowl from the table using a side grip.", + "start_idx": 1962, + "end_idx": 1992 + }, + { + "text": "Place the green bowl to the center of the table with the left hand.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Using the left hand, set the green bowl at the center of the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Have the left arm place the green bowl in the table's center.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "With the left hand, position the green bowl at the center of the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Place the green bowl at the center of the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Set the green bowl in the middle of the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Position the green bowl at the table center.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Put the green bowl in the center of the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Move the green bowl to the middle of the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "At the table center, place the green bowl.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Set the green bowl on the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Put the green bowl down on the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Place the green bowl on the table.", + "start_idx": 1992, + "end_idx": 2022 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a diagonal side grasp on the left.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a diagonal side grasp on the left.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Have the left arm pick the green bag of chips up from the table using a left-side diagonal side grip.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a diagonal side hold on the left.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Pick up the green bag of chips from the table using a diagonal side grasp on the left.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Grab the green bag of chips from the table with a diagonal side grip on the left.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Take the green bag of chips from the table in a diagonal side hold on the left.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Using the left hand, take the green bag of chips from the table.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Grab the green bag of chips from the table.", + "start_idx": 2079, + "end_idx": 2100 + }, + { + "text": "Put the green bag of chips in front of the green bowl with the left hand facing left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the green bowl facing left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Have the left arm set the green bag of chips in front of the green bowl with its front facing left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "With the left hand, position the green bag of chips before the green bowl so it faces left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Set the green bag of chips in front of the green bowl.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Place the green bag of chips before the green bowl.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "The green bag of chips goes in front of the green bowl.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Put the green bag of chips in front of the green bowl with the left hand.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Using the left hand, place the green bag of chips before the green bowl.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Have the left arm set the green bag of chips in front of the green bowl.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Position the green bag of chips in front of the green bowl facing left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "The green bag of chips should go before the green bowl facing left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Place the green bag of chips before the green bowl so it faces left.", + "start_idx": 2100, + "end_idx": 2124 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table using a left-side hold at a diagonal angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table in a diagonal pick angle using a side grasp on the left.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Retrieve the green bag of chips from the table in a diagonal pick angle with a side hold at the left.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side grasp.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table via a side hold.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left in a diagonal pick angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Take the green bag of chips from the table with the left hand in a diagonal pick angle.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Have the left arm retrieve the green bag of chips from the table.", + "start_idx": 2181, + "end_idx": 2211 + }, + { + "text": "Put the green bag of chips in front of the cabbage with the left hand facing right.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the cabbage with it facing right.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Have the left arm set the green bag of chips in front of the cabbage, oriented to the right.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "With the left hand, position the green bag of chips before the cabbage so it faces right.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Place the green bag of chips in front of the cabbage facing right.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Set the green bag of chips before the cabbage with it oriented rightward.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Position the green bag of chips in front of the cabbage so it faces right.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Using the left hand, put the green bag of chips in front of the cabbage.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Have the left arm place the green bag of chips before the cabbage.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "With the left hand, set the green bag of chips in front of the cabbage.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Put the green bag of chips in front of the cabbage.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Set the green bag of chips before the cabbage.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Position the green bag of chips in front of the cabbage.", + "start_idx": 2211, + "end_idx": 2235 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp on the left.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Have the left arm pick the green bowl up from the table with the bowl\u2019s left lip in a diagonal grasp.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "With the left hand, secure the green bowl from the table using a diagonal grasp on its left lip.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Take the green bowl from the table with a diagonal grasp on the bowl\u2019s left lip.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Grasp the green bowl from the table at the left lip with a diagonal hold.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Have the left arm collect the green bowl from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 2235, + "end_idx": 2256 + }, + { + "text": "Put the green bowl to the right of the green bag of chips with the left hand.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Using the left hand, place the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Have the left arm set the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "With the left hand, position the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Place the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Set the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Position the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Move the green bowl to the right of the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Using the left hand, put the green bowl by the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "The green bowl goes beside the green bag of chips with the left hand.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "With the left hand, place the green bowl next to the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Put the green bowl by the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Set the green bowl beside the green bag of chips.", + "start_idx": 2256, + "end_idx": 2289 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "From a diagonal angle, have the left hand grasp the green bag of chips on the table with a side hold at the top.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "With the left hand, secure the green bag of chips from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "From a diagonal angle, grasp the green bag of chips on the table with a side hold at the top.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Take the green bag of chips from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the top.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a side grasp.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table at the top.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Pick up the green bag of chips from the table from a diagonal angle.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Take the green bag of chips from the table with the left hand.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 2289, + "end_idx": 2307 + }, + { + "text": "Put the green bag of chips to the left of the cabbage with the left hand facing forwards.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the cabbage with its front facing forward.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Have the left arm set the green bag of chips to the cabbage's left side, front facing forwards.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "With the left hand, position the green bag of chips left of the cabbage, oriented so the front faces forward.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Place the green bag of chips to the left of the cabbage with its front facing forward.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Set the green bag of chips on the left side of the cabbage, front facing forwards.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Position the green bag of chips to the cabbage's left with the front facing forward.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the cabbage.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "With the left hand, set the green bag of chips on the left side of the cabbage.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Have the left arm position the green bag of chips to the cabbage's left.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Put the green bag of chips to the left of the cabbage.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Set the green bag of chips on the left side of the cabbage.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Position the green bag of chips to the cabbage's left.", + "start_idx": 2307, + "end_idx": 2337 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Have the left arm pick the cabbage up from the table diagonally by its middle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "With the left hand, grasp the middle of the cabbage on the table and remove it at a diagonal angle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Take the cabbage from the table diagonally by the middle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Grasp the cabbage's middle on the table and pick it up at a diagonal angle.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "With the left hand, take the cabbage from the table.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Have the left arm grasp the cabbage from the table.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Grasp the cabbage on the table.", + "start_idx": 2394, + "end_idx": 2418 + }, + { + "text": "Put the cabbage in between the pink bowl and the green bowl with the left hand facing top left from the front.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Using the left hand, place the cabbage between the pink bowl and the green bowl, facing top left from the front.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Have the left arm set the cabbage in between the pink bowl and the green bowl with its orientation top left from the front.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "With the left hand, position the cabbage between the pink bowl and the green bowl so it faces top left from the front.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Place the cabbage between the pink bowl and the green bowl, facing top left from the front.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Set the cabbage in between the pink bowl and the green bowl with the front facing top left.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Position the cabbage between the pink bowl and the green bowl so its front points top left.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Using the left hand, put the cabbage between the pink bowl and the green bowl.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "With the left hand, set the cabbage in between the pink bowl and the green bowl.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Have the left arm place the cabbage between the pink bowl and the green bowl.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Place the cabbage between the pink bowl and the green bowl.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Set the cabbage in between the pink bowl and the green bowl.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Position the cabbage between the pink bowl and the green bowl.", + "start_idx": 2418, + "end_idx": 2448 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal middle grasp.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "With the left hand, collect the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Take the croissant from the table with a diagonal grasp at the middle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Get the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "With the left hand, collect the croissant from the table.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Get the croissant from the table by grasping the middle.", + "start_idx": 2502, + "end_idx": 2529 + }, + { + "text": "Put the croissant to the left of the pink bowl with the left hand.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Using the left hand, place the croissant to the left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Have the left arm set the croissant down to the left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "With the left hand, position the croissant on the left side of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Place the croissant to the left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Set the croissant down to the left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Position the croissant on the left side of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "The croissant goes to the left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Move the croissant to the left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Arrange the croissant left of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Put the croissant beside the pink bowl on its left side.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Set the croissant on the left side of the pink bowl.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Place the croissant next to the pink bowl, on the left side.", + "start_idx": 2529, + "end_idx": 2556 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "With the left arm, grasp the green bag of chips from the table using a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Have the left hand pick up the green bag of chips from the table with a side grasp at the bottom left from a diagonal approach.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "From the table, grab the green bag of chips using a side hold at the bottom-left corner from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Take the green bag of chips from the table, using a side grasp on the bottom left from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "With the left arm, take the green bag of chips from the table using a side hold.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table with a side grasp.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at the bottom left from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "From the table, take the green bag of chips with the left hand at the bottom-left area from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Pick up the green bag of chips from the table at the bottom left from a diagonal angle.", + "start_idx": 2556, + "end_idx": 2580 + }, + { + "text": "Put the green bag of chips behind the cabbage with the left hand facing forwards.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Using the left hand, place the green bag of chips behind the cabbage with it facing forwards.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Have the left arm set the green bag of chips behind the cabbage, oriented forwards.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "With the left hand, position the green bag of chips behind the cabbage so it faces front.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Place the green bag of chips behind the cabbage with it facing forwards.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Set the green bag of chips behind the cabbage facing forwards.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Position the green bag of chips behind the cabbage so it faces front.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Using the left hand, put the green bag of chips behind the cabbage.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "With the left hand, place the green bag of chips behind the cabbage.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Have the left arm set the green bag of chips behind the cabbage.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Put the green bag of chips behind the cabbage.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Set the green bag of chips behind the cabbage.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Position the green bag of chips behind the cabbage.", + "start_idx": 2580, + "end_idx": 2610 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "With the left hand, retrieve the pink bowl from the table using a side grasp at the bowl's bottom left with a diagonal approach.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Pick up the pink bowl from the table using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Take the pink bowl from the table with a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Retrieve the pink bowl from the table with a diagonal approach and a side hold at the bottom left.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Grasp the pink bowl from the table with the left hand using a side grip.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a side grasp.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Have the left arm pick up the pink bowl from the table with a side hold.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "With the left hand, retrieve the pink bowl from the table from the bottom-left area at a diagonal angle.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Take the pink bowl from the table from the bottom left.", + "start_idx": 2610, + "end_idx": 2637 + }, + { + "text": "Put the pink bowl behind the green bag of chips with the left hand.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Using the left hand, place the pink bowl behind the green bag of chips, right side up.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Have the left arm set the pink bowl behind the green bag of chips with its front facing forward.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "With the left hand, position the pink bowl behind the green bag of chips in an upright orientation.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Place the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Set the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Position the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Using the left hand, place the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Have the left arm set the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "With the left hand, position the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Put the pink bowl behind the green bag of chips.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Set the pink bowl behind the green bag of chips upright.", + "start_idx": 2637, + "end_idx": 2661 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Have the left arm take the green bowl from the table using a diagonal lip grasp on its left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "With the left hand, grasp the green bowl from the table via a diagonal lip hold on the left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold on the left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Take the green bowl from the table using a diagonal lip grip on its left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "From the table, collect the green bowl with a diagonal lip grasp at the left side.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Using the left hand, grasp the green bowl from the table.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 2661, + "end_idx": 2682 + }, + { + "text": "Place the green bag to the left of the green bag of chips with the left hand right side up front.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Using the left hand, set the green bag to the left of the green bag of chips, right side up with the front facing forward.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Have the left arm place the green bag left of the green bag of chips, keeping it right side up and front-facing.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "With the left hand, position the green bag to the left of the green bag of chips in a right-side-up, front-facing orientation.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Place the green bag to the left of the green bag of chips, keeping it right side up with the front forward.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Set the green bag left of the green bag of chips, right side up and front-facing.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Position the green bag to the left of the green bag of chips in a right-side-up orientation with the front ahead.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Using the left hand, place the green bag to the left of the green bag of chips.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Have the left arm set the green bag left of the green bag of chips.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "With the left hand, position the green bag to the left of the green bag of chips.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Place the green bag to the left of the green bag of chips.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Set the green bag left of the green bag of chips.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Position the green bag to the left of the green bag of chips.", + "start_idx": 2682, + "end_idx": 2715 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, contacting it at the middle on a diagonal.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Retrieve the cabbage from the table, contacting the middle at a diagonal angle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Using the left hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Have the left arm take the cabbage from the table at the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping the middle.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 2763, + "end_idx": 2784 + }, + { + "text": "Put the cabbage inside the green bowl with the left hand facing top left from the front.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Using the left hand, place the cabbage into the green bowl facing top left from the front.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Have the left arm set the cabbage inside the green bowl with its orientation top-left from the front.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "With the left hand, position the cabbage in the green bowl so it faces the top left from the front.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Place the cabbage into the green bowl.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Set the cabbage inside the green bowl.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Have the cabbage placed in the green bowl.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Using the left hand, put the cabbage in the green bowl.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "With the left arm, place the cabbage into the green bowl.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Put the cabbage in the green bowl with the left hand.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Position the cabbage in the green bowl facing top left from the front.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Set the cabbage into the green bowl so it faces top left from the front.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "With the left hand, place the cabbage into the green bowl.", + "start_idx": 2784, + "end_idx": 2811 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Have the left hand retrieve the croissant from the table.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Take the croissant from the table with the left hand.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2811, + "end_idx": 2838 + }, + { + "text": "Put the croissant behind the doritos with the left hand.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Using the left hand, place the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Have the left arm set the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "With the left hand, position the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Place the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Set the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Position the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Move the croissant behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "The croissant goes behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Put the croissant behind the doritos now.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Behind the doritos, place the croissant.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Set the croissant behind the doritos there.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Have the croissant placed behind the doritos.", + "start_idx": 2838, + "end_idx": 2871 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Have the left hand take the doritos off the table with a side grasp on the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "With the left hand, grasp the doritos from the table using a side hold at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Take the doritos off the table with a side grasp on the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Grasp the doritos from the table with a side hold at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Using the left hand, take the doritos off the table with a side grasp.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Have the left hand grasp the doritos from the table with a side hold.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Pick up the doritos from the table with the left hand at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "With the left hand, take the doritos off the table from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Grasp the doritos from the table at the left from a diagonal angle.", + "start_idx": 2934, + "end_idx": 2970 + }, + { + "text": "Put the doritos in front of the green bowl with the left hand facing forwards.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Using the left hand, place the doritos in front of the green bowl facing forwards.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Have the left arm set the doritos in front of the green bowl with the front facing forward.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "With the left hand, position the doritos in front of the green bowl so they face forwards.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Place the doritos in front of the green bowl facing forwards.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Set the doritos in front of the green bowl with the front facing forward.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Position the doritos in front of the green bowl so they face forwards.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Using the left hand, put the doritos in front of the green bowl.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Have the left arm place the doritos in front of the green bowl.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "With the left hand, set the doritos in front of the green bowl.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Put the doritos in front of the green bowl.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Place the doritos in front of the green bowl.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Set the doritos in front of the green bowl.", + "start_idx": 2970, + "end_idx": 2994 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle from the middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup from its middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "With the left hand, grasp the croissant from the table diagonally at the middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle from the middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Grasp the croissant from the table diagonally from the middle.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Grasp the croissant from the table.", + "start_idx": 2994, + "end_idx": 3024 + }, + { + "text": "Put the croissant in front of the pink bowl with the left hand.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Using the left hand, place the croissant in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Have the left arm set the croissant down in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "With the left hand, position the croissant before the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Place the croissant in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Set the croissant down in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Position the croissant before the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Have the croissant placed in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "The croissant goes in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Arrange the croissant in front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Put the croissant by the front of the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Set the croissant in front of the pink bowl area.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Place the croissant before the pink bowl.", + "start_idx": 3024, + "end_idx": 3057 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom lip grip from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "With the left hand, secure the pink bowl from the table by the bottom using a lip grasp from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Take the pink bowl from the table with a bottom lip grasp from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Grasp the pink bowl from the table by the bottom with a lip grip from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp at the bottom.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a bottom lip grip.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "With the left hand, take the pink bowl from the table at the bottom from a diagonal angle.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 3057, + "end_idx": 3078 + }, + { + "text": "Put the pink bowl in front of the croissant with the left hand.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Using the left hand, place the pink bowl in front of the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Have the left arm set the pink bowl down in front of the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "With the left hand, position the pink bowl before the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Place the pink bowl in front of the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Set the pink bowl down in front of the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Position the pink bowl before the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Put the pink bowl by the croissant with the left hand.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "With the left hand, place the pink bowl near the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Have the left arm put the pink bowl by the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Put the pink bowl by the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Set the pink bowl near the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Position the pink bowl next to the croissant.", + "start_idx": 3078, + "end_idx": 3114 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal lip grasp on the left.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Have the left hand take the pink bowl from the table using a left-side diagonal lip grasp.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the left lip at a diagonal angle.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp on the left.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Take the pink bowl from the table with a left-side diagonal lip grasp.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Grasp the pink bowl from the table by the left lip diagonally.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Have the left hand take the pink bowl from the table.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 3165, + "end_idx": 3195 + }, + { + "text": "Put the pink bowl on the top side of the table with the left hand.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Using the left hand, place the pink bowl on the top side of the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Have the left arm set the pink bowl onto the table's top side.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "With the left hand, position the pink bowl on the top side of the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Place the pink bowl on the top side of the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Set the pink bowl onto the table's top side.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Position the pink bowl on the top side of the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Move the pink bowl to the top side of the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Rest the pink bowl on the table's top side.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Using the left hand, place the pink bowl on the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Have the left arm set the pink bowl down on the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Put the pink bowl on the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Set the pink bowl down on the table.", + "start_idx": 3195, + "end_idx": 3228 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the left and a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "With the left arm, grasp the doritos from the table from the left side using a side grasp at a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Have the left hand pick the doritos up from the table with a left-side grip at a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Pick up the doritos from the table with a side grip at the left and a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Take the doritos from the table from the left side with a side grasp at a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Grasp the doritos from the table at the left with a diagonal angle using a side grip.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "With the left arm, take the doritos from the table from the left side.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Have the left hand grasp the doritos from the table using a side grasp.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal angle.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Take the doritos from the table with the left hand.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Grab the doritos from the table.", + "start_idx": 3228, + "end_idx": 3267 + }, + { + "text": "Put the doritos behind the green bag of chips with the left hand facing forwards.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Using the left hand, place the doritos behind the green bag of chips with the front facing forward.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Have the left arm set the doritos behind the green bag of chips, oriented so the front faces forward.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "With the left hand, position the doritos behind the green bag of chips facing forwards.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Place the doritos behind the green bag of chips with the front facing forward.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Set the doritos behind the green bag of chips so the front faces forward.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Position the doritos behind the green bag of chips facing forwards.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Using the left hand, put the doritos behind the green bag of chips.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Have the left arm place the doritos behind the green bag of chips.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "With the left hand, set the doritos behind the green bag of chips.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Put the doritos behind the green bag of chips.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Place the doritos behind the green bag of chips.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Set the doritos behind the green bag of chips.", + "start_idx": 3267, + "end_idx": 3291 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table using a left-side grip at a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "With the left hand, secure the green bag of chips from the table in a side grasp on the left at a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Grab the green bag of chips from the table in a diagonal angle with a side grip at the left.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side grasp.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Take the green bag of chips from the table at a diagonal angle.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Using a side grip, collect the green bag of chips from the table.", + "start_idx": 3291, + "end_idx": 3327 + }, + { + "text": "Put the green bag of chips in front of the green bowl with the left hand facing forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the green bowl facing forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Have the left arm set the green bag of chips in front of the green bowl with its front facing forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "With the left hand, position the green bag of chips in front of the green bowl so it faces forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Place the green bag of chips in front of the green bowl facing forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Set the green bag of chips in front of the green bowl with its front facing forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Position the green bag of chips in front of the green bowl so it faces forwards.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Using the left hand, put the green bag of chips in front of the green bowl.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Have the left arm place the green bag of chips in front of the green bowl.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "With the left hand, set the green bag of chips in front of the green bowl.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Put the green bag of chips in front of the green bowl.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Place the green bag of chips in front of the green bowl.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Set the green bag of chips in front of the green bowl.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Have the left arm pick the croissant up from the table with a diagonal approach at its middle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Take the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach, holding it at the middle.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "With the left hand, take the croissant from the table.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Have the left arm retrieve the croissant from the table.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 3423, + "end_idx": 3462 + }, + { + "text": "Put the croissant to the right of the green bag of chips with the left hand.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Using the left hand, place the croissant to the right of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Have the left arm set the croissant down to the right of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "With the left hand, position the croissant on the right side of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Place the croissant to the right of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Set the croissant down to the right of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Position the croissant on the right side of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Put the croissant beside the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Set the croissant next to the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Place the croissant by the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Arrange the croissant to the right of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Have the croissant placed to the right of the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Position the croissant beside the green bag of chips.", + "start_idx": 3462, + "end_idx": 3498 + }, + { + "text": "Pick up the green bowl from the table with the left hand at a diagonal angle grasping the bottom left using a lip grip.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Using the left hand, take the green bowl from the table at a diagonal angle, gripping the bottom left with a lip grip.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Have the left arm pick the green bowl up from the table diagonally, securing the bottom left with a lip grasp.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "With the left hand, retrieve the green bowl from the table on a diagonal, holding the bottom left with a lip-style grip.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle, grasping the bottom left with a lip grip.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Take the green bowl from the table diagonally, gripping the bottom left with a lip grasp.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Retrieve the green bowl from the table on a diagonal while holding the bottom left with a lip-style grip.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "With the left hand, retrieve the green bowl from the table.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at a diagonal angle, grasping the bottom left.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Pick up the green bowl from the table at a diagonal angle, grasping the bottom left.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Take the green bowl from the table with the left hand using a lip grip.", + "start_idx": 3498, + "end_idx": 3528 + }, + { + "text": "Put the green bowl to the bottom side of the table with the left hand.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Using the left hand, place the green bowl at the bottom side of the table, right side up relative to the front.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Have the left arm set the green bowl on the table's bottom side with its right side up facing the front reference.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "With the left hand, position the green bowl at the bottom edge of the table, keeping it right side up from the front.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Place the green bowl at the bottom side of the table, right side up relative to the front.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Set the green bowl on the bottom side of the table with its right side up facing the front.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Position the green bowl at the table's bottom side, keeping it right side up from the front.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Using the left hand, put the green bowl at the bottom side of the table.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "With the left hand, place the green bowl on the table's bottom side.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Have the left arm set the green bowl at the bottom edge of the table.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Put the green bowl at the bottom side of the table.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Set the green bowl on the table's bottom side.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Position the green bowl at the bottom edge of the table.", + "start_idx": 3528, + "end_idx": 3564 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "From the table, have the left hand grasp the green bag of chips with a side hold on the left at a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "With the left arm, pick the green bag of chips off the table using a side grasp on the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Take the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "From the table, grasp the green bag of chips using a side grasp at the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Have the left hand take the green bag of chips from the table using a side grasp.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "With the left arm, grasp the green bag of chips from the table using a side hold.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Pick up the green bag of chips from the table at the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Using the left hand, take the green bag of chips from the table from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Grab the green bag of chips from the table at the left from a diagonal angle.", + "start_idx": 3564, + "end_idx": 3603 + }, + { + "text": "Put the green bag of chips in front of the doritos with the left hand facing forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the doritos facing forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Have the left arm set the green bag of chips in front of the doritos, with it facing forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "With the left hand, position the green bag of chips in front of the doritos so it faces forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Place the green bag of chips in front of the doritos facing forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Set the green bag of chips in front of the doritos with it facing forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Position the green bag of chips in front of the doritos so it faces forwards.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Using the left hand, put the green bag of chips in front of the doritos.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "With the left hand, place the green bag of chips in front of the doritos.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Have the left arm position the green bag of chips in front of the doritos.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Put the green bag of chips in front of the doritos.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Place the green bag of chips in front of the doritos.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Set the green bag of chips in front of the doritos.", + "start_idx": 3603, + "end_idx": 3630 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a diagonal side grasp at the left.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a diagonal side grasp at the left.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table using a left-side diagonal side hold.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Have the left arm pick the green bag of chips up from the table with a diagonal side grasp on the left.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Pick up the green bag of chips from the table using a diagonal side grasp at the left.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Take the green bag of chips from the table with a left-side diagonal side grasp.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Grasp the green bag of chips from the table using a diagonal side hold on the left.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Retrieve the green bag of chips from the table with the left hand.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "The green bag of chips should be grasped from the table.", + "start_idx": 3765, + "end_idx": 3798 + }, + { + "text": "Put the green bag of chips in front of the green bowl with the left hand facing forwards.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the green bowl facing forwards.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Have the left arm set the green bag of chips in front of the green bowl with its front facing forward.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "With the left hand, position the green bag of chips before the green bowl so it faces forwards.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Place the green bag of chips in front of the green bowl facing forwards.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Set the green bag of chips before the green bowl with its front facing forward.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Position the green bag of chips in front of the green bowl so it faces forwards.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the green bowl.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Have the left arm set the green bag of chips before the green bowl.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "With the left hand, position the green bag of chips in front of the green bowl.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Place the green bag of chips in front of the green bowl.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Set the green bag of chips before the green bowl.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Position the green bag of chips in front of the green bowl.", + "start_idx": 3798, + "end_idx": 3831 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Have the left arm pick the green bowl up from the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a lip hold on the bottom left at a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Grasp the green bowl from the table with a lip hold at the bottom left and a diagonal angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Take the green bowl from the table with a bottom-left lip grasp and a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "With the left hand, grasp the green bowl from the table with a lip hold.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Pick up the green bowl from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Using the left hand, take the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Pick up the green bowl from the table at the bottom left with a diagonal pick angle.", + "start_idx": 3900, + "end_idx": 3933 + }, + { + "text": "Put the green bowl in front of the pink bowl with the left hand.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Using the left hand, place the green bowl in front of the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Have the left arm set the green bowl before the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "With the left hand, position the green bowl at the front of the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Place the green bowl in front of the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Set the green bowl before the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Position the green bowl at the front of the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Using the left hand, put the green bowl by the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Have the left arm place the green bowl near the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "With the left hand, set the green bowl next to the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Put the green bowl by the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Set the green bowl near the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Position the green bowl next to the pink bowl.", + "start_idx": 3933, + "end_idx": 3966 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "With the left hand, grasp the middle of the croissant on the table and pick it up diagonally.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Take the croissant from the table with a diagonal approach at the middle.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Grasp the croissant from the table diagonally at its middle and pick it up.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "With the left hand, grasp the croissant on the table and pick it up.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Grasp the croissant on the table and pick it up.", + "start_idx": 3965, + "end_idx": 3998 + }, + { + "text": "Place the croissant to the left of the doritos with the left hand.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Using the left hand, set the croissant to the left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Have the left arm place the croissant on the left side of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "With the left hand, position the croissant left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Place the croissant to the left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Set the croissant on the left side of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Position the croissant left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Put the croissant to the left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Have the croissant placed to the left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Move the croissant to the left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Arrange the croissant on the left side of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "The croissant goes to the left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Leave the croissant left of the doritos.", + "start_idx": 3999, + "end_idx": 4029 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Have the left arm take the green bag of chips from the table, grasping its left side with a side hold at a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "With the left hand, collect the green bag of chips from the table by the left side using a side grasp from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the left from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Take the green bag of chips from the table, gripping the left side with a side grasp from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Grasp the green bag of chips from the table on the left with a side hold from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left from a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Get the green bag of chips from the table from the left at a diagonal angle.", + "start_idx": 4029, + "end_idx": 4068 + }, + { + "text": "Put the green bag of chips in front of the doritos with the left hand facing forwards.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the Doritos facing forwards.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Have the left arm set the green bag of chips before the Doritos with its front facing forward.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "With the left hand, position the green bag of chips in front of the Doritos so it faces forwards.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Place the green bag of chips in front of the Doritos facing forwards.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Set the green bag of chips before the Doritos with its front facing forward.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Position the green bag of chips in front of the Doritos so it faces forwards.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Using the left hand, place the green bag of chips in front of the Doritos.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Have the left arm set the green bag of chips before the Doritos.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "With the left hand, position the green bag of chips in front of the Doritos.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Put the green bag of chips in front of the Doritos.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Set the green bag of chips before the Doritos.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Place the green bag of chips before the Doritos.", + "start_idx": 4068, + "end_idx": 4095 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "With the left hand, retrieve the croissant from the table by holding its middle at a diagonal angle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "The croissant should be picked up from the table at a diagonal angle by the middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "With the left hand, take the croissant from the table.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Have the left hand retrieve the croissant from the table.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Take the croissant from the table by the middle.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "The croissant should be picked up from the table.", + "start_idx": 4389, + "end_idx": 4422 + }, + { + "text": "Put the croissant to the bottom side of the table with the left hand.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Using the left hand, place the croissant on the bottom side of the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Have the left arm set the croissant against the underside of the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "With the left hand, position the croissant at the table's bottom side.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Place the croissant on the bottom side of the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Set the croissant against the underside of the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Position the croissant at the table's bottom side.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Move the croissant to the bottom side of the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Arrange the croissant on the underside of the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Transfer the croissant to the table's bottom side.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Put the croissant beneath the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Set the croissant on the table's underside.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Move the croissant underneath the table.", + "start_idx": 4422, + "end_idx": 4455 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "With the left hand, secure the green bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Take the green bowl from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Grasp the green bowl from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip hold.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a lip grasp.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Pick up the green bowl from the table with the left hand at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Take the green bowl from the table with the left hand.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Grasp the green bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 4455, + "end_idx": 4479 + }, + { + "text": "Put the green bowl behind the croissant with the left hand.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Using the left hand, place the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Have the left arm set the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "With the left hand, position the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Place the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Set the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Position the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Move the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Arrange the green bowl behind the croissant.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Using the left hand, place the green bowl.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Have the left arm set down the green bowl.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Put the green bowl.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "With the left hand, position the green bowl.", + "start_idx": 4479, + "end_idx": 4512 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Have the left arm pick the green bowl up from the table using a bottom-left diagonal lip grip.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Grasp the green bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 4581, + "end_idx": 4620 + }, + { + "text": "Dump the cabbage in front of the doritos with the left hand.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Using the left hand, dump the cabbage in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Have the left arm place the cabbage in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "With the left hand, deposit the cabbage before the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Dump the cabbage in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Place the cabbage before the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Set the cabbage down in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Position the cabbage in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Move the cabbage to a spot in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Put the cabbage before the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Have the cabbage placed in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Transfer the cabbage in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "The cabbage goes in front of the doritos.", + "start_idx": 4620, + "end_idx": 4668 + }, + { + "text": "Put the green bowl to the left of the doritos with the left hand.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Using the left hand, place the green bowl to the left of the doritos, right side up from the front.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Have the left arm set the green bowl to the left of the doritos with its front facing right side up.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "With the left hand, position the green bowl to the left of the doritos in an upright front-facing orientation.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Place the green bowl to the left of the doritos, keeping it right side up from the front.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Set the green bowl to the left of the doritos with the front oriented right side up.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Position the green bowl to the left of the doritos in a right-side-up orientation.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Using the left hand, place the green bowl to the left of the doritos.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Have the left arm set the green bowl to the left of the doritos.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "With the left hand, position the green bowl to the left of the doritos.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Place the green bowl to the left of the doritos.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Set the green bowl beside the doritos on their left side.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "The green bowl goes to the left of the doritos.", + "start_idx": 4668, + "end_idx": 4713 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Have the left arm pick the cabbage off the table on a diagonal, holding it at the middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by gripping the middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Take the cabbage off the table on a diagonal, holding the middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Retrieve the cabbage from the table diagonally by gripping its middle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Have the left arm take the cabbage off the table.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Take the cabbage off the table diagonally.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 4713, + "end_idx": 4749 + }, + { + "text": "Put the cabbage in front of the green bowl with the left hand facing bottom right with the front as the reference point.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Using the left hand, place the cabbage in front of the green bowl with its front facing bottom right.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Have the left arm set the cabbage in front of the green bowl, front oriented toward the bottom right.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "With the left hand, position the cabbage in front of the green bowl so the front points bottom right.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Place the cabbage in front of the green bowl with its front facing bottom right.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Set the cabbage in front of the green bowl with the front oriented toward the bottom right.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Position the cabbage in front of the green bowl so its front faces bottom right.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Using the left hand, put the cabbage in front of the green bowl.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "With the left hand, place the cabbage in front of the green bowl.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Have the left arm set the cabbage in front of the green bowl.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Put the cabbage in front of the green bowl.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Set the cabbage in front of the green bowl.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Position the cabbage in front of the green bowl.", + "start_idx": 4749, + "end_idx": 4788 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the left in a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Have the left arm take the doritos from the table, grasping the left side with a side hold at a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "With the left hand, collect the doritos from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left in a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Grasp the doritos from the table with a side hold at the left in a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Have the left arm take the doritos from the table with a side grasp.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "With the left hand, collect the doritos from the table using a side hold.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Using the left hand, pick up the doritos from the table at the left in a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Have the left arm take the doritos from the table from the left at a diagonal angle.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 4857, + "end_idx": 4899 + }, + { + "text": "Put the doritos in front of the cabbage with the left hand facing forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Using the left hand, place the doritos in front of the cabbage with the package facing forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Have the left arm set the doritos in front of the cabbage, oriented forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "With the left hand, position the doritos before the cabbage so it faces forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Place the doritos in front of the cabbage with the package facing forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Set the doritos before the cabbage, facing forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Position the doritos in front of the cabbage so it faces forwards.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Using the left hand, put the doritos in front of the cabbage.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Have the left arm place the doritos before the cabbage.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "With the left hand, set the doritos in front of the cabbage.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Put the doritos in front of the cabbage.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Set the doritos before the cabbage.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Position the doritos in front of the cabbage.", + "start_idx": 4899, + "end_idx": 4929 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Have the left hand take the green bowl from the table, applying a lip grasp on the bottom left diagonally.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "With the left hand, grasp the green bowl from the table using the lip at the bottom left in a diagonal orientation.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Take the green bowl from the table using a lip grasp on the bottom left diagonally.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Grasp the green bowl from the table with the lip at the bottom left at a diagonal angle.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Have the left hand take the green bowl from the table with a lip grasp.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "With the left hand, grasp the green bowl from the table using the lip.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Pick up the green bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "From the table, take the green bowl at the bottom left diagonally.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Grasp the green bowl from the table with the left hand.", + "start_idx": 4929, + "end_idx": 4953 + }, + { + "text": "Put the green bowl in between the cabbage and the crossaint with the left hand.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Using the left hand, place the green bowl between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Have the left arm set the green bowl in between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "With the left hand, position the green bowl between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Place the green bowl between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Set the green bowl in between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Position the green bowl between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "The green bowl goes between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Move the green bowl into the space between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Between the cabbage and the crossaint, place the green bowl.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Put the green bowl in between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Arrange the green bowl between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Center the green bowl between the cabbage and the crossaint.", + "start_idx": 4953, + "end_idx": 4992 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the left, held at a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Have the left arm pick up the doritos from the table with a left-side grasp and a diagonal orientation.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "With the left hand, grasp the doritos from the table using a side hold on the left at a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left with a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Grasp the doritos from the table with a left-side hold at a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the left.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Have the left arm take the doritos from the table using a side grasp on the left.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "With the left hand, grasp the doritos from the table using a side hold.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal angle.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Using the left hand, take the doritos from the table.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Grasp the doritos from the table with a side grip at the left.", + "start_idx": 4992, + "end_idx": 5016 + }, + { + "text": "Put the doritos behind the green bowl with the left hand facing forwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Using the left hand, place the doritos behind the green bowl with the front facing forwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Have the left arm set the doritos behind the green bowl, oriented forwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "With the left hand, position the doritos behind the green bowl so the front faces forward.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Place the doritos behind the green bowl with the front facing forwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Set the doritos behind the green bowl, oriented forwards.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Position the doritos behind the green bowl so the front faces forward.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Using the left hand, put the doritos behind the green bowl.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "With the left hand, place the doritos behind the green bowl.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Have the left arm set the doritos behind the green bowl.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Put the doritos behind the green bowl.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Place the doritos behind the green bowl.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Set the doritos behind the green bowl.", + "start_idx": 5016, + "end_idx": 5049 + }, + { + "text": "Pick up the cabagge from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Using the left hand, pick up the cabagge from the table at a diagonal angle, grasping the middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Have the left arm take the cabagge from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "With the left hand, retrieve the cabagge from the table on a diagonal approach, gripping the middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Pick up the cabagge from the table at a diagonal angle, grasping the middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Take the cabagge from the table on a diagonal approach, holding the middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Retrieve the cabagge from the table with a diagonal pickup at its middle.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Using the left hand, pick up the cabagge from the table.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Have the left arm take the cabagge from the table.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "With the left hand, retrieve the cabagge from the table.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Pick up the cabagge from the table.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Take the cabagge from the table.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Retrieve the cabagge from the table.", + "start_idx": 5049, + "end_idx": 5076 + }, + { + "text": "Put the cabbage inside the bowl with the left hand facing bottom left relative to the front.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Using the left hand, place the cabbage in the bowl facing bottom left relative to the front.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Have the left arm set the cabbage inside the bowl with its orientation bottom-left from the front.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "With the left hand, deposit the cabbage into the bowl so it faces bottom left relative to the front.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Place the cabbage inside the bowl.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Set the cabbage into the bowl.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Deposit the cabbage in the bowl.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Put the cabbage into the bowl facing bottom left relative to the front.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Set the cabbage inside the bowl oriented bottom left from the front.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Using the left hand, place the cabbage in the bowl.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Have the left arm put the cabbage inside the bowl.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Place the cabbage into the bowl with the left hand.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Put the cabbage in the bowl.", + "start_idx": 5076, + "end_idx": 5106 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grasp at the left in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grasp at the left in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Have the left hand take the doritos from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "With the left hand, grasp the doritos from the table from the left side in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Pick up the doritos from the table using a side grasp at the left in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Grasp the doritos from the table from the left side in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grasp.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Have the left hand grasp the doritos from the table from the side.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Using the left hand, pick up the doritos from the table at the left in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Pick up the doritos from the table with the left hand at the left in a diagonal angle.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "With the left hand, take the doritos from the table.", + "start_idx": 5247, + "end_idx": 5280 + }, + { + "text": "Put the doritos to the top side of the table with the left hand facing forwards.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Using the left hand, place the doritos on the top side of the table with the front facing forwards.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Have the left arm set the doritos on the table's top side, oriented so the front faces forwards.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "With the left hand, position the doritos at the top side of the table, front facing forward.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Place the doritos on the top side of the table with the front facing forwards.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Set the doritos at the top side of the table with the front facing forwards.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Position the doritos on the table's top side, front facing forwards.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Using the left hand, put the doritos on the top side of the table.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "With the left hand, place the doritos at the top side of the table.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Have the left arm set the doritos on the table's top side.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Put the doritos on the top side of the table.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Set the doritos at the top side of the table.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Have the doritos placed on the table's top side.", + "start_idx": 5280, + "end_idx": 5310 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "With the left hand, collect the croissant from the table by gripping the middle at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Get the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Using the left hand, pick up the croissant from the table, grasping the middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Have the left arm take the croissant from the table at its middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "With the left hand, collect the croissant from the table at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Take the croissant from the table with the left hand, grasping the middle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Get the croissant from the table at a diagonal angle.", + "start_idx": 5310, + "end_idx": 5349 + }, + { + "text": "Put the croissant in front of the doritos with the left hand.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Using the left hand, place the croissant in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Have the left arm set the croissant down in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "With the left hand, position the croissant in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Place the croissant in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Set the croissant down in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Position the croissant in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "The croissant goes in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Move the croissant to a spot in front of the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Put the croissant by the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Place the croissant near the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Set the croissant down by the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "The croissant should be placed near the doritos.", + "start_idx": 5349, + "end_idx": 5376 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, contacting its middle at a diagonal angle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "From the table, pick up the cabbage with the left hand.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Using the left hand, retrieve the cabbage from the table.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Pick up the cabbage from the table by grasping the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Take the cabbage from the table, holding it at the middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Retrieve the cabbage from the table while grasping its middle.", + "start_idx": 5496, + "end_idx": 5535 + }, + { + "text": "Put the cabbage in front of the croissant with the left hand facing forwards from the front.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Using the left hand, place the cabbage in front of the croissant, facing forwards from the front.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Have the left arm set the cabbage in front of the croissant with its front facing forward.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "With the left hand, position the cabbage before the croissant so the front faces forwards.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Place the cabbage in front of the croissant, facing forwards from the front.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Set the cabbage before the croissant with its front facing forward.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Position the cabbage in front of the croissant so it faces forwards from the front.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Using the left hand, put the cabbage in front of the croissant.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Have the left arm place the cabbage before the croissant.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "With the left hand, set the cabbage in front of the croissant.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Put the cabbage in front of the croissant.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Place the cabbage before the croissant.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Set the cabbage in front of the croissant.", + "start_idx": 5535, + "end_idx": 5568 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach, holding it at the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally by the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Retrieve the croissant from the table diagonally by the middle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 5568, + "end_idx": 5607 + }, + { + "text": "Put the croissant to the bottom side of the table with the left hand.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Using the left hand, place the croissant at the bottom side of the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Have the left arm set the croissant on the table's bottom side.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "With the left hand, position the croissant by the bottom side of the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Place the croissant at the bottom side of the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Set the croissant on the table's bottom side.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Position the croissant by the bottom side of the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Put the croissant to the table's bottom side.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Have the croissant placed at the bottom side of the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Using the left hand, place the croissant by the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "With the left hand, set the croissant on the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Have the left arm position the croissant at the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Put the croissant by the table.", + "start_idx": 5607, + "end_idx": 5634 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pick, holding it at the middle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal, gripping the center.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Take the cabbage from the table on a diagonal, holding the middle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pick at the center.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Retrieve the cabbage from the table, grasping the middle.", + "start_idx": 5634, + "end_idx": 5667 + }, + { + "text": "Put the cabbage to the left of the green bowl with the left hand facing top right from the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Using the left hand, place the cabbage to the left of the green bowl with its top right facing the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Have the left arm set the cabbage left of the green bowl, oriented top right from the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "With the left hand, position the cabbage to the left of the green bowl so it faces top right from the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Place the cabbage to the left of the green bowl with its top right facing the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Set the cabbage left of the green bowl, oriented top right from the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Position the cabbage to the left of the green bowl so it faces top right from the front.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Using the left hand, put the cabbage to the left of the green bowl.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Have the left arm place the cabbage left of the green bowl.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "With the left hand, set the cabbage to the left of the green bowl.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Place the cabbage to the left of the green bowl.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Set the cabbage left of the green bowl.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Position the cabbage to the left of the green bowl.", + "start_idx": 5667, + "end_idx": 5694 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left with a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the left and a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Have the left arm grasp the doritos from the table from the left side using a diagonal side hold.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "With the left hand, collect the doritos from the table in a side grasp on the left at a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left with a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "From the table, take the doritos with a side grasp on the left at a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "The doritos from the table should be picked up with a left-side grip at a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Take the doritos from the table with a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Using the left hand, collect the doritos from the table at a diagonal angle.", + "start_idx": 5694, + "end_idx": 5733 + }, + { + "text": "Put the doritos to the right of the croissant with the left hand facing forwards.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Using the left hand, place the doritos to the right of the croissant with the front facing forwards.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Have the left arm set the doritos to the croissant's right, oriented forwards.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "With the left hand, position the doritos on the right side of the croissant, front facing forward.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Place the doritos to the right of the croissant with the front facing forwards.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Set the doritos on the croissant's right side, facing forwards.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Position the doritos to the right of the croissant, front forward.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Using the left hand, put the doritos to the right of the croissant.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Have the left arm place the doritos on the right side of the croissant.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "With the left hand, set the doritos to the croissant's right.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Put the doritos to the right of the croissant.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Using the left hand, position the doritos beside the croissant on its right.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Arrange the doritos on the croissant's right side.", + "start_idx": 5733, + "end_idx": 5769 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping its middle.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach at the center.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally by holding the middle.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Take the croissant from the table with a diagonal approach at its center.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Retrieve the croissant from the table diagonally by the middle.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Have the left hand pick up the croissant from the table.", + "start_idx": 5769, + "end_idx": 5802 + }, + { + "text": "Put the croissant on the top side of the table with the left hand.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Using the left hand, place the croissant on the top side of the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Have the left arm set the croissant onto the table's top side.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "With the left hand, deposit the croissant on the top side of the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Place the croissant on the top side of the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Set the croissant on the table's top side.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Put the croissant onto the top side of the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Position the croissant on the top side of the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Leave the croissant on the table's top side.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Arrange the croissant on the top side of the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Put the croissant on the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Set the croissant down on the table.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Place the croissant on the table surface.", + "start_idx": 5802, + "end_idx": 5832 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Have the left arm grasp the cabbage from the table diagonally at its middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "With the left hand, retrieve the cabbage from the table using a diagonal approach at the middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle from the middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Take the cabbage from the table diagonally from the middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 5832, + "end_idx": 5865 + }, + { + "text": "Put the cabbage in front of the croissant with the left hand facing top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Using the left hand, place the cabbage in front of the croissant, facing top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Have the left arm set the cabbage in front of the croissant with its top pointing top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "With the left hand, position the cabbage before the croissant, oriented top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Place the cabbage in front of the croissant, facing top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Set the cabbage before the croissant with its top directed top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Position the cabbage in front of the croissant so it faces top left from the front.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Put the cabbage in front of the croissant with the left hand.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Using the left hand, set the cabbage before the croissant.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Have the left arm place the cabbage in front of the croissant.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Place the cabbage in front of the croissant.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Set the cabbage before the croissant.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Position the cabbage in front of the croissant.", + "start_idx": 5865, + "end_idx": 5898 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Have the left arm grasp the green bowl from the table using a lip hold at the bottom-left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "With the left hand, secure the green bowl from the table in a lip grasp at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Grasp the green bowl from the table with a lip hold at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Take the green bowl from the table in a lip grasp at the bottom-left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Pick up the green bowl from the table with the left hand at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Grasp the green bowl from the table at the bottom left diagonal.", + "start_idx": 5898, + "end_idx": 5937 + }, + { + "text": "Put the green bowl in front of the cabbage with the left hand.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Using the left hand, place the green bowl in front of the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Have the left arm set the green bowl down in front of the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "With the left hand, position the green bowl before the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Place the green bowl in front of the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Set the green bowl down in front of the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Position the green bowl before the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Put the green bowl by the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Set the green bowl near the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Place the green bowl before the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Using the left hand, put the green bowl by the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Have the left arm place the green bowl near the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Set the green bowl down by the cabbage.", + "start_idx": 5937, + "end_idx": 5970 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Have the left arm pick up the croissant from the table with a diagonal approach at its middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "With the left hand, collect the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Grab the croissant from the table at a diagonal angle by the middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "With the left hand, grab the croissant from the table.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Using the left hand, collect the croissant from the table at a diagonal angle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Take the croissant from the table by the middle.", + "start_idx": 6033, + "end_idx": 6072 + }, + { + "text": "Place the croissant to the right of the green bowl with the left hand.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Using the left hand, set the croissant to the right of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Have the left arm place the croissant on the right side of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "With the left hand, position the croissant right of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Place the croissant to the right of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Set the croissant on the right side of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Position the croissant right of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "The croissant should go to the right of the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Put the croissant beside the green bowl on its right side.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Arrange the croissant to the bowl's right, next to the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Place the croissant by the green bowl, on the right.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Set the croissant to the right of the bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Position the croissant beside the green bowl.", + "start_idx": 6072, + "end_idx": 6105 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom diagonally.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom diagonally.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "With the left arm, grasp the green bowl off the table by the bottom using a diagonal lip grasp.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Have the left hand pick the green bowl up from the table with a diagonal lip grip on the bottom.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom diagonally.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Take the green bowl off the table with a diagonal lip grasp at the bottom.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Grasp the green bowl from the table by the bottom with a lip grip.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "With the left arm, take the green bowl off the table using a lip grasp.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Have the left hand grasp the green bowl from the table using the lip at the bottom.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Pick up the green bowl from the table with the left hand diagonally.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Take the green bowl off the table diagonally with the left hand.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Grasp the green bowl from the table at the bottom diagonally.", + "start_idx": 6105, + "end_idx": 6138 + }, + { + "text": "Put the green bowl behind the cabbage with the left hand right side up.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Using the left hand, place the green bowl behind the cabbage right side up.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Have the left arm set the green bowl behind the cabbage in an upright orientation.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "With the left hand, position the green bowl behind the cabbage so it stays right side up.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Place the green bowl behind the cabbage right side up.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Set the green bowl behind the cabbage in back of the cabbage right side up.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Position the green bowl behind the cabbage, keeping it upright.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Using the left hand, put the green bowl behind the cabbage.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Have the left arm place the green bowl behind the cabbage.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "With the left hand, set the green bowl behind the cabbage.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Put the green bowl behind the cabbage.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Place the green bowl in back of the cabbage.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Set the green bowl behind the cabbage there.", + "start_idx": 6138, + "end_idx": 6174 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the left from a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side hold on the left at a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "With the left hand, secure the doritos from the table using a side grasp on the left from a diagonal approach.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Pick up the doritos from the table using a side grip at the left from a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Take the doritos from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Grasp the doritos from the table using a side hold on the left from a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side hold.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Using the left hand, pick up the doritos from the table from a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "With the left hand, take the doritos from the table at the left from a diagonal angle.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 6174, + "end_idx": 6213 + }, + { + "text": "Put the doritos to the bottom left side of the table with the left hand facing forwards.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Using the left hand, place the doritos at the table's bottom-left side facing forwards.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Have the left arm set the doritos on the bottom-left area of the table with the front facing forward.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "With the left hand, position the doritos at the bottom left of the table, oriented forwards.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Set the doritos on the bottom-left side of the table facing forwards.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Place the doritos at the table's bottom-left area with the front facing forward.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Position the doritos on the bottom left of the table, oriented forwards.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Using the left hand, put the doritos on the bottom-left side of the table.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "With the left hand, place the doritos at the bottom left of the table.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Have the left arm set the doritos on the table's bottom-left area.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Put the doritos on the bottom-left side of the table.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Place the doritos at the bottom left of the table.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Set the doritos on the table's bottom-left area.", + "start_idx": 6213, + "end_idx": 6243 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Have the left arm pick the cabbage up from the table on a diagonal, holding it at the middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "With the left hand, collect the cabbage from the table diagonally by gripping its middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Take the cabbage from the table on a diagonal, holding the middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Grasp the cabbage from the table diagonally at its middle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Have the left arm pick up the cabbage from the table at a diagonal angle.", + "start_idx": 6318, + "end_idx": 6351 + }, + { + "text": "Place the cabbage with the left hand to the left side of the croissant facing left with the front as the reference point.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Using the left hand, place the cabbage on the croissant's left side with its front facing left.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Have the left arm set the cabbage to the left of the croissant, front oriented left.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "With the left hand, position the cabbage left of the croissant so the front points left.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Place the cabbage to the left of the croissant.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Set the cabbage on the croissant's left side.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Position the cabbage left of the croissant.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Put the cabbage beside the croissant on its left side.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Leave the cabbage to the left of the croissant.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Using the left hand, place the cabbage to the left of the croissant.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Have the left arm set the cabbage on the croissant's left side.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "With the left hand, position the cabbage beside the croissant.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Using the left hand, put the cabbage left of the croissant.", + "start_idx": 6351, + "end_idx": 6387 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Have the left arm pick the doritos up from the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "With the left hand, retrieve the doritos from the table using a side grip on the bottom left from a diagonal approach.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Take the doritos from the table with a side grasp at the bottom-left area from a diagonal angle.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Retrieve the doritos from the table using a side hold on the bottom left from a diagonal approach.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Have the left arm take the doritos from the table with a side grip.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "With the left hand, retrieve the doritos from the table via a side grasp.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Pick up the doritos from the table from a diagonal angle.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 6387, + "end_idx": 6426 + }, + { + "text": "Put the doritos behind the cabbage with the left hand facing forwards.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Using the left hand, place the doritos behind the cabbage with the front facing forwards.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Have the left arm set the doritos behind the cabbage, oriented forwards.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "With the left hand, position the doritos behind the cabbage so the front faces forward.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Place the doritos behind the cabbage with the front facing forwards.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Set the doritos behind the cabbage, facing forwards.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Position the doritos behind the cabbage so the front points forward.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Using the left hand, put the doritos behind the cabbage.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Have the left arm place the doritos behind the cabbage.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "With the left hand, set the doritos behind the cabbage.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Put the doritos behind the cabbage.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Set the doritos behind the cabbage.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Position the doritos behind the cabbage.", + "start_idx": 6426, + "end_idx": 6453 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the right in a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip on the right at a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table with a right-side side grip at a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "With the left hand, secure the green bag of chips from the table using a side grasp on the right in a diagonal orientation.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip on the right at a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the right in a diagonal position.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Grasp the green bag of chips from the table at the right with a side grip in a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip on the right.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Have the left arm take the green bag of chips from the table using a side grasp at the right.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table at the right.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Take the green bag of chips from the table with the left hand in a diagonal orientation.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Pick up the green bag of chips from the table at the right in a diagonal angle.", + "start_idx": 6516, + "end_idx": 6552 + }, + { + "text": "Put the green bag of chips to the left of the doritos with the left hand facing forwards.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the doritos, front facing forward.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "With the left hand, position the green bag of chips left of the doritos so the front faces forward.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Place the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Set the green bag of chips left of the doritos, keeping the front facing forward.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Position the green bag of chips to the left of the doritos with the front pointed forward.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the doritos.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Have the left arm set the green bag of chips left of the doritos.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the doritos.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Place the green bag of chips to the left of the doritos.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Set the green bag of chips left of the doritos.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Position the green bag of chips to the left of the doritos.", + "start_idx": 6552, + "end_idx": 6588 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left, angled diagonally.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Have the left arm retrieve the pink bowl from the table using a lip grasp on the bottom left at a diagonal.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Take the pink bowl from the table with a lip grasp at the bottom left, angled diagonally.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Have the left arm retrieve the pink bowl from the table with a lip hold.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 6588, + "end_idx": 6624 + }, + { + "text": "Put the pink bowl in front of the green bag of chips with the left hand.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Using the left hand, place the pink bowl in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Have the left arm set the pink bowl down in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "With the left hand, position the pink bowl in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Place the pink bowl in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Set the pink bowl in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Position the pink bowl in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Put the pink bowl with the left hand.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Using the left hand, place the pink bowl.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Have the left arm set down the pink bowl.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Place the pink bowl.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Set down the pink bowl in front of the green bag of chips.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Position the pink bowl.", + "start_idx": 6624, + "end_idx": 6663 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "With the left hand, collect the cabbage from the table, angled diagonally and gripped at the middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "From the table, collect the cabbage at a diagonal angle by grasping its middle.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Use the left hand to pick up the cabbage from the table.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "From the table, retrieve the cabbage.", + "start_idx": 6663, + "end_idx": 6696 + }, + { + "text": "Put the cabbage to the top side of the table with the left hand facing top right with the front as the reference point.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Using the left hand, place the cabbage on the top side of the table with its front facing the top right.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Have the left arm set the cabbage at the table's top side, front oriented toward the top right.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "With the left hand, position the cabbage on the top side of the table so the front faces top right.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Place the cabbage on the top side of the table with its front facing the top right.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Set the cabbage at the top side of the table with the front oriented toward the top right.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Position the cabbage on the table's top side so its front points to the top right.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Using the left hand, put the cabbage on the top side of the table.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "With the left hand, set the cabbage at the table's top side.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Have the left arm place the cabbage on the top side of the table.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Place the cabbage on the top side of the table.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Set the cabbage at the table's top side.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "The cabbage goes on the top side of the table.", + "start_idx": 6696, + "end_idx": 6726 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Have the left arm pick up the green bowl from the table using a diagonal lip hold at the bottom left.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Take the green bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Grasp the green bowl from the table by the bottom-left lip diagonally.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Using the left hand, pick up the green bowl from the table.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Have the left arm take the green bowl from the table.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "With the left hand, grasp the green bowl from the table.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Take the green bowl from the table using the left hand.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 6873, + "end_idx": 6909 + }, + { + "text": "Put the green bowl to the top side of the table with the left hand.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Using the left hand, place the green bowl on the top side of the table right side up.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Have the left arm set the green bowl at the table's top side, keeping it upright.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "With the left hand, position the green bowl on the top side of the table, upright from the front.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Place the green bowl on the top side of the table right side up.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Set the green bowl at the table's top side, keeping it upright.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Position the green bowl on the top side of the table in an upright orientation.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Using the left hand, put the green bowl on the top side of the table.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "With the left hand, place the green bowl at the table's top side.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Have the left arm set the green bowl on the top side of the table.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Put the green bowl on the top side of the table.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Set the green bowl at the table's top side.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "The green bowl goes on the top side of the table.", + "start_idx": 6909, + "end_idx": 6945 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Have the left hand take the pink bowl from the table with a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a lip hold at the bottom left on a diagonal approach.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Take the pink bowl from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Have the left hand take the pink bowl from the table using a lip grasp.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "With the left hand, grasp the pink bowl from the table with a lip hold.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Take the pink bowl from the table with the left hand from the bottom left at a diagonal angle.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Grasp the pink bowl from the table with the left hand on a diagonal approach at the bottom left.", + "start_idx": 6945, + "end_idx": 6984 + }, + { + "text": "Put the pink bowl to the top right side of the table with the left hand.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Using the left hand, place the pink bowl on the table's top right side right side up, with the front facing forward.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Have the left arm set the pink bowl at the table's upper-right area, upright with its front toward the front.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "With the left hand, position the pink bowl on the top right of the table, keeping it right side up and the front forward.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Place the pink bowl on the table's top right side, right side up with the front facing forward.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Set the pink bowl at the upper-right side of the table, upright and with its front toward the front.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Position the pink bowl on the top right of the table, keeping it right side up and the front forward.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Using the left hand, put the pink bowl on the table's top right side.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "With the left hand, place the pink bowl at the upper-right area of the table.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Have the left arm set the pink bowl on the top right of the table.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Place the pink bowl on the table's top right side.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Set the pink bowl at the upper-right area of the table.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Position the pink bowl on the top right of the table.", + "start_idx": 6984, + "end_idx": 7023 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table using a left-side hold at a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "With the left arm, seize the green bag of chips from the table in a side grasp on the left at a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Take the green bag of chips from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Grasp the green bag of chips from the table at the left with a side hold in a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "With the left arm, take the green bag of chips from the table using a side grasp on the left.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table with a side hold.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at the left in a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "With the left arm, take the green bag of chips from the table in a diagonal angle.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 7095, + "end_idx": 7140 + }, + { + "text": "Put the green bag of chips to the left of the cabbage with the left hand facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the cabbage with its front facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Have the left arm set the green bag of chips left of the cabbage, front facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "With the left hand, position the green bag of chips to the cabbage's left, facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Place the green bag of chips to the left of the cabbage with its front facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Set the green bag of chips left of the cabbage, front facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Position the green bag of chips to the cabbage's left with the front facing forwards.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the cabbage.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Have the left arm set the green bag of chips left of the cabbage.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "With the left hand, position the green bag of chips to the cabbage's left.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Put the green bag of chips to the left of the cabbage.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Set the green bag of chips to the cabbage's left.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Place the green bag of chips left of the cabbage.", + "start_idx": 7140, + "end_idx": 7167 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "With the left hand, retrieve the croissant from the table by gripping the middle at a diagonal angle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach, holding its middle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Take the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 7236, + "end_idx": 7278 + }, + { + "text": "Place the croissant to the left of the green bag of chips with the left hand.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Using the left hand, set the croissant to the left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Have the left arm place the croissant on the left side of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "With the left hand, position the croissant left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Place the croissant to the left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Set the croissant on the left side of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Position the croissant left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "The croissant goes to the left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Put the croissant beside the green bag of chips on its left side.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Arrange the croissant to the green bag of chips' left.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Move the croissant to the left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Set the croissant left of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Place the croissant on the left side of the green bag of chips.", + "start_idx": 7278, + "end_idx": 7305 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left diagonally.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Have the left arm grasp the green bowl from the table by the bottom-left diagonal using a lip hold.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "With the left hand, secure the green bowl from the table in a lip grasp at the bowl's bottom-left diagonal.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Take the green bowl from the table using a lip hold at the bottom-left diagonal.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Grasp the green bowl from the table with a lip grasp at the bottom left diagonal.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip hold.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Have the left arm pick up the green bowl from the table.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Pick up the green bowl from the table at the bottom-left diagonal.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Using the left hand, grasp the green bowl from the table.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 7377, + "end_idx": 7407 + }, + { + "text": "Put the green bowl to the bottom left side of the table with the left hand.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Using the left hand, place the green bowl on the table's bottom-left side, right side up with the front forward.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Have the left arm set the green bowl at the bottom left area of the table, keeping it upright and the front facing forward.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "With the left hand, position the green bowl on the bottom-left side of the table, upright with its front toward the front.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Place the green bowl on the bottom-left side of the table, right side up with the front facing forward.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Set the green bowl at the table's bottom-left side, upright with the front forward.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Position the green bowl on the bottom left area of the table, keeping it right side up and the front toward the front.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Using the left hand, put the green bowl on the table's bottom-left side.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "With the left hand, set the green bowl at the bottom left of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Have the left arm place the green bowl on the bottom-left side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Place the green bowl on the bottom-left side of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Set the green bowl at the table's bottom-left area.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Position the green bowl on the bottom left of the table.", + "start_idx": 7407, + "end_idx": 7443 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the left in a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table using a side hold on the left at a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "With the left hand, seize the green bag of chips from the table in a diagonal angle using a left-side grip.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the left in a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Take the green bag of chips from the table with a side hold on the left at a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Grasp the green bag of chips from the table with a left-side grip in a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the left.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a side hold on the left.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Have the left hand grasp the green bag of chips from the table.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Using a side grip at the left, take the green bag of chips from the table.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "With the left hand, pick up the green bag of chips from the table in a diagonal angle.", + "start_idx": 7443, + "end_idx": 7479 + }, + { + "text": "Put the green bag of chips to the left of the doritos with the left hand facing forwards.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Have the left hand set the green bag of chips to the left of the doritos, front facing forward.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the doritos so it faces forward.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Place the green bag of chips to the left of the doritos with its front facing forward.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Set the green bag of chips to the left of the doritos facing forward.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Position the green bag of chips to the left of the doritos with the front forward.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the doritos.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Have the left hand set the green bag of chips to the left of the doritos.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the doritos.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Put the green bag of chips to the left of the doritos.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Arrange the green bag of chips to the left of the doritos.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Leave the green bag of chips to the left of the doritos.", + "start_idx": 7479, + "end_idx": 7506 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle from the middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Have the left arm take hold of the croissant from the table diagonally at its middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "With the left hand, grasp the croissant from the table at a diagonal angle, contacting the middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle from the middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Grasp the croissant from the table diagonally from the middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Take the croissant from the table at a diagonal angle from its middle.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 7563, + "end_idx": 7605 + }, + { + "text": "Place the croissant to the right of the green bowl with the left hand.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Using the left hand, set the croissant to the right of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Have the left arm place the croissant on the right side of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "With the left hand, position the croissant to the green bowl's right.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Place the croissant to the right of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Set the croissant on the right side of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Position the croissant to the green bowl's right.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Put the croissant just right of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Move the croissant to the right of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Arrange the croissant on the bowl's right side.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Have the croissant placed to the right of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "To the right of the green bowl, place the croissant.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "The croissant goes to the right of the green bowl.", + "start_idx": 7605, + "end_idx": 7635 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom with a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Have the left arm grasp the green bowl from the table by its bottom edge with a lip hold at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "With the left hand, collect the green bowl from the table using a bottom lip grasp on a diagonal.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Take the green bowl from the table with a lip grip at the bottom at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Grasp the green bowl from the table by the bottom edge with a lip hold at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "The green bowl from the table should be picked up using a diagonal bottom lip grasp.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "With the left hand, grasp the green bowl from the table using a lip hold at the bottom.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Have the left arm take the green bowl from the table with a bottom lip grasp.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Pick up the green bowl from the table with the left hand at a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Grasp the green bowl from the table at the bottom with a diagonal angle.", + "start_idx": 7635, + "end_idx": 7662 + }, + { + "text": "Put the green bowl behind the cabbage with the left hand right side up.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Using the left hand, place the green bowl behind the cabbage right side up.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Have the left arm set the green bowl behind the cabbage with its open side facing up.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "With the left hand, position the green bowl behind the cabbage upright.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Place the green bowl behind the cabbage right side up.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Set the green bowl behind the cabbage with its open side facing up.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Position the green bowl behind the cabbage upright.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Using the left hand, put the green bowl behind the cabbage.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Have the left arm place the green bowl behind the cabbage.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "With the left hand, set the green bowl behind the cabbage.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Put the green bowl behind the cabbage.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Place the green bowl behind the cabbage.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Set the green bowl behind the cabbage.", + "start_idx": 7662, + "end_idx": 7704 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Using the left hand, take the croissant from the table at a diagonal angle with a whole-object grasp.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Have the left arm pick the croissant up from the table diagonally, enclosing the entire item.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "With the left hand, collect the croissant from the table on a diagonal using a full-object hold.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Take the croissant from the table diagonally with a whole-object grasp.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Collect the croissant from the table at a diagonal angle using a full-object hold.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Have the left arm collect the croissant from the table.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle with the left hand.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Take the croissant from the table diagonally with the left hand.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 7704, + "end_idx": 7737 + }, + { + "text": "Put the croissant in front of the green bag of chips with the left hand.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Using the left hand, place the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Have the left arm set the croissant down in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "With your left hand, position the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Place the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Set the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Put the croissant down in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Position the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Arrange the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "The croissant goes in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Move the croissant to a spot in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Transfer the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Rest the croissant in front of the green bag of chips.", + "start_idx": 7736, + "end_idx": 7766 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom left diagonally.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom left diagonal.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Have the left arm pick up the green bowl from the table with a lip grasp on the bottom-left diagonal.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "With the left hand, grasp the green bowl from the table using the lip at the bottom left diagonally.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom left diagonal.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Take the green bowl from the table with a lip grasp on the bottom-left diagonal.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Grasp the green bowl from the table using the lip at the bottom left diagonally.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Have the left arm take the green bowl from the table with a lip grasp.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "With the left hand, grasp the green bowl from the table using the lip.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom left diagonal.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Have the left arm take the green bowl from the table at the bottom-left diagonal.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 7766, + "end_idx": 7802 + }, + { + "text": "Put the green bowl to the left side of the table with the left hand.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Using the left hand, place the green bowl on the table's left side, right side up with the front oriented correctly.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Have the left arm set the green bowl on the left side of the table, keeping it right side up and aligned from the front.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "With the left hand, position the green bowl at the table's left side, right side up and front-referenced.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Place the green bowl on the left side of the table.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Set the green bowl at the table's left side.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "The green bowl goes on the left side of the table.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Position the green bowl on the table's left side, keeping it right side up.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Set the green bowl at the left side of the table with its front orientation maintained.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Put the green bowl on the left side of the table upright.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Using the left hand, place the green bowl on the left side of the table.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "With the left hand, set the green bowl at the table's left side.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Have the left arm position the green bowl on the table's left side.", + "start_idx": 7803, + "end_idx": 7842 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pick, holding it at the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal angle by grasping the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Take the cabbage from the table on a diagonal angle, holding the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pick at the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Have the left arm pick up the cabbage from the table at the middle.", + "start_idx": 7841, + "end_idx": 7880 + }, + { + "text": "Put the cabbage to the right of the croissant with the left hand facing bottom right from the front.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Using the left hand, place the cabbage to the right of the croissant with its front facing bottom right.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Have the left arm set the cabbage to the croissant's right, oriented bottom right from the front.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "With the left hand, position the cabbage right of the croissant, front facing the bottom-right direction.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Place the cabbage to the right of the croissant with its front facing bottom right.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Set the cabbage on the right side of the croissant, with the front oriented bottom right.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Position the cabbage to the croissant's right, front facing bottom right.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Using the left hand, put the cabbage to the right of the croissant.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Have the left arm place the cabbage to the croissant's right.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "With the left hand, set the cabbage on the right side of the croissant.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Place the cabbage to the right of the croissant.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Set the cabbage on the right side of the croissant.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Position the cabbage to the croissant's right.", + "start_idx": 7881, + "end_idx": 7911 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "With the left hand, retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, holding the middle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Retrieve the croissant from the table by grasping its middle at a diagonal angle.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 7989, + "end_idx": 8028 + }, + { + "text": "Put the croissant to the right of the pink bowl with the left hand.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Using the left hand, place the croissant to the right of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Have the left arm set the croissant down to the right of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "With the left hand, position the croissant on the right side of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Place the croissant to the right of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Set the croissant down to the right of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Position the croissant on the right side of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Move the croissant so it is to the right of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "The croissant goes to the right of the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Put the croissant by the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Set the croissant next to the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Place the croissant beside the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Position the croissant near the pink bowl.", + "start_idx": 8028, + "end_idx": 8058 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by grasping its middle at a diagonal angle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "The cabbage from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "With the left arm, take the cabbage from the table.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Have the left hand retrieve the cabbage from the table.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Take the cabbage from the table by grasping the middle.", + "start_idx": 8136, + "end_idx": 8169 + }, + { + "text": "Place the cabbage to the left of the croissant with the left hand facing left front.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Using the left hand, set the cabbage to the left of the croissant with its front facing left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Have the left arm place the cabbage left of the croissant, front turned to the left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "With the left hand, position the cabbage to the croissant's left, oriented so the front points left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Place the cabbage to the left of the croissant with its front facing left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Set the cabbage left of the croissant, with the front facing left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Position the cabbage to the croissant's left, front pointed left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Using the left hand, place the cabbage to the left of the croissant.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "With the left hand, set the cabbage left of the croissant.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Have the left arm position the cabbage to the croissant's left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Put the cabbage to the left of the croissant.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Using the left hand, put the cabbage to the croissant's left.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Arrange the cabbage left of the croissant.", + "start_idx": 8169, + "end_idx": 8199 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom diagonally.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Using the left hand, take the green bowl from the table with a lip grip at the bottom diagonally.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "With the left hand, grasp the green bowl off the table using a bottom lip grip on a diagonal.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Have the left arm pick the green bowl up from the table with a diagonal lip grasp at the bottom.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom diagonally.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Take the green bowl off the table with a lip grasp at the bottom on a diagonal.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Grasp the green bowl from the table with a diagonal bottom lip grip.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "With the left hand, take the green bowl off the table using a lip grasp.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip grip.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Using the left hand, pick up the green bowl from the table diagonally.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Take the green bowl from the table with the left hand.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 8199, + "end_idx": 8244 + }, + { + "text": "Put the green bowl in front of the doritos with the left hand.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Using the left hand, place the green bowl in front of the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Have the left arm set the green bowl down in front of the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "With the left hand, position the green bowl before the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Place the green bowl in front of the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Set the green bowl down in front of the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Position the green bowl before the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "The green bowl goes in front of the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Using the left hand, put the green bowl by the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Have the left arm place the green bowl near the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Set the green bowl near the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "With the left hand, move the green bowl to the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "The green bowl should be placed by the doritos.", + "start_idx": 8244, + "end_idx": 8274 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the bottom left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table using a side grasp at the bottom-left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table in a side hold at the bottom-left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Take the green bag of chips from the table with a side grasp at the bottom-left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "The green bag of chips should be picked up from the table in a side hold at the bottom left diagonal angle.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "From the table, take the green bag of chips with the left hand using a side grasp.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "The green bag of chips should be grasped from the table.", + "start_idx": 8274, + "end_idx": 8319 + }, + { + "text": "Put the green bag of chips to the left of the green bowl with the left hand facing forwards.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green bowl, facing forwards.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the green bowl with its front facing forward.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "With the left hand, position the green bag of chips left of the green bowl so the front faces forwards.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Place the green bag of chips to the left of the green bowl with its front facing forwards.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Set the green bag of chips left of the green bowl, facing forwards.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Position the green bag of chips to the left of the green bowl with the front facing forward.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green bowl.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Have the left arm set the green bag of chips left of the green bowl.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "With the left hand, position the green bag of chips to the left of the green bowl.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Put the green bag of chips to the left of the green bowl.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Set the green bag of chips left of the green bowl.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Position the green bag of chips to the left of the green bowl.", + "start_idx": 8319, + "end_idx": 8349 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp at the bottom left from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Using the left arm, grasp the doritos from the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Have the left hand retrieve the doritos from the table with a side grip on the bottom left from a diagonal approach.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom left from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Take the doritos from the table with a side grasp on the bottom-left area at a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Grasp the doritos from the table with a side hold at the bottom left from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "With the left hand, pick up the doritos from the table using a side grip.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Using the left arm, take the doritos from the table with a side grasp.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Have the left hand grasp the doritos from the table with a side hold.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "From the table, pick up the doritos with the left hand at the bottom left from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Take the doritos from the table with the left hand from a diagonal angle.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Using the left hand, grasp the doritos from the table.", + "start_idx": 8349, + "end_idx": 8391 + }, + { + "text": "Put the doritos in front of the green bowl with the left hand facing forwards.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Using the left hand, place the doritos in front of the green bowl facing forwards.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Have the left arm set the doritos in front of the green bowl with the front facing forward.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "With the left hand, position the doritos before the green bowl, oriented forward.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Place the doritos in front of the green bowl facing forwards.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Set the doritos before the green bowl with the front facing forward.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Position the doritos in front of the green bowl oriented forward.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Using the left hand, put the doritos in front of the green bowl.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Have the left arm place the doritos before the green bowl.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "With the left hand, set the doritos in front of the green bowl.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Put the doritos in front of the green bowl.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Set the doritos before the green bowl.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Place the doritos in front of the green bowl.", + "start_idx": 8391, + "end_idx": 8424 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left with a diagonal pick angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip on the left at a diagonal pick angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Have the left arm grasp the doritos from the table from the left side using a side grip with a diagonal approach.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "With the left hand, seize the doritos from the table by the left side using a side grasp at a diagonal angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Pick up the doritos from the table with a side grip on the left at a diagonal angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Take the doritos from the table using a side grasp from the left with a diagonal pick angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "The doritos from the table should be grasped from the left with a side grip at a diagonal angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "With the left hand, take the doritos from the table using a side grasp.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Have the left arm collect the doritos from the table with a side grip.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Using the left hand, pick up the doritos from the table from the left side.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Pick up the doritos from the table with a diagonal pick angle.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Take the doritos from the table from the left side.", + "start_idx": 8493, + "end_idx": 8529 + }, + { + "text": "Put the doritos to the top side of the table with the left hand facing forwards.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Using the left hand, place the doritos on the top side of the table with the front facing forward.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Have the left arm set the doritos on the table's top side, oriented forward.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "With the left hand, position the doritos at the top side of the table so the front faces forward.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Place the doritos on the top side of the table with the front facing forward.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Set the doritos on the table's top side, keeping the front oriented forward.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Position the doritos at the top side of the table with its front pointed forward.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Using the left hand, put the doritos on the top side of the table.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "With the left arm, place the doritos at the top side of the table.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Have the left hand set the doritos on the table's top side.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Put the doritos on the top side of the table.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Set the doritos at the top side of the table.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Place the doritos on the table's top side.", + "start_idx": 8529, + "end_idx": 8556 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at the left side using a side grasp diagonally.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Using the left hand, take the green bag of chips from the table at its left side with a diagonal side grasp.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Have the left arm pick up the green bag of chips from the table on the left side using a side grasp at a diagonal angle.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table at the left side in a diagonal side hold.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Pick up the green bag of chips from the table at the left side using a diagonal side grasp.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Take the green bag of chips from the table on its left side with a side grasp diagonally.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Grasp the green bag of chips from the table at the left side in a diagonal side grip.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grasp.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a diagonal side grasp.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table with a side hold.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at the left side.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Take the green bag of chips from the table on the left side.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Pick up the green bag of chips from the table diagonally.", + "start_idx": 8556, + "end_idx": 8598 + }, + { + "text": "Put the green bag of chips to the bottom side of the table with the left hand facing forwards.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Using the left hand, place the green bag of chips at the bottom side of the table facing forwards.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Have the left arm set the green bag of chips on the bottom side of the table with its front facing forward.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "With the left hand, position the green bag of chips by the bottom side of the table so it faces forwards.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Place the green bag of chips at the bottom side of the table facing forwards.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Set the green bag of chips on the bottom side of the table with its front facing forward.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Position the green bag of chips by the bottom side of the table so it faces forwards.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Using the left hand, place the green bag of chips at the bottom side of the table.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "With the left hand, set the green bag of chips on the bottom side of the table.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Have the left arm position the green bag of chips by the bottom side of the table.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Put the green bag of chips at the bottom side of the table.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Set the green bag of chips on the bottom side of the table.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Using the left hand, place the green bag of chips by the bottom side of the table.", + "start_idx": 8598, + "end_idx": 8628 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the left from a diagonal angle.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip from the left at a diagonal angle.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "From the left side, have the left hand grasp the doritos on the table with a side hold at a diagonal angle.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "With a diagonal approach from the left, the left hand should seize the doritos from the table using a side grasp.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Pick up the doritos from the table using a side grip from the left at a diagonal angle.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "From the left at a diagonal angle, grasp the doritos from the table with a side hold.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Take the doritos from the table with a side grasp, approaching from the left diagonally.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Have the left hand take the doritos from the table with a side hold.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Using the left hand, grasp the doritos from the table with a side grasp.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "With the left hand, pick up the doritos from the table from the left at a diagonal angle.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Take the doritos from the table with the left hand.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Grab the doritos from the table using a side grip.", + "start_idx": 8868, + "end_idx": 8892 + }, + { + "text": "Put the doritos in front of the cabbage with the left hand facing forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Using the left hand, place the doritos in front of the cabbage with the package facing forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Have the left arm set the doritos down in front of the cabbage, oriented forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "With the left hand, position the doritos before the cabbage so it faces forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Place the doritos in front of the cabbage with the package facing forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Set the doritos down before the cabbage facing forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Position the doritos in front of the cabbage, oriented forwards.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Using the left hand, put the doritos in front of the cabbage.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Have the left arm place the doritos before the cabbage.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "With the left hand, set the doritos down in front of the cabbage.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Put the doritos in front of the cabbage.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Place the doritos before the cabbage.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Have the left arm position the doritos in front of the cabbage.", + "start_idx": 8892, + "end_idx": 8922 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "With the left gripper, go to the home pose.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Return to the home position.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Move back to home.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Go to the home pose.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Reset to home.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Return home.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Move to the home position.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Head back to home.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Resume the home pose.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Home position next.", + "start_idx": 8922, + "end_idx": 8949 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Using the right hand, collect the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Have the right arm take the croissant from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "With the right hand, secure the croissant from the table diagonally around the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Take the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "From the table, retrieve the croissant diagonally with a whole-object hold.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Approach the croissant on the table diagonally and grasp the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Using the right hand, pick up the croissant from the table grasping the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "With the right hand, take the croissant from the table using a whole-object grasp.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Have the right arm collect the croissant from the table around the entire object.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Using the right hand, get the croissant from the table.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "From the table, take the croissant diagonally.", + "start_idx": 114, + "end_idx": 141 + }, + { + "text": "Put the croissant to the right of the pink bowl with the right hand.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Using the right hand, place the croissant to the right of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Have the right arm set the croissant down to the right of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "With the right hand, position the croissant on the right side of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Place the croissant to the right of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Set the croissant down to the right of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Position the croissant on the right side of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Move the croissant to the pink bowl's right side.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Let the croissant end up to the right of the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Using the right hand, place the croissant by the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "With the right hand, set the croissant next to the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Have the right arm place the croissant beside the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Put the croissant beside the pink bowl.", + "start_idx": 141, + "end_idx": 168 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom right in a diagonal pick angle.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the bottom right in a diagonal pick angle.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Have the right hand grasp the doritos from the table at the bottom right with a side hold, using a diagonal approach.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "With the right hand, seize the doritos from the table using a side grasp on the bottom-right area at a diagonal angle.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom right in a diagonal pick angle.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Take the doritos from the table with a side hold at the bottom right in a diagonal approach.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Grasp the doritos from the table at the bottom right with a side grasp and a diagonal pick angle.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Have the right hand take the doritos from the table.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Pick up the doritos from the table at the bottom right in a diagonal pick angle.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Take the doritos from the table with the right hand at the bottom right in a diagonal approach.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Grasp the doritos from the table using a side grip.", + "start_idx": 324, + "end_idx": 351 + }, + { + "text": "Put the doritos inside the pink bowl right side up with the front facing forward using the right hand.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Using the right hand, place the doritos inside the pink bowl right side up with the front facing forward.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Have the right hand set the doritos in the pink bowl, keeping them upright and with the front facing forward.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "With the right hand, position the doritos inside the pink bowl so they are right side up and the front points forward.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Put the doritos into the pink bowl right side up with the front facing forward.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Set the doritos inside the pink bowl upright with the front facing forward.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Place the doritos in the pink bowl with the front facing forward and right side up.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Using the right hand, put the doritos inside the pink bowl.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "With the right hand, place the doritos into the pink bowl.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Have the right hand set the doritos in the pink bowl.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Put the doritos in the pink bowl.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Place the doritos inside the pink bowl.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Set the doritos into the pink bowl.", + "start_idx": 351, + "end_idx": 381 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Using the right hand, collect the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Have the right hand pick the croissant up from the table on a diagonal approach while enclosing the whole object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "With the right hand, take the croissant from the table diagonally, holding the entire object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Take the croissant from the table diagonally while holding the whole object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "From the table, grasp the croissant at a diagonal angle around the entire object.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "From the table, collect the croissant with the right hand.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 447, + "end_idx": 474 + }, + { + "text": "Put the croissant to the right of the cabbage with the right hand.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Using the right hand, place the croissant to the right of the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Have the right arm set the croissant down to the cabbage's right side.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "With the right hand, position the croissant on the right side of the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Place the croissant to the right of the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Set the croissant down to the right of the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Position the croissant on the cabbage's right side.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Move the croissant to the area right of the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "The croissant goes to the right of the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Using the right hand, place the croissant by the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "With the right hand, set the croissant beside the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Have the right arm move the croissant next to the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Put the croissant beside the cabbage.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the entire object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "With the right hand, retrieve the cabbage from the table on a diagonal approach, holding the entire object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the entire object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Take the cabbage from the table on a diagonal approach while holding the whole object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, enclosing the entire object.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Take the cabbage from the table with the whole object grasp.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Get the cabbage from the table.", + "start_idx": 570, + "end_idx": 591 + }, + { + "text": "Put the cabbage to the bottom side of the table with the right hand facing bottom left from the front.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Using the right hand, place the cabbage on the table's bottom side, facing bottom left from the front.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Have the right arm set the cabbage at the bottom side of the table with its front facing bottom left.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "With the right hand, position the cabbage on the bottom side of the table, oriented bottom left from the front.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Place the cabbage on the bottom side of the table.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Set the cabbage at the bottom side of the table.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "The cabbage goes on the table's bottom side.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Put the cabbage on the bottom side of the table with the right hand.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Using the right hand, place the cabbage at the bottom side of the table.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Have the right arm set the cabbage on the table's bottom side.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Put the cabbage on the bottom side of the table facing bottom left from the front.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Set the cabbage at the bottom side of the table, oriented bottom left from the front.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Position the cabbage on the table's bottom side with its front facing bottom left.", + "start_idx": 591, + "end_idx": 621 + }, + { + "text": "Pick up the doritos from the pink bowl with the right hand using a side grip at the top right diagonal angle.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Using the right hand, take the doritos from the pink bowl with a side grasp at the top-right diagonal angle.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Have the right arm retrieve the doritos from the pink bowl using a side hold at the top-right diagonal orientation.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "With the right hand, grasp the doritos from the pink bowl in a side grip at the top-right diagonal angle.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Take the doritos from the pink bowl using a side grasp at the top-right diagonal angle.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Grasp the doritos from the pink bowl with a side hold at the top-right diagonal orientation.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "The doritos from the pink bowl should be picked up using a side grip at the top-right diagonal angle.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Using the right hand, pick up the doritos from the pink bowl with a side grip.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Have the right arm take the doritos from the pink bowl using a side grasp.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "With the right hand, retrieve the doritos from the pink bowl.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Pick up the doritos from the pink bowl at the top-right diagonal angle.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "From the pink bowl, take the doritos at the top-right diagonal orientation.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Use the right hand to pick up the doritos from the pink bowl.", + "start_idx": 678, + "end_idx": 702 + }, + { + "text": "Put the doritos to the right of the cabbage with the right hand facing forwards.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Using the right hand, place the doritos to the right of the cabbage with the front facing forward.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Have the right arm set the doritos to the cabbage's right side, facing forwards.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "With the right hand, position the doritos right of the cabbage, front facing forward.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Place the doritos to the right of the cabbage with the front facing forward.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Set the doritos on the right side of the cabbage, facing forwards.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Position the doritos to the cabbage's right with the front pointed forward.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Using the right hand, put the doritos to the right of the cabbage.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Have the right arm place the doritos on the cabbage's right side.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "With the right hand, set the doritos to the right of the cabbage.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Place the doritos to the right of the cabbage.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Set the doritos on the cabbage's right side.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Position the doritos to the cabbage's right.", + "start_idx": 702, + "end_idx": 732 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Have the right arm take the croissant from the table with a diagonal approach while enclosing the whole item.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "With the right hand, collect the croissant from the table diagonally using a full-object grasp.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Take the croissant from the table with a diagonal approach and enclose the whole item.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "From the table, retrieve the croissant diagonally with a full grasp.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Have the right arm take the croissant from the table with a full-object grasp.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "With the right hand, collect the croissant from the table at a diagonal angle.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Take the croissant from the table diagonally.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "From the table, retrieve the croissant with the right hand.", + "start_idx": 789, + "end_idx": 816 + }, + { + "text": "Put the croissant in between the green bowl and the pink bowl with the right hand.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Using the right hand, place the croissant between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Have the right arm set the croissant in the space between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "With the right hand, position the croissant midway between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Place the croissant between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Set the croissant in between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "The croissant goes between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Position the croissant between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Arrange the croissant in the gap between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Leave the croissant between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Put the croissant in between the two bowls.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Set the croissant between the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Place the croissant in the space separating the green bowl and the pink bowl.", + "start_idx": 816, + "end_idx": 846 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Using the right arm, grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Have the right hand pick the doritos up from the table with a side grip at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "The doritos should be picked up from the table with a side grasp at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "With the right hand, pick up the doritos from the table using a side grip.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Using the right arm, take the doritos from the table with a side grasp.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Have the right hand grasp the doritos from the table with a side hold.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Using the right hand, take the doritos from the table at the right in a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Have the right arm grasp the doritos from the table on the right at a diagonal angle.", + "start_idx": 966, + "end_idx": 990 + }, + { + "text": "Put the doritos to the right of the pink bowl with the right hand facing forwards.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Using the right hand, place the doritos to the right of the pink bowl with the front facing forward.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Have the right arm set the doritos to the right of the pink bowl, oriented forward.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "With the right hand, position the doritos to the right of the pink bowl so the front faces forwards.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Place the doritos to the right of the pink bowl with the front facing forward.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Set the doritos to the right of the pink bowl, oriented forward.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Position the doritos to the right of the pink bowl so the front faces forwards.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Using the right hand, put the doritos to the right of the pink bowl.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "With the right hand, place the doritos to the right of the pink bowl.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Have the right arm set the doritos to the right of the pink bowl.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Put the doritos to the right of the pink bowl.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Place the doritos beside the pink bowl on its right side.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Position the doritos on the right side of the pink bowl.", + "start_idx": 990, + "end_idx": 1020 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "With the right arm, grasp the pink bowl off the table by its bottom edge using a lip grasp at a diagonal angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Have the right hand pick the pink bowl up from the table with a diagonal approach, securing the bottom with a lip grip.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Take the pink bowl off the table using a lip grasp on the bottom with a diagonal approach.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Grasp the pink bowl from the table by the bottom edge with a lip grip at a diagonal angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip grasp on the bottom.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Have the right arm remove the pink bowl from the table, gripping the bottom with the lip grasp.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a diagonal pick angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "With the right hand, take the pink bowl off the table at a diagonal angle.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 1140, + "end_idx": 1161 + }, + { + "text": "Place the pink bowl to the right of the green bowl with the right hand.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Using the right hand, set the pink bowl to the right of the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Have the right arm place the pink bowl on the green bowl's right side.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "With the right hand, position the pink bowl to the right of the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Place the pink bowl to the right of the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Set the pink bowl on the right side of the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Position the pink bowl just right of the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Put the pink bowl beside the green bowl on its right.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Using the right hand, place the pink bowl by the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Have the right arm set the pink bowl next to the green bowl.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Place the pink bowl beside the green bowl with the right hand.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Set the pink bowl to the green bowl's right with the right hand.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Position the pink bowl next to the green bowl with the right hand.", + "start_idx": 1161, + "end_idx": 1197 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the right from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Have the right arm grasp the doritos from the table using a side hold on the right at a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "With the right hand, secure the doritos from the table in a side grasp on the right from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Take the doritos from the table with a side grasp on the right from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Grasp the doritos from the table on the right with a side hold from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Have the right arm secure the doritos from the table with a side hold.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right from a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "From the table, take the doritos with the right hand on the right at a diagonal angle.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Use the right hand to grasp the doritos from the table from a diagonal angle on the right.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Put the doritos to the right of the pink bowl with the right hand facing forwards.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Using the right hand, place the doritos to the right of the pink bowl with the front facing forward.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Have the right hand set the doritos to the right of the pink bowl, oriented forward.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "With the right hand, position the doritos to the right of the pink bowl so the front faces forwards.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Place the doritos to the right of the pink bowl with the front facing forward.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Set the doritos to the right of the pink bowl, oriented forward.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Position the doritos to the right of the pink bowl so the front faces forwards.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Using the right hand, put the doritos to the right of the pink bowl.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Have the right hand place the doritos to the right of the pink bowl.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "With the right hand, set the doritos to the right of the pink bowl.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Put the doritos to the right of the pink bowl.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Set the doritos to the right of the pink bowl.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Position the doritos to the right of the pink bowl.", + "start_idx": 1290, + "end_idx": 1317 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the right in a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Have the right hand grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp on the right in a diagonal orientation.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right in a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Take the doritos from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Grasp the doritos from the table with a side hold on the right in a diagonal orientation.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Have the right hand grasp the doritos from the table with a side hold.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Using the right hand, pick up the doritos from the table at the right in a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Pick up the doritos from the table with the right hand.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Take the doritos from the table in a diagonal angle.", + "start_idx": 1512, + "end_idx": 1542 + }, + { + "text": "Put the doritos inside the pink bowl with the right hand facing forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Using the right hand, place the doritos inside the pink bowl with the front facing forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Have the right arm put the doritos into the pink bowl, front oriented forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "With the right hand, set the doritos in the pink bowl so the front faces forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Put the doritos inside the pink bowl.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Place the doritos into the pink bowl.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Set the doritos in the pink bowl.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Using the right hand, put the doritos inside the pink bowl.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Have the right arm place the doritos into the pink bowl.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "With the right hand, set the doritos in the pink bowl.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Put the doritos inside the pink bowl with the front facing forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Place the doritos into the pink bowl, front pointed forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Set the doritos in the pink bowl so the front faces forwards.", + "start_idx": 1542, + "end_idx": 1563 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the top right with a diagonal angle.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the top right and a diagonal angle.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Have the right hand take the doritos from the table by the top-right area with a diagonal approach using a side grasp.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "With the right hand, grasp the doritos from the table at the top right with a side hold, keeping the angle diagonal.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Pick up the doritos from the table with a side grip at the top right and a diagonal angle.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Take the doritos from the table by the top-right area with a side grasp at a diagonal angle.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Grasp the doritos from the table at the top right using a side hold on a diagonal.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Have the right hand grasp the doritos from the table with a side hold.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Using the right hand, pick up the doritos from the table at the top right with a diagonal angle.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "With the right hand, take the doritos from the table by the top-right area on a diagonal.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 1677, + "end_idx": 1713 + }, + { + "text": "Put the doritos behind the pink bowl with the right hand facing top right relative to the front.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Using the right hand, place the doritos behind the pink bowl, oriented top right relative to the front.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Have the right arm set the doritos behind the pink bowl with the top facing front-top-right.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "With the right hand, position the doritos behind the pink bowl so it faces the top right from the front.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Place the doritos behind the pink bowl facing top right relative to the front.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Set the doritos behind the pink bowl with the top toward the front-right upper side.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Position the doritos behind the pink bowl so the front shows the top-right orientation.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "The doritos should go behind the pink bowl, facing top right from the front.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Using the right hand, put the doritos behind the pink bowl.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Have the right arm place the doritos behind the pink bowl.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "With the right hand, set the doritos behind the pink bowl.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Put the doritos behind the pink bowl.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "The doritos belong behind the pink bowl.", + "start_idx": 1713, + "end_idx": 1737 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "With the right hand, retrieve the cabbage from the table on a diagonal approach, taking hold of the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "From the table, retrieve the cabbage at a diagonal angle by the middle.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "From the table, collect the cabbage.", + "start_idx": 1797, + "end_idx": 1821 + }, + { + "text": "Put the cabbage to the right of the pink bowl with the right hand facing forwards.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "With the right hand, place the cabbage to the right of the pink bowl, facing forwards.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Have the right arm set the cabbage to the right of the pink bowl with its front facing forward.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Using the right hand, position the cabbage to the right of the pink bowl so it faces forwards.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Place the cabbage to the right of the pink bowl facing forwards.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Set the cabbage to the right of the pink bowl with its front forward.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Position the cabbage to the right of the pink bowl so it faces forward.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "With the right hand, put the cabbage to the right of the pink bowl.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Using the right hand, place the cabbage to the right of the pink bowl.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Have the right arm set the cabbage to the right of the pink bowl.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Put the cabbage to the right of the pink bowl.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Place the cabbage beside the pink bowl on its right side.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Set the cabbage on the right side of the pink bowl.", + "start_idx": 1821, + "end_idx": 1848 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a side grip at the bottom right from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a side grip at the bottom right from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a side hold on the bottom right at a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "With the right hand, secure the pink bowl from the table using a side grasp on the bottom-right area from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Pick up the pink bowl from the table using a side grip at the bottom right from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Take the pink bowl from the table with a side grasp on the bottom-right area from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right with a side hold from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a side grip.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "With the right hand, take the pink bowl from the table using a side grasp.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a side hold.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table at the bottom right from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "With the right hand, take the pink bowl from the table from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Pick up the pink bowl from the table at the bottom right from a diagonal angle.", + "start_idx": 2022, + "end_idx": 2043 + }, + { + "text": "Put the pink bowl behind the cabbage with the right hand.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Using the right hand, place the pink bowl behind the cabbage upright.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Have the right arm set the pink bowl behind the cabbage, keeping it right side up.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "With the right hand, position the pink bowl behind the cabbage so its front stays forward.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Place the pink bowl behind the cabbage upright.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Set the pink bowl behind the cabbage with its front facing forward.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Position the pink bowl behind the cabbage right side up.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Put the pink bowl behind the cabbage.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Arrange the pink bowl behind the cabbage.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Using the right hand, place the pink bowl behind the cabbage.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Have the right arm set the pink bowl behind the cabbage.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Position the pink bowl behind the cabbage with the right hand.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Set the pink bowl behind the cabbage.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping its middle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Have the right arm pick the cabbage up from the table with a diagonal approach at the center.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "With the right hand, collect the cabbage from the table by gripping the middle at a diagonal angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding its middle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "The cabbage should be picked up from the table at a diagonal angle from the middle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "With the right hand, take the cabbage from the table.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Have the right arm collect the cabbage from the table.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Pick up the cabbage from the table, grasping the middle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "From the table, take the cabbage with the right hand.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle.", + "start_idx": 2124, + "end_idx": 2151 + }, + { + "text": "Put the cabbage in between the green bowl and the doritos with the right hand facing bottom left from the front.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Using the right hand, place the cabbage between the green bowl and the doritos, oriented bottom-left from the front.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Have the right arm set the cabbage in between the green bowl and the doritos with its front facing bottom left.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "With the right hand, position the cabbage between the green bowl and the doritos so the front points bottom left.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Place the cabbage between the green bowl and the doritos with the front facing bottom left.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Set the cabbage in between the green bowl and the doritos, oriented bottom-left from the front.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Position the cabbage between the green bowl and the doritos so its front faces bottom left.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Using the right hand, put the cabbage between the green bowl and the doritos.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "With the right hand, set the cabbage in between the green bowl and the doritos.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Have the right arm place the cabbage between the green bowl and the doritos.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Put the cabbage between the green bowl and the doritos.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Place the cabbage in between the green bowl and the doritos.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Set the cabbage between the green bowl and the doritos.", + "start_idx": 2151, + "end_idx": 2181 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom in a diagonal angle.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom in a diagonal angle.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Have the right arm pick the pink bowl up from the table with a bottom lip grasp at a diagonal angle.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "With the right hand, grasp the pink bowl from the table at the bottom using a lip hold in a diagonal orientation.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom in a diagonal angle.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Grasp the pink bowl from the table with a bottom lip hold in a diagonal orientation.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "The pink bowl should be taken from the table with a lip grasp at the bottom at a diagonal angle.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip grasp at the bottom.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a bottom lip hold.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table in a diagonal angle.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "With the right hand, take the pink bowl from the table at a diagonal orientation.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2337, + "end_idx": 2358 + }, + { + "text": "Put the pink bowl in front of the green bag of chips with the right hand.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Using the right hand, place the pink bowl in front of the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Have the right arm set the pink bowl down in front of the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "With the right hand, position the pink bowl in front of the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Place the pink bowl in front of the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Set the pink bowl in front of the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Position the pink bowl in front of the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Put the pink bowl by the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Place the pink bowl next to the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Set the pink bowl near the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Using the right hand, put the pink bowl by the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Have the right arm place the pink bowl next to the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Set the pink bowl down beside the green bag of chips.", + "start_idx": 2358, + "end_idx": 2394 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal pick angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the right in a diagonal pick angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Have the right arm take the doritos from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "With the right hand, grasp the doritos from the table on the right using a side hold in a diagonal pick angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Pick up the doritos from the table with a side grip at the right in a diagonal pick angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Take the doritos from the table using a side grasp on the right at a diagonal angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Grasp the doritos from the table at the right with a side hold in a diagonal pick angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Have the right arm grasp the doritos from the table from the right side.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right in a diagonal pick angle.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "With the right hand, take the doritos from the table at a diagonal angle from the right.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Grasp the doritos from the table with the right hand.", + "start_idx": 2448, + "end_idx": 2475 + }, + { + "text": "Put the doritos to the right side of the table with the right hand facing forwards.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Using the right hand, place the doritos on the table's right side facing forwards.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Have the right arm set the doritos at the right side of the table with the front facing forward.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "With the right hand, position the doritos to the table's right side so it faces forwards.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Place the doritos on the right side of the table facing forwards.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Set the doritos at the table's right side with the front facing forward.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Position the doritos to the right side of the table, facing forwards.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Using the right hand, place the doritos on the right side of the table.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Have the right arm set the doritos at the table's right side.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "With the right hand, position the doritos to the table's right side.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Put the doritos to the right side of the table.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Set the doritos on the table's right side.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Using the right hand, put the doritos on the right side of the table.", + "start_idx": 2475, + "end_idx": 2502 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the right in a diagonal angle.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Have the right arm grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp on the right in a diagonal orientation.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right in a diagonal angle.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Take the doritos from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Grasp the doritos from the table with a side hold on the right in a diagonal orientation.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Have the right arm take the doritos from the table.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Pick up the doritos from the table at the right in a diagonal angle.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "At the right in a diagonal orientation, take the doritos from the table.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Get the doritos from the table.", + "start_idx": 2715, + "end_idx": 2739 + }, + { + "text": "Put the doritos to the right of the cabbage with the right hand facing forwards.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Using the right hand, place the doritos to the right of the cabbage, facing forwards.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Have the right arm set the doritos to the cabbage's right side with the front facing forward.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "With the right hand, position the doritos right of the cabbage so the front faces forwards.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Place the doritos to the right of the cabbage with the front facing forwards.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Set the doritos to the cabbage's right side, facing forwards.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Position the doritos right of the cabbage with its front facing forward.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Using the right hand, put the doritos to the right of the cabbage.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "With the right hand, place the doritos on the cabbage's right side.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Have the right arm set the doritos to the right of the cabbage.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Put the doritos to the right of the cabbage.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Set the doritos on the cabbage's right side.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Position the doritos to the cabbage's right.", + "start_idx": 2739, + "end_idx": 2763 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grasp at the right and a diagonal angle.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Have the right arm take the green bag of chips from the table using a side grip on the right at a diagonal angle.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table by the right side using a diagonal side hold.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the right and a diagonal angle.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Take the green bag of chips from the table using a side grasp on the right at a diagonal angle.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Grasp the green bag of chips from the table by its right side with a diagonal angle.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "With the right hand, take the green bag of chips from the table using a side grasp.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table from the side.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "With the right hand, take the green bag of chips from the table.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Grab the green bag of chips from the table.", + "start_idx": 2871, + "end_idx": 2907 + }, + { + "text": "Put the green bag of chips to the right of the croissant with the right hand facing forwards.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the croissant, facing forwards.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Have the right arm set the green bag of chips to the croissant's right side with its front facing forward.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "With the right hand, position the green bag of chips just right of the croissant, oriented forwards.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Place the green bag of chips to the right of the croissant, facing forwards.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Set the green bag of chips on the right side of the croissant with its front forward.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Position the green bag of chips just to the croissant's right, facing forward.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Using the right hand, put the green bag of chips to the right of the croissant.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "With the right hand, set the green bag of chips on the croissant's right side.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Have the right arm place the green bag of chips just right of the croissant.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Put the green bag of chips to the right of the croissant.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Arrange the green bag of chips on the right side of the croissant.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Place the green bag of chips beside the croissant on its right.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grip at the right and a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "With the right hand, secure the green bag of chips from the table using a right-side grip at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the right with a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Take the green bag of chips from the table using a right-side grasp at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Have the right arm take the green bag of chips from the table using a side hold.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table using a side grasp.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at the right with a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "With the right hand, take the green bag of chips from the table at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 3114, + "end_idx": 3138 + }, + { + "text": "Put the green bag of chips to the right of the pink bowl with the right hand facing forwards.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the pink bowl, facing forwards.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the pink bowl with its front facing forward.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the pink bowl so it faces forwards.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Place the green bag of chips to the right of the pink bowl, facing forwards.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Set the green bag of chips to the right of the pink bowl with the front facing forward.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Position the green bag of chips to the right of the pink bowl so it faces forwards.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the pink bowl.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "With the right hand, set the green bag of chips to the right of the pink bowl.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Have the right arm position the green bag of chips to the right of the pink bowl.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Put the green bag of chips to the right of the pink bowl.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Arrange the green bag of chips to the right of the pink bowl.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Place the green bag of chips beside the pink bowl.", + "start_idx": 3138, + "end_idx": 3165 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "With the right hand, take the doritos from the table using a side grip at the right with a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Using the right hand, grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Have the right arm pick the doritos up from the table with a right-side grip at a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right with a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Grasp the doritos from the table with a side hold on the right at a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Take the doritos from the table with a right-side grip at a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "With the right hand, take the doritos from the table using a side hold.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Have the right arm grasp the doritos from the table with a side grip.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right with a diagonal angle.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Using the right hand, take the doritos from the table at a diagonal angle on the right.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 3357, + "end_idx": 3393 + }, + { + "text": "Put the doritos behind the croissant with the right hand.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Using the right hand, place the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Have the right arm set the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "With the right hand, position the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Place the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Set the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Position the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Move the doritos behind the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Using the right hand, place the doritos by the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "With the right hand, set the doritos near the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Put the doritos by the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Using the right hand, move the doritos by the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Set the doritos near the croissant.", + "start_idx": 3393, + "end_idx": 3423 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Have the right hand pick the green bowl up from the table using a diagonal grasp on the right lip.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the right lip at a diagonal angle.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip hold on the right side.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Take the green bowl from the table by the right lip with a diagonal grasp.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Have the right hand grasp the green bowl from the table.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Using the right hand, pick up the green bowl.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 3630, + "end_idx": 3666 + }, + { + "text": "Put the green bowl to the left of the green bag of chips with the right hand.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Using the right hand, place the green bowl to the left of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Have the right arm set the green bowl on the left side of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "With the right hand, position the green bowl left of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Place the green bowl to the left of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Set the green bowl on the left side of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Position the green bowl left of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Move the green bowl beside the green bag of chips on its left.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "The green bowl goes to the left of the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Put the green bowl next to the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Place the green bowl beside the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Set the green bowl next to the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Position the green bowl by the green bag of chips.", + "start_idx": 3666, + "end_idx": 3699 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Have the right arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "With the right hand, grasp the croissant at the middle from the table on a diagonal.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Grasp the croissant from the table on a diagonal, holding the middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Have the right arm take the croissant from the table at a diagonal angle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "With the right hand, grasp the croissant from the table at a diagonal approach.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Take the croissant from the table, grasping the middle.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 3699, + "end_idx": 3735 + }, + { + "text": "Put the croissant in front of the pink bowl with the right hand.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Using the right hand, place the croissant in front of the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Have the right arm set the croissant down in front of the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "With the right hand, position the croissant before the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Place the croissant in front of the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Set the croissant down in front of the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Position the croissant before the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Have the croissant placed in front of the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Move the croissant to the area in front of the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Put the croissant by the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Set the croissant near the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Using the right hand, place the croissant by the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "With the right hand, set the croissant near the pink bowl.", + "start_idx": 3735, + "end_idx": 3765 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Have the right arm take the croissant from the table with a diagonal pickup, enclosing the whole croissant.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "With the right hand, retrieve the croissant from the table on a diagonal approach, holding the entire object.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Take the croissant from the table on a diagonal approach while holding the whole object.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle with a full-object grasp.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "The croissant from the table should be picked up diagonally while grasping the entire object.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Have the right arm take the croissant from the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 3831, + "end_idx": 3867 + }, + { + "text": "Put the croissant on the bottom side of the table with the right hand.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Using the right hand, place the croissant on the bottom side of the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Have the right arm set the croissant onto the table's bottom side.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "With the right hand, position the croissant on the underside of the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Place the croissant on the bottom side of the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Set the croissant on the underside of the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Position the croissant on the table's bottom side.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "The croissant goes on the bottom side of the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Have the croissant placed on the underside of the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Using the right hand, place the croissant on the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "With the right hand, set the croissant down on the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Have the right arm put the croissant onto the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Place the croissant on the table.", + "start_idx": 3867, + "end_idx": 3900 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "With the right hand, take the green bowl off the table using a lip grasp at the bottom right from a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Take the green bowl off the table using a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Grasp the green bowl from the table at the bottom right with a lip hold from a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Have the right hand take the green bowl off the table using a lip grasp.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "With the right hand, grasp the green bowl from the table using a lip hold.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Take the green bowl off the table using a lip grasp.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 4095, + "end_idx": 4122 + }, + { + "text": "Place the green bowl to the left of the green bag of chips with the right hand.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Using the right hand, set the green bowl to the left of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Have the right arm place the green bowl on the left side of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "With the right hand, position the green bowl left of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Place the green bowl to the left of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Set the green bowl on the left side of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Position the green bowl left of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "The green bowl goes to the left of the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Put the green bowl beside the green bag of chips on its left.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Move the green bowl to the chips bag's left side.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Using the right hand, place the green bowl by the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Have the right arm set the green bowl next to the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "With the right hand, move the green bowl beside the green bag of chips.", + "start_idx": 4122, + "end_idx": 4167 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right in a diagonal pick angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right in a diagonal pick angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Have the right hand take the pink bowl from the table with a lip grasp at the bottom right on a diagonal angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using the lip at the bottom right in a diagonal approach.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right in a diagonal pick angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Take the pink bowl from the table using a lip grasp at the bottom right on a diagonal.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Grasp the pink bowl from the table with the lip at the bottom right in a diagonal approach.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Have the right hand take the pink bowl from the table using a lip grasp.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "With the right hand, grasp the pink bowl from the table with the lip.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table at the bottom right in a diagonal pick angle.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Take the pink bowl from the table at the bottom right on a diagonal with the right hand.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Put the pink bowl to the bottom side of the table with the right hand.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Using the right hand, place the pink bowl at the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Have the right arm set the pink bowl down on the table's bottom side.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "With the right hand, position the pink bowl on the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Place the pink bowl at the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Set the pink bowl on the table's bottom side.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "The pink bowl goes to the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Position the pink bowl at the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Move the pink bowl to the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Put the pink bowl on the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Place the pink bowl on the table's bottom side.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Set the pink bowl at the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "The pink bowl should be placed on the bottom side of the table.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grasp at the bottom right from a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Have the right arm pick up the doritos from the table with a side hold on the bottom-right area at a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side grip on the bottom right from a diagonal approach.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom right from a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Take the doritos from the table with a side grasp on the bottom-right area from a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Grasp the doritos from the table with a side hold at the bottom right from a diagonal approach.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Have the right arm take the doritos from the table.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Pick up the doritos from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Take the doritos from the table with the right hand from a diagonal angle.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Using the right hand, pick up the doritos from the table at the bottom right.", + "start_idx": 4242, + "end_idx": 4278 + }, + { + "text": "Put the doritos to the right side of the table with the right hand facing forwards.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Using the right hand, place the doritos on the table's right side facing forwards.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Have the right arm set the doritos at the right side of the table with the front facing forward.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "With the right hand, position the doritos to the right of the table, oriented forwards.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Place the doritos on the right side of the table facing forwards.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Set the doritos to the table's right side with the front forward.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Position the doritos at the right side of the table, facing forward.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Using the right hand, put the doritos on the table's right side.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Have the right arm place the doritos to the right of the table.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "With the right hand, set the doritos at the table's right side.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Place the doritos on the right side of the table.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Set the doritos to the table's right side.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Position the doritos to the right of the table.", + "start_idx": 4278, + "end_idx": 4311 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right with a diagonal angle.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip at the right, held at a diagonal angle.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Have the right arm take the green bag of chips from the table using a side grasp on the right with a diagonal orientation.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table on its right side using a side hold at a diagonal angle.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the right and a diagonal angle.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Take the green bag of chips from the table using a side grasp on the right at a diagonal angle.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Grasp the green bag of chips from the table with a side hold on the right, keeping it diagonal.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grasp.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table with a side hold.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at the right with a diagonal angle.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "With the right hand, take the green bag of chips from the table at a diagonal angle from the right.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 4311, + "end_idx": 4362 + }, + { + "text": "Put the green bag of chips inside the pink bowl with the right hand facing top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Using the right hand, place the green bag of chips in the pink bowl with its front facing the top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Have the right arm put the green bag of chips into the pink bowl, front oriented toward the top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "With the right hand, set the green bag of chips inside the pink bowl so the front points top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Place the green bag of chips into the pink bowl with its front facing the top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Set the green bag of chips inside the pink bowl, with the front oriented toward the top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Put the green bag of chips in the pink bowl so its front faces the top right.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Using the right hand, place the green bag of chips inside the pink bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Have the right arm put the green bag of chips into the pink bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "With the right hand, set the green bag of chips in the pink bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Place the green bag of chips into the pink bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Put the green bag of chips inside the pink bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Set the green bag of chips in the pink bowl.", + "start_idx": 4362, + "end_idx": 4389 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right side from a diagonal angle.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip from a diagonal angle at the right side.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Have the right hand grasp the doritos from the table with a side hold on the right side at a diagonal angle.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "With the right hand, secure the doritos from the table using a side grasp at the right side from a diagonal approach.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right side from a diagonal angle.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Grasp the doritos from the table with a side hold on the right side at a diagonal angle.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Take the doritos from the table using a side grasp from a diagonal angle at the right side.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Have the right hand take the doritos from the table using a side hold.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side grasp.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right side from a diagonal angle.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Take the doritos from the table with the right hand from a diagonal angle at the right side.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Grasp the doritos from the table at the right side from a diagonal angle.", + "start_idx": 4512, + "end_idx": 4551 + }, + { + "text": "Put the doritos behind the green bowl with the right hand facing forwards.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Using the right hand, place the doritos behind the green bowl with the front facing forwards.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Have the right arm set the doritos behind the green bowl, oriented forwards.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "With the right hand, position the doritos behind the green bowl so the front faces forward.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Place the doritos behind the green bowl with the front facing forwards.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Set the doritos behind the green bowl, oriented forwards.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Position the doritos behind the green bowl so the front faces forward.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Using the right hand, put the doritos behind the green bowl.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "With the right hand, place the doritos behind the green bowl.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Have the right arm set the doritos behind the green bowl.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Put the doritos behind the green bowl.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Place the doritos behind the green bowl.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Set the doritos behind the green bowl.", + "start_idx": 4551, + "end_idx": 4581 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Have the right arm take the croissant from the table with a diagonal approach and a full-object grasp.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "With the right hand, retrieve the croissant from the table diagonally, enclosing the whole item.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the whole object.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Retrieve the croissant from the table diagonally with a full-object grasp.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Using the right hand, pick up the croissant from the table, grasping the entire object.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Have the right arm take the croissant from the table with a full-object grasp.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "With the right hand, retrieve the croissant from the table, enclosing the whole item.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Take the croissant from the table diagonally.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 4788, + "end_idx": 4827 + }, + { + "text": "Put the croissant behind the pink bowl with the right hand.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Using the right hand, place the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Have the right arm set the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "With the right hand, position the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Place the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Set the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Move the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "The croissant goes behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Put the croissant behind the pink bowl now.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Position the croissant behind the pink bowl.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Behind the pink bowl, place the croissant.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Using the right hand, put the croissant in place.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Have the right arm move the croissant there.", + "start_idx": 4827, + "end_idx": 4857 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "With the right hand, collect the croissant from the table by gripping the middle at a diagonal angle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding its middle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "From the table, collect the croissant by grasping the middle at a diagonal angle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Using the right hand, take the croissant from the table.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Have the right hand collect the croissant from the table.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "With the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 5106, + "end_idx": 5139 + }, + { + "text": "Place the croissant to the bottom side of the table with the right hand.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Using the right hand, set the croissant on the bottom side of the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Have the right arm place the croissant at the table's bottom side.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "With the right hand, position the croissant along the bottom side of the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Place the croissant on the bottom side of the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Set the croissant at the table's bottom side.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Position the croissant along the bottom edge of the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "The croissant goes to the bottom side of the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Move the croissant to the table's bottom side.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Using the right hand, place the croissant on the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "With the right hand, set the croissant down on the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Have the right arm position the croissant on the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Place the croissant on the table.", + "start_idx": 5139, + "end_idx": 5178 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Have the right arm pick up the pink bowl from the table using a right-side diagonal lip grip.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by its right lip at a diagonal angle.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip grip on the right side.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Take the pink bowl from the table by the right lip with a diagonal grasp.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Take the pink bowl from the table with the right hand.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Have the right arm pick up the pink bowl from the table.", + "start_idx": 5178, + "end_idx": 5214 + }, + { + "text": "Put the pink bowl to the right of the doritos with the right hand.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Have the right arm set the pink bowl down to the right of the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "With the right hand, position the pink bowl on the doritos' right side.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Place the pink bowl to the right of the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Set the pink bowl down to the right of the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "The pink bowl goes to the right of the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Position the pink bowl by the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Set the pink bowl down near the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "The pink bowl should be placed beside the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Place the pink bowl by the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Set the pink bowl near the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "The pink bowl goes beside the doritos.", + "start_idx": 5214, + "end_idx": 5247 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Have the right hand take the green bowl from the table, gripping the bottom right lip diagonally.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the bottom right lip at a diagonal angle.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Grasp the green bowl from the table by the bottom right lip from a diagonal angle.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Take the green bowl from the table using a lip grip at the bottom right at a diagonal angle.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Have the right hand take the green bowl from the table using a lip grasp.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Dump the cabbage to the right of the croissant with the right hand.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Using the right hand, dump the cabbage to the croissant's right side.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Have the right arm place the cabbage to the right of the croissant.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "With the right hand, set down the cabbage just right of the croissant.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Dump the cabbage to the right of the croissant.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Place the cabbage on the right side of the croissant.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Set the cabbage down just to the croissant's right.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "With the right hand, dump the cabbage.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Using the right hand, place the cabbage down.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Have the right arm set down the cabbage.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Place the cabbage.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Set down the cabbage to the right of the croissant.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Put the cabbage down.", + "start_idx": 5409, + "end_idx": 5454 + }, + { + "text": "Put the green bowl in front of the pink bowl with the right hand.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Using the right hand, place the green bowl in front of the pink bowl, right side up.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Have the right arm set the green bowl in front of the pink bowl with the bowl upright.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "With the right hand, position the green bowl upright in front of the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Place the green bowl in front of the pink bowl, right side up.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Set the green bowl in front of the pink bowl with the bowl upright.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Position the green bowl in front of the pink bowl, keeping it right side up.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Using the right hand, put the green bowl by the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Have the right arm place the green bowl in front of the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "With the right hand, set the green bowl ahead of the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Put the green bowl in front of the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Place the green bowl by the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Set the green bowl ahead of the pink bowl.", + "start_idx": 5454, + "end_idx": 5496 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right side diagonally.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grasp at the right side diagonally.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Have the right arm pick up the doritos from the table in a diagonal right-side orientation using a side grip.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "With the right hand, grasp the doritos from the table by the side at the right side diagonally.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Pick up the doritos from the table with a side grip at the right side diagonally.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Take the doritos from the table by the side at the right side diagonally.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Grasp the doritos from the table at the right side diagonally with a side hold.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Have the right arm grasp the doritos from the table with a side hold.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right side diagonally.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Take the doritos from the table diagonally on the right with the right hand.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Using the right hand, grasp the doritos from the table.", + "start_idx": 5970, + "end_idx": 6003 + }, + { + "text": "Put the doritos to the right of the cabbage with the right hand facing forwards.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Using the right hand, place the doritos to the right of the cabbage, facing forwards.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Have the right arm set the doritos to the cabbage's right side with the front facing forward.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "With the right hand, position the doritos to the right of the cabbage so it faces forwards.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Place the doritos to the right of the cabbage, facing forwards.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Set the doritos on the right side of the cabbage with the front forward.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Position the doritos to the cabbage's right, facing forward.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Using the right hand, put the doritos to the right of the cabbage.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Have the right arm place the doritos on the cabbage's right side.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "With the right hand, set the doritos to the right of the cabbage.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Put the doritos to the right of the cabbage.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Set the doritos on the right side of the cabbage.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Place the doritos beside the cabbage on its right.", + "start_idx": 6003, + "end_idx": 6033 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Have the right hand take the green bowl from the table using a diagonal lip grasp on the bottom-right edge.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the bottom right using a diagonal lip grip.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip on the bottom-right side.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Grasp the green bowl from the table at the bottom right with a diagonal lip hold.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Have the right hand take the green bowl from the table.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Grasp the green bowl from the table with the right hand.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Using the right hand, grasp the green bowl from the table.", + "start_idx": 6243, + "end_idx": 6279 + }, + { + "text": "Put the green bowl in front of the pink bowl with the right hand.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Using the right hand, place the green bowl in front of the pink bowl, right side up.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Have the right arm set the green bowl down in front of the pink bowl with the bowl upright.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "With the right hand, position the green bowl before the pink bowl, keeping it right side up.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Place the green bowl in front of the pink bowl.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Set the green bowl down before the pink bowl.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Position the green bowl in front of the pink bowl.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Using the right hand, put the green bowl in front of the pink bowl.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Have the right arm place the green bowl before the pink bowl.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Set the green bowl down with the right hand.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Place the green bowl upright.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Position the green bowl before the pink bowl, right side up.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Put the green bowl in front of the pink bowl, right side up.", + "start_idx": 6279, + "end_idx": 6318 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "From a diagonal angle, have the right hand take the green bowl off the table with a lip grasp at the bottom right.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "With the right arm, grasp the green bowl from the table using the lip at the bottom right on a diagonal approach.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "From a diagonal angle, grasp the green bowl off the table with a lip hold at the bottom right.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Take the green bowl from the table using a lip grasp at the bottom right on a diagonal approach.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "With the right arm, take the green bowl off the table using a lip grasp.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Have the right hand grasp the green bowl from the table with the lip hold.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Using the right hand, pick up the green bowl from the table at the bottom right from a diagonal angle.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "From a diagonal angle, have the right hand take the green bowl off the table at the bottom right.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 6453, + "end_idx": 6486 + }, + { + "text": "Place the green bowl to the right of the croissant with the right hand.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Using the right hand, set the green bowl to the right of the croissant, right side up with its front oriented correctly.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Have the right arm place the green bowl just right of the croissant, keeping it right side up and front-facing.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "With the right hand, position the green bowl on the croissant's right side, right side up with the front aligned.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Place the green bowl to the right of the croissant.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Set the green bowl on the right side of the croissant.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Position the green bowl just right of the croissant.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Arrange the green bowl right of the croissant.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Using the right hand, place the green bowl to the right of the croissant.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Have the right arm set the green bowl on the croissant's right side.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "With the right hand, position the green bowl just right of the croissant.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Place the green bowl to the right of the croissant, right side up.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Set the green bowl on the croissant's right side with the bowl right side up.", + "start_idx": 6486, + "end_idx": 6516 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Have the right arm pick up the green bowl from the table using a diagonal lip grasp on its right side.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the right side using a diagonal lip hold.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Grasp the green bowl from the table using a diagonal lip hold at the right side.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 6726, + "end_idx": 6762 + }, + { + "text": "Put the green bowl in front of the doritos with the right hand.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Using the right hand, place the green bowl in front of the doritos upright.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Have the right arm set the green bowl down in front of the doritos, right side up.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "With the right hand, position the green bowl in front of the doritos so it stays upright.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Place the green bowl in front of the doritos upright.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Set the green bowl down in front of the doritos, right side up.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Position the green bowl in front of the doritos so it is upright.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Using the right hand, put the green bowl in front of the doritos.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Have the right arm place the green bowl in front of the doritos.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "With the right hand, set the green bowl down in front of the doritos.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Put the green bowl in front of the doritos.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Set the green bowl down in front of the doritos.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Place the green bowl upright in front of the doritos.", + "start_idx": 6762, + "end_idx": 6801 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Using the right hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Have the right arm pick the cabbage up from the table with a diagonal approach at its middle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "With the right hand, collect the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Take the cabbage from the table by grasping the middle at a diagonal angle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Grasp the cabbage at the middle and pick it up from the table at a diagonal angle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "With the right hand, grasp the cabbage from the table.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Take the cabbage from the table at a diagonal angle.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Grasp the middle of the cabbage and pick it up from the table.", + "start_idx": 6801, + "end_idx": 6837 + }, + { + "text": "Put the cabbage to the center of the table with the right hand facing left with the front facing left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Using the right hand, place the cabbage in the center of the table with its front facing left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Have the right arm set the cabbage at the table's center, oriented with the front to the left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "With the right hand, position the cabbage at the center of the table so its front points left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Place the cabbage in the center of the table with its front facing left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Set the cabbage at the table's center with the front to the left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Position the cabbage in the middle of the table so the front faces left.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Using the right hand, place the cabbage in the center of the table.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Have the right arm set the cabbage at the table's center.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "With the right hand, position the cabbage in the middle of the table.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Place the cabbage at the center of the table.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Set the cabbage in the middle of the table.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Have the cabbage placed at the table's center.", + "start_idx": 6837, + "end_idx": 6873 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Have the right arm take the doritos from the table in a diagonal angle at the right using a side grasp.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "With a side grip, the right hand should grasp the doritos from the table at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Pick up the doritos from the table using a side grip at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Take the doritos from the table with a side grasp at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Grasp the doritos from the table at the right in a diagonal angle using a side hold.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Have the right arm take the doritos from the table using a side grasp.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side hold.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Take the doritos from the table at the right in a diagonal angle.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Grasp the doritos from the table.", + "start_idx": 7023, + "end_idx": 7068 + }, + { + "text": "Put the doritos to the bottom right side of the table with the right hand facing forwards.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Using the right hand, place the doritos at the table's bottom-right side, facing forwards.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Have the right arm set the doritos on the bottom-right area of the table with the front facing forward.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "With the right hand, position the doritos at the bottom right of the table, oriented forwards.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Place the doritos at the bottom-right side of the table, facing forwards.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Set the doritos on the table's bottom-right side with the front facing forward.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Position the doritos on the bottom right of the table, oriented forwards.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Using the right hand, put the doritos on the bottom-right side of the table.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Have the right arm place the doritos at the table's bottom-right area.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Set the doritos on the bottom-right part of the table with the right hand.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Place the doritos at the bottom-right side of the table.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Put the doritos on the table's bottom-right area.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Position the doritos at the bottom right of the table.", + "start_idx": 7068, + "end_idx": 7095 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the right with a diagonal pick angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip at the right and a diagonal pick angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Have the right arm take the doritos from the table with a right-side grasp using a diagonal approach.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "With the right hand, grasp the doritos from the table on the right side using a side hold and a diagonal pick angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Pick up the doritos from the table with a side grip at the right and a diagonal pick angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Take the doritos from the table at the right with a side grasp and a diagonal approach.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Grasp the doritos from the table on the right side using a side hold and a diagonal angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grasp.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Have the right arm grasp the doritos from the table with a side hold.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Pick up the doritos from the table with the right hand at the right with a diagonal pick angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "With the right hand, take the doritos from the table on the right side using a diagonal approach.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Grasp the doritos from the table at the right with a diagonal pick angle.", + "start_idx": 7167, + "end_idx": 7203 + }, + { + "text": "Put the doritos to the left side of the green bowl with the right hand facing forwards.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Using the right hand, place the doritos to the left of the green bowl, facing forwards.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Have the right hand set the doritos on the green bowl's left side with the front facing forward.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "With the right hand, position the doritos left of the green bowl so it faces forwards.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Place the doritos to the left of the green bowl, facing forwards.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Set the doritos on the left side of the green bowl with the front facing forward.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Position the doritos left of the green bowl so it faces forwards.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Using the right hand, put the doritos to the left of the green bowl.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "With the right hand, set the doritos on the green bowl's left side.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Have the right hand place the doritos beside the green bowl on its left.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Put the doritos to the left of the green bowl.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Using the right hand, place the doritos left of the green bowl.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Set the doritos on the green bowl's left side.", + "start_idx": 7203, + "end_idx": 7236 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "With the right hand, take the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Using the right hand, grasp the pink bowl from the table with a diagonal lip hold at its bottom.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Have the right arm pick the pink bowl up from the table with a diagonal bottom lip grasp.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Take the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Pick up the pink bowl from the table in a diagonal lip grasp at its bottom.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "With the right hand, pick up the pink bowl from the table.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Have the right arm grasp the pink bowl from the table.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Using a diagonal lip grip at the bottom, take the pink bowl from the table.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Grasp the pink bowl from the table with the right hand.", + "start_idx": 7305, + "end_idx": 7338 + }, + { + "text": "Put the pink bowl to the bottom right side of the table with the right hand.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Using the right hand, place the pink bowl on the table's bottom-right side, right side up with the front facing forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Have the right arm set the pink bowl at the bottom right of the table, keeping it upright and the front forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "With the right hand, position the pink bowl on the table's lower-right side, upright with its front facing forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Place the pink bowl on the bottom-right side of the table, right side up with the front facing forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Set the pink bowl at the table's lower-right side, upright and facing forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Position the pink bowl on the bottom right of the table with its front facing forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Move the pink bowl to the table's bottom-right side, keeping it upright.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Using the right hand, place the pink bowl on the table's bottom-right side.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Have the right arm set the pink bowl at the lower-right area of the table.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "With the right hand, position the pink bowl at the bottom right of the table.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Place the pink bowl on the bottom-right side of the table.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Set the pink bowl at the table's lower-right side.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "With the right hand, retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Retrieve the cabbage from the table diagonally by the middle.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Pick up the cabbage from the table with the right hand.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Take the cabbage from the table using the right arm.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 7506, + "end_idx": 7536 + }, + { + "text": "Put the cabbage to the bottom side of the table with the right hand facing forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Using the right hand, place the cabbage at the bottom side of the table with its front facing forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Have the right arm set the cabbage on the bottom side of the table, front facing forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "With the right hand, position the cabbage at the table's bottom side so the front faces forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Place the cabbage at the bottom side of the table with its front facing forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Set the cabbage on the bottom side of the table with the front facing forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Position the cabbage at the table's bottom side facing forwards.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Using the right hand, put the cabbage at the bottom side of the table.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "With the right hand, place the cabbage on the bottom side of the table.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Have the right arm position the cabbage at the table's bottom side.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Put the cabbage at the bottom side of the table.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Set the cabbage on the bottom side of the table.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Position the cabbage at the table's bottom side.", + "start_idx": 7536, + "end_idx": 7563 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a bottom diagonal lip hold.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "With the right hand, collect the pink bowl from the table using a diagonal grip on the bottom lip.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip grip on the bottom.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Have the right hand take the pink bowl from the table.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "From the table, take the pink bowl.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Get the pink bowl from the table.", + "start_idx": 7911, + "end_idx": 7953 + }, + { + "text": "Put the pink bowl to the right of the cabbage with the right hand.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Have the right arm set the pink bowl down to the right of the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "With the right hand, position the pink bowl on the cabbage's right side.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Place the pink bowl to the right of the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Set the pink bowl down to the right of the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Position the pink bowl on the right side of the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Move the pink bowl so it ends up to the right of the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Arrange the pink bowl beside the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Put the pink bowl next to the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Using the right hand, arrange the pink bowl beside the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Have the right arm place the pink bowl next to the cabbage.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Set the pink bowl beside the cabbage with the right hand.", + "start_idx": 7953, + "end_idx": 7989 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "With the right hand, take the pink bowl from the table using the lip grip on its bottom-right side from a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Take the pink bowl from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right with a lip grip from a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip hold.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with the lip grip.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "With the right hand, grasp the pink bowl from the table at the bottom right.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 8058, + "end_idx": 8094 + }, + { + "text": "Put the pink bowl in front of the croissant with the right hand.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Using the right hand, place the pink bowl in front of the croissant, right side up.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Have the right arm set the pink bowl down in front of the croissant, upright.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "With the right hand, position the pink bowl before the croissant, right side up.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Place the pink bowl in front of the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Set the pink bowl down in front of the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Position the pink bowl before the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Put the pink bowl by the croissant with the right hand.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Using the right hand, place the pink bowl in front of the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Have the right arm put the pink bowl near the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Set the pink bowl down before the croissant, right side up.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Using the right hand, place the pink bowl by the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "With the right hand, set the pink bowl down in front of the croissant.", + "start_idx": 8094, + "end_idx": 8136 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right in a diagonal pick.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right in a diagonal pick.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a bottom-right lip grasp on a diagonal approach.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "The green bowl should be picked from the table by the right hand using a lip grip at the bottom right diagonally.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right in a diagonal pick.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Take the green bowl from the table with a bottom-right lip grasp on a diagonal approach.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "The green bowl from the table should be grasped with a lip grip at the bottom right in a diagonal pick.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "With the right hand, pick up the green bowl from the table using a lip grip.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Have the right hand take the green bowl from the table with a lip grasp.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "The right hand should grasp the green bowl from the table using a lip grip.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "The green bowl should be picked up from the table.", + "start_idx": 8424, + "end_idx": 8454 + }, + { + "text": "Put the green bowl behind the croissant with the right hand.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Using the right hand, place the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Have the right arm set the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "With the right hand, position the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Place the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Set the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Position the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Move the green bowl behind the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Put the green bowl by the croissant with the right hand.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Using the right hand, place the green bowl near the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Have the right arm set the green bowl by the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Place the green bowl by the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Set the green bowl near the croissant.", + "start_idx": 8454, + "end_idx": 8493 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Have the right arm take the pink bowl from the table with a lip grasp at the bottom right on a diagonal angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using the bowl's lip at the bottom right with a diagonal approach.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Take the pink bowl from the table using a lip grasp at the bottom right with a diagonal approach.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Grasp the pink bowl from the table by the lip at the bottom right at a diagonal angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Have the right arm take the pink bowl from the table from the bottom right.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "With the right hand, grasp the pink bowl from the table at a diagonal angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the bottom right with a diagonal pick angle.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Take the pink bowl from the table using the bowl's lip at the bottom right.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Grasp the pink bowl from the table with the right hand.", + "start_idx": 8628, + "end_idx": 8661 + }, + { + "text": "Put the pink bowl behind the green bag of chips with the right hand.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Using the right hand, place the pink bowl behind the green bag of chips, right side up from the front.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Have the right arm set the pink bowl behind the green bag of chips with its front kept right side up.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "With the right hand, position the pink bowl behind the green bag of chips so the front is right side up.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Place the pink bowl behind the green bag of chips, keeping it right side up from the front.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Set the pink bowl behind the green bag of chips with its front right side up.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Position the pink bowl behind the green bag of chips so it stays right side up.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Using the right hand, put the pink bowl behind the green bag of chips.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "With the right hand, place the pink bowl behind the green bag of chips.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Have the right arm position the pink bowl behind the green bag of chips.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Set the pink bowl behind the green bag of chips.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Put the pink bowl behind the green bag of chips.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Position the pink bowl behind the green bag of chips.", + "start_idx": 8661, + "end_idx": 8706 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping its middle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Have the right arm pick the croissant up from the table with a diagonal approach at the middle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "With the right hand, retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Retrieve the croissant from the table by grasping the middle at a diagonal angle.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Have the right arm take the croissant from the table.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 8706, + "end_idx": 8748 + }, + { + "text": "Put the croissant inside the pink bowl with the right hand.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Using the right hand, place the croissant in the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Have the right arm set the croissant inside the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "With the right hand, deposit the croissant into the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Place the croissant into the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Set the croissant inside the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "The croissant goes in the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Put the croissant in the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Deposit the croissant into the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Have the croissant placed inside the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Using the right hand, put the croissant in the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "With the right hand, set the croissant into the pink bowl.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Have the croissant placed in the pink bowl with the right hand.", + "start_idx": 8748, + "end_idx": 8775 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip at a diagonal angle on the right.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table from the right side using a side grip, diagonally angled.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "With the right hand, take the green bag of chips from the table in a side grasp from the right at a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the right in a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Grasp the green bag of chips from the table using a side grip from the right at a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table using a side hold.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Have the right hand take the green bag of chips from the table with a lateral grasp.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at the right in a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Using the right hand, take the green bag of chips from the table.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Grasp the green bag of chips from the table from the right at a diagonal angle.", + "start_idx": 8775, + "end_idx": 8829 + }, + { + "text": "Put the green bag of chips inside the green bowl with the right hand facing top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Using the right hand, place the green bag of chips into the green bowl with its front facing the top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Have the right arm put the green bag of chips inside the green bowl, front oriented toward the top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "With the right hand, set the green bag of chips in the green bowl so the front points top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Place the green bag of chips into the green bowl.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Set the green bag of chips inside the green bowl.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Put the green bag of chips in the green bowl.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Using the right hand, place the green bag of chips into the green bowl.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Have the right arm put the green bag of chips inside the green bowl.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "With the right hand, set the green bag of chips in the green bowl.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Place the green bag of chips into the green bowl with its front facing the top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Set the green bag of chips in the green bowl so the front points top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Put the green bag of chips inside the green bowl, front toward the top right.", + "start_idx": 8829, + "end_idx": 8856 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Using the right hand, return to home.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Have the right arm move back to the home position.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Return to home.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Move back to the home position.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Go to the home pose.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Head to the home position.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Resume the home pose.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Move into the home position.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "The task is to return home.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 8856, + "end_idx": 8868 + }, + { + "text": "Set the arm back to home.", + "start_idx": 8856, + "end_idx": 8868 + } + ] + }, + "2026-03-17-17-50-47-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 9337, + "num_annotations": 3532, + "annotations": [ + { + "text": "Pick up the red marker from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the red marker from the table at the middle using a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left hand grasp the red marker from the table at its middle with a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "With the left hand, take the red marker from the table by the middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Pick up the red marker from the table at the middle using a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Take the red marker from the table by its middle with a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "From the table, grasp the red marker at the middle using a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Retrieve the red marker from the table by the middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Using the left hand, pick up the red marker from the table at the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "With the left hand, take the red marker from the table by its middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Have the left hand grasp the red marker from the table at the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Pick up the red marker from the table at the middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "From the table, take the red marker by its middle.", + "start_idx": 0, + "end_idx": 33 + }, + { + "text": "Put the red marker pen inside the white coffee cup with the left hand right side up.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Using the left hand, place the red marker pen inside the white coffee cup with the tip right side up.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Have the left arm put the red marker pen into the white coffee cup, keeping the tip right side up.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "With the left hand, insert the red marker pen into the white coffee cup so the tip is right side up.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Place the red marker pen inside the white coffee cup with the tip right side up.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Put the red marker pen into the white coffee cup, keeping the tip right side up.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Insert the red marker pen into the white coffee cup with the tip upright.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Using the left hand, place the red marker pen inside the white coffee cup.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "With the left hand, put the red marker pen into the white coffee cup.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Have the left arm insert the red marker pen into the white coffee cup.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Put the red marker pen inside the white coffee cup.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Place the red marker pen into the white coffee cup.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Insert the red marker pen into the white coffee cup.", + "start_idx": 33, + "end_idx": 69 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Have the left arm pick the orange screwdriver off the table diagonally by its middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Take the orange screwdriver off the table diagonally by its middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Retrieve the orange screwdriver from the table while keeping it diagonal and holding the middle.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "With the left hand, take the orange screwdriver off the table.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Remove the orange screwdriver from the table.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Get the orange screwdriver off the table.", + "start_idx": 69, + "end_idx": 105 + }, + { + "text": "Put the orange screwdriver inside the white coffee cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Using the left hand, place the orange screwdriver into the white coffee cup right side up, with the front as the reference point.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Have the left arm put the orange screwdriver inside the white coffee cup in an upright orientation, using the front as the reference point.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "With the left hand, insert the orange screwdriver into the white coffee cup so it is right side up relative to the front.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Place the orange screwdriver inside the white coffee cup right side up, with the front as the orientation reference point.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Put the orange screwdriver into the white coffee cup upright, using the front as the reference point.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Set the orange screwdriver in the white coffee cup so it stays right side up relative to the front.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Using the left hand, place the orange screwdriver into the white coffee cup.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Have the left arm put the orange screwdriver inside the white coffee cup.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "With the left hand, insert the orange screwdriver into the white coffee cup.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Put the orange screwdriver inside the white coffee cup.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Set the orange screwdriver into the white coffee cup.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "The orange screwdriver goes in the white coffee cup.", + "start_idx": 105, + "end_idx": 135 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom and a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Have the left hand grasp the brown stuffed toy from the table from the bottom with a side hold at a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the bottom and a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp at the bottom and a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Retrieve the brown stuffed toy from the table, using a side hold on the bottom at a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table using a side grip at the bottom.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Have the left hand take the brown stuffed toy from the table with a side grasp at the bottom.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "From the table, grasp the brown stuffed toy with the left hand using a side hold at the bottom.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "From the table, retrieve the brown stuffed toy with the left hand.", + "start_idx": 135, + "end_idx": 177 + }, + { + "text": "Place the brown stuffed toy inside the beige bowl with the left hand facing top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Using the left hand, set the brown stuffed toy inside the beige bowl with its front facing the top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Have the left arm place the brown stuffed toy into the beige bowl, front pointed toward the top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "With the left hand, position the brown stuffed toy in the beige bowl so the front faces top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Place the brown stuffed toy inside the beige bowl with its front facing the top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Put the brown stuffed toy into the beige bowl, front oriented toward the top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Set the brown stuffed toy in the beige bowl so the front points top right.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the beige bowl.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Have the left arm put the brown stuffed toy into the beige bowl.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "With the left hand, set the brown stuffed toy in the beige bowl.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Place the brown stuffed toy inside the beige bowl.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Put the brown stuffed toy into the beige bowl.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Set the brown stuffed toy in the beige bowl.", + "start_idx": 177, + "end_idx": 201 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip grasp from the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the lip on its left side at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Grasp the white coffee cup from the table by the lip on the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp from the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Pick up the white coffee cup from the table from the left at a diagonal angle.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 381, + "end_idx": 417 + }, + { + "text": "Put the white coffee cup behind the beige bowl with the left hand right side up with the front facing backwards.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Using the left hand, place the white coffee cup behind the beige bowl right side up with the front facing backward.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Have the left arm set the white coffee cup behind the beige bowl, keeping it upright and its front toward the back.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "With the left hand, position the white coffee cup behind the beige bowl so it is right side up and front-facing backward.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Place the white coffee cup behind the beige bowl right side up with the front facing backward.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Set the white coffee cup behind the beige bowl, keeping it upright with the front toward the back.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Position the white coffee cup behind the beige bowl so it stays right side up and faces backward.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Using the left hand, put the white coffee cup behind the beige bowl.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "With the left hand, place the white coffee cup behind the beige bowl.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Have the left arm position the white coffee cup behind the beige bowl.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Place the white coffee cup behind the beige bowl.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Set the white coffee cup behind the beige bowl.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Position the white coffee cup behind the beige bowl.", + "start_idx": 417, + "end_idx": 453 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Have the left hand grasp the beige bowl from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "With the left hand, take the beige bowl from the table by its bottom-left edge using a lip grasp from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Take the beige bowl from the table by the bottom-left area with a lip grasp on a diagonal approach.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Grasp the beige bowl from the table at the bottom left using a lip hold from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "With the left hand, take the beige bowl from the table using a lip grasp.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Have the left hand grasp the beige bowl from the table with a lip hold.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "With the left hand, take the beige bowl from the table by the bottom-left edge on a diagonal approach.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Have the left hand grasp the beige bowl from the table at the bottom left from a diagonal angle.", + "start_idx": 504, + "end_idx": 525 + }, + { + "text": "Dump the blue stuffed toy and brown stuffed toy to the left of the corn with the left hand.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Using the left hand, dump the blue stuffed toy and brown stuffed toy to the left of the corn.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Have the left arm place the blue stuffed toy and brown stuffed toy on the corn's left side.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "With the left hand, deposit the blue stuffed toy and brown stuffed toy just left of the corn.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Dump the blue stuffed toy and brown stuffed toy to the left of the corn.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Place the blue stuffed toy and brown stuffed toy on the left side of the corn.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Set the blue stuffed toy and brown stuffed toy left of the corn.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Move the blue stuffed toy and brown stuffed toy to the corn's left.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Dump the blue stuffed toy and brown stuffed toy with the left hand.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Using the left arm, place the blue stuffed toy and brown stuffed toy.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "With the left hand, move the blue stuffed toy and brown stuffed toy.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Transfer the blue stuffed toy and brown stuffed toy.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Put down the blue stuffed toy and brown stuffed toy.", + "start_idx": 525, + "end_idx": 570 + }, + { + "text": "Put the beige bowl to the left of the white coffee cup with the left hand.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Have the left arm set the beige bowl to the left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "With the left hand, position the beige bowl left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Place the beige bowl to the left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Set the beige bowl left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Position the beige bowl to the left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Arrange the beige bowl left of the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Using the left hand, put the beige bowl by the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "With the left hand, place the beige bowl beside the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Have the left arm position the beige bowl next to the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Put the beige bowl by the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Set the beige bowl beside the white coffee cup.", + "start_idx": 570, + "end_idx": 606 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle from the top of the object.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table diagonally from the top of the object.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table by approaching diagonally from the top of the object.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle from the top of the object.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Take the blue stuffed toy from the table diagonally from the top of the object.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Retrieve the blue stuffed toy from the table from the top of the object at a diagonal angle.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "The blue stuffed toy should be taken from the table with the left hand.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Remove the blue stuffed toy from the table.", + "start_idx": 606, + "end_idx": 627 + }, + { + "text": "Put the blue stuffed toy in front of the beige bowl with the left hand facing left.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the beige bowl with it facing left.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Have the left arm set the blue stuffed toy before the beige bowl, oriented to the left.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "With the left hand, position the blue stuffed toy in front of the beige bowl so it faces left.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Place the blue stuffed toy in front of the beige bowl facing left.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Set the blue stuffed toy before the beige bowl with its front turned left.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Position the blue stuffed toy in front of the beige bowl, oriented leftward.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Put the blue stuffed toy in front of the beige bowl.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Place the blue stuffed toy before the beige bowl.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Set the blue stuffed toy in front of the beige bowl.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the beige bowl.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "With the left hand, put the blue stuffed toy before the beige bowl.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Have the left arm position the blue stuffed toy in front of the beige bowl.", + "start_idx": 627, + "end_idx": 657 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Have the left arm grasp the brown stuffed toy from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table by the bottom using a side grasp at a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Retrieve the brown stuffed toy from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table with a side grip.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a side grasp at the bottom.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table using a side hold.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Take the brown stuffed toy from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 657, + "end_idx": 681 + }, + { + "text": "Put the brown stuffed toy to the left of the table with the left hand facing forwards.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the table facing forwards.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the table with its front facing forward.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the table so it faces forwards.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Place the brown stuffed toy to the left of the table facing forwards.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Set the brown stuffed toy to the left of the table with its front facing forward.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Position the brown stuffed toy to the left of the table so it faces forwards.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the table.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the table.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the table.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Put the brown stuffed toy to the left of the table.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Place the brown stuffed toy facing forwards.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Set the brown stuffed toy to the left of the table.", + "start_idx": 681, + "end_idx": 711 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the top with a diagonal angle.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the top, held at a diagonal angle.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Have the left arm take the beige bowl from the table using a top lip grasp with a diagonal orientation.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the top lip at a diagonal angle.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top with a diagonal angle.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Grasp the beige bowl from the table by the top lip at a diagonal angle.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Take the beige bowl from the table with a top lip grasp, keeping it diagonal.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the top.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Have the left arm take the beige bowl from the table using a top lip grasp.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the top edge.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at a diagonal angle.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Using the left hand, take the beige bowl from the table.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top.", + "start_idx": 762, + "end_idx": 783 + }, + { + "text": "Place the beige bowl between the corn and juice pouch with the left hand.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Using the left hand, set the beige bowl between the corn and the juice pouch upright.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Have the left arm position the beige bowl between the corn and juice pouch, right side up.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "With the left hand, place the beige bowl between the corn and juice pouch in an upright orientation.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Put the beige bowl between the corn and juice pouch.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Position the beige bowl between the corn and the juice pouch.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Set the beige bowl down between the corn and juice pouch.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Using the left hand, put the beige bowl between the corn and juice pouch.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Have the left arm set the beige bowl between the corn and the juice pouch.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Place the beige bowl between the corn and juice pouch upright.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Set the beige bowl down between the corn and juice pouch in an upright position.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Position the beige bowl upright between the corn and the juice pouch.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "With the left arm, take the corn from the table with a diagonal approach and hold it at the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Have the left hand retrieve the corn from the table diagonally, gripping the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Take the corn from the table with a diagonal approach and hold the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Retrieve the corn from the table diagonally, gripping it at the middle.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Have the left arm retrieve the corn from the table.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Take the corn from the table.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Have the left hand pick up the corn from the table.", + "start_idx": 867, + "end_idx": 894 + }, + { + "text": "Put the corn behind the blue stuffed toy with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Using the left hand, place the corn behind the blue stuffed toy with its tip facing forwards.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Have the left arm set the corn behind the blue stuffed toy, oriented forward from the tip.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "With the left hand, position the corn behind the blue stuffed toy so the tip faces forwards.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Place the corn behind the blue stuffed toy with the tip facing forwards.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Set the corn behind the blue stuffed toy with its tip oriented forwards.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Position the corn behind the blue stuffed toy so the tip points forwards.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Using the left hand, put the corn behind the blue stuffed toy.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Have the left arm place the corn behind the blue stuffed toy.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "With the left hand, set the corn behind the blue stuffed toy.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Put the corn behind the blue stuffed toy.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Place the corn behind the blue stuffed toy.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Set the corn behind the blue stuffed toy.", + "start_idx": 894, + "end_idx": 927 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Have the left arm grasp the blue stuffed toy from the table from the top using a side hold at a diagonal angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table by its top using a side grasp and a diagonal approach.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Take the blue stuffed toy from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "From the table, grasp the blue stuffed toy at the top using a side hold and a diagonal pick angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the top.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table with a side grasp at the top.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Have the left arm pick up the blue stuffed toy from the table using a side hold at the top.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table from the top at a diagonal angle.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "From the table, grasp the blue stuffed toy with the left hand at the top.", + "start_idx": 927, + "end_idx": 966 + }, + { + "text": "Put the blue stuffed toy in front of the white coffee cup with the left hand facing forwards.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Using the left hand, place the blue stuffed toy in front of the white coffee cup facing forwards.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Have the left arm set the blue stuffed toy in front of the white coffee cup with its front facing forward.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "With the left hand, position the blue stuffed toy before the white coffee cup so it faces forwards.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Place the blue stuffed toy in front of the white coffee cup facing forwards.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Set the blue stuffed toy before the white coffee cup with its front facing forward.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Position the blue stuffed toy in front of the white coffee cup so it faces forwards.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Using the left hand, put the blue stuffed toy in front of the white coffee cup.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Have the left arm place the blue stuffed toy before the white coffee cup.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "With the left hand, position the blue stuffed toy in front of the white coffee cup.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Put the blue stuffed toy in front of the white coffee cup.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Set the blue stuffed toy before the white coffee cup.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Using the left hand, place the blue stuffed toy before the white coffee cup.", + "start_idx": 966, + "end_idx": 996 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table on a diagonal, with a whole-object grasp.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Take the brown stuffed toy from the table on a diagonal with a whole-object grasp.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Have the brown stuffed toy taken from the table.", + "start_idx": 996, + "end_idx": 1032 + }, + { + "text": "Put the brown stuffed toy in front of the blue stuffed toy with the left hand facing forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the blue stuffed toy facing forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Have the left arm set the brown stuffed toy before the blue stuffed toy, with it facing forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "With the left hand, position the brown stuffed toy ahead of the blue stuffed toy so it faces forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Place the brown stuffed toy in front of the blue stuffed toy facing forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Set the brown stuffed toy before the blue stuffed toy with it facing forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Position the brown stuffed toy ahead of the blue stuffed toy, facing forwards.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the blue stuffed toy.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "With the left hand, place the brown stuffed toy before the blue stuffed toy.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Have the left arm position the brown stuffed toy ahead of the blue stuffed toy.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Set the brown stuffed toy in front of the blue stuffed toy.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Place the brown stuffed toy before the blue stuffed toy.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Have the left hand put the brown stuffed toy in front of the blue stuffed toy.", + "start_idx": 1032, + "end_idx": 1065 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Have the left arm grasp the corn from the table from the bottom using a side hold at a diagonal angle.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "With the left hand, secure the corn from the table by the bottom in a side grasp with a diagonal approach.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Take the corn from the table by the bottom with a side grasp and a diagonal approach.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Grasp the corn from the table at the bottom using a side hold and a diagonal pick angle.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Have the left arm grasp the corn from the table.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom with a diagonal pick angle.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Using the left hand, take the corn from the table with a diagonal approach.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Grasp the corn from the table at the bottom with the left hand.", + "start_idx": 1065, + "end_idx": 1098 + }, + { + "text": "Put the corn to the left of the brown stuffed toy with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Using the left hand, place the corn left of the brown stuffed toy, with its tip facing bottom right.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Have the left arm set the corn to the left of the brown stuffed toy, oriented bottom right from the tip.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "With the left hand, position the corn left of the brown stuffed toy so the tip points toward the bottom right.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Place the corn to the left of the brown stuffed toy with its tip facing bottom right.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Set the corn left of the brown stuffed toy, with the tip oriented toward the bottom right.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Position the corn to the left of the brown stuffed toy, tip facing bottom right.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Put the corn to the left of the brown stuffed toy.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Arrange the corn left of the brown stuffed toy.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Set the corn down to the left of the brown stuffed toy.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "With the left hand, set the corn left of the brown stuffed toy.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Have the left arm put the corn to the left of the brown stuffed toy.", + "start_idx": 1098, + "end_idx": 1134 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Have the left hand grasp the beige bowl from the table by the top rim with a diagonal approach.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a top lip grasp at a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "From the table, grasp the beige bowl with a top lip hold at a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Take the beige bowl from the table by the top rim from a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the top.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "With the left hand, take the beige bowl from the table using a lip grasp at the top.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Have the left hand collect the beige bowl from the table by the top rim.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table from a diagonal angle.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "From the table, grasp the beige bowl at the top with the left hand.", + "start_idx": 1197, + "end_idx": 1233 + }, + { + "text": "Put the beige bowl to the left of the white coffee cup with the left hand.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Have the left arm set the beige bowl to the left of the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "With the left hand, position the beige bowl on the left side of the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Place the beige bowl to the left of the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Set the beige bowl on the left side of the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Position the beige bowl left of the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Put the beige bowl by the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Place the beige bowl next to the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Set the beige bowl beside the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Using the left hand, place the beige bowl by the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Have the left arm set the beige bowl beside the white coffee cup.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Put the beige bowl next to the white coffee cup with the left hand.", + "start_idx": 1233, + "end_idx": 1269 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at a diagonal angle grasping the bottom left using a lip grip.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "With the left hand, pick up the beige bowl from the table at a diagonal angle, grasping the bottom left with a lip grip.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Using the left arm, take the beige bowl from the table diagonally by the bottom left in a lip grip.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Have the left hand retrieve the beige bowl from the table at a diagonal angle, holding the bottom left with a lip grasp.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Pick up the beige bowl from the table at a diagonal angle, grasping the bottom left with a lip grip.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Take the beige bowl from the table diagonally by the bottom left using a lip grasp.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Retrieve the beige bowl from the table at a diagonal angle with a lip grip on the bottom left.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Using the left hand, take the beige bowl from the table, grasping the bottom left.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Have the left arm pick up the beige bowl from the table with a lip grasp.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Pick up the beige bowl from the table at a diagonal angle, grasping the bottom left.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Take the beige bowl from the table with the left hand at a diagonal angle.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Retrieve the beige bowl from the table.", + "start_idx": 1323, + "end_idx": 1344 + }, + { + "text": "Put the beige bowl between the juice pouch and the blue stuffed toy with the left hand.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Using the left hand, place the beige bowl between the juice pouch and the blue stuffed toy, right side up.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Have the left arm set the beige bowl between the juice pouch and the blue stuffed toy with its front facing forward.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "With the left hand, position the beige bowl between the juice pouch and the blue stuffed toy upright.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Place the beige bowl between the juice pouch and the blue stuffed toy.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Set the beige bowl between the juice pouch and the blue stuffed toy.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Position the beige bowl between the juice pouch and the blue stuffed toy.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Using the left hand, put the beige bowl between the juice pouch and the blue stuffed toy.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "With the left hand, place the beige bowl between the juice pouch and the blue stuffed toy.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Have the left arm set the beige bowl between the juice pouch and the blue stuffed toy.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Put the beige bowl between the juice pouch and the blue stuffed toy, right side up.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Set the beige bowl between the juice pouch and the blue stuffed toy with its front facing forward.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Position the beige bowl between the juice pouch and the blue stuffed toy upright.", + "start_idx": 1344, + "end_idx": 1386 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "With the left hand, collect the corn from the table by holding its middle at a diagonal angle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Grab the corn from the table at a diagonal angle by the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "The corn from the table should be picked up with the left hand.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Have the left arm pick up the corn from the table.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Pick up the corn from the table, grasping the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Take the corn from the table with the left hand.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Grasp the corn from the table by the middle.", + "start_idx": 1386, + "end_idx": 1416 + }, + { + "text": "Put the corn between the white coffee cup and the brown stuffed toy with the left hand facing top left at the tip.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Using the left hand, place the corn between the white coffee cup and the brown stuffed toy with the tip facing top left.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Have the left arm set the corn between the white coffee cup and the brown stuffed toy, tip oriented toward the top left.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "With the left hand, position the corn between the white coffee cup and the brown stuffed toy so the tip points top left.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Place the corn between the white coffee cup and the brown stuffed toy with the tip facing top left.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Set the corn between the white coffee cup and the brown stuffed toy, with the tip oriented toward the top left.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Position the corn between the white coffee cup and the brown stuffed toy so its tip points top left.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Using the left hand, put the corn between the white coffee cup and the brown stuffed toy.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "With the left hand, place the corn between the white coffee cup and the brown stuffed toy.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Have the left arm position the corn between the white coffee cup and the brown stuffed toy.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Set the corn between the white coffee cup and the brown stuffed toy.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Position the corn between the white coffee cup and the brown stuffed toy.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Put the corn between the white coffee cup and the brown stuffed toy.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal grip on the handle.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal grip on the handle.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "With the left hand, secure the white coffee cup from the table on its handle using a diagonal hold.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grip on the handle.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Take the white coffee cup from the table with a diagonal hold on the handle.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Grasp the white coffee cup from the table by the handle with a diagonal grip.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Take the white coffee cup from the table using the left hand.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 1455, + "end_idx": 1479 + }, + { + "text": "Put the white coffee cup to the left of the brown stuffed toy with the handle facing backwards with the left hand.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the brown stuffed toy, with the handle facing backward.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Have the left arm set the white coffee cup left of the brown stuffed toy, keeping the handle pointed backward.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "With the left hand, position the white coffee cup to the brown stuffed toy's left, handle facing backward.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Place the white coffee cup to the left of the brown stuffed toy, with the handle facing backward.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Set the white coffee cup left of the brown stuffed toy, keeping the handle pointed backward.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Position the white coffee cup to the brown stuffed toy's left with the handle facing backward.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Have the left arm place the white coffee cup left of the brown stuffed toy.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "With the left hand, set the white coffee cup to the brown stuffed toy's left.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Put the white coffee cup to the left of the brown stuffed toy.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Place the white coffee cup left of the brown stuffed toy.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Set the white coffee cup to the brown stuffed toy's left.", + "start_idx": 1479, + "end_idx": 1524 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "With the left hand, collect the corn from the table by grasping its middle at a diagonal angle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Grasp the corn from the table at its middle with a diagonal pickup.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Pick up the corn from the table with the left hand, grasping the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Using the left hand, take the corn from the table at the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Have the left hand collect the corn from the table by its middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Pick up the corn from the table, grasping the middle.", + "start_idx": 1587, + "end_idx": 1623 + }, + { + "text": "Put the corn to the left of the white coffee cup with the left hand facing backwards by the tip.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Using the left hand, place the corn to the left of the white coffee cup with the tip facing backwards.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Have the left arm set the corn to the left of the white coffee cup, oriented backward at the tip.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "With the left hand, position the corn to the left of the white coffee cup so the tip faces backward.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Place the corn to the left of the white coffee cup with the tip facing backwards.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Set the corn to the left of the white coffee cup, with the tip oriented backward.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Position the corn to the left of the white coffee cup so its tip faces backward.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Using the left hand, put the corn to the left of the white coffee cup.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "With the left hand, place the corn to the left of the white coffee cup.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Have the left arm set the corn to the left of the white coffee cup.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Put the corn to the left of the white coffee cup.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Set the corn to the left of the white coffee cup.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Position the corn to the left of the white coffee cup.", + "start_idx": 1623, + "end_idx": 1665 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Have the left hand take the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Take the brown stuffed toy from the table diagonally while grasping the entire object.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Have the left hand take the brown stuffed toy from the table.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 1665, + "end_idx": 1695 + }, + { + "text": "Place the brown stuffed toy behind the corn with the left hand facing forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Using the left hand, set the brown stuffed toy behind the corn with its front facing forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Have the left arm place the brown stuffed toy behind the corn, front pointed forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "With the left hand, position the brown stuffed toy behind the corn so it faces forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Place the brown stuffed toy behind the corn with its front facing forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Set the brown stuffed toy behind the corn, front facing forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Position the brown stuffed toy behind the corn so it faces forwards.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Place the brown stuffed toy behind the corn.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Set the brown stuffed toy behind the corn.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Position the brown stuffed toy behind the corn.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Using the left hand, place the brown stuffed toy behind the corn.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Have the left arm set the brown stuffed toy behind the corn.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Put the brown stuffed toy behind the corn with the left hand.", + "start_idx": 1695, + "end_idx": 1725 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip at the top.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grip at the top.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Have the left arm take the beige bowl from the table using a top diagonal lip grasp.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "With the left hand, grasp the beige bowl from the table in a diagonal lip hold at the top.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip at the top.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grasp at the top.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Grasp the beige bowl from the table in a diagonal lip hold at the top.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "With the left hand, pick up the beige bowl from the table.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Using the left hand, grasp the beige bowl from the table.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Take the beige bowl from the table using a top grasp.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 1725, + "end_idx": 1761 + }, + { + "text": "Put the beige bowl to the right of the brown stuffed toy with the left hand.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Using the left hand, place the beige bowl to the right of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the beige bowl down to the right of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "With the left hand, position the beige bowl on the right side of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Place the beige bowl to the right of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Set the beige bowl on the right side of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Position the beige bowl to the right of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Move the beige bowl so it is to the right of the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Using the left hand, put the beige bowl by the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "With the left hand, place the beige bowl next to the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the beige bowl beside the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Place the beige bowl by the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Set the beige bowl beside the brown stuffed toy.", + "start_idx": 1761, + "end_idx": 1803 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Have the left hand take the corn from the table by grasping its bottom from the side at a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "With the left hand, secure the corn from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Take the corn from the table by grasping the bottom from the side at a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Secure the corn from the table with a side grasp on its bottom at a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Have the left hand take the corn from the table using a side grasp on the bottom.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "With the left hand, collect the corn from the table by gripping its bottom from the side.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1914, + "end_idx": 1941 + }, + { + "text": "Put the corn to the right of the bowl with the left hand facing top left by the tip.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Using the left hand, place the corn to the right of the bowl with its tip facing the top left.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Have the left arm set the corn to the bowl's right, oriented so the tip points top left.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "With the left hand, position the corn on the right side of the bowl, tip directed toward the top left.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Place the corn to the right of the bowl with its tip facing the top left.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Set the corn on the right side of the bowl with the tip pointing top left.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Position the corn to the bowl's right, oriented with the tip toward the top left.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Using the left hand, put the corn to the right of the bowl.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Have the left arm place the corn on the right side of the bowl.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "With the left hand, set the corn to the bowl's right.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Put the corn to the right of the bowl.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Arrange the corn beside the bowl on its right.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Place the corn on the bowl's right side.", + "start_idx": 1941, + "end_idx": 1974 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table diagonally with a whole-object grasp.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table at a diagonal angle using a full-object hold.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a whole-object grasp.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Retrieve the brown stuffed toy from the table at a diagonal angle using a full-object hold.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 1974, + "end_idx": 2007 + }, + { + "text": "Put the brown stuffed toy to the right of the juice pouch with the left hand facing forwards.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the juice pouch with its front facing forward.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Have the left arm set the brown stuffed toy to the right of the juice pouch, front facing forwards.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "With the left hand, position the brown stuffed toy to the right of the juice pouch so it faces forward.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Place the brown stuffed toy to the right of the juice pouch with its front facing forward.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Set the brown stuffed toy to the right of the juice pouch, facing forwards.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Position the brown stuffed toy to the right of the juice pouch so the front points forward.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the right of the juice pouch.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "With the left hand, set the brown stuffed toy to the right of the juice pouch.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Have the left arm position the brown stuffed toy to the right of the juice pouch.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Place the brown stuffed toy to the right of the juice pouch.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Set the brown stuffed toy to the right of the juice pouch.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Have the brown stuffed toy placed to the right of the juice pouch.", + "start_idx": 2007, + "end_idx": 2046 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the left side diagonally.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a lip hold on the left side at a diagonal angle.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by its left side using a lip grip diagonally.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the left side diagonally.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Take the white coffee cup from the table with a lip hold on the left side diagonally.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Grasp the white coffee cup from the table by the left side with a lip grip at a diagonal angle.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the left side diagonally.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Using the left hand, take the white coffee cup from the table diagonally at the left side.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 2124, + "end_idx": 2142 + }, + { + "text": "Put the white coffee cup to the left of the corn with the left hand right side up with the front facing backwards.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn, right side up, with the front facing backward.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn, keeping it upright and the front directed backward.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the corn so it stays right side up and faces backward.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Place the white coffee cup to the left of the corn, right side up, with the front facing backward.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Set the white coffee cup left of the corn, keeping it upright and the front facing backward.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Position the white coffee cup to the left of the corn so it is right side up and facing backward.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the corn.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Have the left arm set the white coffee cup left of the corn.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the corn.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Put the white coffee cup to the left of the corn.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Set the white coffee cup left of the corn.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Position the white coffee cup to the left of the corn.", + "start_idx": 2142, + "end_idx": 2187 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle gripping the top from the side.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle, gripping the top from the side.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Have the left arm pick the juice pouch up from the table diagonally by the top with a side grasp.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "The juice pouch should be picked up from the table with the left hand, angled diagonally and held at the top from the side.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Pick up the juice pouch from the table with the top held from the side.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Take the juice pouch from the table, gripping the top from the side.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "The juice pouch from the table should be picked up by the top from the side.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "With the left hand, pick up the juice pouch from the table.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "The juice pouch should be picked up from the table with the left hand.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at a diagonal angle.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Pick up the juice pouch from the table diagonally.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 2187, + "end_idx": 2211 + }, + { + "text": "Place the juice pouch to the left of the white coffee cup with the left hand right side up.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the white coffee cup right side up.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Have the left arm place the juice pouch left of the white coffee cup in an upright orientation.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "With the left hand, position the juice pouch on the left side of the white coffee cup, right side up.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Place the juice pouch to the left of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Set the juice pouch on the left side of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Position the juice pouch left of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Move the juice pouch to the left of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "With the left hand, set the juice pouch on the left side of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Have the left arm position the juice pouch left of the white coffee cup.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Place the juice pouch left of the white coffee cup right side up.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Set the juice pouch on the left side of the white coffee cup in an upright orientation.", + "start_idx": 2211, + "end_idx": 2244 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "From a diagonal angle, have the left hand grasp the juice pouch on the table with a side hold at the top.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "With the left hand, secure the juice pouch from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table at the top with a side hold.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Take the juice pouch from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Retrieve the juice pouch from the table with a side grip at the top.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Get the juice pouch from the table by its top using a side hold.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Take the juice pouch from the table at the top.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "With the left hand, take the juice pouch from the table at the top.", + "start_idx": 2304, + "end_idx": 2343 + }, + { + "text": "Put the juice pouch between the white coffee cup and the beige bowl with the left hand right side up with the front as the reference point.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Using the left hand, place the juice pouch between the white coffee cup and the beige bowl, right side up with the front as the reference point.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Have the left arm set the juice pouch between the white coffee cup and the beige bowl, keeping it right side up relative to the front.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "With the left hand, position the juice pouch between the white coffee cup and the beige bowl so its front defines a right-side-up orientation.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Place the juice pouch between the white coffee cup and the beige bowl, right side up with the front as the reference point.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Set the juice pouch between the white coffee cup and the beige bowl, keeping it right side up relative to the front.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Position the juice pouch between the white coffee cup and the beige bowl with its front serving as the reference point.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Using the left hand, place the juice pouch between the white coffee cup and the beige bowl.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Have the left arm set the juice pouch between the white coffee cup and the beige bowl.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "With the left hand, position the juice pouch between the white coffee cup and the beige bowl.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Place the juice pouch between the white coffee cup and the beige bowl.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Set the juice pouch between the white coffee cup and the beige bowl.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Position the juice pouch between the white coffee cup and the beige bowl.", + "start_idx": 2343, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Have the left arm grasp the corn from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "From a diagonal angle, the left hand should seize the corn from the table with a side grasp at the bottom.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "From a diagonal angle, grasp the corn from the table at the bottom with a side hold.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Have the left arm take the corn from the table at the bottom with a side grasp.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Using the left hand, grasp the corn from the table from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "From a diagonal angle, take the corn from the table with the left hand.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "With the left hand, grasp the corn from the table at the bottom.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Put the corn behind the white coffee cup with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Using the left hand, place the corn behind the white coffee cup with the tip facing backwards.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Have the left arm set the corn behind the white coffee cup, oriented backwards relative to its tip.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "With the left hand, position the corn behind the white coffee cup so its tip points backward.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Place the corn behind the white coffee cup.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Set the corn behind the white coffee cup.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Position the corn behind the white coffee cup.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Put the corn behind the white coffee cup with the left hand.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Using the left hand, place the corn behind the white coffee cup.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Have the left arm set the corn behind the white coffee cup.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Place the corn behind the white coffee cup with the tip facing backwards.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Set the corn behind the white coffee cup with its tip pointing backward.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Position the corn behind the white coffee cup, oriented backwards relative to the tip.", + "start_idx": 2424, + "end_idx": 2469 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Using the left hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "With the left hand, seize the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Grasp the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Get the white coffee cup from the table by the handle.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Using the left hand, collect the white coffee cup from the table.", + "start_idx": 2526, + "end_idx": 2565 + }, + { + "text": "Dump the red marker pen and orange screwdriver in front of the corn with the left hand.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Using the left hand, dump the red marker pen and orange screwdriver in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Have the left arm place the red marker pen and orange screwdriver in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "With the left hand, set down the red marker pen and orange screwdriver before the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Dump the red marker pen and orange screwdriver in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Place the red marker pen and orange screwdriver before the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Set the red marker pen and orange screwdriver down in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Put the red marker pen and orange screwdriver in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Deposit the red marker pen and orange screwdriver before the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Leave the red marker pen and orange screwdriver in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Arrange the red marker pen and orange screwdriver before the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Position the red marker pen and orange screwdriver in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Move the red marker pen and orange screwdriver to a spot in front of the corn.", + "start_idx": 2565, + "end_idx": 2628 + }, + { + "text": "Put the white coffee cup behind the juice pouch with the left hand right side up with the front facing backwards.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Using the left hand, place the white coffee cup behind the juice pouch, right side up, with the front facing backward.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Have the left arm set the white coffee cup behind the juice pouch in an upright orientation, front facing backward.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "With the left hand, position the white coffee cup behind the juice pouch so it stays right side up and its front faces backward.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Place the white coffee cup behind the juice pouch, keeping it right side up with the front facing backward.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Set the white coffee cup behind the juice pouch in an upright position, front facing backward.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Position the white coffee cup behind the juice pouch so it is right side up and the front points backward.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Using the left hand, put the white coffee cup behind the juice pouch.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "With the left hand, set the white coffee cup behind the juice pouch.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Have the left arm place the white coffee cup behind the juice pouch.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Put the white coffee cup behind the juice pouch.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Set the white coffee cup behind the juice pouch.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Position the white coffee cup behind the juice pouch.", + "start_idx": 2628, + "end_idx": 2673 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Have the left hand take the orange screwdriver from the table with a diagonal pickup angle at its middle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table by grasping the middle at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Retrieve the orange screwdriver from the table by grasping the middle at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup angle at its middle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "With the left hand, take the orange screwdriver from the table.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Have the left hand retrieve the orange screwdriver from the table.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Take the orange screwdriver from the table by grasping the middle.", + "start_idx": 2829, + "end_idx": 2865 + }, + { + "text": "Put the screwdriver to the left of the white coffee cup with the left hand facing top left with the tip as the reference point.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the white coffee cup with the tip facing top left.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Have the left arm set the screwdriver to the left of the white coffee cup, tip oriented toward the top left.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "With the left hand, position the screwdriver left of the white coffee cup so the tip points top left.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Place the screwdriver to the left of the white coffee cup with the tip facing top left.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Set the screwdriver left of the white coffee cup, with the tip oriented toward the top left.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Position the screwdriver to the left of the white coffee cup so the tip points to the top left.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Using the left hand, put the screwdriver to the left of the white coffee cup.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "With the left hand, set the screwdriver left of the white coffee cup.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Have the left arm place the screwdriver to the left of the white coffee cup.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Put the screwdriver to the left of the white coffee cup.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Using the left hand, position the screwdriver beside the white coffee cup.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Set the screwdriver beside the white coffee cup.", + "start_idx": 2865, + "end_idx": 2907 + }, + { + "text": "Pick up the red marker pen from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Using the left hand, take the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Have the left hand collect the red marker pen from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "With the left hand, retrieve the red marker pen from the table diagonally by the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Pick up the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Take the red marker pen from the table diagonally by the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Retrieve the red marker pen from the table with a diagonal pickup at the middle.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "With the left hand, take the red marker pen from the table.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Have the left hand retrieve the red marker pen from the table.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Pick up the red marker pen from the table.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Take the red marker pen from the table.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Retrieve the red marker pen from the table.", + "start_idx": 2979, + "end_idx": 3015 + }, + { + "text": "Put the red marker pen to the left of the corn with the left hand facing forwards with the tip forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Using the left hand, place the red marker pen to the left of the corn with its tip facing forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Have the left arm set the red marker pen to the left of the corn, keeping the tip pointed forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "With the left hand, position the red marker pen to the left of the corn so the tip faces forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Place the red marker pen to the left of the corn with the tip facing forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Set the red marker pen to the left of the corn, tip pointed forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Position the red marker pen to the left of the corn so its tip faces forwards.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Using the left hand, put the red marker pen to the left of the corn.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "With the left hand, place the red marker pen to the left of the corn.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Have the left arm set the red marker pen to the left of the corn.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Put the red marker pen to the left of the corn.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Position the red marker pen to the left of the corn.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Set the red marker pen to the left of the corn.", + "start_idx": 3015, + "end_idx": 3051 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle using a side grip from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at a diagonal angle with a side grip from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Have the left arm take the juice pouch from the table, angled diagonally, using a side grasp from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "With the left hand, grasp the juice pouch from the table diagonally from the top with a side hold.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle using a side grip from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Take the juice pouch from the table diagonally with a side grasp from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Grasp the juice pouch from the table at a diagonal angle from the top with a side hold.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grasp from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Have the left arm pick up the juice pouch from the table.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Using the left hand, grasp the juice pouch from the table at a diagonal angle.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle with the left hand.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Take the juice pouch from the table using a side grip from the top.", + "start_idx": 3051, + "end_idx": 3081 + }, + { + "text": "Place the juice pouch to the left of the orange screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the orange screwdriver right side up, with the front as the reference point.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Have the left arm place the juice pouch left of the orange screwdriver, keeping it right side up relative to the front.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "With the left hand, position the juice pouch to the orange screwdriver's left, oriented right side up using the front as the reference point.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Place the juice pouch to the left of the orange screwdriver right side up, with the front as the reference point.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Set the juice pouch left of the orange screwdriver, keeping it right side up relative to the front.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Position the juice pouch to the orange screwdriver's left, right side up with the front as the reference point.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the orange screwdriver.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Have the left arm set the juice pouch left of the orange screwdriver.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "With the left hand, position the juice pouch to the orange screwdriver's left.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Place the juice pouch to the left of the orange screwdriver.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Have the juice pouch placed to the left of the orange screwdriver.", + "start_idx": 3081, + "end_idx": 3114 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "With the left hand, collect the corn from the table on a diagonal approach, gripping the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Take the corn from the table on a diagonal path, holding the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "From the table, collect the corn at a diagonal angle by the middle.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "With the left hand, collect the corn from the table.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Take the corn from the table.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "From the table, collect the corn.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Put the corn to the left of the beige bowl with the left hand facing top left from the tip.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Using the left hand, place the corn to the left of the beige bowl with its tip facing the top left.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Have the left arm set the corn to the left of the beige bowl, oriented top left from the tip.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "With the left hand, position the corn left of the beige bowl so the tip points toward the top left.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Place the corn to the left of the beige bowl with its tip facing the top left.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Set the corn left of the beige bowl, with the tip oriented toward the top left.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Position the corn to the left of the beige bowl so the tip faces top left.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Using the left hand, put the corn to the left of the beige bowl.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Have the left arm place the corn left of the beige bowl.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "With the left hand, set the corn to the left of the beige bowl.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Place the corn to the left of the beige bowl.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Set the corn left of the beige bowl.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Position the corn to the left of the beige bowl.", + "start_idx": 3210, + "end_idx": 3246 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Have the left arm take the orange screwdriver from the table by the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, holding the middle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Take the orange screwdriver from the table with the left hand at a diagonal pickup.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Get the orange screwdriver from the table with the left hand.", + "start_idx": 3246, + "end_idx": 3285 + }, + { + "text": "Put the orange screwdriver to the left of the corn with the left hand with its tip facing top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the corn with its tip pointing to the top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Have the left arm set the orange screwdriver left of the corn, tip oriented toward the top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "With the left hand, position the orange screwdriver to the corn's left, keeping the tip aimed at the top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Place the orange screwdriver to the left of the corn with its tip facing the top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Set the orange screwdriver left of the corn, with the tip directed to the top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Position the orange screwdriver to the corn's left, tip pointing top right.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Using the left hand, put the orange screwdriver to the left of the corn.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "With the left hand, set the orange screwdriver left of the corn.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Have the left arm place the orange screwdriver to the corn's left.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Put the orange screwdriver to the left of the corn.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Using the left hand, position the orange screwdriver by the corn on its left side.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Set the orange screwdriver on the left side of the corn.", + "start_idx": 3285, + "end_idx": 3318 + }, + { + "text": "Pick up the red marker pen from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Have the left hand take the red marker pen from the table at a diagonal angle by the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "With the left hand, collect the red marker pen from the table diagonally, holding it at the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Pick up the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Take the red marker pen from the table at a diagonal angle by the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "From the table, collect the red marker pen diagonally while holding the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table, grasping the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "With the left hand, take the red marker pen from the table by the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Have the left hand collect the red marker pen from the table at a diagonal angle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Pick up the red marker pen from the table with the left hand.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Take the red marker pen from the table by the middle.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "From the table, collect the red marker pen.", + "start_idx": 3318, + "end_idx": 3348 + }, + { + "text": "Place the red marker pen to the left of the brown stuffed toy with the left hand facing right with the tip facing right.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Using the left hand, place the red marker pen to the left of the brown stuffed toy with the tip facing right.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Have the left arm set the red marker pen to the left of the brown stuffed toy, oriented so the tip points right.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "With the left hand, position the red marker pen left of the brown stuffed toy, keeping the tip directed to the right.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Place the red marker pen to the left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Set the red marker pen to the left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Position the red marker pen to the left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Using the left hand, place the red marker pen to the left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Have the left arm set the red marker pen to the left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "With the left hand, position the red marker pen to the left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Place the red marker pen left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Using the left hand, put the red marker pen left of the brown stuffed toy.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Set the red marker pen to the left of the brown stuffed toy with the left hand.", + "start_idx": 3348, + "end_idx": 3384 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Have the left arm grasp the juice pouch from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "With the left hand, secure the juice pouch from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Take the juice pouch from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "With the left hand, pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Have the left arm take the juice pouch from the table with a side hold at the top.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Using the left hand, grasp the juice pouch from the table by the top with a side grasp.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Pick up the juice pouch from the table with the left hand from a diagonal angle.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table with the left hand.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 3384, + "end_idx": 3414 + }, + { + "text": "Place the juice pouch behind the orange screwdriver with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Using the left hand, set the juice pouch behind the orange screwdriver right side up, with the front as the reference point.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Have the left arm place the juice pouch behind the orange screwdriver in an upright orientation, referencing the front.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "With the left hand, position the juice pouch behind the orange screwdriver so it is right side up relative to the front.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Place the juice pouch behind the orange screwdriver right side up, with the front as the reference point.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Set the juice pouch behind the orange screwdriver in an upright position using the front as the reference point.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Position the juice pouch behind the orange screwdriver so it stays right side up relative to the front.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Using the left hand, place the juice pouch behind the orange screwdriver.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Have the left arm set the juice pouch behind the orange screwdriver.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "With the left hand, position the juice pouch behind the orange screwdriver.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Place the juice pouch behind the orange screwdriver.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Set the juice pouch right side up with the front as the reference point behind the orange screwdriver.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Position the juice pouch behind the orange screwdriver in an upright orientation.", + "start_idx": 3414, + "end_idx": 3444 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the top and a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the top and a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Have the left arm grasp the beige bowl from the table by the top lip at a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a top lip hold at a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top and a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Grasp the beige bowl from the table by the top lip at a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Take the beige bowl from the table with a top lip hold at a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the top.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Have the left arm take the beige bowl from the table by the top lip.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using a lip hold.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at the top and a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Using the left hand, take the beige bowl from the table at a diagonal angle.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Pick up the beige bowl from the table at the top with a lip grip.", + "start_idx": 3444, + "end_idx": 3477 + }, + { + "text": "Dump the blue stuffed toy to the left of the red marker pen with the left hand.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Using the left hand, dump the blue stuffed toy to the left of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Have the left arm place the blue stuffed toy on the left side of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "With the left hand, deposit the blue stuffed toy left of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Dump the blue stuffed toy to the left of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Place the blue stuffed toy on the left side of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Set the blue stuffed toy left of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Move the blue stuffed toy to the left of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Position the blue stuffed toy to the left of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Leave the blue stuffed toy on the left side of the red marker pen.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Put the blue stuffed toy down.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Set the blue stuffed toy in place.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Move the blue stuffed toy over.", + "start_idx": 3477, + "end_idx": 3516 + }, + { + "text": "Put the beige bowl behind the blue stuffed toy with the left hand.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Using the left hand, place the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Have the left arm set the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "With the left hand, position the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Place the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Set the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "The beige bowl goes behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Position the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Arrange the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Put the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Move the beige bowl behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Have the bowl placed behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "The beige bowl should be set behind the blue stuffed toy.", + "start_idx": 3516, + "end_idx": 3561 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3561, + "end_idx": 3579 + }, + { + "text": "Put the blue stuffed toy to the left of the white coffee cup with the left hand facing forwards.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the white coffee cup, facing forwards.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Have the left arm set the blue stuffed toy to the left of the white coffee cup with its front facing forward.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "With the left hand, position the blue stuffed toy to the left of the white coffee cup so it faces forwards.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Place the blue stuffed toy to the left of the white coffee cup facing forwards.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Set the blue stuffed toy to the left of the white coffee cup with its front forward.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Position the blue stuffed toy to the left of the white coffee cup so the front points forward.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Using the left hand, put the blue stuffed toy to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "With the left hand, set the blue stuffed toy to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Have the left arm place the blue stuffed toy to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Put the blue stuffed toy to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Set the blue stuffed toy to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Position the blue stuffed toy to the left of the white coffee cup.", + "start_idx": 3579, + "end_idx": 3609 + }, + { + "text": "Pick up the red marker pen from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Using the left hand, take the red marker pen from the table with a side grip at the bottom diagonally.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Have the left hand grasp the red marker pen from the table with a diagonal side hold at the bottom.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "With the left hand, secure the red marker pen from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Pick up the red marker pen from the table using a side grip at the bottom diagonally.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Take the red marker pen from the table with a side grasp on the bottom diagonally.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Grasp the red marker pen from the table with a diagonal side hold at the bottom.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table with a side grip at the bottom.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "With the left hand, collect the red marker pen from the table using a side grasp at the bottom.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Have the left hand take the red marker pen from the table with a side hold on the bottom.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table diagonally.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "With the left hand, grasp the red marker pen from the table at the bottom diagonally.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Pick up the red marker pen from the table.", + "start_idx": 3669, + "end_idx": 3702 + }, + { + "text": "Put the red marker pen in front of the beige bowl with the tip facing left using the left hand.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Using the left hand, place the red marker pen in front of the beige bowl with its tip facing left.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Have the left arm set the red marker pen in front of the beige bowl, tip pointed left.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "With the left hand, position the red marker pen in front of the beige bowl so the tip faces left.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Place the red marker pen in front of the beige bowl with its tip facing left.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Set the red marker pen in front of the beige bowl, tip pointed left.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Position the red marker pen in front of the beige bowl so the tip faces left.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Using the left hand, place the red marker pen in front of the beige bowl.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "With the left hand, set the red marker pen in front of the beige bowl.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Have the left arm position the red marker pen in front of the beige bowl.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Put the red marker pen in front of the beige bowl.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Set the red marker pen before the beige bowl.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Position the red marker pen in front of the beige bowl.", + "start_idx": 3702, + "end_idx": 3741 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Grasp the orange screwdriver from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Take the orange screwdriver from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table with a side grip at the bottom.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "With the left hand, take the orange screwdriver from the table using a side grasp on the bottom.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Have the left arm grasp the orange screwdriver from the table by the bottom.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Take the orange screwdriver from the table by the bottom.", + "start_idx": 3741, + "end_idx": 3774 + }, + { + "text": "Put the orange screwdriver between the red marker pen and the brown stuffed toy with the left hand facing top left with the tip as the reference point.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Using the left hand, place the orange screwdriver between the red marker pen and the brown stuffed toy, with the tip facing top left.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Have the left arm set the orange screwdriver between the red marker pen and the brown stuffed toy so its tip points top left.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "With the left hand, position the orange screwdriver between the red marker pen and the brown stuffed toy, oriented top left at the tip.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Place the orange screwdriver between the red marker pen and the brown stuffed toy with the tip facing top left.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Set the orange screwdriver between the red marker pen and the brown stuffed toy, with the tip oriented top left.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "The orange screwdriver goes between the red marker pen and the brown stuffed toy, tip facing top left.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Using the left hand, place the orange screwdriver between the red marker pen and the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Have the left arm put the orange screwdriver between the red marker pen and the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "With the left hand, set the orange screwdriver between the red marker pen and the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Place the orange screwdriver between the red marker pen and the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Position the orange screwdriver between the red marker pen and the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "The orange screwdriver should go between the red marker pen and the brown stuffed toy.", + "start_idx": 3774, + "end_idx": 3813 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at the bottom left using a diagonal lip grasp.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at the bottom left with a diagonal lip grasp.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Have the left arm take the beige bowl from the table by its bottom-left area using a diagonal lip grasp.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "With the left hand, grasp the beige bowl from the table at the bottom left in a diagonal lip hold.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Pick up the beige bowl from the table at the bottom left using a diagonal lip grasp.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Take the beige bowl from the table by the bottom-left area with a diagonal lip grasp.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Grasp the beige bowl from the table at the bottom left in a diagonal lip hold.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at the bottom left.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Take the beige bowl from the table with the left hand by the bottom-left area.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grasp.", + "start_idx": 3813, + "end_idx": 3846 + }, + { + "text": "Place the beige bowl to the right of the juice pouch with the left hand.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Using the left hand, set the beige bowl to the right of the juice pouch, right side up from the front.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Have the left arm place the beige bowl to the juice pouch's right, keeping it upright from the front.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "With the left hand, position the beige bowl on the right side of the juice pouch, front-facing and right side up.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Place the beige bowl to the right of the juice pouch.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Set the beige bowl on the right side of the juice pouch.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Position the beige bowl to the juice pouch's right.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Arrange the beige bowl right of the juice pouch.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Using the left hand, place the beige bowl to the right of the juice pouch.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "With the left hand, set the beige bowl on the right side of the juice pouch.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Have the left arm position the beige bowl to the juice pouch's right.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Place the beige bowl to the right of the juice pouch, right side up from the front.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Set the beige bowl on the right side of the juice pouch, keeping it upright from the front.", + "start_idx": 3845, + "end_idx": 3890 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Have the left arm grasp the brown stuffed toy from the table with a side hold at the top on a diagonal approach.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Pick up the brown stuffed toy from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Take the brown stuffed toy from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Grasp the brown stuffed toy from the table by the top with a side hold on a diagonal approach.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table using a side grip.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table with a side grasp.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Have the left arm collect the brown stuffed toy from the table with a side hold.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "With the left hand, pick up the brown stuffed toy from the table from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Take the brown stuffed toy from the table at the top from a diagonal angle.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 3890, + "end_idx": 3911 + }, + { + "text": "Put the brown stuffed toy behind the red marker pen with the left hand facing top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Using the left hand, place the brown stuffed toy behind the red marker pen with its front facing top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Have the left arm set the brown stuffed toy behind the red marker pen, front oriented toward the top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "With the left hand, position the brown stuffed toy behind the red marker pen so the front points top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Place the brown stuffed toy behind the red marker pen with its front facing top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Set the brown stuffed toy behind the red marker pen, with the front toward the top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Position the brown stuffed toy behind the red marker pen so it faces top left.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Using the left hand, put the brown stuffed toy behind the red marker pen.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "With the left hand, place the brown stuffed toy behind the red marker pen.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Have the left arm set the brown stuffed toy behind the red marker pen.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Place the brown stuffed toy behind the red marker pen.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Set the brown stuffed toy behind the red marker pen.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Position the brown stuffed toy behind the red marker pen.", + "start_idx": 3912, + "end_idx": 3942 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping its middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal approach at the middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by its middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping its middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Take the orange screwdriver from the table diagonally by its middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal approach at the middle.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Take the orange screwdriver from the table diagonally.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Get the orange screwdriver from the table with the left hand.", + "start_idx": 4010, + "end_idx": 4049 + }, + { + "text": "Put the orange screwdriver behind the brown stuffed toy with the left hand with the tip facing right.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Using the left hand, place the orange screwdriver behind the brown stuffed toy with the tip pointing right.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Have the left arm set the orange screwdriver behind the brown stuffed toy, tip oriented to the right.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "With the left hand, position the orange screwdriver behind the brown stuffed toy so its tip faces right.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Place the orange screwdriver behind the brown stuffed toy with the tip pointing right.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Set the orange screwdriver behind the brown stuffed toy with the tip oriented rightward.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Position the orange screwdriver behind the brown stuffed toy so the tip faces right.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Using the left hand, put the orange screwdriver behind the brown stuffed toy.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "With the left hand, place the orange screwdriver behind the brown stuffed toy.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Have the left arm position the orange screwdriver behind the brown stuffed toy.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Put the orange screwdriver behind the brown stuffed toy.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Set the orange screwdriver behind the brown stuffed toy.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Position the orange screwdriver behind the brown stuffed toy.", + "start_idx": 4050, + "end_idx": 4086 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn on the table with a side hold at the bottom.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "With the left hand, secure the corn from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Take the corn from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Have the left hand take the corn from the table with a side grasp.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Using the left hand, grasp the corn from the table with a side hold.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Take the corn from the table with the left hand at the bottom.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Grasp the corn from the table at the bottom from a diagonal angle.", + "start_idx": 4085, + "end_idx": 4122 + }, + { + "text": "Put the corn to the right of the brown stuffed toy with the left hand with its tip facing bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Using the left hand, place the corn to the right of the brown stuffed toy with its tip pointing to the bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Have the left arm set the corn to the right of the brown stuffed toy, tip oriented bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "With the left hand, position the corn to the right of the brown stuffed toy so its tip faces the bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Place the corn to the right of the brown stuffed toy with its tip facing bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Set the corn to the right of the brown stuffed toy with the tip pointed bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Position the corn to the right of the brown stuffed toy, tip facing the bottom left.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Using the left hand, put the corn to the right of the brown stuffed toy.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "With the left hand, place the corn to the right of the brown stuffed toy.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Have the left arm position the corn to the right of the brown stuffed toy.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Put the corn to the right of the brown stuffed toy.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Using the left hand, set the corn to the right of the brown stuffed toy.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Place the corn to the right of the brown stuffed toy.", + "start_idx": 4122, + "end_idx": 4161 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "From a diagonal angle, have the left hand grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grasp on the top from a diagonal approach.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the top from a diagonal approach.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Have the left hand take the juice pouch from the table with a side grasp on the top.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a side hold at the top.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "From a diagonal angle, have the left hand take the juice pouch from the table.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Pick up the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 4161, + "end_idx": 4197 + }, + { + "text": "Place the juice pouch to the right of the red marker pen with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Using the left hand, set the juice pouch to the right of the red marker pen, right side up with the front as the reference point.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Have the left arm place the juice pouch to the right of the red marker pen in a right-side-up orientation, using the front as the reference.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "With the left hand, position the juice pouch to the right of the red marker pen so it is right side up relative to the front.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Place the juice pouch to the right of the red marker pen, right side up with the front as the reference point.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Set the juice pouch to the right of the red marker pen in a right-side-up orientation using the front as the reference.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Position the juice pouch to the right of the red marker pen so it is right side up relative to the front.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Using the left hand, place the juice pouch to the right of the red marker pen.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Have the left arm set the juice pouch to the right of the red marker pen.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "With the left hand, position the juice pouch to the right of the red marker pen.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Place the juice pouch to the right of the red marker pen.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Set the juice pouch to the right of the red marker pen.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Position the juice pouch to the right of the red marker pen.", + "start_idx": 4197, + "end_idx": 4230 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object hold.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "The brown stuffed toy from the table should be picked up diagonally with a full-object grasp.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "With the left hand, collect the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "The brown stuffed toy from the table should be picked up.", + "start_idx": 4230, + "end_idx": 4266 + }, + { + "text": "Put the brown stuffed toy to the left of the blue stuffed toy with the left hand facing forwards.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the blue stuffed toy facing forwards.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the blue stuffed toy with its front facing forward.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "With the left hand, position the brown stuffed toy left of the blue stuffed toy, facing forward.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Place the brown stuffed toy to the left of the blue stuffed toy facing forwards.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Set the brown stuffed toy to the left of the blue stuffed toy with its front facing forward.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Position the brown stuffed toy left of the blue stuffed toy facing forward.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the blue stuffed toy.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "With the left hand, set the brown stuffed toy left of the blue stuffed toy.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the blue stuffed toy.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Put the brown stuffed toy to the left of the blue stuffed toy.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Arrange the brown stuffed toy left of the blue stuffed toy.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Using the left hand, put the brown stuffed toy to the left of the blue stuffed toy.", + "start_idx": 4266, + "end_idx": 4296 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Have the left arm pick up the juice pouch from the table by the top with a side hold at a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "With the left hand, grasp the juice pouch from the table at the top using a side grip from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Take the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Grasp the juice pouch from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grasp.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Have the left arm pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at the top from a diagonal angle.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Take the juice pouch from the table at the top using a side grip.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 4359, + "end_idx": 4392 + }, + { + "text": "Place the juice pouch to the left of the red marker pen with the left hand right side up front.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the red marker pen, right side up with the front facing forward.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Have the left arm place the juice pouch left of the red marker pen, keeping it right side up and the front oriented forward.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "With the left hand, position the juice pouch to the left of the red marker pen, upright with its front facing front.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Place the juice pouch to the left of the red marker pen, right side up with the front facing forward.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Set the juice pouch left of the red marker pen, keeping it upright with the front oriented forward.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Position the juice pouch to the left of the red marker pen, with the front facing forward and right side up.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the red marker pen.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Have the left arm set the juice pouch left of the red marker pen.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "With the left hand, position the juice pouch to the left of the red marker pen.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Place the juice pouch to the left of the red marker pen.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Set the juice pouch left of the red marker pen.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Have the juice pouch placed to the left of the red marker pen.", + "start_idx": 4392, + "end_idx": 4434 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "With the left hand, collect the corn from the table by grasping the middle at a diagonal angle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Grab the corn from the table at a diagonal angle by the middle.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Pick up the corn from the table with the left hand.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Using the left hand, take the corn from the table.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Have the left hand grab the corn from the table.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Take the corn from the table.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Grab the corn from the table.", + "start_idx": 4434, + "end_idx": 4464 + }, + { + "text": "Put the corn to the left of the brown stuffed toy with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy, with its tip as the reference point and facing backwards.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Have the left arm set the corn to the left of the brown stuffed toy so it faces backwards, using the tip as the orientation reference.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "With the left hand, position the corn left of the brown stuffed toy, oriented backwards relative to its tip.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Place the corn to the left of the brown stuffed toy so its tip is the reference point and it faces backwards.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Set the corn left of the brown stuffed toy, oriented backwards with the tip as the reference point.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Position the corn to the left of the brown stuffed toy, facing backwards from the tip reference point.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Have the left arm set the corn left of the brown stuffed toy.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "With the left hand, position the corn to the left of the brown stuffed toy.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Place the corn to the left of the brown stuffed toy.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Set the corn left of the brown stuffed toy.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Position the corn beside the brown stuffed toy on its left side.", + "start_idx": 4464, + "end_idx": 4500 + }, + { + "text": "Pick up the red marker pen from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table at a diagonal angle from the middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Have the left arm grasp the red marker pen from the table diagonally at its middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "With the left hand, take the red marker pen from the table using a diagonal approach at the middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Pick up the red marker pen from the table at a diagonal angle from the middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Take the red marker pen from the table diagonally from the middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Grasp the red marker pen from the table at a diagonal angle from its middle.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Have the left arm take the red marker pen from the table.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "With the left hand, grasp the red marker pen from the table.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Pick up the red marker pen from the table.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Take the red marker pen from the table.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Grasp the red marker pen from the table.", + "start_idx": 4569, + "end_idx": 4605 + }, + { + "text": "Place the red marker pen to the left of the beige bowl with the left hand facing top right with the tip as the reference point.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Using the left hand, position the red marker pen to the left of the beige bowl, with the tip facing the top right.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Have the left arm place the red marker pen left of the beige bowl, oriented top right from the tip.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "With the left hand, set the red marker pen to the left of the beige bowl so the tip points toward the top right.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Place the red marker pen to the left of the beige bowl.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Set the red marker pen left of the beige bowl.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Position the red marker pen to the left of the beige bowl.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Move the red marker pen to the left side of the beige bowl.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Arrange the red marker pen to the left of the beige bowl with the left hand.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Using the left hand, place the red marker pen to the left of the beige bowl.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Have the left arm set the red marker pen left of the beige bowl.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Place the red marker pen left of the beige bowl with the tip facing the top right.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Set the red marker pen to the left of the beige bowl, with the tip oriented toward the top right.", + "start_idx": 4605, + "end_idx": 4644 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Have the left arm pick the orange screwdriver off the table diagonally by its middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Take the orange screwdriver off the table diagonally by the middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Retrieve the orange screwdriver from the table, keeping a diagonal hold at its middle.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Have the left arm take the orange screwdriver off the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Take the orange screwdriver off the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Retrieve the orange screwdriver from the table.", + "start_idx": 4644, + "end_idx": 4683 + }, + { + "text": "Place the orange screwdriver to the left of the corn with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Using the left hand, set the orange screwdriver to the left of the corn, facing forwards with the tip as the reference point.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Have the left arm place the orange screwdriver left of the corn with its tip as the reference point, facing forwards.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "With the left hand, position the orange screwdriver to the corn's left, oriented forwards using the tip as the reference point.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Place the orange screwdriver to the left of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Set the orange screwdriver left of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Position the orange screwdriver to the left of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Put the orange screwdriver on the left side of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Have the left arm set the orange screwdriver left of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "With the left hand, position the orange screwdriver on the left side of the corn.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Place the orange screwdriver to the left of the corn with the left hand.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Set the orange screwdriver left of the corn using the left hand.", + "start_idx": 4683, + "end_idx": 4728 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "From a diagonal angle, have the left hand seize the juice pouch on the table with a side hold at the top.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "With the left hand, collect the juice pouch from the table using a side grip on the top at a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "From a diagonal angle, seize the juice pouch on the table with a side hold at the top.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Have the left hand take the juice pouch from the table using a side grasp at the top.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "With the left hand, collect the juice pouch from the table using a side hold.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Pick up the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 4728, + "end_idx": 4752 + }, + { + "text": "Place the juice pouch to the right of the beige bowl with the left hand right side up with the front as the reference point.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Using the left hand, set the juice pouch to the right of the beige bowl right side up, with the front as the reference point.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Have the left arm place the juice pouch just right of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "With the left hand, position the juice pouch on the bowl's right side, right side up using the front as the reference point.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Place the juice pouch to the right of the beige bowl, keeping it right side up with the front as the reference point.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Set the juice pouch just to the right of the beige bowl right side up, using the front as the reference point.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Position the juice pouch on the right side of the beige bowl, with the front as the reference point and right side up.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Using the left hand, place the juice pouch to the right of the beige bowl.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Have the left arm set the juice pouch on the right side of the beige bowl.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "With the left hand, position the juice pouch just right of the beige bowl.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Place the juice pouch to the right of the beige bowl.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Set the juice pouch on the right side of the beige bowl.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Position the juice pouch just to the right of the beige bowl.", + "start_idx": 4752, + "end_idx": 4788 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Have the left arm take the orange screwdriver from the table using a side grasp at the bottom with a diagonal approach.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table at the bottom using a side hold and a diagonal pick angle.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Pick up the orange screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Take the orange screwdriver from the table using a side grasp at the bottom with a diagonal approach.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Grasp the orange screwdriver from the table at the bottom with a side hold and diagonal pickup angle.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table with a side grip at the bottom.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Have the left arm take the orange screwdriver from the table using a side grasp at the bottom.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table at the bottom using a side hold.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at the bottom with a diagonal pick angle.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Have the left arm take the orange screwdriver from the table at the bottom with a diagonal approach.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Pick up the orange screwdriver from the table at the bottom.", + "start_idx": 4857, + "end_idx": 4890 + }, + { + "text": "Put the orange screwdriver to the left of the beige bowl with the left hand with its tip facing bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the beige bowl with its tip pointed bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Have the left arm set the orange screwdriver left of the beige bowl, tip facing the bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "With the left hand, position the orange screwdriver to the left of the beige bowl so its tip faces bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Place the orange screwdriver to the left of the beige bowl with its tip facing bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Set the orange screwdriver left of the beige bowl, with the tip pointed toward the bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Position the orange screwdriver to the left of the beige bowl so the tip points bottom right.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "With the left hand, put the orange screwdriver to the left of the beige bowl.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Using the left hand, place the orange screwdriver left of the beige bowl.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Have the left arm set the orange screwdriver to the left of the beige bowl.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Put the orange screwdriver to the left of the beige bowl.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Place the orange screwdriver left of the beige bowl.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Set the orange screwdriver to the left of the beige bowl.", + "start_idx": 4890, + "end_idx": 4926 + }, + { + "text": "Pick up the red marker pen from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Using the left hand, take the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Have the left arm pick the red marker pen off the table on a diagonal, holding it at the center.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "With the left hand, retrieve the red marker pen from the table diagonally by its middle.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Pick up the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Take the red marker pen off the table on a diagonal, holding the center.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Retrieve the red marker pen from the table diagonally by the middle.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Have the left arm take the red marker pen off the table.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "With the left hand, retrieve the red marker pen from the table.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Pick up the red marker pen from the table.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Take the red marker pen off the table.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Retrieve the red marker pen from the table.", + "start_idx": 4926, + "end_idx": 4962 + }, + { + "text": "Place the red marker pen to the left of the corn with the left hand facing left with the tip as the reference point.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Using the left hand, set the red marker pen to the left of the corn with its tip facing left.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Have the left arm place the red marker pen left of the corn, oriented left using the tip as the reference point.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "With the left hand, position the red marker pen to the corn's left, tip pointing left.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Place the red marker pen to the left of the corn with its tip facing left.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Set the red marker pen left of the corn, with the tip oriented left.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Position the red marker pen to the left of the corn, keeping the tip directed left.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Using the left hand, place the red marker pen to the left of the corn.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "With the left hand, set the red marker pen left of the corn.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Have the left arm position the red marker pen to the left of the corn.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Place the red marker pen to the left of the corn.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Set the red marker pen left of the corn.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Position the red marker pen to the corn's left.", + "start_idx": 4962, + "end_idx": 4998 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Take the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 5130, + "end_idx": 5163 + }, + { + "text": "Put the brown stuffed toy in front of the red marker pen with the left hand facing forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the red marker pen, facing forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the red marker pen with its front facing forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "With the left hand, position the brown stuffed toy before the red marker pen so it faces forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Place the brown stuffed toy in front of the red marker pen facing forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Set the brown stuffed toy before the red marker pen with its front facing forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Position the brown stuffed toy in front of the red marker pen so it faces forwards.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the red marker pen.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "With the left hand, set the brown stuffed toy before the red marker pen.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Have the left arm position the brown stuffed toy in front of the red marker pen.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Place the brown stuffed toy in front of the red marker pen.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Set the brown stuffed toy before the red marker pen.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Put the brown stuffed toy in front of the red marker pen.", + "start_idx": 5163, + "end_idx": 5193 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup at the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally, holding the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "With the left hand, take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table by the middle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Get the orange screwdriver from the table.", + "start_idx": 5406, + "end_idx": 5427 + }, + { + "text": "Place the orange screwdriver to the right of the corn with the left hand facing top left with the tip as the reference point.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Using the left hand, set the orange screwdriver to the right of the corn with the tip facing top left.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Have the left hand place the orange screwdriver right of the corn, oriented top left by its tip.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "With the left hand, position the orange screwdriver to the corn's right, with the tip pointing top left.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Place the orange screwdriver to the right of the corn with the tip facing top left.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Set the orange screwdriver right of the corn, oriented top left by its tip.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Position the orange screwdriver to the corn's right with the tip pointing top left.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Using the left hand, place the orange screwdriver to the right of the corn.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Have the left hand set the orange screwdriver right of the corn.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "With the left hand, position the orange screwdriver to the corn's right.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Place the orange screwdriver to the right of the corn.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Set the orange screwdriver right of the corn.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Position the orange screwdriver to the corn's right.", + "start_idx": 5427, + "end_idx": 5469 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal approach and a middle grasp.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "With the left hand, retrieve the corn from the table diagonally, holding it at the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Retrieve the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Take the corn from the table diagonally by the middle.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Get the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Take the corn from the table.", + "start_idx": 5469, + "end_idx": 5505 + }, + { + "text": "Put the corn to the left of the brown stuffed toy with the left hand facing right with the tip as the reference point.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy, facing right with the tip as the reference point.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Have the left arm set the corn to the left of the brown stuffed toy so the tip faces right.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "With the left hand, position the corn left of the brown stuffed toy, oriented rightward from the tip.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Place the corn to the left of the brown stuffed toy, facing right with the tip as the reference point.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Set the corn left of the brown stuffed toy so the tip faces right.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Position the corn to the left of the brown stuffed toy with the tip oriented to the right.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Leave the corn to the left of the brown stuffed toy with the tip pointing right.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Using the left hand, place the corn to the left of the brown stuffed toy.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "With the left hand, set the corn left of the brown stuffed toy.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Have the left arm position the corn to the left of the brown stuffed toy.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Place the corn to the left of the brown stuffed toy.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Set the corn left of the brown stuffed toy.", + "start_idx": 5505, + "end_idx": 5541 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip at the bottom left in a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Have the left arm take the beige bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using the lip at the bottom left at a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Take the beige bowl from the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Grasp the beige bowl from the table using the lip at the bottom left at a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Have the left arm take the beige bowl from the table with a lip grasp.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using the lip.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at the bottom left in a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Have the left arm take the beige bowl from the table on a diagonal from the bottom left.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Pick up the beige bowl from the table at the bottom left in a diagonal angle.", + "start_idx": 5541, + "end_idx": 5556 + }, + { + "text": "Put the beige bowl in front of the corn with the left hand.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Using the left hand, place the beige bowl in front of the corn, right side up.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Have the left arm set the beige bowl down in front of the corn with its open side facing up.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "With the left hand, position the beige bowl in front of the corn in an upright orientation.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Place the beige bowl in front of the corn, right side up.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Set the beige bowl down in front of the corn with its open side facing up.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Position the beige bowl in front of the corn upright.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Using the left hand, place the beige bowl in front of the corn.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Have the left arm set the beige bowl down in front of the corn.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Place the beige bowl in front of the corn.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Set the beige bowl down in front of the corn.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Position the beige bowl in front of the corn.", + "start_idx": 5556, + "end_idx": 5601 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Have the left arm pick the blue stuffed toy up from the table with a diagonal approach around the whole object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach around the whole object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "From the table, collect the blue stuffed toy at a diagonal angle while holding the entire object.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Take the blue stuffed toy from the table.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "From the table, collect the blue stuffed toy.", + "start_idx": 5718, + "end_idx": 5751 + }, + { + "text": "Put the blue stuffed toy behind the juice pouch with the left hand facing forwards.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Using the left hand, place the blue stuffed toy behind the juice pouch facing forwards.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Have the left arm set the blue stuffed toy behind the juice pouch with its front facing forward.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "With the left hand, position the blue stuffed toy behind the juice pouch so the front faces forwards.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Place the blue stuffed toy behind the juice pouch facing forwards.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Set the blue stuffed toy behind the juice pouch with its front facing forward.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Position the blue stuffed toy behind the juice pouch so it faces forwards.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Using the left hand, put the blue stuffed toy behind the juice pouch.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "With the left arm, place the blue stuffed toy behind the juice pouch.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Have the left hand set the blue stuffed toy behind the juice pouch.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Put the blue stuffed toy behind the juice pouch.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Place the blue stuffed toy behind the juice pouch.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Set the blue stuffed toy behind the juice pouch.", + "start_idx": 5751, + "end_idx": 5784 + }, + { + "text": "Pick up the red marker pen from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Using the left hand, take the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Have the left hand pick the red marker pen up from the table on a diagonal, holding it at the center.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "With the left hand, retrieve the red marker pen from the table diagonally by the middle.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Pick up the red marker pen from the table at a diagonal angle, grasping the middle.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Take the red marker pen from the table on a diagonal, holding the middle.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Retrieve the red marker pen from the table diagonally by the center.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Have the left hand take the red marker pen from the table.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "With the left hand, retrieve the red marker pen from the table.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Pick up the red marker pen from the table.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Take the red marker pen from the table.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Have the red marker pen picked up from the table.", + "start_idx": 5856, + "end_idx": 5895 + }, + { + "text": "Put the red marker pen between the blue stuffed toy and the white coffee cup with the left hand with its tip facing bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Using the left hand, place the red marker pen between the blue stuffed toy and the white coffee cup, with its tip facing bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Have the left arm set the red marker pen between the blue stuffed toy and the white coffee cup so the tip points bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "With the left hand, position the red marker pen between the blue stuffed toy and the white coffee cup, tip oriented toward the bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Put the red marker pen between the blue stuffed toy and the white coffee cup.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Place the red marker pen between the blue stuffed toy and the white coffee cup.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Set the red marker pen between the blue stuffed toy and the white coffee cup.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Using the left hand, put the red marker pen between the blue stuffed toy and the white coffee cup.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Have the left arm place the red marker pen between the blue stuffed toy and the white coffee cup.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "With the left hand, set the red marker pen between the blue stuffed toy and the white coffee cup.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Place the red marker pen between the blue stuffed toy and the white coffee cup with its tip facing bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Set the red marker pen between the blue stuffed toy and the white coffee cup, tip facing bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Position the red marker pen between the blue stuffed toy and the white coffee cup so its tip points bottom left.", + "start_idx": 5895, + "end_idx": 5934 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Take the beige bowl from the table with a lip hold at the bottom left on a diagonal.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Grasp the beige bowl from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "With the left hand, take the beige bowl from the table using a lip hold.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Have the left arm grasp the beige bowl from the table with a lip grasp.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "At the bottom left with a diagonal angle, take the beige bowl from the table.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 5934, + "end_idx": 5973 + }, + { + "text": "Put the beige bowl in front of the blue stuffed toy with the left hand.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Using the left hand, place the beige bowl in front of the blue stuffed toy upright.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Have the left arm set the beige bowl upright before the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "With the left hand, position the beige bowl right side up in front of the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Place the beige bowl upright in front of the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Set the beige bowl right side up before the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Position the beige bowl in front of the blue stuffed toy, keeping it upright.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Arrange the beige bowl before the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Put the beige bowl in front of the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Move the beige bowl before the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Using the left hand, place the beige bowl in front of the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Have the left arm set the beige bowl before the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "With the left hand, position the beige bowl in front of the blue stuffed toy.", + "start_idx": 5973, + "end_idx": 6015 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Have the left arm pick the brown stuffed toy up from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally using a whole-object grasp.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table grasping the entire object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table, holding the whole object.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Have the left arm retrieve the brown stuffed toy from the table with a full-object grasp.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table diagonally.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 6015, + "end_idx": 6045 + }, + { + "text": "Put the brown stuffed toy to the left of the beige bowl with the left hand facing forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the beige bowl with its front facing forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the beige bowl, front facing forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the beige bowl so it faces forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Place the brown stuffed toy to the left of the beige bowl with its front facing forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Set the brown stuffed toy to the left of the beige bowl, facing forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Position the brown stuffed toy to the left of the beige bowl so the front faces forwards.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the beige bowl.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "With the left hand, set the brown stuffed toy to the left of the beige bowl.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Have the left arm position the brown stuffed toy to the left of the beige bowl.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Put the brown stuffed toy to the left of the beige bowl.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Arrange the brown stuffed toy to the left of the beige bowl.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Using the left hand, put the brown stuffed toy to the left of the beige bowl.", + "start_idx": 6045, + "end_idx": 6078 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at the middle.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "With the left hand, retrieve the corn from the table, holding it at the middle on a diagonal.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by the middle.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "With the left hand, retrieve the corn from the table.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Take the corn from the table.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 6078, + "end_idx": 6105 + }, + { + "text": "Put the corn to the left of the blue stuffed toy with the left hand facing top left by the tip.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Using the left hand, place the corn to the left of the blue stuffed toy with its tip facing the top left.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Have the left arm set the corn left of the blue stuffed toy, oriented so the tip points to the top left.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "With the left hand, position the corn to the left of the blue stuffed toy, keeping the tip directed toward the top left.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Place the corn to the left of the blue stuffed toy with its tip facing the top left.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Set the corn left of the blue stuffed toy, with the tip oriented toward the top left.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Position the corn to the left of the blue stuffed toy so its tip points top left.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Using the left hand, place the corn to the left of the blue stuffed toy.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "With the left hand, set the corn left of the blue stuffed toy.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Have the left arm position the corn to the left of the blue stuffed toy.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Place the corn to the left of the blue stuffed toy.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Set the corn left of the blue stuffed toy.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Have the corn placed to the left of the blue stuffed toy.", + "start_idx": 6105, + "end_idx": 6141 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "The blue stuffed toy should be picked up from the table by the left hand at a diagonal angle using a full-object hold.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal pickup angle and a whole-object grasp.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "The blue stuffed toy should be picked up from the table at a diagonal angle using a full-object hold.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "The blue stuffed toy should be picked up from the table by the left hand.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table using a whole-object grasp.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 6141, + "end_idx": 6171 + }, + { + "text": "Put the blue stuffed toy to the left of the brown stuffed toy with the left hand facing forwards.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the brown stuffed toy, facing forwards.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Have the left arm set the blue stuffed toy left of the brown stuffed toy with its front facing forward.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "With the left hand, position the blue stuffed toy on the brown stuffed toy's left side, facing forwards.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Place the blue stuffed toy to the left of the brown stuffed toy, facing forwards.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Set the blue stuffed toy on the left side of the brown stuffed toy with its front facing forward.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Position the blue stuffed toy left of the brown stuffed toy, facing forwards.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the left of the brown stuffed toy.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "With the left hand, set the blue stuffed toy on the brown stuffed toy's left side.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Have the left arm position the blue stuffed toy left of the brown stuffed toy.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Place the blue stuffed toy to the left of the brown stuffed toy.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Set the blue stuffed toy on the brown stuffed toy's left side.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Position the blue stuffed toy left of the brown stuffed toy.", + "start_idx": 6171, + "end_idx": 6204 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand using a diagonal grasp on the entire object.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table with a diagonal grasp on the entire object.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table using a diagonal whole-object grasp.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table diagonally around the entire object.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Pick up the brown stuffed toy from the table using a diagonal grasp on the entire object.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal whole-object grasp.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Grasp the brown stuffed toy from the table diagonally across the entire object.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal grasp on the entire object.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "With the left hand, grasp the brown stuffed toy from the table.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 6270, + "end_idx": 6303 + }, + { + "text": "Put the brown stuffed toy inside the beige bowl with the left hand facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the beige bowl facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Have the left arm put the brown stuffed toy into the beige bowl with its front facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "With the left hand, deposit the brown stuffed toy in the beige bowl, front facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Place the brown stuffed toy inside the beige bowl facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Put the brown stuffed toy into the beige bowl with its front facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Set the brown stuffed toy in the beige bowl facing forwards.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Using the left hand, place the brown stuffed toy inside the beige bowl.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Have the left arm put the brown stuffed toy into the beige bowl.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "With the left hand, set the brown stuffed toy in the beige bowl.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Place the brown stuffed toy inside the beige bowl.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Put the brown stuffed toy into the beige bowl.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Set the brown stuffed toy in the beige bowl.", + "start_idx": 6303, + "end_idx": 6324 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Have the left arm pick the blue stuffed toy off the table with a diagonal approach and a whole-object grasp.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "With the left hand, collect the blue stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Take the blue stuffed toy off the table with a diagonal approach and a full-object hold.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "From the table, retrieve the blue stuffed toy diagonally while holding the entire object.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Take the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "From the table, collect the blue stuffed toy while grasping the entire object.", + "start_idx": 6324, + "end_idx": 6363 + }, + { + "text": "Put the blue stuffed toy to the right of the corn with the left hand facing forwards.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the corn, facing forwards.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Have the left arm set the blue stuffed toy to the right of the corn with its front facing forward.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "With the left hand, position the blue stuffed toy to the right of the corn so it faces forwards.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Place the blue stuffed toy to the right of the corn, facing forwards.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Set the blue stuffed toy to the right of the corn with its front forward.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Position the blue stuffed toy to the right of the corn so it faces forwards.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the corn.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Have the left arm set the blue stuffed toy to the right of the corn.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "With the left hand, position the blue stuffed toy to the right of the corn.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Put the blue stuffed toy to the right of the corn.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Set the blue stuffed toy to the right of the corn.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Position the blue stuffed toy to the right of the corn.", + "start_idx": 6363, + "end_idx": 6396 + }, + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle using a side grip from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle with a side grip from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Have the left arm grasp the juice pouch from the table diagonally, applying a side hold at the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "With the left hand, seize the juice pouch from the table on a diagonal using a side grasp from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle using a side grip from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "From the table, collect the juice pouch diagonally with a side grasp at the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Take the juice pouch from the table at a diagonal angle with a side hold from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "With the left hand, take the juice pouch from the table using a side grasp from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Have the left arm retrieve the juice pouch from the table with a side hold at the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at a diagonal angle.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "With the left hand, collect the juice pouch from the table diagonally.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Pick up the juice pouch from the table using a side grip from the top.", + "start_idx": 6396, + "end_idx": 6435 + }, + { + "text": "Place the juice pouch to the left of the corn with the left hand right side up with the front as the reference point.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the corn right side up with the front as the reference point.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Have the left arm set the juice pouch to the left of the corn, keeping it right side up relative to the front.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "With the left hand, position the juice pouch left of the corn in a right-side-up orientation using the front as the reference point.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Place the juice pouch to the left of the corn right side up with the front as the reference point.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Set the juice pouch to the left of the corn, keeping it right side up relative to the front.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Position the juice pouch left of the corn in a right-side-up orientation with the front as the reference point.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the corn.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Have the left arm set the juice pouch to the left of the corn.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "With the left hand, position the juice pouch left of the corn.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Place the juice pouch to the left of the corn.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Set the juice pouch left of the corn.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Position the juice pouch to the left of the corn.", + "start_idx": 6435, + "end_idx": 6471 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal top lip grasp.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal top lip grasp.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Have the left arm pick up the beige bowl from the table using a diagonal grasp on the top lip.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "With the left hand, grasp the beige bowl from the table at the top lip on a diagonal.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal top lip grasp.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Take the beige bowl from the table with a diagonal top lip grasp.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Grasp the beige bowl from the table with a diagonal top lip hold.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Using the left hand, take the beige bowl from the table.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 6633, + "end_idx": 6672 + }, + { + "text": "Put the beige bowl behind the corn with the left hand.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Using the left hand, place the beige bowl behind the corn, right side up from the front.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Have the left arm set the beige bowl behind the corn with its right side up facing the front.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "With the left hand, position the beige bowl behind the corn, keeping it upright from the front.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Place the beige bowl behind the corn, right side up from the front.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Set the beige bowl behind the corn with its right side up facing the front.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Position the beige bowl behind the corn, upright from the front.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Using the left hand, put the beige bowl behind the corn.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Have the left arm place the beige bowl behind the corn.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "With the left hand, set the beige bowl behind the corn.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Put the beige bowl behind the corn.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Arrange the beige bowl behind the corn.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Have the beige bowl placed behind the corn.", + "start_idx": 6672, + "end_idx": 6717 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top diagonally.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Have the left arm pick the juice pouch off the table using a side grip on the top at a diagonal angle.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "With the left hand, grasp the juice pouch from the table by the top using a diagonal side hold.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top diagonally.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Take the juice pouch off the table with a side grasp on the top at a diagonal angle.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Grasp the juice pouch from the table by the top with a diagonal side hold.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Have the left arm take the juice pouch off the table using a side grasp.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a side hold.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at the top diagonally.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Have the left arm take the juice pouch off the table by the top at a diagonal angle.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Pick up the juice pouch from the table at the top diagonally.", + "start_idx": 6717, + "end_idx": 6741 + }, + { + "text": "Put the juice pouch in front of the corn with the left hand right side up.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Using the left hand, place the juice pouch in front of the corn right side up.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Have the left arm set the juice pouch down in front of the corn with its right side facing up.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "With the left hand, position the juice pouch right side up in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Place the juice pouch in front of the corn right side up.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Set the juice pouch down in front of the corn with its right side up.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Position the juice pouch in front of the corn so it stays right side up.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Using the left hand, put the juice pouch in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "With the left hand, set the juice pouch down in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Have the left arm place the juice pouch in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Put the juice pouch in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Set the juice pouch down in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Position the juice pouch in front of the corn.", + "start_idx": 6741, + "end_idx": 6780 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "With the left hand, grasp the corn from the table at the middle on a diagonal angle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Grasp the corn from the table at the middle with a diagonal pickup.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Have the left hand grasp the corn from the table.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Take the corn from the table, grasping the middle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 6849, + "end_idx": 6888 + }, + { + "text": "Put the corn to the left of the juice pouch with the left hand facing top right from the front.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "With the left hand, place the corn to the left of the juice pouch facing top right from the front.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Have the left arm set the corn to the left of the juice pouch with its front facing top right.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Using the left hand, position the corn left of the juice pouch so the front faces top right.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Place the corn to the left of the juice pouch facing top right from the front.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Set the corn left of the juice pouch with its front facing top right.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Position the corn to the left of the juice pouch so it faces top right from the front.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "With the left hand, place the corn to the left of the juice pouch.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Using the left hand, set the corn left of the juice pouch.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Have the left arm position the corn to the left of the juice pouch.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Put the corn to the left of the juice pouch.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Set the corn to the left of the juice pouch.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Using the left hand, place the corn to the left of the juice pouch.", + "start_idx": 6888, + "end_idx": 6930 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip from the top at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip from the top at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Have the left hand grasp the beige bowl from the table with a top lip grip at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "With the left hand, secure the beige bowl from the table using a lip grasp at the top on a diagonal.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip from the top at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Take the beige bowl from the table with a top lip grasp at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Grasp the beige bowl from the table with a lip grip at the top, diagonally.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip from the top.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Have the left hand take the beige bowl from the table using a top lip grasp.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using a lip grip.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Pick up the beige bowl from the table with the left hand from the top at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Using the left hand, take the beige bowl from the table from the top at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Grasp the beige bowl from the table from the top at a diagonal angle.", + "start_idx": 6930, + "end_idx": 6969 + }, + { + "text": "Put the beige bowl behind the corn with the left hand right side up.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Using the left hand, place the beige bowl behind the corn with its right side up.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Have the left arm set the beige bowl behind the corn, keeping it right side up.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "With the left hand, position the beige bowl behind the corn in an upright orientation.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Place the beige bowl behind the corn with its right side up.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Set the beige bowl behind the corn upright.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Position the beige bowl behind the corn right side up.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Using the left hand, place the beige bowl behind the corn.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Have the left arm set the beige bowl behind the corn.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "With the left hand, position the beige bowl behind the corn.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Put the beige bowl behind the corn.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Set the beige bowl behind the corn.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Position the beige bowl behind the corn.", + "start_idx": 6969, + "end_idx": 7014 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Have the left arm pick the juice pouch off the table with a side grip at the top, approached diagonally.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table using a top side hold from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Take the juice pouch off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Retrieve the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Have the left arm take the juice pouch off the table using a side grasp at the top.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table with a side hold at the top.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Have the left arm take the juice pouch off the table from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 7152, + "end_idx": 7191 + }, + { + "text": "Put the juice pouch behind the orange screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Using the left hand, place the juice pouch behind the orange screwdriver, right side up with the front as the reference point.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Have the left arm set the juice pouch behind the orange screwdriver in a right-side-up orientation, referenced to the front.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "With the left hand, position the juice pouch behind the orange screwdriver so it is right side up relative to the front.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Place the juice pouch behind the orange screwdriver, right side up with the front as the reference point.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Set the juice pouch behind the orange screwdriver in a right-side-up position relative to the front.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Position the juice pouch behind the orange screwdriver so it stays right side up, using the front as the reference point.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Using the left hand, place the juice pouch behind the orange screwdriver.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Have the left arm set the juice pouch behind the orange screwdriver.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "With the left hand, position the juice pouch behind the orange screwdriver.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Place the juice pouch behind the orange screwdriver.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Set the juice pouch behind the orange screwdriver in a right-side-up orientation.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Position the juice pouch behind the orange screwdriver relative to the front.", + "start_idx": 7191, + "end_idx": 7233 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the left side in a diagonal pick angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the left side in a diagonal pick angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a lip grip on its left side at a diagonal angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by its left side using a lip grasp at a diagonal pick angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the left side in a diagonal pick angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Grasp the white coffee cup from the table by the left side using a lip grip diagonally.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "The left hand should take the white coffee cup from the table using a lip grasp.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "With the left arm, grasp the white coffee cup from the table by its left side at a diagonal angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Pick up the white coffee cup from the table at the left side in a diagonal pick angle.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 7290, + "end_idx": 7326 + }, + { + "text": "Put the white coffee cup behind the beige bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Using the left hand, place the white coffee cup behind the beige bowl with the handle facing backward, right side up.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Have the left arm set the white coffee cup behind the beige bowl, keeping it upright with the handle pointing backward.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "With the left hand, position the white coffee cup behind the beige bowl so the handle faces backward and the cup stays right side up.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Place the white coffee cup behind the beige bowl with the handle facing backward and right side up.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Set the white coffee cup behind the beige bowl, upright, with its handle pointing backward.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Position the white coffee cup behind the beige bowl so it remains right side up and the handle points backward.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Using the left hand, put the white coffee cup behind the beige bowl.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "With the left hand, place the white coffee cup behind the beige bowl.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Have the left arm set the white coffee cup behind the beige bowl.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Put the white coffee cup behind the beige bowl.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Using the left hand, position the white coffee cup behind the beige bowl.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Set the white coffee cup behind the beige bowl with the left hand.", + "start_idx": 7326, + "end_idx": 7365 + }, + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Have the left hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "With the left hand, grasp the corn at the middle from the table on a diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Grasp the corn from the table at the middle on a diagonal.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, pick up the corn from the table.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Have the left hand take the corn from the table.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "With the left hand, grasp the corn from the table.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Take the corn from the table.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Put the corn between the beige bowl and orange screwdriver with the left hand with the tip facing right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Using the left hand, place the corn between the beige bowl and the orange screwdriver, with its tip facing right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Have the left arm set the corn between the beige bowl and orange screwdriver so the tip points right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "With the left hand, position the corn between the beige bowl and the orange screwdriver, tip oriented to the right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Place the corn between the beige bowl and the orange screwdriver with its tip facing right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Set the corn between the beige bowl and orange screwdriver so the tip points right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Position the corn between the beige bowl and the orange screwdriver, keeping the tip to the right.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "With the left hand, put the corn between the beige bowl and orange screwdriver.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Using the left hand, set the corn between the beige bowl and the orange screwdriver.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Have the left arm place the corn between the beige bowl and orange screwdriver.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Put the corn between the beige bowl and orange screwdriver.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Set the corn between the beige bowl and the orange screwdriver.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Position the corn between the beige bowl and orange screwdriver.", + "start_idx": 7401, + "end_idx": 7437 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Using the left hand, take the corn from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "With the left arm, grasp the corn from the table by the top using a side hold from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Have the left hand pick the corn from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Pick up the corn from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "From a diagonal angle, grasp the corn from the table at the top with a side hold.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Take the corn from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "With the left hand, pick up the corn from the table using a side grip.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Use the left arm to take the corn from the table with a side hold.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Have the left hand grasp the corn from the table with a side grasp.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Pick up the corn from the table with the left hand from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Using the left hand, take the corn from the table by the top.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Grasp the corn from the table at the top from a diagonal angle.", + "start_idx": 7500, + "end_idx": 7530 + }, + { + "text": "Put the corn in front of the beige bowl with the left hand facing forwards with the tip facing forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Using the left hand, place the corn in front of the beige bowl with its tip facing forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Have the left arm set the corn in front of the beige bowl, oriented so the tip points forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "With the left hand, position the corn before the beige bowl, keeping the tip directed forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Place the corn in front of the beige bowl with its tip facing forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Set the corn before the beige bowl, with the tip pointed forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Position the corn in front of the beige bowl so its tip faces forwards.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Using the left hand, put the corn in front of the beige bowl.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "With the left hand, set the corn before the beige bowl.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Have the left arm place the corn in front of the beige bowl.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Put the corn in front of the beige bowl.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Set the corn before the beige bowl.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Place the corn in front of the beige bowl.", + "start_idx": 7530, + "end_idx": 7569 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the top.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal lip grasp at the top.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Have the left arm pick up the beige bowl from the table by the top edge with a diagonal lip grip.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "With the left hand, grasp the beige bowl from the table at the top using a diagonal lip hold.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp at the top.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grip at the top.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Grasp the beige bowl from the table by the top with a diagonal lip hold.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Using the left hand, take the beige bowl from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Have the left arm grasp the beige bowl from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "With the left hand, take the beige bowl from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Have the left arm pick up the beige bowl from the table.", + "start_idx": 7569, + "end_idx": 7611 + }, + { + "text": "Put the beige bowl between the corn and the juice pouch with the left hand.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Using the left hand, place the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Have the left arm set the beige bowl down between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "With the left hand, position the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Place the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Set the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Position the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "The beige bowl goes between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Move the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Using the left hand, put the beige bowl down between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Have the left arm place the beige bowl between the corn and the juice pouch.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Set the beige bowl down between the corn and the juice pouch with the left hand.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "The beige bowl should be placed between the corn and the juice pouch with the left hand.", + "start_idx": 7611, + "end_idx": 7656 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grasp at the left side from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grasp at the left side from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by its left side using a lip grasp from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grasp at the left side from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Take the white coffee cup from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Grasp the white coffee cup from the table by the left side with a lip grasp from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grasp at the left side.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "With the left hand, take the white coffee cup from the table using a lip hold on the left side.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table at the left side.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the left side from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Take the white coffee cup from the table at the left side from a diagonal angle.", + "start_idx": 7721, + "end_idx": 7754 + }, + { + "text": "Place the white coffee cup behind the beige bowl with the handle facing backwards right side up with the left hand.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Using the left hand, set the white coffee cup behind the beige bowl, with its handle facing backward and the cup right side up.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Have the left hand place the white coffee cup behind the beige bowl, keeping the handle pointed backward and the cup upright.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "With the left hand, position the white coffee cup behind the beige bowl so the handle faces backward and it stays right side up.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Place the white coffee cup behind the beige bowl with the handle facing backward and right side up.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Set the white coffee cup behind the beige bowl, keeping the handle backward and the cup upright.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Position the white coffee cup behind the beige bowl with its handle pointed backward and the cup right side up.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Put the white coffee cup behind the beige bowl.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Place the white coffee cup behind the beige bowl.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Set the white coffee cup behind the beige bowl.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Using the left hand, place the white coffee cup behind the beige bowl.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "With the left hand, set the white coffee cup behind the beige bowl.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Have the left hand position the white coffee cup behind the beige bowl.", + "start_idx": 7755, + "end_idx": 7800 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "From a diagonal angle, have the left hand grasp the corn from the table with a side hold at the bottom.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "With the left hand, take the corn from the table by the bottom using a side grip from a diagonal angle.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "From a diagonal angle, grasp the corn from the table at the bottom with a side hold.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Take the corn from the table by the bottom using a side grip from a diagonal angle.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "With the left hand, grasp the corn from the table using a side hold.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Have the left hand take the corn from the table with a side grip.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Pick up the corn from the table at the bottom from a diagonal angle.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Using the left hand, pick up the corn from the table at the bottom.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "From a diagonal angle, grasp the corn from the table with the left hand.", + "start_idx": 7860, + "end_idx": 7893 + }, + { + "text": "Put the corn between the white coffee cup and the blue stuffed toy with the left hand facing backwards.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Using the left hand, place the corn between the white coffee cup and the blue stuffed toy with its tip facing backwards.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Have the left arm set the corn between the white coffee cup and the blue stuffed toy, tip pointed backward.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "With the left hand, position the corn between the white coffee cup and the blue stuffed toy so the tip faces backwards.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Place the corn between the white coffee cup and the blue stuffed toy.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Set the corn between the white coffee cup and the blue stuffed toy.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Position the corn between the white coffee cup and the blue stuffed toy.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Using the left hand, place the corn between the white coffee cup and the blue stuffed toy.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "With the left hand, set the corn between the white coffee cup and the blue stuffed toy.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Have the left arm position the corn between the white coffee cup and the blue stuffed toy.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Put the corn between the white coffee cup and the blue stuffed toy with its tip facing backwards.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Arrange the corn between the white coffee cup and the blue stuffed toy, tip facing backward.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Place the corn between the white coffee cup and the blue stuffed toy with the left hand.", + "start_idx": 7893, + "end_idx": 7932 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a diagonal grasp on the lip at the left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "The white coffee cup should be grasped from the table with a diagonal lip grip on its left side.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Using a diagonal lip grasp on the left side, pick up the white coffee cup from the table.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Using the left hand, collect the white coffee cup from the table.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Put the white coffee cup to the left of the orange screwdriver with the handle facing backwards right side up with the front facing backwards using the left hand.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the orange screwdriver, handle facing backwards, right side up, with the front facing backwards.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Have the left arm set the white coffee cup left of the orange screwdriver, with its handle pointing backward, upright, and the front facing backward.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the orange screwdriver so the handle faces backwards, right side up, front facing backwards.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Place the white coffee cup to the left of the orange screwdriver with the handle facing backwards, right side up, and the front facing backwards.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Set the white coffee cup left of the orange screwdriver, with the handle facing backwards, right side up, and the front facing backwards.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Position the white coffee cup to the left of the orange screwdriver, handle facing backwards, right side up, with the front facing backwards.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the orange screwdriver.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Have the left arm place the white coffee cup left of the orange screwdriver.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "With the left hand, set the white coffee cup to the left of the orange screwdriver.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Place the white coffee cup to the left of the orange screwdriver.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Set the white coffee cup left of the orange screwdriver.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Position the white coffee cup to the left of the orange screwdriver.", + "start_idx": 8186, + "end_idx": 8229 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top diagonally.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Have the left arm grasp the juice pouch from the table from the top with a diagonal side hold.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table using a diagonal side grasp at the top.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top diagonally.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Take the juice pouch from the table with a diagonal side grasp at the top.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Retrieve the juice pouch from the table from the top with a side hold diagonally.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Pick up the juice pouch from the table at the top diagonally.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Take the juice pouch from the table from the top diagonally.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Retrieve the juice pouch from the table.", + "start_idx": 8295, + "end_idx": 8328 + }, + { + "text": "Put the juice pouch in front of the white coffee cup with the left hand right side up.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Using the left hand, place the juice pouch in front of the white coffee cup right side up.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Have the left arm set the juice pouch down in front of the white coffee cup with its right side up.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "With the left hand, position the juice pouch in front of the white coffee cup upright.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Place the juice pouch in front of the white coffee cup right side up.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Set the juice pouch in front of the white coffee cup with its right side up.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Position the juice pouch in front of the white coffee cup upright.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Using the left hand, put the juice pouch in front of the white coffee cup.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "With the left hand, set the juice pouch down in front of the white coffee cup.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Have the left arm place the juice pouch in front of the white coffee cup.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Put the juice pouch in front of the white coffee cup.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Set the juice pouch down in front of the white coffee cup.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Position the juice pouch in front of the white coffee cup.", + "start_idx": 8328, + "end_idx": 8364 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table on a diagonal angle by grasping its middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Take the orange screwdriver from the table on a diagonal pickup, holding the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Retrieve the orange screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "With the left hand, take the orange screwdriver from the table by the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table, holding its middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Retrieve the orange screwdriver from the table by grasping the middle.", + "start_idx": 8364, + "end_idx": 8391 + }, + { + "text": "Place the orange screwdriver behind the juice pouch with the left hand with its tip facing top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Using the left hand, place the orange screwdriver behind the juice pouch with its tip facing top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Have the left arm set the orange screwdriver behind the juice pouch, tip oriented toward the top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "With the left hand, position the orange screwdriver behind the juice pouch so its tip points to the top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Place the orange screwdriver behind the juice pouch.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Set the orange screwdriver behind the juice pouch.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Position the orange screwdriver behind the juice pouch.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Using the left hand, place the orange screwdriver behind the juice pouch.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Have the left arm set the orange screwdriver behind the juice pouch.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Put the orange screwdriver behind the juice pouch with the left hand.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Place the orange screwdriver behind the juice pouch, with its tip facing top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Set the orange screwdriver behind the juice pouch so the tip points top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Put the orange screwdriver behind the juice pouch with the tip oriented to the top right.", + "start_idx": 8391, + "end_idx": 8418 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grasp at the top from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Have the left arm pick the juice pouch up from the table with a top side grasp at a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table by grasping its top side from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Retrieve the juice pouch from the table by grasping the top side from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "From the table, pick up the juice pouch with a side hold at the top from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Pick up the juice pouch from the table with the left hand.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Take the juice pouch from the table from a diagonal angle.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Grab the juice pouch from the table at the top.", + "start_idx": 8484, + "end_idx": 8517 + }, + { + "text": "Put the juice pouch in front of the beige bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Using the left hand, place the juice pouch in front of the beige bowl right side up, with the front as the orientation reference point.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Have the left arm set the juice pouch in front of the beige bowl, keeping it right side up relative to its front.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "With the left hand, position the juice pouch before the beige bowl right side up, using the front as the reference point.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Place the juice pouch in front of the beige bowl right side up, with the front as the orientation reference point.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Set the juice pouch before the beige bowl right side up, using the front as the reference point.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Position the juice pouch in front of the beige bowl so it is right side up relative to the front.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Using the left hand, put the juice pouch in front of the beige bowl.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "With the left hand, place the juice pouch before the beige bowl.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Have the left arm set the juice pouch in front of the beige bowl.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Put the juice pouch in front of the beige bowl.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Set the juice pouch before the beige bowl.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Position the juice pouch in front of the beige bowl.", + "start_idx": 8517, + "end_idx": 8547 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a diagonal lip grasp on its left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table in a diagonal lip hold on the left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Grasp the white coffee cup from the table using a diagonal lip hold on the left side.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 8547, + "end_idx": 8577 + }, + { + "text": "Put the white coffee cup between the orange screwdriver and the beige bowl with the handle facing backwards right side up with the left hand.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Using the left hand, place the white coffee cup between the orange screwdriver and the beige bowl, handle facing backward and upright.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Have the left arm set the white coffee cup between the beige bowl and the orange screwdriver with its handle pointing backward, right side up.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "With the left hand, position the white coffee cup between the orange screwdriver and the beige bowl, keeping it upright with the handle toward the back.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Place the white coffee cup between the orange screwdriver and the beige bowl, with the handle facing backward and right side up.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Set the white coffee cup between the beige bowl and the orange screwdriver, keeping the handle to the back and the cup upright.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Position the white coffee cup between the orange screwdriver and the beige bowl, upright with its handle facing backward.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Using the left hand, put the white coffee cup between the orange screwdriver and the beige bowl.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Have the left arm place the white coffee cup between the beige bowl and the orange screwdriver.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "With the left hand, set the white coffee cup between the orange screwdriver and the beige bowl.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Put the white coffee cup between the orange screwdriver and the beige bowl.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Using the left hand, position the white coffee cup between the orange screwdriver and the beige bowl.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Have the left arm set the white coffee cup between the beige bowl and the orange screwdriver.", + "start_idx": 8577, + "end_idx": 8622 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Have the left arm pick up the orange screwdriver from the table with a side grip on the bottom at a diagonal approach.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Take the orange screwdriver from the table with a side grasp on the bottom at a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Grasp the orange screwdriver from the table with a side hold at the bottom from a diagonal approach.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table with a side grip.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Have the left arm take the orange screwdriver from the table using a side grasp at the bottom.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Take the orange screwdriver from the table with the left hand using a side grip.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Grasp the orange screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 8691, + "end_idx": 8721 + }, + { + "text": "Put the orange screwdriver to the right of the corn with the left hand facing forwards with the tip forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Using the left hand, place the orange screwdriver to the right of the corn with its tip facing forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Have the left arm set the orange screwdriver to the right of the corn, oriented so the tip points forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "With the left hand, position the orange screwdriver to the right of the corn, keeping the tip directed forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Place the orange screwdriver to the right of the corn with its tip facing forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Set the orange screwdriver to the right of the corn, with the tip pointing forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Position the orange screwdriver to the right of the corn so its tip faces forwards.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Using the left hand, put the orange screwdriver to the right of the corn.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "With the left hand, place the orange screwdriver to the right of the corn.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Have the left arm position the orange screwdriver to the right of the corn.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Set the orange screwdriver to the right of the corn.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Place the orange screwdriver to the right of the corn.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Have the orange screwdriver placed to the right of the corn.", + "start_idx": 8721, + "end_idx": 8760 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grasp from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grasp from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grasp from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Take the white coffee cup from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grasp.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "With the left hand, collect the white coffee cup from the table using a lip grip.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Have the left arm take the white coffee cup from the table with a lip hold.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Pick up the white coffee cup from the table from the left at a diagonal angle.", + "start_idx": 8832, + "end_idx": 8865 + }, + { + "text": "Put the white coffee cup in front of the orange screwdriver with the handle facing backwards right side up with the left hand.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "With the left hand, place the white coffee cup in front of the orange screwdriver, handle facing backwards and right side up.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Using the left arm, set the white coffee cup before the orange screwdriver with its handle pointing backward, right side up.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Have the left hand position the white coffee cup in front of the orange screwdriver, keeping it upright with the handle toward the back.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Place the white coffee cup in front of the orange screwdriver with the handle facing backwards and right side up.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Set the white coffee cup before the orange screwdriver, keeping the handle facing backwards and the cup right side up.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Position the white coffee cup in front of the orange screwdriver, upright with its handle pointing backward.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Put the white coffee cup in front of the orange screwdriver.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Move the white coffee cup to a spot in front of the orange screwdriver.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Have the white coffee cup placed before the orange screwdriver.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "With the left hand, put the white coffee cup in front of the orange screwdriver.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Set the white coffee cup before the orange screwdriver using the left hand.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Using the left arm, move the white coffee cup in front of the orange screwdriver.", + "start_idx": 8865, + "end_idx": 8904 + }, + { + "text": "Pick up the corn from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Using the left hand, grasp the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "With the left arm, take the corn off the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Have the left hand seize the corn from the table with a bottom side hold from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Pick up the corn from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "From a diagonal angle, grasp the corn off the table with a side hold at the bottom.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Using the left hand, pick up the corn from the table with a side grip.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "With the left arm, take the corn off the table using a side grasp.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Have the left hand grasp the corn from the table with a bottom side hold.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Using the left hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Pick up the corn from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Take the corn off the table with a side grasp.", + "start_idx": 8904, + "end_idx": 8937 + }, + { + "text": "Put the corn in front of the juice pouch with the left hand facing bottom left with the tip as reference.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Using the left hand, place the corn in front of the juice pouch with the tip facing bottom left.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Have the left arm set the corn in front of the juice pouch, oriented bottom left by its tip.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "With the left hand, position the corn before the juice pouch so the tip points bottom left.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Place the corn in front of the juice pouch with the tip facing bottom left.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Set the corn before the juice pouch, with its tip oriented toward the bottom left.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Position the corn in front of the juice pouch so the tip points bottom left.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Using the left hand, put the corn in front of the juice pouch.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "With the left hand, place the corn before the juice pouch.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Have the left arm position the corn in front of the juice pouch.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Put the corn in front of the juice pouch.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Set the corn before the juice pouch.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Position the corn in front of the juice pouch.", + "start_idx": 8937, + "end_idx": 8973 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Have the left arm grasp the beige bowl from the table by the top lip at a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "With the left hand, retrieve the beige bowl from the table using a top lip grasp from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Take the beige bowl from the table with a top lip grasp from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "The beige bowl should be grasped from the table by the top lip at a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by the top lip.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Have the left arm take the beige bowl from the table using a lip grasp.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Pick up the beige bowl from the table with the left hand from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Using the left hand, take the beige bowl from the table at the top from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Grasp the beige bowl from the table from a diagonal angle.", + "start_idx": 8973, + "end_idx": 8997 + }, + { + "text": "Dump the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch with the left hand.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Using the left hand, dump the red marker pen and the blue and brown stuffed toy between the orange screwdriver and the juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Have the left arm place down the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "With the left hand, deposit the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Dump the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Place the red marker pen and the blue and brown stuffed toy down between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Set the red marker pen and the blue and brown stuffed toy between the orange screwdriver and the juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Position the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Between the orange screwdriver and juice pouch, dump the red marker pen and the blue and brown stuffed toy.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Have the red marker pen and the blue and brown stuffed toy placed between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Put down the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Deposit the red marker pen and the blue and brown stuffed toy between the orange screwdriver and the juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Arrange the red marker pen and the blue and brown stuffed toy between the orange screwdriver and juice pouch.", + "start_idx": 8997, + "end_idx": 9054 + }, + { + "text": "Put the beige bowl behind the juice pouch with the left hand.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Using the left hand, place the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Have the left arm set the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "With the left hand, position the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Place the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Set the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Position the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Move the beige bowl behind the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Put the beige bowl by the juice pouch with the left hand.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Using the left hand, set the beige bowl by the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Place the beige bowl by the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Have the left arm place the beige bowl by the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Set the beige bowl by the juice pouch.", + "start_idx": 9054, + "end_idx": 9105 + }, + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Take the brown stuffed toy from the table.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Retrieve the brown stuffed toy from the table.", + "start_idx": 9105, + "end_idx": 9144 + }, + { + "text": "Put the brown stuffed toy to the left of the corn with the left hand facing top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn with its front facing the top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the corn, front oriented toward the top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "With the left hand, position the brown stuffed toy left of the corn so the front points to the top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Place the brown stuffed toy to the left of the corn with its front facing the top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Set the brown stuffed toy to the left of the corn, front pointed toward the top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Position the brown stuffed toy left of the corn so the front faces the top right.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Using the left hand, put the brown stuffed toy to the left of the corn.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "With the left hand, place the brown stuffed toy left of the corn.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the corn.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Put the brown stuffed toy to the left of the corn.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Place the brown stuffed toy left of the corn.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Position the brown stuffed toy to the left of the corn.", + "start_idx": 9144, + "end_idx": 9174 + }, + { + "text": "Pick up the red marker pen from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Using the left hand, take the red marker pen from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Have the left hand grasp the red marker pen from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "With the left hand, secure the red marker pen from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Pick up the red marker pen from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Take the red marker pen from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Grasp the red marker pen from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table with a side grip at the bottom.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "With the left hand, take the red marker pen from the table using a side grasp on the bottom.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Have the left hand collect the red marker pen from the table from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Using the left hand, pick up the red marker pen from the table from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Pick up the red marker pen from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Take the red marker pen from the table at the bottom from a diagonal angle.", + "start_idx": 9240, + "end_idx": 9273 + }, + { + "text": "Place the red marker pen behind the orange screwdriver with the left hand facing right with the tip as the orientation reference point.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Using the left hand, set the red marker pen behind the orange screwdriver with the tip facing right.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Have the left arm place the red marker pen behind the orange screwdriver, oriented rightward by its tip.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "With the left hand, position the red marker pen behind the orange screwdriver so the tip points right.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Place the red marker pen behind the orange screwdriver with the tip facing right.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Set the red marker pen behind the orange screwdriver, with its tip oriented to the right.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Position the red marker pen behind the orange screwdriver so the tip points right.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Using the left hand, place the red marker pen behind the orange screwdriver.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Have the left arm set the red marker pen behind the orange screwdriver.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "With the left hand, position the red marker pen behind the orange screwdriver.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Place the red marker pen behind the orange screwdriver.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Set the red marker pen behind the orange screwdriver.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Position the red marker pen behind the orange screwdriver.", + "start_idx": 9273, + "end_idx": 9315 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Have the right hand grasp the blue stuffed toy from the table at the top with a side hold from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "With the right hand, secure the blue stuffed toy from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Take the blue stuffed toy from the table with a side grip at the top from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Grasp the blue stuffed toy from the table at the top using a side hold from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "The blue stuffed toy from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table with a side grip at the top.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table using a side grasp at the top.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Have the right hand pick up the blue stuffed toy from the table from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table from a diagonal angle.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand.", + "start_idx": 201, + "end_idx": 231 + }, + { + "text": "Put the blue stuffed toy inside the beige bowl with the right hand facing forwards.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Using the right hand, place the blue stuffed toy into the beige bowl facing forwards.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Have the right arm set the blue stuffed toy inside the beige bowl with its front facing forward.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "With the right hand, deposit the blue stuffed toy in the beige bowl, front facing forwards.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Place the blue stuffed toy into the beige bowl facing forwards.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Set the blue stuffed toy inside the beige bowl with its front facing forward.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Put the blue stuffed toy in the beige bowl, front facing forwards.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Using the right hand, place the blue stuffed toy into the beige bowl.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Have the right arm put the blue stuffed toy inside the beige bowl.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "With the right hand, set the blue stuffed toy in the beige bowl.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Put the blue stuffed toy into the beige bowl.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Set the blue stuffed toy inside the beige bowl.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Have the blue stuffed toy placed in the beige bowl.", + "start_idx": 231, + "end_idx": 258 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "From a diagonal angle, have the right hand grasp the top of the juice pouch on the table with a side hold.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "With the right hand, seize the juice pouch from the table at the top using a side grasp from a diagonal approach.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Take the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "From a diagonal angle, grasp the top of the juice pouch on the table using a side grip.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Have the right hand take the juice pouch from the table.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "With the right hand, grasp the juice pouch from the table.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Get the juice pouch from the table.", + "start_idx": 258, + "end_idx": 291 + }, + { + "text": "Put the juice pouch to the top right of the beige bowl with the right hand right side up with the front as the reference point.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Using the right hand, place the juice pouch at the beige bowl's top right, right side up with the front as the reference point.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Have the right arm set the juice pouch to the top right of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "With the right hand, position the juice pouch top right of the beige bowl, right side up using the front as the reference point.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Place the juice pouch to the top right of the beige bowl, right side up with the front as the reference point.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Set the juice pouch at the top right of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "The juice pouch goes to the beige bowl's top right, right side up with the front as the reference point.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Using the right hand, place the juice pouch to the top right of the beige bowl.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Have the right arm put the juice pouch at the beige bowl's top right.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "With the right hand, position the juice pouch to the top right of the beige bowl.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Place the juice pouch to the top right of the beige bowl.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Using the right hand, set the juice pouch beside the beige bowl.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Have the right arm place the juice pouch beside the beige bowl.", + "start_idx": 291, + "end_idx": 327 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Using the right hand, take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Have the right arm pick the corn off the table, gripping its bottom from the side at a diagonal angle.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom using a side hold from a diagonal approach.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Take the corn off the table using a side grasp at the bottom from a diagonal approach.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "The corn should be picked from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "With the right hand, take the corn from the table using a side grasp at the bottom.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Have the right arm grasp the corn off the table at the bottom with a side hold.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Pick up the corn from the table with the right hand from a diagonal angle.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Using the right hand, take the corn off the table at the bottom from a diagonal approach.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "From the table, grasp the corn at the bottom using a side grip.", + "start_idx": 327, + "end_idx": 348 + }, + { + "text": "Put the corn to the right of the beige bowl with the right hand facing bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Using the right hand, place the corn to the right of the beige bowl with its tip facing bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Have the right arm set the corn to the right of the beige bowl, tip oriented toward the bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "With the right hand, position the corn to the right of the beige bowl so the tip points bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Place the corn to the right of the beige bowl with its tip facing bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Set the corn to the right of the beige bowl, with the tip oriented toward the bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Position the corn to the right of the beige bowl so its tip points bottom left.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Using the right hand, place the corn to the right of the beige bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Have the right arm set the corn to the right of the beige bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "With the right hand, position the corn to the right of the beige bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Place the corn to the right of the beige bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Set the corn beside the beige bowl on its right side.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Position the corn on the right side of the beige bowl.", + "start_idx": 348, + "end_idx": 381 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Have the right hand take the juice pouch from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side hold on its top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Grasp the juice pouch from the table using a side hold at the top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grasp.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Have the right hand grasp the juice pouch from the table with a side hold.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table at the top diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Take the juice pouch from the table diagonally.", + "start_idx": 453, + "end_idx": 474 + }, + { + "text": "Place the juice pouch to the right of the corn with the right hand right side up with the front as the reference point.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Using the right hand, set the juice pouch to the right of the corn right side up, with the front as the reference point.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Have the right arm place the juice pouch to the right of the corn in an upright orientation, referenced to the front.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "With the right hand, position the juice pouch to the right of the corn so it is right side up relative to the front.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Place the juice pouch to the right of the corn right side up, with the front as the reference point.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Set the juice pouch to the right of the corn in an upright orientation relative to the front.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Position the juice pouch to the right of the corn so the front serves as the reference point and it remains right side up.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the corn.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Have the right arm set the juice pouch to the right of the corn.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "With the right hand, position the juice pouch to the right of the corn.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Place the juice pouch to the right of the corn.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Set the juice pouch to the right of the corn with the right hand.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Position the juice pouch to the right of the corn right side up.", + "start_idx": 474, + "end_idx": 504 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "With the right hand, retrieve the corn from the table diagonally, gripping the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Retrieve the corn from the table diagonally, gripping it at the middle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Pick up the corn from the table at a diagonal angle.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Take the corn from the table with the right hand.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 711, + "end_idx": 729 + }, + { + "text": "Put the corn in front of the white coffee cup with the right hand facing top right from the tip.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Using the right hand, place the corn in front of the white coffee cup with its tip facing the top right.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Have the right arm set the corn before the white coffee cup, oriented top right from the tip.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "With the right hand, position the corn in front of the white coffee cup so the tip points toward the top right.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Place the corn in front of the white coffee cup with the tip facing the top right.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Set the corn before the white coffee cup, with its tip directed to the top right.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Position the corn in front of the white coffee cup so the tip is oriented top right.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Put the corn in front of the white coffee cup with the right hand.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Using the right hand, place the corn before the white coffee cup.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Have the right arm set the corn in front of the white coffee cup.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Put the corn in front of the white coffee cup.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Set the corn before the white coffee cup.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Position the corn in front of the white coffee cup.", + "start_idx": 729, + "end_idx": 762 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "From a diagonal angle, have the right hand take the juice pouch from the table with a side grasp at the top.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table by gripping its top from the side at a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table with a side grasp at the top.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Grip the top of the juice pouch from the side and pick it up from the table at a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Have the right hand take the juice pouch from the table.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Approach the juice pouch diagonally and take it from the table.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 822, + "end_idx": 837 + }, + { + "text": "Put the juice pouch inside the beige bowl with the right hand right side up.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Using the right hand, place the juice pouch inside the beige bowl right side up.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Have the right arm set the juice pouch into the beige bowl with its right side up.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "With the right hand, deposit the juice pouch in the beige bowl, keeping it right side up.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Put the juice pouch inside the beige bowl right side up.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Place the juice pouch into the beige bowl with its right side up.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Set the juice pouch in the beige bowl upright on its right side.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Using the right hand, put the juice pouch inside the beige bowl.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "With the right hand, place the juice pouch into the beige bowl.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Have the right arm deposit the juice pouch in the beige bowl.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Put the juice pouch inside the beige bowl.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Place the juice pouch into the beige bowl.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Set the juice pouch in the beige bowl.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Pick up the juice pouch from the beige bowl with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Using the right hand, take the juice pouch from the beige bowl with a side grasp at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Have the right arm retrieve the juice pouch from the beige bowl using a side grip on the top at a diagonal angle.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "With the right hand, secure the juice pouch from the beige bowl by the top using a side hold from a diagonal approach.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Take the juice pouch from the beige bowl using a side grip at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Retrieve the juice pouch from the beige bowl with a side grasp on the top from a diagonal approach.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "The juice pouch from the beige bowl should be picked up with a side hold at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Using the right hand, pick up the juice pouch from the beige bowl.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "With the right hand, take the juice pouch from the beige bowl.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Have the right arm retrieve the juice pouch from the beige bowl.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Pick up the juice pouch from the beige bowl with the right hand from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Using the right hand, grasp the juice pouch from the beige bowl at the top.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Take the juice pouch from the beige bowl.", + "start_idx": 1134, + "end_idx": 1158 + }, + { + "text": "Put the juice pouch behind the beige bowl with the right hand right side up with the front as the reference point.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Using the right hand, place the juice pouch behind the beige bowl right side up, with the front as the reference point.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Have the right arm set the juice pouch behind the beige bowl, keeping it right side up relative to the front.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "With the right hand, position the juice pouch behind the beige bowl so it is right side up using the front as the reference point.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Place the juice pouch behind the beige bowl right side up, with the front as the reference point.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Set the juice pouch behind the beige bowl, keeping it right side up relative to the front.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Position the juice pouch behind the beige bowl so it stays right side up using the front as reference.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Using the right hand, put the juice pouch behind the beige bowl.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "With the right hand, place the juice pouch behind the beige bowl.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Have the right arm position the juice pouch behind the beige bowl.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Put the juice pouch behind the beige bowl.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Set the juice pouch behind the beige bowl.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Position the juice pouch behind the beige bowl.", + "start_idx": 1158, + "end_idx": 1197 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Have the right arm pick the blue stuffed toy up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a full-object hold.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Grab the blue stuffed toy from the table diagonally while enclosing the entire object.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Have the right arm collect the blue stuffed toy from the table.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "From the table, retrieve the blue stuffed toy with the right hand.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Get the blue stuffed toy from the table.", + "start_idx": 1269, + "end_idx": 1296 + }, + { + "text": "Put the blue stuffed toy to the right of the brown stuffed toy with the right hand facing forwards.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the brown stuffed toy, facing forwards.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Have the right arm set the blue stuffed toy to the brown stuffed toy's right side with its front facing forward.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "With the right hand, position the blue stuffed toy on the right of the brown stuffed toy so it faces forwards.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Place the blue stuffed toy to the right of the brown stuffed toy, facing forwards.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Set the blue stuffed toy on the right side of the brown stuffed toy with its front forward.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Position the blue stuffed toy to the brown stuffed toy's right, facing forward.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the brown stuffed toy.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Have the right arm set the blue stuffed toy on the right side of the brown stuffed toy.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "With the right hand, position the blue stuffed toy to the brown stuffed toy's right.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Place the blue stuffed toy to the right of the brown stuffed toy.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Set the blue stuffed toy on the right side of the brown stuffed toy.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Position the blue stuffed toy to the brown stuffed toy's right.", + "start_idx": 1296, + "end_idx": 1323 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the top diagonally.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a lip grip at the top diagonally.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Have the right hand grasp the beige bowl from the table with a top diagonal lip hold.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "With the right hand, retrieve the beige bowl from the table using a lip grasp at the top on a diagonal.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top diagonally.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Take the beige bowl from the table with a lip grasp at the top diagonally.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Retrieve the beige bowl from the table with a top diagonal lip hold.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "With the right hand, take the beige bowl from the table using a lip grasp.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Have the right hand retrieve the beige bowl from the table with a lip hold.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table at the top diagonally.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "With the right hand, grasp the beige bowl from the table diagonally at the top.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 1524, + "end_idx": 1545 + }, + { + "text": "Put the beige bowl to the left of the juice pouch with the right hand.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "With the right hand, place the beige bowl to the left of the juice pouch, right side up at the front.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Using the right hand, set the beige bowl left of the juice pouch with its front right side up.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Have the right arm position the beige bowl to the left of the juice pouch, front-facing and upright.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Place the beige bowl to the left of the juice pouch.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Set the beige bowl left of the juice pouch.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Position the beige bowl to the left of the juice pouch.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Using the right hand, place the beige bowl to the left of the juice pouch.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "With the right hand, set the beige bowl left of the juice pouch.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Have the right arm place the beige bowl to the left of the juice pouch.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Put the beige bowl left of the juice pouch, right side up at the front.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Set the beige bowl to the left of the juice pouch upright at the front.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Position the beige bowl left of the juice pouch with its front right side up.", + "start_idx": 1545, + "end_idx": 1587 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Retrieve the blue stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Take the blue stuffed toy from the table with the right hand.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Retrieve the blue stuffed toy from the table.", + "start_idx": 1803, + "end_idx": 1827 + }, + { + "text": "Put the blue stuffed toy inside the beige bowl with the right hand facing forwards.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Using the right hand, place the blue stuffed toy into the beige bowl with its front facing forwards.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Have the right arm put the blue stuffed toy inside the beige bowl, front facing forward.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "With the right hand, set the blue stuffed toy into the beige bowl so the front points forwards.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Place the blue stuffed toy into the beige bowl with its front facing forwards.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Set the blue stuffed toy inside the beige bowl, front facing forward.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Put the blue stuffed toy in the beige bowl so it faces forwards.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Using the right hand, place the blue stuffed toy into the beige bowl.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Have the right arm put the blue stuffed toy inside the beige bowl.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "With the right hand, set the blue stuffed toy in the beige bowl.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Put the blue stuffed toy into the beige bowl.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Have the right arm place the blue stuffed toy in the beige bowl.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Set the blue stuffed toy inside the beige bowl.", + "start_idx": 1827, + "end_idx": 1854 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "From a diagonal angle, have the right hand take the juice pouch from the table with a side grasp at the top.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "With the right hand, grasp the juice pouch from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Pick up the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "From a diagonal angle, take the juice pouch from the table with a side grasp at the top.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "At the top, grasp the juice pouch from the table with a side hold from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Use the right hand to take the juice pouch from the table.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Have the right hand grasp the juice pouch from the table.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "With the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Take the juice pouch from the table with the right hand using a side grip.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Grasp the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 1854, + "end_idx": 1884 + }, + { + "text": "Put the juice pouch right side up with the front facing forward to the right of the white coffee cup using the right arm.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Using the right arm, place the juice pouch upright with its front facing forward to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Have the right arm set the juice pouch right side up, front facing forward, to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "With the right arm, position the juice pouch upright so the front faces forward, to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Place the juice pouch upright with its front facing forward to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Set the juice pouch right side up with the front facing forward to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Position the juice pouch upright, front facing forward, to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Using the right arm, put the juice pouch to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "With the right arm, place the juice pouch to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Have the right arm position the juice pouch to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Put the juice pouch upright to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Set the juice pouch with its front facing forward to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Place the juice pouch to the right of the white coffee cup.", + "start_idx": 1884, + "end_idx": 1914 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the top diagonally.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a lip grip at the top diagonally.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Have the right arm grasp the beige bowl from the table with a top lip hold on the diagonal.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "With the right hand, retrieve the beige bowl from the table using a lip grasp at the top in a diagonal orientation.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the top diagonally.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "From the table, grasp the beige bowl with a lip hold at the top diagonally.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Take the beige bowl from the table with a top lip grasp on the diagonal.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Have the right arm take the beige bowl from the table using a lip hold at the top.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "With the right hand, grasp the beige bowl from the table using a lip grasp.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Pick up the beige bowl from the table with the right hand at the top diagonally.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "From the table, take the beige bowl diagonally at the top.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Have the right arm pick up the beige bowl from the table.", + "start_idx": 2046, + "end_idx": 2082 + }, + { + "text": "Put the beige bowl to the right of the corn with the right hand.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Have the right arm set the beige bowl down to the corn's right side.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "With the right hand, position the beige bowl on the right of the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Place the beige bowl to the right of the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Set the beige bowl on the corn's right side.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Position the beige bowl to the right of the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "The beige bowl goes to the right of the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Put the beige bowl down by the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Set the beige bowl in place beside the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Position the beige bowl next to the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Have the bowl placed to the corn's right side.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "The beige bowl should be set beside the corn.", + "start_idx": 2082, + "end_idx": 2124 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Using the right hand, take the corn from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "From a diagonal angle, have the right hand seize the corn from the table with a side grip at the bottom.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "From a diagonal angle, seize the corn from the table with a side grasp at the bottom.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "With the right hand, pick up the corn from the table using a side grip.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Have the right hand take the corn from the table with a side grasp.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Using the right hand, grasp the corn from the table with a side hold.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Pick up the corn from the table with the right hand from a diagonal angle.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Take the corn from the table at the bottom with the right hand.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "With the right hand, seize the corn from the table.", + "start_idx": 2244, + "end_idx": 2265 + }, + { + "text": "Put the corn in front of the white coffee cup with the right hand facing bottom left from the tip.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Using the right hand, place the corn in front of the white coffee cup with its tip facing bottom left.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Have the right hand set the corn in front of the white coffee cup, tip oriented toward the bottom left.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "With the right hand, position the corn before the white coffee cup so the tip points bottom left.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Place the corn in front of the white coffee cup with its tip facing bottom left.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Set the corn before the white coffee cup, with the tip directed toward the bottom left.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Position the corn in front of the white coffee cup so its tip faces bottom left.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Using the right hand, put the corn in front of the white coffee cup.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "With the right hand, place the corn before the white coffee cup.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Have the right hand set the corn in front of the white coffee cup.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Put the corn in front of the white coffee cup.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Place the corn before the white coffee cup.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Set the corn in front of the white coffee cup.", + "start_idx": 2265, + "end_idx": 2304 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal middle grasp.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table by gripping its middle at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal grasp at the middle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Retrieve the brown stuffed toy from the table, holding the middle at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "With the right hand, take the brown stuffed toy from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Have the right arm retrieve the brown stuffed toy from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Take the brown stuffed toy from the table, grasping the middle.", + "start_idx": 2469, + "end_idx": 2493 + }, + { + "text": "Put the brown stuffed toy in front of the juice pouch with the right hand facing forwards.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Using the right hand, place the brown stuffed toy in front of the juice pouch facing forwards.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Have the right arm set the brown stuffed toy before the juice pouch with its front facing forward.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "With the right hand, position the brown stuffed toy in front of the juice pouch so it faces forwards.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Place the brown stuffed toy in front of the juice pouch facing forwards.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Set the brown stuffed toy before the juice pouch with its front facing forward.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Position the brown stuffed toy in front of the juice pouch, facing forward.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Using the right hand, put the brown stuffed toy in front of the juice pouch.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "With the right hand, place the brown stuffed toy before the juice pouch.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Have the right arm set the brown stuffed toy in front of the juice pouch.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Put the brown stuffed toy in front of the juice pouch.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Place the brown stuffed toy before the juice pouch.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Set the brown stuffed toy in front of the juice pouch.", + "start_idx": 2493, + "end_idx": 2526 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Have the right arm pick up the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "The brown stuffed toy from the table should be picked up with the right hand at a diagonal angle using a whole-object hold.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Take the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "The brown stuffed toy from the table should be picked up at a diagonal angle using a whole-object hold.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "The brown stuffed toy from the table should be picked up with the right hand.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 2673, + "end_idx": 2703 + }, + { + "text": "Put the brown stuffed toy to the right of the beige bowl with the right hand facing forwards.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the beige bowl, facing forwards.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the beige bowl with its front facing forward.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the beige bowl so it faces forwards.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Place the brown stuffed toy to the right of the beige bowl facing forwards.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Set the brown stuffed toy to the right of the beige bowl with its front forward.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Position the brown stuffed toy to the right of the beige bowl so it faces forward.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the beige bowl.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the beige bowl.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the beige bowl.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Put the brown stuffed toy to the right of the beige bowl.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Set the brown stuffed toy to the right of the beige bowl.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Position the brown stuffed toy to the right of the beige bowl.", + "start_idx": 2703, + "end_idx": 2742 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "With the right hand, take the white coffee cup from the table, approaching diagonally by the handle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Have the right hand take the white coffee cup from the table by the handle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Pick up the white coffee cup from the table at a diagonal angle.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "From the table, take the white coffee cup.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2781 + }, + { + "text": "Put the white coffee cup in front of the juice pouch with the right hand right side up with the front facing forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the juice pouch, right side up, with its front facing forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Have the right arm set the white coffee cup in front of the juice pouch, keeping it upright and its front pointed forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "With the right hand, position the white coffee cup before the juice pouch so it stays right side up and faces forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Place the white coffee cup in front of the juice pouch, right side up, with its front facing forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Set the white coffee cup before the juice pouch, upright, with the front facing forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Position the white coffee cup in front of the juice pouch so it is right side up and facing forwards.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the juice pouch.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "With the right hand, set the white coffee cup before the juice pouch.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Have the right arm position the white coffee cup in front of the juice pouch.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Put the white coffee cup in front of the juice pouch.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Place the white coffee cup before the juice pouch.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Set the white coffee cup in front of the juice pouch.", + "start_idx": 2781, + "end_idx": 2829 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Have the right arm take the white coffee cup from the table using a diagonal grasp on its right lip.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the right side of the lip on a diagonal.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp at the cup's right lip.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Grasp the white coffee cup from the table on the right side with a diagonal lip hold.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Take the white coffee cup from the table using a lip grasp.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Grasp the white coffee cup from the table at the right side.", + "start_idx": 2907, + "end_idx": 2940 + }, + { + "text": "Put the white coffee cup in front of the brown stuffed toy with the right hand right side up.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the brown stuffed toy right side up.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Have the right arm set the white coffee cup down in front of the brown stuffed toy, upright.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "With the right hand, position the white coffee cup in front of the brown stuffed toy so it stays right side up.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Place the white coffee cup in front of the brown stuffed toy right side up.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Set the white coffee cup down in front of the brown stuffed toy in an upright position.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Position the white coffee cup in front of the brown stuffed toy, keeping it upright.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the brown stuffed toy.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Have the right arm set the white coffee cup down in front of the brown stuffed toy.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "With the right hand, position the white coffee cup by the brown stuffed toy.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Place the white coffee cup in front of the brown stuffed toy.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Set the white coffee cup down by the brown stuffed toy.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Position the white coffee cup near the brown stuffed toy.", + "start_idx": 2940, + "end_idx": 2979 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Using the right hand, take the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Have the right arm pick the brown stuffed toy up from the table on a diagonal, with a whole-object grasp.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally using a full-object hold.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Take the brown stuffed toy from the table on a diagonal with a whole-object grasp.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally using a full-body hold.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "From the table, take the brown stuffed toy with the right hand.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Get the brown stuffed toy from the table.", + "start_idx": 3114, + "end_idx": 3144 + }, + { + "text": "Put the brown stuffed toy to the right of the orange screwdriver with the right hand facing forwards.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the orange screwdriver, facing forwards.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Have the right arm set the brown stuffed toy to the right of the orange screwdriver with its front facing forward.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "With the right hand, position the brown stuffed toy to the right of the orange screwdriver so it faces forwards.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Place the brown stuffed toy to the right of the orange screwdriver facing forwards.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Set the brown stuffed toy to the right of the orange screwdriver with the front forward.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Position the brown stuffed toy to the right of the orange screwdriver so it faces forward.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Using the right hand, place the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "With the right hand, set the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Have the right arm position the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Put the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Place the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Set the brown stuffed toy to the right of the orange screwdriver.", + "start_idx": 3144, + "end_idx": 3174 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Have the right arm take the white coffee cup from the table using a lip grasp from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by its lip from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "The white coffee cup from the table should be grasped by the lip from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "With the right hand, take the white coffee cup from the table using the lip.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the lip.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table from the right at a diagonal angle.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "With the right hand, take the white coffee cup from the table at a diagonal angle from the right.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3609, + "end_idx": 3630 + }, + { + "text": "Put the white coffee cup behind the blue stuffed toy with the right hand right side up with the front facing backwards.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Using the right hand, place the white coffee cup behind the blue stuffed toy, right side up, with its front facing backward.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Have the right hand set the white coffee cup behind the blue stuffed toy, keeping it upright and the front directed backward.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "With the right hand, position the white coffee cup behind the blue stuffed toy so it stays right side up and faces backward.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Place the white coffee cup behind the blue stuffed toy, keeping it right side up with the front facing backward.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Set the white coffee cup behind the blue stuffed toy, upright with its front toward the back.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Position the white coffee cup behind the blue stuffed toy, with the cup right side up and the front pointed backward.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Using the right hand, place the white coffee cup behind the blue stuffed toy.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Have the right hand set the white coffee cup behind the blue stuffed toy.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "With the right hand, position the white coffee cup behind the blue stuffed toy.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Put the white coffee cup behind the blue stuffed toy.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Place the white coffee cup behind the blue stuffed toy.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Set the white coffee cup behind the blue stuffed toy.", + "start_idx": 3630, + "end_idx": 3669 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Have the right arm pick the juice pouch off the table using a top side grip from a diagonal approach.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table by grasping its top side at a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Take the juice pouch off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Retrieve the juice pouch from the table by gripping the top from the side at a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "With the right hand, take the juice pouch off the table using a side grasp at the top.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Have the right arm retrieve the juice pouch from the table with a top side grip.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Using the right hand, take the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Get the juice pouch off the table with the right hand from a diagonal approach.", + "start_idx": 3942, + "end_idx": 3969 + }, + { + "text": "Place the juice pouch to the left of the blue stuffed toy with the right hand right side up.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Using the right hand, set the juice pouch to the left of the blue stuffed toy right side up.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Have the right arm place the juice pouch left of the blue stuffed toy in an upright orientation.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "With the right hand, position the juice pouch to the blue stuffed toy's left, right side up.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Place the juice pouch to the left of the blue stuffed toy.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Set the juice pouch on the left side of the blue stuffed toy.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Position the juice pouch left of the blue stuffed toy.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Put the juice pouch beside the blue stuffed toy on its left.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the blue stuffed toy.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Set the juice pouch to the left of the blue stuffed toy with the right hand.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Have the right arm position the juice pouch on the left side of the blue stuffed toy.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Place the juice pouch left of the blue stuffed toy right side up.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Position the juice pouch on the blue stuffed toy's left, upright.", + "start_idx": 3969, + "end_idx": 4011 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Using the right hand, take hold of the white coffee cup from the table with a diagonal grasp on its right lip.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Have the right hand pick up the white coffee cup from the table using a right-side diagonal lip hold.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "With the right hand, secure the white coffee cup from the table in a diagonal grasp at the right lip.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal grasp on the right lip.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Take the white coffee cup from the table with a diagonal hold on its right lip.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Grasp the white coffee cup from the table at the right lip with a diagonal angle.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Retrieve the white coffee cup from the table.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 4296, + "end_idx": 4323 + }, + { + "text": "Put the white coffee cup to the right of the blue stuffed toy with the handle facing right with the right hand.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the blue stuffed toy, with the handle facing right.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the blue stuffed toy so the handle points right.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the blue stuffed toy, handle directed to the right.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Place the white coffee cup to the right of the blue stuffed toy with the handle facing right.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Set the white coffee cup to the right of the blue stuffed toy, keeping the handle pointed right.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Position the white coffee cup to the right of the blue stuffed toy so its handle faces right.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Put the white coffee cup to the right of the blue stuffed toy.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Place the white coffee cup to the right of the blue stuffed toy.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Set the white coffee cup to the right of the blue stuffed toy.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Using the right hand, put the white coffee cup to the right of the blue stuffed toy.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "With the right hand, place the white coffee cup to the right of the blue stuffed toy.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the blue stuffed toy.", + "start_idx": 4323, + "end_idx": 4359 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Have the right hand grasp the beige bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "With the right hand, secure the beige bowl from the table using a diagonal grip on the lip at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Grasp the beige bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Take the beige bowl from the table with a diagonal grip on the lip at the bottom right.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Have the right hand take the beige bowl from the table.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "With the right hand, grasp the beige bowl from the table.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Using the right hand, take the beige bowl from the table.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 4500, + "end_idx": 4524 + }, + { + "text": "Put the beige bowl behind the brown stuffed toy with the right hand.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Using the right hand, place the beige bowl behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Have the right arm set the beige bowl down behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "With the right hand, position the beige bowl behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Place the beige bowl behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Set the beige bowl behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Position the beige bowl behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Put the beige bowl behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Move the beige bowl to a spot behind the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Using the right hand, place the beige bowl by the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Set the beige bowl down by the brown stuffed toy with the right hand.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Position the beige bowl by the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Move the beige bowl next to the brown stuffed toy.", + "start_idx": 4524, + "end_idx": 4569 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Have the right hand grasp the beige bowl from the table using a lip hold at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "With the right hand, take the beige bowl off the table in a lip grip at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Take the beige bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Grasp the beige bowl off the table at the bottom right diagonal with a lip grip.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Using a lip grip at the bottom right diagonal, pick up the beige bowl from the table.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "With the right hand, pick up the beige bowl from the table.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Have the right hand take the beige bowl off the table.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Using the right hand, grasp the beige bowl from the table.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Pick up the beige bowl from the table at the bottom right diagonal.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Take the beige bowl off the table.", + "start_idx": 4788, + "end_idx": 4812 + }, + { + "text": "Put the beige bowl behind the red marker pen with the right hand.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Using the right hand, place the beige bowl behind the red marker pen, right side up.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Have the right arm set the beige bowl behind the red marker pen with its front facing forward.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "With the right hand, position the beige bowl behind the red marker pen in an upright orientation.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Place the beige bowl behind the red marker pen.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Set the beige bowl behind the red marker pen.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Position the beige bowl behind the red marker pen.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Using the right hand, place the beige bowl behind the red marker pen.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Have the right arm set the beige bowl behind the red marker pen.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "With the right hand, position the beige bowl behind the red marker pen.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Place the beige bowl right side up.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Set the beige bowl down upright.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Position the beige bowl with its front facing forward.", + "start_idx": 4812, + "end_idx": 4857 + }, + { + "text": "Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach while holding the whole object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Take the brown stuffed toy from the table diagonally, enclosing the entire object.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Using the right hand, pick up the brown stuffed toy from the table.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Have the right arm take the brown stuffed toy from the table.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "With the right hand, retrieve the brown stuffed toy from the table.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Take the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Using the right hand, grasp the brown stuffed toy from the table.", + "start_idx": 4998, + "end_idx": 5025 + }, + { + "text": "Put the brown stuffed toy between the beige bowl and the corn with the right hand facing forwards.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Using the right hand, place the brown stuffed toy between the beige bowl and the corn, facing forwards.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Have the right arm set the brown stuffed toy between the beige bowl and the corn with its front facing forward.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "With the right hand, position the brown stuffed toy between the beige bowl and the corn so it faces forwards.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Place the brown stuffed toy between the beige bowl and the corn, facing forwards.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Set the brown stuffed toy between the beige bowl and the corn with its front facing forward.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Position the brown stuffed toy between the beige bowl and the corn so it faces forwards.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Put the brown stuffed toy between the beige bowl and the corn with the right hand.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Using the right hand, place the brown stuffed toy between the beige bowl and the corn.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Have the right arm set the brown stuffed toy between the beige bowl and the corn.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Put the brown stuffed toy between the beige bowl and the corn.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Place the brown stuffed toy between the beige bowl and the corn.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Set the brown stuffed toy between the beige bowl and the corn.", + "start_idx": 5025, + "end_idx": 5052 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top diagonally.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Have the right arm pick the juice pouch off the table in a diagonal top-side grip.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "With the right hand, collect the juice pouch from the table using a side hold at the top on a diagonal.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top diagonally.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Take the juice pouch off the table with a side grasp at the top diagonally.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Grab the juice pouch from the table in a diagonal top-side hold.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Have the right arm collect the juice pouch off the table with a side hold.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Pick up the juice pouch from the table with the right hand at the top diagonally.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "With the right hand, grab the juice pouch from the table at the top on a diagonal.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Take the juice pouch off the table.", + "start_idx": 5052, + "end_idx": 5094 + }, + { + "text": "Put the juice pouch between the corn and the blue stuffed toy with the right hand right side up.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Using the right hand, place the juice pouch between the corn and the blue stuffed toy upright.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Have the right arm set the juice pouch between the corn and the blue stuffed toy with its front right side up.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "With the right hand, position the juice pouch between the corn and the blue stuffed toy in a right-side-up orientation.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Place the juice pouch between the corn and the blue stuffed toy upright.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Set the juice pouch between the corn and the blue stuffed toy with its front right side up.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Position the juice pouch between the corn and the blue stuffed toy in a right-side-up orientation.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Using the right hand, put the juice pouch between the corn and the blue stuffed toy.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Have the right arm place the juice pouch between the corn and the blue stuffed toy.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "With the right hand, set the juice pouch between the corn and the blue stuffed toy.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Put the juice pouch between the corn and the blue stuffed toy.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Set the juice pouch between the corn and the blue stuffed toy in place.", + "start_idx": 5094, + "end_idx": 5130 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table, holding it by the handle at a diagonal angle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Take the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Grasp the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "The white coffee cup from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Have the right arm take the white coffee cup from the table by the handle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at a diagonal angle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at a diagonal angle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Remove the white coffee cup from the table by the handle.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "The white coffee cup from the table should be picked up.", + "start_idx": 5193, + "end_idx": 5238 + }, + { + "text": "Put the white coffee cup behind the blue stuffed toy with the right hand right side up with the front facing backwards.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Using the right hand, place the white coffee cup behind the blue stuffed toy, upright with its front facing backward.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue stuffed toy, right side up and front facing backwards.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "With the right hand, position the white coffee cup behind the blue stuffed toy so it stays upright and its front faces backward.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Place the white coffee cup behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Set the white coffee cup behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "The white coffee cup goes behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Position the white coffee cup behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Using the right hand, place the white coffee cup behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "With the right hand, position the white coffee cup behind the blue stuffed toy.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Put the white coffee cup behind the blue stuffed toy, upright.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Place the white coffee cup behind the blue stuffed toy with its front facing backward.", + "start_idx": 5238, + "end_idx": 5277 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Have the right arm pick the juice pouch off the table using a side grip on the top at a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "With the right hand, grasp the juice pouch from the table from a diagonal angle using a side hold at the top.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Take the juice pouch off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Grasp the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Have the right arm take the juice pouch off the table using a side grasp on the top.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "With the right hand, grasp the juice pouch from the table from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Take the juice pouch off the table using a side grip at the top.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "The juice pouch from the table should be picked up with the right hand.", + "start_idx": 5277, + "end_idx": 5307 + }, + { + "text": "Put the juice pouch between the beige bowl and corn with the right hand right side up with the front as the reference point.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Using the right hand, place the juice pouch between the beige bowl and the corn, right side up with the front as the reference point.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Have the right arm set the juice pouch between the beige bowl and corn, keeping it right side up relative to the front.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "With the right hand, position the juice pouch between the beige bowl and the corn, oriented right side up using the front as reference.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Place the juice pouch between the beige bowl and the corn, right side up with the front as the reference point.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Set the juice pouch between the beige bowl and corn, keeping it right side up relative to the front.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Position the juice pouch between the beige bowl and the corn with its front as the reference point, right side up.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Using the right hand, place the juice pouch between the beige bowl and the corn.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Have the right arm set the juice pouch between the beige bowl and corn.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "With the right hand, position the juice pouch between the beige bowl and the corn.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Put the juice pouch between the beige bowl and the corn.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Place the juice pouch between the beige bowl and corn.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Set the juice pouch between the beige bowl and the corn.", + "start_idx": 5307, + "end_idx": 5343 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Have the right arm pick the blue stuffed toy up from the table diagonally with a full-object grasp.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "With the right hand, collect the blue stuffed toy from the table on a diagonal, holding the whole object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Take the blue stuffed toy from the table diagonally, holding the whole object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Grab the blue stuffed toy from the table at a diagonal angle with a full-object hold.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table while holding the whole object.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Have the right arm take the blue stuffed toy from the table with a full-object grasp.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "With the right hand, remove the blue stuffed toy from the table on a diagonal.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 5343, + "end_idx": 5373 + }, + { + "text": "Put the blue stuffed toy between the juice pouch and the white coffee cup with the right hand facing forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Using the right hand, place the blue stuffed toy between the juice pouch and the white coffee cup, facing forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Have the right arm set the blue stuffed toy between the juice pouch and the white coffee cup with its front facing forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "With the right hand, position the blue stuffed toy between the juice pouch and the white coffee cup so it faces forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Place the blue stuffed toy between the juice pouch and the white coffee cup, facing forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Set the blue stuffed toy between the juice pouch and the white coffee cup with its front forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Position the blue stuffed toy between the juice pouch and the white coffee cup so it faces forwards.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Using the right hand, place the blue stuffed toy between the juice pouch and the white coffee cup.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "With the right hand, set the blue stuffed toy between the juice pouch and the white coffee cup.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Have the right arm position the blue stuffed toy between the juice pouch and the white coffee cup.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Put the blue stuffed toy between the juice pouch and the white coffee cup.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Arrange the blue stuffed toy between the juice pouch and the white coffee cup.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Place the blue stuffed toy between the juice pouch and the white coffee cup.", + "start_idx": 5373, + "end_idx": 5406 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "From a diagonal angle, have the right hand grasp the top of the juice pouch on the table with a side hold.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "With the right hand, secure the juice pouch from the table by its top using a side grasp at a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Take the juice pouch off the table with a side hold at the top from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Grasp the juice pouch from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Have the right hand take the juice pouch from the table with a side hold at the top.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side grip on its top.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Using the right hand, take the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Grab the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 5601, + "end_idx": 5622 + }, + { + "text": "Place the juice pouch between the red marker pen and the orange screwdriver with the right hand right side up.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Using the right hand, set the juice pouch between the red marker pen and the orange screwdriver right side up.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Have the right arm place the juice pouch upright between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "With the right hand, position the juice pouch between the red marker pen and the orange screwdriver so it is right side up.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Place the juice pouch between the red marker pen and the orange screwdriver right side up.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Set the juice pouch between the red marker pen and the orange screwdriver upright.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Position the juice pouch right side up between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Using the right hand, place the juice pouch between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "With the right hand, set the juice pouch between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Have the right arm position the juice pouch between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Put the juice pouch between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Using the right hand, place the juice pouch right side up between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Set the juice pouch between the red marker pen and the orange screwdriver.", + "start_idx": 5622, + "end_idx": 5652 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table diagonally, gripping the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Take the orange screwdriver from the table diagonally, holding the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal pickup at the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table by grasping the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Have the right arm take the orange screwdriver from the table, holding it at the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table from the middle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table diagonally.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Get the orange screwdriver from the table at a diagonal angle.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Put the orange screwdriver to the bottom right side of the table with the right hand with its tip facing right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Using the right hand, place the orange screwdriver on the table's bottom-right side with its tip pointing right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Have the right hand set the orange screwdriver at the bottom right of the table, tip facing right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "With the right hand, position the orange screwdriver on the bottom-right side of the table so its tip points right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Place the orange screwdriver on the bottom-right side of the table.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Set the orange screwdriver at the table's bottom right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "The orange screwdriver goes on the bottom-right side of the table.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Position the orange screwdriver on the table's bottom-right side.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Using the right hand, place the orange screwdriver on the table's bottom-right side.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "With the right hand, set the orange screwdriver at the bottom right of the table.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Have the right hand position the orange screwdriver on the table's bottom-right side.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Place the orange screwdriver at the bottom right of the table with its tip pointing right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Set the orange screwdriver on the table's bottom-right side, tip facing right.", + "start_idx": 5685, + "end_idx": 5718 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Have the right arm grasp the juice pouch from the table with a side hold at the top on a diagonal approach.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table by gripping its top from the side at a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top on a diagonal approach.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "With the right hand, collect the juice pouch from the table using a side grasp at the top.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Have the right arm take the juice pouch from the table with a side hold at the top.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "With the right hand, grasp the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 5784, + "end_idx": 5811 + }, + { + "text": "Put the juice pouch behind the blue stuffed toy with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Using the right hand, place the juice pouch behind the blue stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Have the right arm set the juice pouch behind the blue stuffed toy, keeping it right side up relative to its front.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "With the right hand, position the juice pouch behind the blue stuffed toy so it stays right side up using the front as reference.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Place the juice pouch behind the blue stuffed toy right side up, with the front as the orientation reference point.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Set the juice pouch behind the blue stuffed toy, keeping it right side up relative to the front.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Position the juice pouch behind the blue stuffed toy so it is right side up with the front as reference.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Using the right hand, put the juice pouch behind the blue stuffed toy.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Have the right arm place the juice pouch behind the blue stuffed toy.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "With the right hand, set the juice pouch behind the blue stuffed toy.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Put the juice pouch behind the blue stuffed toy.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Place the juice pouch behind the blue stuffed toy.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Set the juice pouch behind the blue stuffed toy.", + "start_idx": 5811, + "end_idx": 5856 + }, + { + "text": "Pick up the red marker pen from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Using the right hand, take the red marker pen from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Have the right hand grasp the red marker pen off the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "With the right hand, secure the red marker pen from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Pick up the red marker pen from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Take the red marker pen off the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Grasp the red marker pen from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Using the right hand, pick up the red marker pen from the table with a side grip at the bottom.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Have the right hand take the red marker pen from the table using a side grasp at the bottom.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "With the right hand, grasp the red marker pen from the table by the bottom using a side hold.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Using the right hand, pick up the red marker pen from the table from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Take the red marker pen off the table with the right hand from a diagonal angle.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Pick up the red marker pen from the table.", + "start_idx": 6204, + "end_idx": 6237 + }, + { + "text": "Put the red marker pen inside the beige bowl upside down with the tip as the reference point using the right hand.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Using the right hand, place the red marker pen inside the beige bowl upside down, with the tip as the reference point.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Have the right hand set the red marker pen into the beige bowl in an upside-down orientation, referenced by the tip.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "With the right hand, position the red marker pen inside the beige bowl so it is upside down relative to the tip.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Place the red marker pen inside the beige bowl upside down, with the tip as the reference point.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Set the red marker pen into the beige bowl in an upside-down orientation, using the tip as the reference point.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Position the red marker pen inside the beige bowl so it is upside down relative to the tip.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Using the right hand, put the red marker pen inside the beige bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Have the right hand place the red marker pen into the beige bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "With the right hand, deposit the red marker pen inside the beige bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Put the red marker pen inside the beige bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Set the red marker pen into the beige bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Place the red marker pen in the beige bowl.", + "start_idx": 6237, + "end_idx": 6270 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "With the right hand, retrieve the orange screwdriver from the table on a diagonal angle by gripping the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Take the orange screwdriver from the table on a diagonal pickup, holding the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Retrieve the orange screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "With the right hand, take the orange screwdriver from the table by the middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Have the right arm retrieve the orange screwdriver from the table while holding its middle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "With the right hand, take the orange screwdriver from the table on a diagonal pickup.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Have the orange screwdriver picked up from the table at a diagonal angle.", + "start_idx": 6471, + "end_idx": 6513 + }, + { + "text": "Put the orange screwdriver in front of the white coffee cup with the right hand with its tip facing left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Using the right hand, place the orange screwdriver in front of the white coffee cup with its tip pointing left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Have the right arm set the orange screwdriver in front of the white coffee cup, tip facing left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "With the right hand, position the orange screwdriver in front of the white coffee cup so its tip faces left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Place the orange screwdriver in front of the white coffee cup with its tip pointing left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Set the orange screwdriver in front of the white coffee cup, with the tip facing left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Position the orange screwdriver in front of the white coffee cup so the tip faces left.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Using the right hand, put the orange screwdriver in front of the white coffee cup.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Have the right arm place the orange screwdriver in front of the white coffee cup.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "With the right hand, set the orange screwdriver in front of the white coffee cup.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Put the orange screwdriver in front of the white coffee cup.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Position the orange screwdriver in front of the white coffee cup.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "In front of the white coffee cup, place the orange screwdriver.", + "start_idx": 6513, + "end_idx": 6555 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table with a diagonal lip grip at the right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "The white coffee cup should be picked up from the table by the right hand using a diagonal grasp on the lip at the right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip at the right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "The white coffee cup from the table should be grasped with a diagonal hold on the lip at the right side.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "With the right hand, take the white coffee cup from the table.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Have the right arm collect the white coffee cup from the table.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "The white coffee cup should be picked up from the table.", + "start_idx": 6555, + "end_idx": 6591 + }, + { + "text": "Put the white coffee cup behind the blue stuffed toy with the handle facing forwards right side up using the right arm.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Using the right arm, place the white coffee cup behind the blue stuffed toy with the handle facing front and upright.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue stuffed toy, handle pointing forward and right side up.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "With the right arm, position the white coffee cup behind the blue stuffed toy so the handle faces forward, upright.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Place the white coffee cup behind the blue stuffed toy with the handle facing forward and right side up.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Set the white coffee cup behind the blue stuffed toy, keeping the handle pointed front and upright.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Position the white coffee cup behind the blue stuffed toy with the handle toward the front, right side up.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Using the right arm, put the white coffee cup behind the blue stuffed toy.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "With the right arm, place the white coffee cup behind the blue stuffed toy.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue stuffed toy.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Put the white coffee cup behind the blue stuffed toy.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Place the white coffee cup behind the blue stuffed toy.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Set the white coffee cup behind the blue stuffed toy.", + "start_idx": 6591, + "end_idx": 6633 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Have the right hand pick the blue stuffed toy up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "At a diagonal angle, retrieve the blue stuffed toy from the table with the right hand using a whole-object grasp.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach and a full-object grasp.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "From the table, retrieve the blue stuffed toy at a diagonal angle using a whole-object hold.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Have the right hand take the blue stuffed toy from the table with a full-object grasp.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table by holding the entire object.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "The blue stuffed toy should be picked up from the table with the right hand at a diagonal angle.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "At a diagonal angle, pick up the blue stuffed toy from the table.", + "start_idx": 6780, + "end_idx": 6813 + }, + { + "text": "Put the blue stuffed toy in front of the orange screwdriver with the right hand facing forwards.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Using the right hand, place the blue stuffed toy in front of the orange screwdriver, facing forwards.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Have the right arm set the blue stuffed toy in front of the orange screwdriver with its front facing forward.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "With the right hand, position the blue stuffed toy before the orange screwdriver so it faces forwards.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Put the blue stuffed toy in front of the orange screwdriver facing forwards.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Place the blue stuffed toy before the orange screwdriver with its front facing forward.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Set the blue stuffed toy in front of the orange screwdriver, facing forwards.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Using the right hand, put the blue stuffed toy in front of the orange screwdriver.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "With the right hand, place the blue stuffed toy before the orange screwdriver.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Have the right arm position the blue stuffed toy in front of the orange screwdriver.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Put the blue stuffed toy in front of the orange screwdriver.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Place the blue stuffed toy before the orange screwdriver.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Set the blue stuffed toy in front of the orange screwdriver.", + "start_idx": 6813, + "end_idx": 6849 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Have the right arm take the white coffee cup from the table using a diagonal lip grasp on its right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the lip diagonally on the right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Grasp the white coffee cup from the table by the lip diagonally on the right side.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table.", + "start_idx": 7014, + "end_idx": 7044 + }, + { + "text": "Put the white coffee cup to the right of the juice pouch with the right hand right side up with the front facing backwards.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the juice pouch, right side up, with its front facing backward.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the juice pouch, upright, with the front pointed backward.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "The white coffee cup goes to the right of the juice pouch with the right hand, right side up and facing backward at the front.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Place the white coffee cup to the right of the juice pouch, right side up, with the front facing backward.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Set the white coffee cup to the right of the juice pouch, upright, with its front pointed backward.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "The white coffee cup should be placed to the right of the juice pouch, right side up, front facing backward.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Put the white coffee cup to the right of the juice pouch with the right hand.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the juice pouch.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the juice pouch.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Position the white coffee cup to the right of the juice pouch.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Set the white coffee cup to the right of the juice pouch with the right hand.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "The white coffee cup goes to the right of the juice pouch using the right hand.", + "start_idx": 7044, + "end_idx": 7083 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table with a diagonal grasp at the middle.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Have the right arm pick up the orange screwdriver from the table, grasping it diagonally at the middle.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "With the right hand, secure the orange screwdriver from the table at the middle using a diagonal approach.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Pick up the orange screwdriver from the table with a diagonal grasp at the middle.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Take the orange screwdriver from the table, grasping it diagonally at the middle.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "From the table, grasp the orange screwdriver at the middle on a diagonal.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Have the right arm take the orange screwdriver from the table.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "From the table, secure the orange screwdriver.", + "start_idx": 7083, + "end_idx": 7119 + }, + { + "text": "Put the orange screwdriver behind the white coffee cup with the right hand facing top right with the tip as the reference point.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Using the right hand, place the orange screwdriver behind the white coffee cup with the tip facing top right.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Have the right arm set the orange screwdriver behind the white coffee cup, oriented top right at the tip.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "With the right hand, position the orange screwdriver behind the white coffee cup so the tip points top right.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Place the orange screwdriver behind the white coffee cup with the tip facing top right.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Set the orange screwdriver behind the white coffee cup, with the tip oriented toward the top right.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Position the orange screwdriver behind the white coffee cup so its tip points top right.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Using the right hand, put the orange screwdriver behind the white coffee cup.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "With the right hand, place the orange screwdriver behind the white coffee cup.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Have the right arm position the orange screwdriver behind the white coffee cup.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Put the orange screwdriver behind the white coffee cup.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Set the orange screwdriver behind the white coffee cup.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Position the orange screwdriver behind the white coffee cup.", + "start_idx": 7119, + "end_idx": 7152 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "From a diagonal angle, have the right hand grasp the blue stuffed toy from the table by the bottom with a side grip.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Pick up the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "From a diagonal angle, grasp the blue stuffed toy from the table by the bottom with a side grip.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Take the blue stuffed toy from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table with a side grip.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Have the right hand take the blue stuffed toy from the table by the bottom.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "With the right hand, grasp the blue stuffed toy from the table using a side grasp.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand from a diagonal angle.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "From the table, retrieve the blue stuffed toy with the right hand by the bottom.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table.", + "start_idx": 7233, + "end_idx": 7263 + }, + { + "text": "Put the blue stuffed toy to the right of the orange screwdriver with the right hand facing forwards.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the orange screwdriver, facing forwards.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Have the right arm set the blue stuffed toy to the right of the orange screwdriver with its front facing forward.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "With the right hand, position the blue stuffed toy to the right of the orange screwdriver so it faces forwards.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Place the blue stuffed toy to the right of the orange screwdriver.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Set the blue stuffed toy to the right of the orange screwdriver.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Position the blue stuffed toy to the right of the orange screwdriver.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Using the right hand, place the blue stuffed toy to the right of the orange screwdriver.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Have the right arm put the blue stuffed toy to the right of the orange screwdriver.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "With the right hand, set the blue stuffed toy to the right of the orange screwdriver.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Put the blue stuffed toy to the right of the orange screwdriver facing forwards.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Set the blue stuffed toy to the right of the orange screwdriver with its front forward.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Position the blue stuffed toy to the right of the orange screwdriver so it faces forward.", + "start_idx": 7263, + "end_idx": 7290 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Have the right arm pick the juice pouch off the table with a top side grip at a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side hold at the top from a diagonal approach.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Take the juice pouch off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Grasp the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grasp at the top.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Have the right arm grasp the juice pouch from the table with a side hold.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Take the juice pouch off the table from a diagonal angle.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Get the juice pouch from the table.", + "start_idx": 7437, + "end_idx": 7467 + }, + { + "text": "Put the juice pouch in front of the orange screwdriver with the right hand right side up front.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Using the right hand, place the juice pouch in front of the orange screwdriver with its right side up and front facing forward.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Have the right arm set the juice pouch in front of the orange screwdriver, right side up with the front outward.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "With the right hand, position the juice pouch before the orange screwdriver, keeping it right side up and front-facing.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Place the juice pouch in front of the orange screwdriver with its right side up and front facing forward.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Set the juice pouch before the orange screwdriver, keeping it right side up and front outward.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Position the juice pouch in front of the orange screwdriver, right side up with the front forward.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Using the right hand, put the juice pouch in front of the orange screwdriver.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "With the right hand, place the juice pouch before the orange screwdriver.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Have the right arm set the juice pouch in front of the orange screwdriver.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Put the juice pouch in front of the orange screwdriver.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Place the juice pouch before the orange screwdriver.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Set the juice pouch in front of the orange screwdriver.", + "start_idx": 7467, + "end_idx": 7500 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table with a side grasp at the bottom diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Have the right arm pick the orange screwdriver up from the table with a bottom side grip, held diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table at the bottom using a side hold on a diagonal.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the bottom diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Take the orange screwdriver from the table with a side grasp at the bottom diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Grasp the orange screwdriver from the table at the bottom with a side hold diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table with a side grip at the bottom.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "With the right hand, take the orange screwdriver from the table using a side grasp at the bottom.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Have the right arm grasp the orange screwdriver from the table with a side hold at the bottom.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table diagonally.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "With the right hand, take the orange screwdriver from the table on a diagonal.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand.", + "start_idx": 7656, + "end_idx": 7680 + }, + { + "text": "Place the orange screwdriver with the tip facing top left to the right of the juice pouch using the right arm.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Using the right arm, place the orange screwdriver to the right of the juice pouch with its tip facing the top left.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Have the right arm set the orange screwdriver to the right of the juice pouch, tip oriented toward the top left.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "To the right of the juice pouch, position the orange screwdriver with the right arm so the tip points top left.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Place the orange screwdriver to the right of the juice pouch with its tip facing the top left.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Set the orange screwdriver to the right of the juice pouch, with the tip pointed toward the top left.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Position the orange screwdriver to the right of the juice pouch so its tip faces the top left.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Using the right arm, place the orange screwdriver to the right of the juice pouch.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Have the right arm set the orange screwdriver to the right of the juice pouch.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "To the right of the juice pouch, position the orange screwdriver with the right arm.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Place the orange screwdriver to the right of the juice pouch.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Set the orange screwdriver to the right of the juice pouch.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "To the right of the juice pouch, put the orange screwdriver.", + "start_idx": 7680, + "end_idx": 7722 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Have the right arm grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "From a diagonal angle, pick the juice pouch off the table with the right hand using a side grasp at the top.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "From a diagonal angle, take the juice pouch off the table with a side grasp at the top.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "At the top, grasp the juice pouch from the table with a side hold from a diagonal angle.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "With the right hand, take the juice pouch off the table using a side grasp at the top.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Have the right arm grasp the juice pouch from the table at the top with a side hold.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "From a diagonal angle, take the juice pouch off the table with the right hand.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 7800, + "end_idx": 7821 + }, + { + "text": "Place the juice pouch behind the white coffee cup with the right hand right side up with the front as the reference point.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Using the right hand, set the juice pouch behind the white coffee cup right side up, with the front as the reference point.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Have the right arm place the juice pouch behind the white coffee cup in a right-side-up orientation, referenced to the front.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "With the right hand, position the juice pouch behind the white coffee cup upright, using the front as the reference point.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Place the juice pouch behind the white coffee cup right side up, with the front as the reference point.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Set the juice pouch behind the white coffee cup in a right-side-up position, using the front as the reference point.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Position the juice pouch behind the white coffee cup upright relative to the front.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Using the right hand, place the juice pouch behind the white coffee cup.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Have the right arm set the juice pouch behind the white coffee cup.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "With the right hand, position the juice pouch behind the white coffee cup.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Place the juice pouch behind the white coffee cup.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Set the juice pouch behind the white coffee cup.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Position the juice pouch behind the white coffee cup.", + "start_idx": 7821, + "end_idx": 7860 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grip at the top.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a diagonal lip grip at the top.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Have the right hand take the beige bowl from the table by the top edge in a diagonal lip grasp.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "With the right hand, grasp the beige bowl from the table using a top diagonal lip hold.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Pick up the beige bowl from the table with a diagonal lip grip at the top.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Take the beige bowl from the table by the top edge with a diagonal lip grasp.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Using a diagonal lip grip at the top, grasp the beige bowl from the table.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Have the right hand take the beige bowl from the table.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "With the right hand, grasp the beige bowl from the table.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Have the beige bowl picked up from the table.", + "start_idx": 7931, + "end_idx": 7967 + }, + { + "text": "Place the beige bowl behind the corn with the right hand right side up.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Using the right hand, set the beige bowl behind the corn right side up.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Have the right arm place the beige bowl behind the corn in an upright orientation.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "With the right hand, position the beige bowl behind the corn so it stays right side up.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Place the beige bowl behind the corn right side up.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Set the beige bowl behind the corn in an upright position.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Position the beige bowl behind the corn so it is right side up.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Using the right hand, place the beige bowl behind the corn.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Have the right arm set the beige bowl behind the corn.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "With the right hand, position the beige bowl behind the corn.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Place the beige bowl behind the corn.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Set the beige bowl behind the corn.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Position the beige bowl behind the corn.", + "start_idx": 7968, + "end_idx": 8013 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "From a diagonal angle, have the right hand grasp the blue stuffed toy off the table with a side hold at the bottom.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "With the right hand, retrieve the blue stuffed toy from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Pick up the blue stuffed toy from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "From the table, grasp the blue stuffed toy with a side hold at the bottom from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Take the blue stuffed toy off the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Use the right hand to pick up the blue stuffed toy from the table.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Have the right hand take the blue stuffed toy off the table.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "With the right hand, grasp the blue stuffed toy from the table.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Using the right hand, take the blue stuffed toy from the table with a side grip at the bottom.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Grab the blue stuffed toy from the table from a diagonal angle.", + "start_idx": 8013, + "end_idx": 8052 + }, + { + "text": "Put the blue stuffed toy inside the beige bowl with the right hand facing top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Using the right hand, place the blue stuffed toy inside the beige bowl with its front facing top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Have the right arm put the blue stuffed toy into the beige bowl, front directed toward the top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "With the right hand, set the blue stuffed toy in the beige bowl so the front points top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Place the blue stuffed toy inside the beige bowl with its front facing top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Set the blue stuffed toy into the beige bowl, front pointing toward the top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Put the blue stuffed toy in the beige bowl with the front oriented top left.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Using the right hand, place the blue stuffed toy inside the beige bowl.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "With the right hand, put the blue stuffed toy into the beige bowl.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Have the right arm set the blue stuffed toy in the beige bowl.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Place the blue stuffed toy inside the beige bowl.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Put the blue stuffed toy into the beige bowl.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Set the blue stuffed toy in the beige bowl.", + "start_idx": 8051, + "end_idx": 8078 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table with a side grip at the top and a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Have the right hand grasp the orange screwdriver from the table from the top with a side hold at a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "With the right hand, secure the orange screwdriver from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the top with a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Take the orange screwdriver from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Grasp the orange screwdriver from the table from the top using a side hold at a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table with a side grip at the top.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Have the right hand take the orange screwdriver from the table using a side grasp on the top.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table using a side grip.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at the top with a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Take the orange screwdriver from the table from the top at a diagonal angle.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Have the right hand pick up the orange screwdriver from the table at the top.", + "start_idx": 8079, + "end_idx": 8115 + }, + { + "text": "Put the orange screwdriver in front of the white coffee cup with the right hand with its tip facing bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Using the right hand, place the orange screwdriver in front of the white coffee cup with its tip pointing to the bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Have the right arm set the orange screwdriver in front of the white coffee cup, tip directed bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "With the right hand, position the orange screwdriver before the white coffee cup so its tip faces bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Place the orange screwdriver in front of the white coffee cup with its tip pointing to the bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Set the orange screwdriver before the white coffee cup, with the tip directed bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Position the orange screwdriver in front of the white coffee cup so the tip faces bottom left.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Using the right hand, put the orange screwdriver in front of the white coffee cup.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Have the right arm place the orange screwdriver before the white coffee cup.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "With the right hand, position the orange screwdriver in front of the white coffee cup.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Put the orange screwdriver in front of the white coffee cup.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Set the orange screwdriver before the white coffee cup.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Position the orange screwdriver in front of the white coffee cup.", + "start_idx": 8115, + "end_idx": 8154 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "With the right hand, collect the corn from the table by holding the middle at a diagonal angle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding its middle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "From the table, collect the corn at a diagonal angle by grasping the center.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "With the right hand, collect the corn from the table.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Using the right hand, grasp the corn from the table.", + "start_idx": 8229, + "end_idx": 8256 + }, + { + "text": "Put the corn to the right of the orange screwdriver with the right hand facing forwards with the tip as the reference point.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Using the right hand, place the corn to the right of the orange screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Have the right arm set the corn to the right of the orange screwdriver, with its tip as the reference point and facing forwards.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "With the right hand, position the corn to the right of the orange screwdriver so it faces forwards, using the tip as the reference point.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Place the corn to the right of the orange screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Set the corn to the right of the orange screwdriver, with the tip as the reference point and facing forwards.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Position the corn to the right of the orange screwdriver so it faces forwards, using the tip as the reference point.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Using the right hand, put the corn to the right of the orange screwdriver.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Have the right arm place the corn to the right of the orange screwdriver.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "With the right hand, set the corn to the right of the orange screwdriver.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Place the corn to the right of the orange screwdriver.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Set the corn to the right of the orange screwdriver.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Using the right hand, position the corn to the right of the orange screwdriver.", + "start_idx": 8256, + "end_idx": 8295 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "From a diagonal angle, have the right hand take the corn from the table with a side grasp at the bottom.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom using a side hold from a diagonal approach.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Pick up the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "From a diagonal angle, grasp the corn from the table at the bottom with a side hold.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Take the corn from the table using a side grasp at the bottom from a diagonal approach.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Using the right hand, pick up the corn from the table from a diagonal angle.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Have the right hand take the corn from the table at the bottom from a diagonal approach.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "With the right hand, grasp the corn from the table at the bottom.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "From the table, grasp the corn.", + "start_idx": 8418, + "end_idx": 8445 + }, + { + "text": "Put the corn to the right of the juice pouch with the right hand facing left with the tip as the reference point.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Using the right hand, place the corn to the right of the juice pouch, facing left with the tip as the reference point.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Have the right hand set the corn to the juice pouch's right side, with its tip as the reference point and facing left.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "With the right hand, position the corn right of the juice pouch so the tip serves as the reference point and it faces left.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Place the corn to the right of the juice pouch.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Set the corn on the right side of the juice pouch.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Position the corn right of the juice pouch.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Move the corn to the juice pouch's right.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Using the right hand, place the corn to the right of the juice pouch.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Have the right hand set the corn on the right side of the juice pouch.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "With the right hand, move the corn right of the juice pouch.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Place the corn to the right of the juice pouch with the tip as the reference point.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Set the corn on the right side of the juice pouch, facing left from the tip.", + "start_idx": 8445, + "end_idx": 8484 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Have the right hand grasp the juice pouch from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "From a diagonal angle, the right hand should seize the juice pouch from the table with a side grasp at the top.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "With the right hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Using the right hand, collect the juice pouch from the table with a side hold at the top.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Have the right hand take the juice pouch from the table with a side grasp.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "From a diagonal angle, the right hand should grasp the juice pouch from the table at the top.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 8622, + "end_idx": 8655 + }, + { + "text": "Put the juice pouch in front of the corn with the right hand right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Using the right hand, place the juice pouch in front of the corn right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Have the right arm set the juice pouch in front of the corn with its right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "With the right hand, position the juice pouch in front of the corn so it stays right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Place the juice pouch in front of the corn right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Set the juice pouch in front of the corn with its right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Position the juice pouch in front of the corn, keeping it right side up.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Using the right hand, put the juice pouch in front of the corn.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "With the right hand, place the juice pouch before the corn.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Have the right arm set the juice pouch in front of the corn.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Put the juice pouch in front of the corn.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Place the juice pouch before the corn.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Set the juice pouch in front of the corn.", + "start_idx": 8655, + "end_idx": 8691 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Have the right hand grasp the juice pouch from the table at the top with a side hold from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "From a diagonal angle, grasp the juice pouch from the table at the top with a side hold.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Take the juice pouch from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Using a side grip at the top, collect the juice pouch from the table from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "With the right hand, pick up the juice pouch from the table.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Have the right hand take the juice pouch from the table.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "From the table, grasp the juice pouch with the right hand.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Take the juice pouch from the table at the top.", + "start_idx": 8760, + "end_idx": 8793 + }, + { + "text": "Place the juice pouch to the right of the corn with the right hand right side up with the front as the reference point.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Using the right hand, set the juice pouch to the right of the corn, right side up with the front as the reference point.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Have the right arm place the juice pouch to the right of the corn in a right-side-up orientation, using the front as the reference point.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "With the right hand, position the juice pouch to the right of the corn so it is right side up relative to the front.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Place the juice pouch to the right of the corn, right side up with the front as the reference point.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Set the juice pouch to the right of the corn in a right-side-up orientation using the front as the reference point.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Position the juice pouch to the right of the corn so the front serves as the reference point and it remains right side up.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the corn.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Have the right arm set the juice pouch to the right of the corn.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "With the right hand, position the juice pouch to the right of the corn.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Place the juice pouch to the right of the corn.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Set the juice pouch to the right of the corn.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Position the juice pouch to the right of the corn.", + "start_idx": 8793, + "end_idx": 8832 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Have the right hand take the blue stuffed toy from the table, grasping its bottom with a side hold from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "With the right hand, secure the blue stuffed toy from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Pick up the blue stuffed toy from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Take the blue stuffed toy from the table, using a side hold at the bottom from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Grasp the blue stuffed toy from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table with a side grip.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "With the right hand, take the blue stuffed toy from the table using a side grasp at the bottom.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Have the right hand pick up the blue stuffed toy from the table from a diagonal angle with a side hold.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Using the right hand, pick up the blue stuffed toy from the table from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Pick up the blue stuffed toy from the table with the right hand.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Take the blue stuffed toy from the table at the bottom from a diagonal angle.", + "start_idx": 9174, + "end_idx": 9210 + }, + { + "text": "Put the blue stuffed to the right of the corn with the right hand facing forwards with the front as the reference point.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Using the right hand, place the blue stuffed to the right of the corn, facing forwards with the front as the reference point.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Have the right arm set the blue stuffed to the corn's right, oriented forwards using its front as the reference point.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "With the right hand, position the blue stuffed on the right side of the corn, facing forwards relative to its front.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Place the blue stuffed to the right of the corn.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Set the blue stuffed on the right side of the corn.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Position the blue stuffed to the corn's right.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Using the right hand, put the blue stuffed to the right of the corn.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Have the right arm place the blue stuffed on the right side of the corn.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "With the right hand, set the blue stuffed to the corn's right.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Place the blue stuffed to the right of the corn, facing forwards with the front as the reference point.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Set the blue stuffed on the right side of the corn, with its front facing forwards.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Position the blue stuffed to the corn's right, oriented forwards from the front.", + "start_idx": 9210, + "end_idx": 9240 + }, + { + "text": "Return both arms to home.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Bring both arms to home position.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Have both arms return to home.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Return the arms to home.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Move the arms back to the home position.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Bring the arms to home position.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Have the arms go to home.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Send the arms back home.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Move both arms back.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Bring both arms in.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Return the arms.", + "start_idx": 9315, + "end_idx": 9339 + }, + { + "text": "Have the arms reset.", + "start_idx": 9315, + "end_idx": 9339 + } + ] + }, + "2026-03-17-17-57-37-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 9704, + "num_annotations": 3742, + "annotations": [ + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Have the left arm pick the canned goods off the table using a side grip on the top at a diagonal angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "With the left hand, grasp the canned goods from the table from the top with a side hold and a diagonal approach.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Take the canned goods off the table with a side grasp on the top and a diagonal approach.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Have the left arm take the canned goods off the table using a side grasp on the top.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "With the left hand, grasp the canned goods from the table at the top with a side hold.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Have the left arm take the canned goods off the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 0, + "end_idx": 15 + }, + { + "text": "Put the canned goods behind the carrot with the left hand.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Using the left hand, place the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Have the left arm set the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "With the left hand, position the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Place the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Set the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Position the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "The canned goods go behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Put the canned goods behind the carrot there.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Arrange the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Move the canned goods behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Have the canned goods placed behind the carrot.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Behind the carrot, put the canned goods.", + "start_idx": 15, + "end_idx": 48 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left diagonal.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left diagonal.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table using a lip hold at the top left diagonal.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by its top-left diagonal edge using a lip grip.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top left diagonal.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Take the white coffee cup from the table with a lip hold at the top left diagonal.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Grasp the white coffee cup from the table at the top left diagonal with a lip grip.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Grasp the white coffee cup from the table at the top left diagonal.", + "start_idx": 48, + "end_idx": 81 + }, + { + "text": "Put the white coffee cup to the left of the carrot with the left hand right side up with the front facing backwards.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the carrot right side up with the front facing backward.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Have the left arm set the white coffee cup left of the carrot, upright, with its front facing backward.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "With the left hand, position the white coffee cup to the carrot's left, right side up and with the front oriented backward.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Place the white coffee cup to the left of the carrot, right side up with the front facing backward.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Set the white coffee cup left of the carrot, upright with its front facing backward.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Position the white coffee cup to the carrot's left, with the front facing backward and right side up.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "With the left hand, place the white coffee cup to the left of the carrot.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Have the left arm set the white coffee cup left of the carrot.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Using the left hand, position the white coffee cup to the carrot's left.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Put the white coffee cup to the left of the carrot.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Set the white coffee cup left of the carrot.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Position the white coffee cup to the carrot's left.", + "start_idx": 81, + "end_idx": 117 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Have the left arm pick the yogurt up from the table using a diagonal side hold at the top.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "With the left hand, grasp the yogurt from the table by the top with a side grip on a diagonal.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top diagonally.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Grasp the yogurt from the table by the top with a diagonal side hold.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Have the left arm take the yogurt from the table.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "With the left hand, grasp the yogurt from the table.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Pick up the yogurt from the table diagonally.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Take the yogurt from the table from the top.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the yogurt from the table diagonally.", + "start_idx": 117, + "end_idx": 141 + }, + { + "text": "Put the yogurt in front of the white coffee cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Using the left hand, place the yogurt in front of the white coffee cup right side up, with the front as the orientation reference point.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Have the left arm set the yogurt in front of the white coffee cup, keeping it right side up relative to its front.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "With the left hand, position the yogurt in front of the white coffee cup so it is right side up using the front as the reference point.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Place the yogurt in front of the white coffee cup right side up, with the front as the orientation reference point.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Set the yogurt in front of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Position the yogurt in front of the white coffee cup so the front serves as the reference point and it remains right side up.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Using the left hand, put the yogurt in front of the white coffee cup.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Have the left arm place the yogurt in front of the white coffee cup.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "With the left hand, set the yogurt in front of the white coffee cup.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Put the yogurt in front of the white coffee cup.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Position the yogurt in front of the white coffee cup.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Have the yogurt placed in front of the white coffee cup.", + "start_idx": 141, + "end_idx": 174 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a lip hold at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "With the left hand, collect the white coffee cup from the table in a lip grasp at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Take the white coffee cup from the table with a lip hold at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Grasp the white coffee cup from the table in a lip grip at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Retrieve the white coffee cup from the table at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "The white coffee cup from the table should be picked up from the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table at the top left diagonal.", + "start_idx": 372, + "end_idx": 396 + }, + { + "text": "Put the white coffee cup between the carrot and asparagus with the handle facing backwards right side up using the left hand.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Using the left hand, place the white coffee cup between the carrot and asparagus with the handle facing backward and upright.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Have the left arm set the white coffee cup between the carrot and asparagus, keeping it right side up with the handle toward the back.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "With the left hand, position the white coffee cup between the carrot and asparagus so the handle points backward and the cup stays upright.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Place the white coffee cup between the carrot and asparagus with the handle facing backward and upright.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Set the white coffee cup between the carrot and asparagus, keeping the handle toward the back and the cup right side up.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Position the white coffee cup between the carrot and asparagus with the handle pointing backward and the cup upright.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Using the left hand, put the white coffee cup between the carrot and asparagus.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Have the left arm place the white coffee cup between the carrot and asparagus.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "With the left hand, set the white coffee cup between the carrot and asparagus.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Place the white coffee cup between the carrot and asparagus.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Set the white coffee cup between the carrot and asparagus.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Position the white coffee cup between the carrot and asparagus.", + "start_idx": 396, + "end_idx": 438 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top left from a diagonal angle.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold on the top left at a diagonal angle.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "With the left hand, seize the white cup from the table using the lip grip on the top left from a diagonal approach.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top left from a diagonal angle.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Take the white cup from the table with a lip hold on the top left at a diagonal angle.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Grasp the white cup from the table using the lip grip at the top left from a diagonal approach.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Have the left arm take the white cup from the table using a lip hold.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "With the left hand, grasp the white cup from the table using the lip grip.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Pick up the white cup from the table with the left hand at the top left from a diagonal angle.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Take the white cup from the table with the left hand from a diagonal approach.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 438, + "end_idx": 462 + }, + { + "text": "Put the white cup to the bottom left side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Using the left hand, place the white cup at the table's bottom-left side, right side up with the front as the reference point.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Have the left arm set the white cup on the bottom-left side of the table, keeping it right side up relative to the front.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "With the left hand, position the white cup on the table's bottom-left side, oriented right side up using the front as the reference.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Place the white cup at the bottom-left side of the table.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Set the white cup on the table's bottom-left side.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Position the white cup at the table's bottom-left area.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Move the white cup to the bottom-left side of the table.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Using the left hand, place the white cup at the bottom-left side of the table.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Have the left arm set the white cup on the table's bottom-left side.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Put the white cup on the bottom-left side of the table with the left hand.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "With the left hand, position the white cup at the table's bottom-left area.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Place the white cup on the table's bottom-left side, keeping the front as the reference.", + "start_idx": 462, + "end_idx": 498 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Have the left arm grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "With the left hand, collect the canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Take the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Grasp the canned goods from the table at the top using a side grip from a diagonal angle.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Using the left hand, take the canned goods from the table.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 498, + "end_idx": 528 + }, + { + "text": "Put the canned goods between the yogurt and the white coffee cup with the left hand.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Using the left hand, place the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Have the left arm set the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "With the left hand, position the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Place the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Set the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Position the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Arrange the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "The canned goods should go between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Put the canned goods between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Have the canned goods placed between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Between the yogurt and the white coffee cup, place the canned goods.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Set the canned goods in the space between the yogurt and the white coffee cup.", + "start_idx": 528, + "end_idx": 564 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal from the top of the object.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Using the left hand, take the canned goods from the table with a diagonal top grasp.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Have the left arm pick up the canned goods from the table at a diagonal from the top.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "The canned goods should be picked up from the table with the left hand, approaching diagonally from above.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Grasp the canned goods from the table.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Retrieve the canned goods from the table.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "The canned goods should be picked up from the table with the left hand.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Pick up the canned goods from the table with a diagonal top grasp.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Take the canned goods from the table from above at a diagonal.", + "start_idx": 687, + "end_idx": 720 + }, + { + "text": "Put the canned goods to the right of the red bell pepper with the left hand.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Using the left hand, place the canned goods to the right of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Have the left arm set the canned goods down to the right of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "With the left hand, position the canned goods on the right side of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Place the canned goods to the right of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Set the canned goods on the right side of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "The canned goods go to the right of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Position the canned goods to the right of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Arrange the canned goods on the right side of the red bell pepper.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Put the canned goods down with the left hand.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Using the left hand, place the canned goods.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Have the left arm set down the canned goods.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Place the canned goods.", + "start_idx": 720, + "end_idx": 750 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grasp at the left.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Have the left arm grasp the white cup from the table with a diagonal lip hold on the left side.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "With the left hand, collect the white cup from the table using a left-side diagonal lip grasp.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the left.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on the left side.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Grasp the white cup from the table using a diagonal lip pickup at the left.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "The white cup should be picked up from the table with a left-side diagonal lip grasp.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 750, + "end_idx": 783 + }, + { + "text": "Place the white cup behind the carrot with the left hand right side up.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Using the left hand, set the white cup behind the carrot right side up.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Have the left arm place the white cup behind the carrot in an upright orientation.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "With the left hand, position the white cup behind the carrot so it remains right side up.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Place the white cup behind the carrot right side up.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Set the white cup behind the carrot upright.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Position the white cup behind the carrot in an upright pose.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Using the left hand, place the white cup behind the carrot.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Have the left arm set the white cup behind the carrot.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "With the left hand, position the white cup behind the carrot.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Put the white cup behind the carrot.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Set the white cup behind the carrot.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Position the white cup behind the carrot.", + "start_idx": 783, + "end_idx": 822 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Have the left arm pick up the red bell pepper from the table using a side hold on the top at a diagonal angle.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table from the side at the top on a diagonal.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Grasp the red bell pepper from the table from the side at the top on a diagonal.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a side hold.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table from the side.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal angle.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Take the red bell pepper from the table with the left hand on a diagonal at the top.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Grasp the red bell pepper from the table with the left hand.", + "start_idx": 888, + "end_idx": 924 + }, + { + "text": "Put the red bell pepper to the left of the canned goods with the left hand right side up front.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the canned goods, right side up with the front facing forward.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Have the left arm set the red bell pepper to the left of the canned goods in a right-side-up orientation, front facing forward.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "With the left hand, position the red bell pepper left of the canned goods, keeping it right side up and the front forward.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Place the red bell pepper to the left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Set the red bell pepper left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "The red bell pepper goes to the left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Position the red bell pepper to the left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Have the left arm set the red bell pepper left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "With the left hand, position the red bell pepper to the left of the canned goods.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Place the red bell pepper to the left of the canned goods, right side up.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Set the red bell pepper left of the canned goods with the front facing forward.", + "start_idx": 924, + "end_idx": 960 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left with a diagonal pick angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left using a diagonal pick angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip hold at the top left on a diagonal angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "With the left hand, secure the white coffee cup from the table via a top-left lip grasp at a diagonal pick angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Pick up the white coffee cup from the table with a lip grip at the top left using a diagonal pick angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Take the white coffee cup from the table with a lip hold at the top left on a diagonal angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Grasp the white coffee cup from the table using a top-left lip grip and a diagonal pick angle.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Have the arm secure the white coffee cup from the table.", + "start_idx": 960, + "end_idx": 999 + }, + { + "text": "Put the white coffee cup behind the red bell pepper with the handle facing backwards right side up using the left hand.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Using the left hand, place the white coffee cup behind the red bell pepper with the handle facing backward and right side up.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Have the left arm set the white coffee cup behind the red bell pepper, handle facing backward, upright.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "With the left hand, position the white coffee cup behind the red bell pepper so the handle points backward and it stays right side up.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Place the white coffee cup behind the red bell pepper with the handle facing backward and right side up.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Set the white coffee cup behind the red bell pepper, keeping the handle pointed backward and the cup upright.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Position the white coffee cup behind the red bell pepper with its handle toward the back and right side up.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Using the left hand, put the white coffee cup behind the red bell pepper.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "With the left hand, place the white coffee cup behind the red bell pepper.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Have the left arm position the white coffee cup behind the red bell pepper.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Put the white coffee cup behind the red bell pepper.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Set the white coffee cup behind the red bell pepper.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Position the white coffee cup behind the red bell pepper.", + "start_idx": 998, + "end_idx": 1038 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a top side grip at a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "With the left hand, collect the yogurt from the table using a side hold on the top from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Take the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Pick up the yogurt from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "From the table, grasp the yogurt with a side hold at the top from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Have the left arm take the yogurt from the table.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "With the left hand, grasp the yogurt from the table.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Grab the yogurt from the table.", + "start_idx": 1038, + "end_idx": 1074 + }, + { + "text": "Put the yogurt in front of the canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Using the left hand, place the yogurt in front of the canned goods right side up, using the front as the reference point.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Have the left arm set the yogurt in front of the canned goods with its right side up and the front as the reference.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "With the left hand, position the yogurt in front of the canned goods upright, referenced by its front.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Place the yogurt in front of the canned goods right side up, using the front as the reference point.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Set the yogurt in front of the canned goods with its right side up and the front as the reference.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Position the yogurt in front of the canned goods upright, based on the front.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Using the left hand, put the yogurt in front of the canned goods.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Have the left arm place the yogurt in front of the canned goods.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "With the left hand, set the yogurt in front of the canned goods.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Put the yogurt in front of the canned goods.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Place the yogurt in front of the canned goods.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Set the yogurt in front of the canned goods.", + "start_idx": 1074, + "end_idx": 1107 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Have the left arm collect the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Grasp the red bell pepper from the table by the top using a side hold at a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold at the top.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Take the red bell pepper from the table with the left hand at the top and a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Pick up the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 1185, + "end_idx": 1215 + }, + { + "text": "Put the red bell pepper to the left of the carrot with the left hand right side up front.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the carrot, right side up with the front facing forward.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Have the left arm set the red bell pepper to the carrot's left, keeping it right side up and front-facing.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "With the left hand, position the red bell pepper left of the carrot, oriented right side up with the front outward.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Place the red bell pepper to the left of the carrot, keeping it right side up with the front facing forward.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Set the red bell pepper to the carrot's left, right side up and front-facing.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Position the red bell pepper left of the carrot with its front forward and right side up.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the carrot.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "With the left hand, set the red bell pepper to the carrot's left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Have the left arm position the red bell pepper left of the carrot.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Put the red bell pepper to the left of the carrot.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Place the red bell pepper to the carrot's left.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Set the red bell pepper left of the carrot.", + "start_idx": 1215, + "end_idx": 1251 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left diagonally.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left diagonal.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold at the top left diagonally.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "With the left hand, seize the white coffee cup from the table using a lip grasp at the top left diagonal.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the top left diagonal.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold at the top left diagonal.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "The white coffee cup from the table should be taken using a lip grasp at the top left diagonal.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "With the left hand, take the white coffee cup from the table using a lip hold.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Take the white coffee cup from the table at the top left diagonal.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 1251, + "end_idx": 1290 + }, + { + "text": "Put the white coffee cup in front of the carrot with the left hand right side up with the front facing backwards.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the carrot, right side up, with its front facing backward.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Have the left arm set the white coffee cup in front of the carrot, keeping it upright with the front toward the back.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "With the left hand, position the white coffee cup before the carrot, right side up and front facing backward.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Place the white coffee cup in front of the carrot, right side up, with the front facing backward.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Set the white coffee cup before the carrot, keeping it upright with the front toward the back.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Position the white coffee cup in front of the carrot so it stays right side up and faces backward.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Using the left hand, put the white coffee cup in front of the carrot.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Have the left arm place the white coffee cup before the carrot.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "With the left hand, set the white coffee cup in front of the carrot.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Put the white coffee cup in front of the carrot.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Place the white coffee cup before the carrot.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Set the white coffee cup in front of the carrot.", + "start_idx": 1290, + "end_idx": 1335 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a side hold at the top on a diagonal approach.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "With the left hand, collect the canned goods from the table using a side grip on the top from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "From the table, take the canned goods at the top with a side grasp from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Grab the canned goods from the table on a diagonal approach with a side hold at the top.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Use the left hand to pick up the canned goods from the table.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "With the left hand, take the canned goods from the table.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Have the left arm collect the canned goods from the table.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Take the canned goods from the table with a side grip at the top.", + "start_idx": 1401, + "end_idx": 1434 + }, + { + "text": "Put the canned goods to the left of the asparagus with the left hand.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Using the left hand, place the canned goods to the left of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Have the left arm set the canned goods down to the left of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "With your left hand, position the canned goods on the asparagus's left side.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Place the canned goods to the left of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Set the canned goods on the left side of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Position the canned goods to the left of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Move the canned goods to the asparagus's left.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "The canned goods go to the left of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Arrange the canned goods on the left side of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Place the canned goods beside the asparagus on its left side.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Set the canned goods down left of the asparagus.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Put the canned goods on the asparagus's left side.", + "start_idx": 1434, + "end_idx": 1476 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top with a side hold from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "With the left hand, secure the red bell pepper from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "From the table, grasp the red bell pepper with a side hold at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold on the top.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Have the left arm take the red bell pepper from the table at the top with a side grasp.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "From the table, collect the red bell pepper with the left hand at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Pick up the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 1476, + "end_idx": 1506 + }, + { + "text": "Put the bell pepper to the left of the white coffee cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Using the left hand, place the bell pepper to the left of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Have the left arm set the bell pepper left of the white coffee cup, keeping it right side up relative to its front.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "With the left hand, position the bell pepper to the left of the white coffee cup so its front serves as the reference point and it stays right side up.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Place the bell pepper to the left of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Set the bell pepper left of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Position the bell pepper to the left of the white coffee cup with its front as the reference point and right side up.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "The bell pepper goes to the left of the white coffee cup, right side up using the front as the reference point.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Using the left hand, place the bell pepper to the left of the white coffee cup.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Have the left arm set the bell pepper left of the white coffee cup.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "With the left hand, position the bell pepper to the left of the white coffee cup.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Place the bell pepper to the left of the white coffee cup.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Set the bell pepper left of the white coffee cup.", + "start_idx": 1506, + "end_idx": 1539 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, gripping the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal approach and grasp it at the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "With the left hand, retrieve the carrot from the table diagonally, holding its middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, gripping the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Take the carrot from the table with a diagonal approach, grasping the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Retrieve the carrot from the table diagonally while holding it at the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Using the left hand, pick up the carrot from the table, gripping the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "With the left hand, collect the carrot from the table by its middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Have the left arm take the carrot from the table by the middle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "At a diagonal angle, take the carrot from the table with the left hand.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Put the carrot to the left of the red bell pepper with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Using the left hand, place the carrot to the left of the red bell pepper, with its tip facing forwards.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Have the left arm set the carrot left of the red bell pepper, oriented forwards from the tip.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "With the left hand, position the carrot to the left of the red bell pepper so the tip points forwards.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Place the carrot to the left of the red bell pepper with its tip facing forwards.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Set the carrot left of the red bell pepper, oriented forwards from the tip.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Position the carrot to the left of the red bell pepper so the tip faces forwards.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Using the left hand, put the carrot to the left of the red bell pepper.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "With the left hand, place the carrot left of the red bell pepper.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Have the left arm position the carrot to the left of the red bell pepper.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Put the carrot to the left of the red bell pepper.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Set the carrot left of the red bell pepper.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Position the carrot to the left of the red bell pepper.", + "start_idx": 1566, + "end_idx": 1605 + }, + { + "text": "Put the white cup to the left of the asparagus with the left hand right side up front.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Using the left hand, place the white cup to the left of the asparagus, right side up with the front facing forward.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Have the left arm set the white cup to the asparagus's left, keeping it upright and the front oriented forward.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "With the left hand, position the white cup left of the asparagus, upright and front-facing.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Place the white cup to the left of the asparagus, right side up with the front facing forward.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Set the white cup to the asparagus's left, keeping it upright with the front forward.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Position the white cup left of the asparagus, right side up and front-facing.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Using the left hand, put the white cup to the left of the asparagus.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Have the left arm place the white cup to the asparagus's left.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "With the left hand, set the white cup left of the asparagus.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Put the white cup to the left of the asparagus.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Set the white cup to the asparagus's left.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Position the white cup left of the asparagus.", + "start_idx": 1749, + "end_idx": 1812 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Have the left arm pick the red bell pepper off the table with a side grip on its top at a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Take the red bell pepper off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Have the left arm take the red bell pepper off the table using a side grasp.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Have the left arm take the red bell pepper off the table at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Pick up the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 1812, + "end_idx": 1842 + }, + { + "text": "Place the red bell pepper behind the carrot with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Using the left hand, position the red bell pepper behind the carrot, right side up with the front as the reference point.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Have the left arm set the red bell pepper behind the carrot in a right-side-up orientation, using the front as the reference point.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "With the left hand, place the red bell pepper behind the carrot so it is right side up relative to its front.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Place the red bell pepper behind the carrot, right side up with the front as the reference point.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Set the red bell pepper behind the carrot in a right-side-up orientation, using the front as the reference point.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Position the red bell pepper behind the carrot with its front as the reference point, right side up.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Using the left hand, place the red bell pepper behind the carrot.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Have the left arm put the red bell pepper behind the carrot.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "With the left hand, set the red bell pepper behind the carrot.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Place the red bell pepper behind the carrot.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Set the red bell pepper behind the carrot.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Position the red bell pepper behind the carrot.", + "start_idx": 1842, + "end_idx": 1875 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "From a diagonal angle, have the left hand take the canned goods from the table with a side grasp at the top.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "With the left hand, grasp the canned goods from the table at the top using a side hold from a diagonal approach.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "From a diagonal angle, take the canned goods from the table with a side grasp at the top.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal approach.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "With the left hand, take the canned goods from the table.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Have the left hand grasp the canned goods from the table.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Take the canned goods from the table with a side grip at the top.", + "start_idx": 1875, + "end_idx": 1896 + }, + { + "text": "Put the canned goods between the carrot and white coffee cup with the left hand.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Using the left hand, place the canned goods between the carrot and the white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Have the left arm set the canned goods between the carrot and white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "With the left hand, position the canned goods between the carrot and the white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Place the canned goods between the carrot and the white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Set the canned goods between the carrot and white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Position the canned goods between the carrot and the white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Arrange the canned goods between the carrot and white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Move the canned goods between the carrot and the white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "The canned goods should go between the carrot and white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Put the canned goods between the carrot and white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Leave the canned goods between the carrot and the white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Transfer the canned goods to a spot between the carrot and white coffee cup.", + "start_idx": 1896, + "end_idx": 1929 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a diagonal grasp on the left lip.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Grasp the white coffee cup from the table at the left lip with a diagonal approach.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp.", + "start_idx": 1929, + "end_idx": 1950 + }, + { + "text": "Put the white coffee cup behind the white cup with the handle facing backwards using the left hand right side up with the front as the reference point.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Using the left hand, place the white coffee cup behind the white cup, right side up, with the handle facing backward relative to the front.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Have the left hand set the white coffee cup behind the white cup, keeping it upright with the handle pointed backward from the front.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "With the left hand, position the white coffee cup behind the white cup so it stays right side up and the handle faces backward using the front as reference.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Place the white coffee cup behind the white cup, keeping it right side up with the handle facing backward from the front.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Set the white coffee cup behind the white cup, upright, with the handle directed backward relative to the front.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Position the white coffee cup behind the white cup so the handle points backward from the front.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Put the white coffee cup behind the white cup.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Place the white coffee cup behind the white cup with the left hand.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Using the left hand, set the white coffee cup behind the white cup.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Have the left hand place the white coffee cup behind the white cup.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "With the left hand, position the white coffee cup behind the white cup.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Set the white coffee cup behind the white cup, right side up.", + "start_idx": 1950, + "end_idx": 1998 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Have the left arm pick the red bell pepper off the table with a side grip on the top, held diagonally.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table at the top using a side hold at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Grasp the red bell pepper off the table with a side hold on the top at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "The red bell pepper should be picked up from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "With the left hand, take the red bell pepper off the table using a side grasp on the top.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top with a side hold.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Take the red bell pepper from the table with the left hand at a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Pick up the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 2073, + "end_idx": 2097 + }, + { + "text": "Put the red bell pepper in front of the white cup with the left hand right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the white cup right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Have the left arm set the red bell pepper in front of the white cup with its right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "With the left hand, position the red bell pepper before the white cup, right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Place the red bell pepper in front of the white cup right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Set the red bell pepper before the white cup with its right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Position the red bell pepper in front of the white cup, right side up.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Using the left hand, put the red bell pepper in front of the white cup.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "With the left hand, place the red bell pepper before the white cup.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Have the left arm set the red bell pepper in front of the white cup.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Put the red bell pepper in front of the white cup.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Set the red bell pepper before the white cup.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Position the red bell pepper in front of the white cup.", + "start_idx": 2097, + "end_idx": 2133 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Have the left arm pick the carrot off the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "With the left hand, grasp the carrot from the table using a side hold at the bottom from a diagonal approach.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Take the carrot off the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Grasp the carrot from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "With the left hand, take the carrot off the table using a side grasp.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Have the left arm grasp the carrot from the table with a side hold.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Pick up the carrot from the table from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Using the left hand, take the carrot from the table from a diagonal angle.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Get the carrot off the table with a side grip.", + "start_idx": 2133, + "end_idx": 2154 + }, + { + "text": "Put the carrot to the left of the white cup with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Using the left hand, place the carrot to the left of the white cup with its tip facing backwards.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Have the left arm set the carrot left of the white cup, oriented backward relative to the tip.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "With the left hand, position the carrot to the left of the white cup so the tip points backward.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Place the carrot to the left of the white cup with its tip facing backwards.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Set the carrot left of the white cup, with the tip oriented backward.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Position the carrot to the left of the white cup so the tip points backward.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Using the left hand, put the carrot to the left of the white cup.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Have the left arm place the carrot left of the white cup.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "With the left hand, set the carrot to the left of the white cup.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Put the carrot to the left of the white cup.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Place the carrot left of the white cup.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Set the carrot to the left of the white cup.", + "start_idx": 2154, + "end_idx": 2193 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grip at the top left.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grip at the top left.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "With the left hand, grasp the white coffee cup off the table using a top-left diagonal lip hold.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Have the left arm pick the white coffee cup up from the table with a diagonal lip grasp at the top left.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Take the white coffee cup from the table using a diagonal lip grip at the top left.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Grasp the white coffee cup off the table with a top-left diagonal lip hold.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the top left.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Have the left arm take the white coffee cup off the table.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at the top left.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2193, + "end_idx": 2226 + }, + { + "text": "Put the white coffee cup to the left of the carrot with the left hand facing forwards from the front.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the carrot, facing forwards from the front.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Have the left arm set the white coffee cup left of the carrot with its front facing forwards.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "With the left hand, position the white coffee cup to the carrot's left, oriented forwards from the front.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Place the white coffee cup to the left of the carrot.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Set the white coffee cup left of the carrot.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Position the white coffee cup to the carrot's left.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the carrot.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Have the left arm set the white coffee cup left of the carrot.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "With the left hand, position the white coffee cup to the carrot's left.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Place the white coffee cup to the left of the carrot, facing forwards from the front.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Set the white coffee cup left of the carrot with its front facing forwards.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Position the white coffee cup to the carrot's left, oriented forwards from the front.", + "start_idx": 2226, + "end_idx": 2265 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Have the left arm take the white cup from the table using a diagonal lip grip on its left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "With the left hand, grasp the white cup from the table via a diagonal lip hold on the left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip hold on the left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip on its left side.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Use a diagonal lip grasp to pick up the white cup from the table.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "From the table, pick up the white cup with the left hand.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Grasp the white cup from the table with the left hand.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2325, + "end_idx": 2364 + }, + { + "text": "Put the white cup in front of the white coffee cup with the left hand.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Using the left hand, place the white cup in front of the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Have the left arm set the white cup before the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "With the left hand, position the white cup in front of the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Place the white cup in front of the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Set the white cup before the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Position the white cup in front of the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Move the white cup to a spot in front of the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "The white cup goes in front of the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Using the left hand, place the white cup by the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "With the left hand, set the white cup next to the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Have the left arm move the white cup near the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Using the left hand, position the white cup beside the white coffee cup.", + "start_idx": 2364, + "end_idx": 2400 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a side hold at the bottom on a diagonal.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "With the left hand, retrieve the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Retrieve the asparagus from the table with a side hold at the bottom on a diagonal.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grasp at the bottom.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Have the left arm retrieve the asparagus from the table with a side hold at the bottom.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Pick up the asparagus from the table with the left hand from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Take the asparagus from the table from a diagonal angle.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2535, + "end_idx": 2583 + }, + { + "text": "Put the asparagus to the right of the carrot with the left hand facing left with the tip as the reference point.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Using the left hand, place the asparagus to the carrot's right with its tip pointing left.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Have the left hand set the asparagus on the right side of the carrot, oriented left from the tip.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "With the left hand, position the asparagus right of the carrot, with the tip facing left.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Place the asparagus to the right of the carrot with its tip pointing left.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Set the asparagus on the right side of the carrot, tip facing left.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Position the asparagus right of the carrot, oriented left from the tip.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Using the left hand, place the asparagus to the right of the carrot.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "With the left hand, set the asparagus on the right side of the carrot.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Have the left hand position the asparagus right of the carrot.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Place the asparagus to the right of the carrot.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Set the asparagus on the right side of the carrot.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Position the asparagus right of the carrot.", + "start_idx": 2583, + "end_idx": 2634 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Using the left hand, grasp the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Have the left arm take the red bell pepper from the table with a top side grasp at a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "With the left hand, seize the red bell pepper from the table using a side hold on the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "The red bell pepper should be picked up from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp on the top.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Pick up the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 2634, + "end_idx": 2673 + }, + { + "text": "Put the red bell pepper to the right of the yogurt with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Using the left hand, place the red bell pepper to the right of the yogurt, right side up with the front as the orientation reference point.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Have the left arm set the red bell pepper to the yogurt's right, keeping it right side up relative to the front.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "With the left hand, position the red bell pepper on the right side of the yogurt, right side up using the front as the reference point.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Place the red bell pepper to the right of the yogurt.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Set the red bell pepper on the yogurt's right side.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Position the red bell pepper to the right of the yogurt.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Using the left hand, put the red bell pepper to the right of the yogurt.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Have the left arm place the red bell pepper on the right side of the yogurt.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "With the left hand, set the red bell pepper to the yogurt's right.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Place the red bell pepper to the right of the yogurt, right side up with the front as the orientation reference point.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Set the red bell pepper on the yogurt's right side, keeping it right side up relative to the front.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Position the red bell pepper to the right of the yogurt with the front as the orientation reference point.", + "start_idx": 2673, + "end_idx": 2706 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal, gripping the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Take the carrot from the table on a diagonal, holding the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup at the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Using the left hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "With the left hand, take the carrot from the table by the middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Have the left arm collect the carrot from the table by grasping its middle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Take the carrot from the table with the left hand.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 2784, + "end_idx": 2808 + }, + { + "text": "Put the carrot to the right of the asparagus with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Using the left hand, place the carrot to the right of the asparagus, facing forwards with the tip as the reference point.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Have the left arm set the carrot to the asparagus's right, oriented forwards using the tip as the reference point.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "With the left hand, position the carrot on the right side of the asparagus, facing forwards from the tip.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Place the carrot to the right of the asparagus, facing forwards with the tip as the reference point.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Set the carrot on the asparagus's right side, oriented forwards with the tip as the reference point.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Position the carrot to the right of the asparagus so it faces forwards, using the tip as the reference point.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Using the left hand, place the carrot to the right of the asparagus.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Have the left arm set the carrot on the right side of the asparagus.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "With the left hand, position the carrot to the asparagus's right.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Place the carrot to the right of the asparagus.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Set the carrot on the asparagus's right side.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Position the carrot to the asparagus's right.", + "start_idx": 2808, + "end_idx": 2850 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a top side grip at a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "With the left hand, grasp the yogurt from the table at the top using a side hold from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "With the left hand, take the yogurt from the table.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Have the left arm grasp the yogurt from the table.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Take the yogurt from the table using a side grip at the top.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Grasp the yogurt from the table from a diagonal angle.", + "start_idx": 2850, + "end_idx": 2874 + }, + { + "text": "Place the yogurt to the top left side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Using the left hand, set the yogurt on the table's top-left side, right side up with the front as the reference point.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Have the left arm place the yogurt at the top left of the table, keeping it right side up relative to the front.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "With the left hand, position the yogurt on the table's upper-left side, oriented right side up using the front as the reference.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Place the yogurt on the table's top-left side.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Set the yogurt at the upper-left side of the table.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Position the yogurt on the top left of the table.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Put the yogurt at the table's top-left area.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the yogurt on the table's top-left side.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Have the left arm set the yogurt at the upper-left side of the table.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "With the left hand, position the yogurt at the top left of the table.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Place the yogurt on the table's top-left side, keeping it right side up.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Set the yogurt at the upper-left side of the table, with the front as the reference point.", + "start_idx": 2874, + "end_idx": 2907 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the left side diagonally.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Have the left hand grasp the white cup from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "With the left hand, seize the white cup from the table using the lip grip on its left side diagonally.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the left side diagonally.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Take the white cup from the table with a lip hold on the left side diagonally.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Grasp the white cup from the table at the left side diagonally using the lip grip.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "With the left hand, take the white cup from the table using a lip hold.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Have the left hand grasp the white cup from the table with the lip grip.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Using the left hand, pick up the white cup from the table at the left side diagonally.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Take the white cup from the table at the left side diagonally with the left hand.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2961, + "end_idx": 2979 + }, + { + "text": "Put the white cup on the bottom side of the table with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Using the left hand, place the white cup on the bottom side of the table right side up with the front as the orientation reference point.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Have the left arm set the white cup on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "With the left hand, position the white cup on the bottom side of the table in a right-side-up orientation using the front as the reference point.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Place the white cup on the bottom side of the table right side up with the front as the orientation reference point.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Set the white cup on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Position the white cup on the bottom side of the table with the front as the orientation reference point, right side up.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Using the left hand, place the white cup on the bottom side of the table.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Have the left arm set the white cup on the bottom side of the table.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "With the left hand, position the white cup on the bottom side of the table.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Put the white cup on the bottom side of the table.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Place the white cup on the bottom side of the table.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Set the white cup on the bottom side of the table.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Have the left arm take the red bell pepper off the table with a side grasp on the top at a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table at the top using a side hold from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Take the red bell pepper off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Grasp the red bell pepper from the table at the top using a side hold from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "With the left hand, take the red bell pepper off the table using a side grasp on the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold at the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "With the left hand, take the red bell pepper off the table at the top from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table from a diagonal angle.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Put the red bell pepper to the left of the white cup with the left hand right side up.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the white cup right side up.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Have the left arm set the red bell pepper to the left of the white cup in an upright orientation.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "With the left hand, position the red bell pepper left of the white cup, keeping it right side up.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Place the red bell pepper to the left of the white cup right side up.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Set the red bell pepper left of the white cup in an upright position.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Position the red bell pepper to the left of the white cup with its right side up.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "With the left hand, put the red bell pepper to the left of the white cup.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Using the left hand, set the red bell pepper left of the white cup.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Have the left arm place the red bell pepper to the left of the white cup.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Place the red bell pepper to the left of the white cup.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Set the red bell pepper left of the white cup.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Position the red bell pepper to the left of the white cup.", + "start_idx": 3036, + "end_idx": 3057 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grip at the right side.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grip at the right side.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a lip hold on the right side at a diagonal angle.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by its right side using a diagonal lip grasp.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grip at the right side.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Grasp the white coffee cup from the table at the right side with a diagonal lip hold.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Grab the white coffee cup from the table.", + "start_idx": 3078, + "end_idx": 3105 + }, + { + "text": "Put the white coffee cup to the left of the red bell pepper with the left hand facing forwards relative to the front.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the red bell pepper, facing forwards relative to the front.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Have the left arm set the white coffee cup left of the red bell pepper with its front facing forwards.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the red bell pepper so it faces forwards relative to the front.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Place the white coffee cup to the left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Set the white coffee cup left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Position the white coffee cup to the left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Move the white coffee cup to the left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Have the left arm set the white coffee cup left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Put the white coffee cup to the left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Arrange the white coffee cup left of the red bell pepper.", + "start_idx": 3105, + "end_idx": 3141 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Have the left arm pick up the yogurt from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "With the left hand, grasp the yogurt from the table at the top using a side hold from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Take the yogurt from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Grasp the yogurt from the table at the top from a diagonal angle using a side hold.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Have the left arm take the yogurt from the table by the top using a side grasp.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "With the left hand, grasp the yogurt from the table using a side hold.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Pick up the yogurt from the table with the left hand at the top from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Using the left hand, take the yogurt from the table from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Pick up the yogurt from the table at the top from a diagonal angle.", + "start_idx": 3198, + "end_idx": 3219 + }, + { + "text": "Put the cup of yogurt behind the carrot with the left hand right side up with the front as the reference point.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Using the left hand, place the cup of yogurt behind the carrot, right side up with the front as the reference point.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Have the left arm set the cup of yogurt behind the carrot in an upright orientation, using the front as the reference point.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "With the left hand, position the cup of yogurt behind the carrot so it is right side up relative to the front.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Place the cup of yogurt behind the carrot, right side up with the front as the reference point.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Set the cup of yogurt behind the carrot in an upright orientation using the front as the reference point.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Position the cup of yogurt behind the carrot so it is right side up relative to the front.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Using the left hand, put the cup of yogurt behind the carrot.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "With the left hand, place the cup of yogurt behind the carrot.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Have the left arm set the cup of yogurt behind the carrot.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Put the cup of yogurt behind the carrot.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Place the cup of yogurt behind the carrot.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Set the cup of yogurt behind the carrot.", + "start_idx": 3219, + "end_idx": 3249 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table from the top using a side hold at a diagonal angle.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "With the left hand, secure the red bell pepper from the table by its top using a side grasp and a diagonal approach.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Grasp the red bell pepper from the table at the top using a side hold with a diagonal pick angle.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Have the left arm take the red bell pepper from the table.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Grasp the red bell pepper from the table at the top using a side hold.", + "start_idx": 3309, + "end_idx": 3327 + }, + { + "text": "Put the red bell pepper to the left of the yogurt with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the yogurt, right side up with the front as the reference point.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Have the left arm set the red bell pepper left of the yogurt, keeping it right side up relative to the front.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "With the left hand, position the red bell pepper to the yogurt's left, oriented right side up using the front as the reference point.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Place the red bell pepper to the left of the yogurt, right side up with the front as the reference point.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Set the red bell pepper left of the yogurt, keeping it right side up relative to the front.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Position the red bell pepper to the yogurt's left, with the front as the reference point and right side up.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Using the left hand, put the red bell pepper to the left of the yogurt.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Have the left arm place the red bell pepper left of the yogurt.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "With the left hand, set the red bell pepper to the yogurt's left.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Arrange the red bell pepper to the left of the yogurt.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Place the red bell pepper left of the yogurt, right side up.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Set the red bell pepper to the yogurt's left with the front as the reference point.", + "start_idx": 3327, + "end_idx": 3357 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a diagonal side hold at the top.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "With the left hand, grasp the yogurt from the table using a side grip on the top at a diagonal angle.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top diagonally.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Grasp the yogurt from the table at the top with a diagonal side hold.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Have the left arm pick up the yogurt from the table with a side hold.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Pick up the yogurt from the table with the left hand at the top diagonally.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Take the yogurt from the table diagonally at the top with the left hand.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "With the left hand, grasp the yogurt from the table at the top on a diagonal.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Put the yogurt on the top left side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Using the left hand, place the yogurt on the table's top left side, right side up relative to the front.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Have the left arm set the yogurt on the upper-left area of the table, with its right side up using the front as reference.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "With the left hand, position the yogurt at the top left of the table, keeping it right side up from the front reference.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Place the yogurt on the top left side of the table, right side up with the front as the reference point.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Set the yogurt on the table's upper-left side, with its right side up relative to the front.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Position the yogurt on the top left area of the table, keeping the front-referenced right-side-up orientation.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Using the left hand, put the yogurt on the top left side of the table.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "With the left hand, set the yogurt on the upper-left area of the table.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Have the left arm place the yogurt at the top left of the table.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Put the yogurt on the top left side of the table.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Set the yogurt on the table's top left side.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Position the yogurt at the upper-left part of the table.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top on a diagonal angle.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Have the left arm pick the red bell pepper off the table using a side hold at the top with a diagonal orientation.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by the top using a side grip at a diagonal angle.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Take the red bell pepper off the table with a side grasp at the top on a diagonal.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Grasp the red bell pepper from the table by the top with a side hold at a diagonal angle.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Have the left arm take the red bell pepper off the table using a side grip.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by the top using a side hold.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Take the red bell pepper off the table at the top with a diagonal angle.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Grasp the red bell pepper from the table.", + "start_idx": 3492, + "end_idx": 3513 + }, + { + "text": "Put the red bell pepper to the left of the asparagus with the left hand right side up front.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the asparagus, right side up with the front facing forward.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Have the left arm set the red bell pepper left of the asparagus, keeping it right side up and front-facing.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "With the left hand, position the red bell pepper to the asparagus's left, oriented right side up with the front forward.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Place the red bell pepper to the left of the asparagus, keeping it right side up with the front facing forward.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Set the red bell pepper left of the asparagus, right side up and front-facing.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Position the red bell pepper to the left of the asparagus with its front forward and right side up.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the asparagus.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "With the left hand, set the red bell pepper left of the asparagus.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Have the left arm position the red bell pepper to the asparagus's left.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Put the red bell pepper to the left of the asparagus.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Place the red bell pepper left of the asparagus.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Set the red bell pepper to the asparagus's left.", + "start_idx": 3513, + "end_idx": 3549 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Have the left hand take the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the left side using a diagonal lip grip.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip on the left side.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Grasp the white coffee cup from the table using a diagonal lip hold at the left.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Remove the white coffee cup from the table with a lip grasp.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Get the white coffee cup from the table with a lip grip.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Take hold of the white coffee cup from the table using the lip.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3549, + "end_idx": 3573 + }, + { + "text": "Put the white coffee cup to the left of the canned goods with the left hand with the handle facing forwards.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the canned goods with the handle facing forwards.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Set the white coffee cup to the left of the canned goods with your left hand, keeping the handle facing forwards.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Have the left arm position the white coffee cup left of the canned goods so the handle faces forwards.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Place the white coffee cup to the left of the canned goods.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Set the white coffee cup left of the canned goods.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Position the white coffee cup to the left of the canned goods.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the canned goods.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "With the left hand, set the white coffee cup left of the canned goods.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Have the left arm place the white coffee cup to the left of the canned goods.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Put the white coffee cup with the handle facing forwards.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Position the white coffee cup so the handle faces forwards.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Using the left hand, place the white coffee cup.", + "start_idx": 3573, + "end_idx": 3615 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top on a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Have the left hand pick up the red bell pepper from the table using a side hold at the top with a diagonal orientation.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table from the side at the top at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top on a diagonal.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "The red bell pepper from the table should be picked up with a side hold at the top at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp at the top.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Have the left hand grasp the red bell pepper from the table with a side hold.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand at a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Using the left hand, take the red bell pepper from the table at the top with a diagonal orientation.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Get the red bell pepper from the table at the top with a diagonal angle.", + "start_idx": 3669, + "end_idx": 3696 + }, + { + "text": "Put the red bell pepper in front of the asparagus with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the asparagus right side up, with the front as the reference point.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Have the left arm set the red bell pepper in front of the asparagus, oriented right side up relative to its front.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "With the left hand, position the red bell pepper in front of the asparagus so it is right side up using the front as the reference point.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Place the red bell pepper in front of the asparagus right side up, with the front as the reference point.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Set the red bell pepper in front of the asparagus, keeping it right side up relative to the front.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Position the red bell pepper in front of the asparagus with its front as the orientation reference point, right side up.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the asparagus.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Have the left arm set the red bell pepper in front of the asparagus.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "With the left hand, position the red bell pepper in front of the asparagus.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Put the red bell pepper in front of the asparagus.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Set the red bell pepper in front of the asparagus.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Position the red bell pepper in front of the asparagus.", + "start_idx": 3696, + "end_idx": 3735 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Have the left arm pick up the yogurt from the table with a top side hold at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "With the left hand, grasp the yogurt from the table using a side grip on the top at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top with a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Grasp the yogurt from the table with a top side hold at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "With the left hand, pick up the yogurt from the table using a side grip at the top.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Have the left arm take the yogurt from the table with a side grasp on the top.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Using the left hand, grasp the yogurt from the table at the top.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Pick up the yogurt from the table with the left hand at a diagonal angle.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "With the left hand, take the yogurt from the table.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top.", + "start_idx": 3909, + "end_idx": 3942 + }, + { + "text": "Put the yogurt behind the white cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Using the left hand, place the yogurt behind the white cup, right side up with the front as the reference point.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Have the left arm set the yogurt behind the white cup with its front as the orientation reference, right side up.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "With the left hand, position the yogurt behind the white cup, keeping it right side up relative to the front.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Place the yogurt behind the white cup, right side up with the front as the reference point.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Set the yogurt behind the white cup, with the front as the orientation reference and the yogurt right side up.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Position the yogurt behind the white cup so it is right side up, using the front as the reference point.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Using the left hand, put the yogurt behind the white cup.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "With the left hand, set the yogurt behind the white cup.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Have the left arm place the yogurt behind the white cup.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Put the yogurt behind the white cup.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Set the yogurt behind the white cup.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Position the yogurt behind the white cup.", + "start_idx": 3942, + "end_idx": 3975 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Grasp the white coffee cup from the table by the left lip diagonally.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "With a diagonal lip grasp on the left, pick up the white coffee cup from the table.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 3975, + "end_idx": 4008 + }, + { + "text": "Put the white coffee cup on the top left side of the table with the left hand facing forwards.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Using the left hand, place the white coffee cup on the table's top left side facing forwards.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Have the left arm set the white coffee cup on the upper-left area of the table, oriented forwards.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "With the left hand, position the white coffee cup on the top-left side of the table so it faces forward.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Place the white coffee cup on the top left side of the table facing forwards.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Set the white coffee cup on the table's top left side with its front forward.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Position the white coffee cup on the upper-left part of the table facing forward.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Using the left hand, place the white coffee cup on the top left side of the table.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Have the left arm set the white coffee cup on the upper-left area of the table.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "With the left hand, position the white coffee cup on the top-left side of the table.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Put the white coffee cup on the top left side of the table.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Set the white coffee cup on the table's upper-left area.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Position the white coffee cup on the upper-left part of the table.", + "start_idx": 4008, + "end_idx": 4050 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Have the left arm grasp the carrot from the table diagonally at its middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "With the left hand, take the carrot from the table using a diagonal approach at the middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Take the carrot from the table diagonally from the middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Grasp the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 4050, + "end_idx": 4077 + }, + { + "text": "Put the carrot to the right of the white cup with the left hand with its tip facing bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Using the left hand, place the carrot to the right of the white cup with its tip pointing bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Have the left arm set the carrot to the right of the white cup, tip directed toward the bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "With the left hand, position the carrot to the right of the white cup so its tip faces bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Place the carrot to the right of the white cup with its tip pointing bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Set the carrot to the right of the white cup, with the tip aimed toward the bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Position the carrot to the right of the white cup so the tip faces bottom right.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Using the left hand, put the carrot to the right of the white cup.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "With the left hand, place the carrot to the right of the white cup.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Have the left arm position the carrot to the right of the white cup.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Put the carrot to the right of the white cup.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Set the carrot to the right of the white cup.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Position the carrot to the right of the white cup.", + "start_idx": 4077, + "end_idx": 4116 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top diagonally.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Have the left arm pick the red bell pepper off the table using a side grip on the top at a diagonal angle.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by the top using a diagonal side hold.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top diagonally.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Take the red bell pepper off the table with a side grasp on the top diagonally.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Grasp the red bell pepper from the table by the top with a diagonal side hold.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Have the left arm take the red bell pepper off the table using a side grasp.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "The red bell pepper from the table should be picked up with the left hand.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Pick up the red bell pepper from the table diagonally.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Take the red bell pepper off the table by the top.", + "start_idx": 4182, + "end_idx": 4215 + }, + { + "text": "Put the red bell pepper right side up with its front in between the asparagus and the white cup using the left hand.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Using the left hand, place the red bell pepper right side up with its front facing between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Have the left hand set the red bell pepper upright, front oriented between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "With the left hand, position the red bell pepper upright so its front is between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Place the red bell pepper right side up with its front between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Set the red bell pepper upright with its front facing between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Position the red bell pepper right side up, front between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Put the red bell pepper in between the asparagus and the white cup using the left hand.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Using the left hand, place the red bell pepper between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Have the left hand set the red bell pepper in between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Put the red bell pepper between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Set the red bell pepper between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Position the red bell pepper in between the asparagus and the white cup.", + "start_idx": 4215, + "end_idx": 4245 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Have the left hand take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "The white coffee cup from the table should be grasped with the left hand using a diagonal lip hold on its left side.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "With the left hand, pick up the white coffee cup from the table.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "The white coffee cup from the table should be picked up with the left hand.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 4293, + "end_idx": 4317 + }, + { + "text": "Put the white coffee cup on the left bottom side of the table with the left hand right side up with the front facing backwards.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Using the left hand, place the white coffee cup on the table's left bottom side, right side up, with the front facing backward.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Have the left arm set the white coffee cup on the lower-left area of the table, upright and with its front toward the back.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "The white coffee cup goes on the table's bottom-left side with the left hand, kept right side up and facing backward at the front.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Place the white coffee cup on the left bottom side of the table, right side up, with the front facing backward.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Set the white coffee cup on the table's lower-left side, upright with its front toward the back.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "The white coffee cup should be placed on the bottom-left area of the table, with the front facing backward and right side up.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "With the left hand, put the white coffee cup on the left bottom side of the table.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Using the left hand, set the white coffee cup on the table's lower-left area.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Have the left arm place the white coffee cup on the bottom-left side of the table.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Position the white coffee cup on the left bottom side of the table.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "The white coffee cup should go on the table's lower-left area.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Put the white coffee cup on the bottom-left side of the table.", + "start_idx": 4317, + "end_idx": 4356 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "With the left arm, take the asparagus from the table by its bottom using a side grasp and a diagonal pick angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Have the left hand grasp the asparagus from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Take the asparagus from the table by the bottom with a side grasp and a diagonal angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "The asparagus from the table should be picked up at the bottom with a side hold and a diagonal approach.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Using the left hand, pick up the asparagus from the table with a side grip at the bottom.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "With the left hand, take the asparagus from the table by the bottom using a side grasp.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Have the left arm pick up the asparagus from the table with a diagonal approach.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at the bottom and a diagonal angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Pick up the asparagus from the table with the left hand and a diagonal pick angle.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Take the asparagus from the table by the bottom with a diagonal approach.", + "start_idx": 4356, + "end_idx": 4374 + }, + { + "text": "Put the asparagus to the left of the red bell pepper with the left hand with its tip facing top left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Using the left hand, place the asparagus left of the red bell pepper with its tip pointing to the top left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Have the left arm set the asparagus to the left of the red bell pepper, tip oriented toward the top left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "With the left hand, position the asparagus left of the red bell pepper so its tip faces the upper left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Place the asparagus to the left of the red bell pepper with its tip facing the top left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Set the asparagus left of the red bell pepper, with the tip pointing upper left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Position the asparagus to the left of the red bell pepper so the tip points to the top left.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Using the left hand, place the asparagus to the left of the red bell pepper.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "With the left hand, set the asparagus left of the red bell pepper.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Have the left arm position the asparagus to the left of the red bell pepper.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Put the asparagus to the left of the red bell pepper.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Arrange the asparagus left of the red bell pepper.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Leave the asparagus to the left of the red bell pepper.", + "start_idx": 4374, + "end_idx": 4416 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "With the left hand, grasp the red bell pepper off the table using a side hold at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Have the left arm pick the red bell pepper up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Take the red bell pepper off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold at the top from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "With the left hand, take the red bell pepper off the table.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Take the red bell pepper off the table from a diagonal angle.", + "start_idx": 4416, + "end_idx": 4452 + }, + { + "text": "Put the red bell pepper behind the white coffee cup with the left hand right side up.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Using the left hand, place the red bell pepper behind the white coffee cup right side up.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Have the left arm set the red bell pepper behind the white coffee cup, keeping it right side up.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "With the left hand, position the red bell pepper behind the white coffee cup in an upright orientation.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Place the red bell pepper behind the white coffee cup right side up.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Set the red bell pepper behind the white coffee cup upright.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Position the red bell pepper behind the white coffee cup with its right side up.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Using the left hand, place the red bell pepper behind the white coffee cup.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "With the left hand, set the red bell pepper behind the white coffee cup.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Have the left arm position the red bell pepper behind the white coffee cup.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Put the red bell pepper behind the white coffee cup.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Set the red bell pepper behind the white coffee cup.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Position the red bell pepper behind the white coffee cup.", + "start_idx": 4452, + "end_idx": 4488 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Have the left arm pick the canned goods up from the table using a side hold at the top on a diagonal angle.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "With the left hand, grasp the canned goods from the table from the top using a side grip at a diagonal angle.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Take the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Grasp the canned goods from the table with a side hold at the top and a diagonal angle.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "The canned goods should be picked up from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Take the canned goods from the table using a side grip at the top.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "The canned goods should be picked up from the table with a diagonal approach.", + "start_idx": 4488, + "end_idx": 4509 + }, + { + "text": "Put the canned goods to the left of the carrot with the left hand right side up with the front as the orientation reference point.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Using the left hand, place the canned goods to the left of the carrot, right side up with the front as the reference point.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Have the left arm set the canned goods left of the carrot, keeping them right side up relative to the front.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "With the left hand, position the canned goods to the carrot's left, oriented right side up using the front as the reference point.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Place the canned goods to the left of the carrot, right side up with the front as the reference point.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Set the canned goods left of the carrot, keeping them right side up relative to the front.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Position the canned goods to the carrot's left, with the front as the reference point and right side up.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Using the left hand, place the canned goods to the left of the carrot.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Have the left arm set the canned goods left of the carrot.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "With the left hand, position the canned goods to the carrot's left.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Put the canned goods to the left of the carrot.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Place the canned goods left of the carrot.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Set the canned goods to the carrot's left.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "From a diagonal angle, have the left hand grasp the top of the red bell pepper on the table with a side hold.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "With the left hand, take the red bell pepper off the table by its top using a side grasp from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "From a diagonal angle, grasp the top of the red bell pepper on the table with a side hold.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Take the red bell pepper off the table by its top using a side grasp from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table using a side hold at the top.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Have the left hand take the red bell pepper from the table with a side grasp on its top.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Pick up the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "From a diagonal angle, grasp the top of the red bell pepper on the table.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Using the left hand, take the red bell pepper off the table from a diagonal angle.", + "start_idx": 4548, + "end_idx": 4566 + }, + { + "text": "Put the red bell pepper to the left of the asparagus with the left hand right side up with the front as the reference point.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the asparagus right side up, with the front as the reference point.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Have the left arm set the red bell pepper to the asparagus's left, keeping it right side up relative to the front.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "With the left hand, position the red bell pepper left of the asparagus, oriented right side up using the front as the reference point.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Place the red bell pepper to the left of the asparagus.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Set the red bell pepper on the left side of the asparagus.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Position the red bell pepper left of the asparagus.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Move the red bell pepper to the left of the asparagus.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the asparagus.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Have the left arm set the red bell pepper to the asparagus's left.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "With the left hand, position the red bell pepper left of the asparagus.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Place the red bell pepper to the left of the asparagus right side up.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Set the red bell pepper on the left side of the asparagus, keeping it right side up.", + "start_idx": 4566, + "end_idx": 4599 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a lip hold from the left, diagonally.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using the lip grasp from the left at a diagonal approach.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Take the white coffee cup from the table with a lip hold from the left at a diagonal angle.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Grasp the white coffee cup from the table using the lip grasp from the left diagonally.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip hold.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using the lip grasp.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Pick up the white coffee cup from the table from the left at a diagonal angle.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Take the white coffee cup from the table at a diagonal angle from the left.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 4599, + "end_idx": 4626 + }, + { + "text": "Put the white coffee cup in front of the canned goods with the left hand right side up with the front facing backwards.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the canned goods right side up with its front facing backward.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Have the left arm set the white coffee cup before the canned goods, upright and with the front turned backward.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "With the left hand, position the white coffee cup in front of the canned goods so it stays right side up and the front faces backward.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Place the white coffee cup in front of the canned goods right side up with its front facing backward.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Set the white coffee cup before the canned goods upright with the front turned backward.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Position the white coffee cup in front of the canned goods with the front facing backward.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Using the left hand, put the white coffee cup in front of the canned goods.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Have the left arm place the white coffee cup before the canned goods.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "With the left hand, set the white coffee cup in front of the canned goods.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Place the white coffee cup in front of the canned goods.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Set the white coffee cup before the canned goods.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Position the white coffee cup in front of the canned goods.", + "start_idx": 4626, + "end_idx": 4668 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Have the left arm take the carrot from the table, grasping it at the middle on a diagonal.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "With the left hand, collect the carrot from the table using a diagonal approach at its middle.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Take the carrot from the table, grasping it diagonally at the middle.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "From the table, collect the carrot at a diagonal angle from its middle.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "With the left hand, collect the carrot from the table.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "From the table, collect the carrot.", + "start_idx": 4743, + "end_idx": 4776 + }, + { + "text": "Put the carrot in front of the red bell pepper with the left hand facing forwards with the tip as the reference point.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Using the left hand, place the carrot in front of the red bell pepper, facing forwards with the tip as the reference point.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Have the left arm set the carrot before the red bell pepper with its tip as the reference point and facing forwards.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "With the left hand, position the carrot in front of the red bell pepper so it faces forwards, using the tip as the reference point.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Place the carrot in front of the red bell pepper.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Set the carrot before the red bell pepper.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Position the carrot in front of the red bell pepper.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Using the left hand, put the carrot in front of the red bell pepper.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Have the left arm place the carrot before the red bell pepper.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "With the left hand, set the carrot in front of the red bell pepper.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Put the carrot before the red bell pepper facing forwards with the tip as the reference point.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Position the carrot in front of the red bell pepper with its tip as the reference point.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Set the carrot before the red bell pepper so it faces forwards.", + "start_idx": 4776, + "end_idx": 4815 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Have the left arm pick the white coffee cup up from the table using a left-side diagonal lip grasp.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "With the left hand, secure the white coffee cup from the table in a diagonal lip grasp on the left.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Grasp the white coffee cup from the table in a diagonal lip hold at the left.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 4815, + "end_idx": 4839 + }, + { + "text": "Put the white coffee cup to the left of the yogurt with the handle facing backwards with the left hand facing forwards from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the yogurt with the handle facing backwards while facing forwards from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Have the left arm set the white coffee cup left of the yogurt, keeping the handle pointed backward and the cup facing forward from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "With the left hand, position the white coffee cup to the yogurt's left, handle turned backward and facing forwards from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Place the white coffee cup to the left of the yogurt with the handle facing backwards while facing forwards from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Set the white coffee cup left of the yogurt, with the handle facing backwards and the cup facing forwards from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Position the white coffee cup to the left of the yogurt, keeping the handle facing backwards while facing forwards from the front.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the yogurt.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Have the left arm set the white coffee cup left of the yogurt.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "With the left hand, position the white coffee cup to the yogurt's left.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Place the white coffee cup to the left of the yogurt.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the yogurt with the handle facing backwards.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Set the white coffee cup left of the yogurt with the handle facing backwards.", + "start_idx": 4839, + "end_idx": 4881 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "From a diagonal angle, have the left hand seize the canned goods from the table with a side hold at the top.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "With the left hand, collect the canned goods from the table using a side grip on the top at a diagonal approach.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "From a diagonal angle, pick the canned goods up from the table with a side hold at the top.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Using a side grip at the top, secure the canned goods from the table from a diagonal angle.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "With the left hand, pick up the canned goods from the table.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Have the left hand take the canned goods from the table.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Using the left hand, secure the canned goods from the table.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "From a diagonal angle, take the canned goods from the table with the left hand.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 4938, + "end_idx": 4965 + }, + { + "text": "Put the canned goods in front of the white cup right side up with the front as the reference point using the left hand.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Using the left hand, place the canned goods in front of the white cup right side up with the front as the reference point.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Have the left arm set the canned goods in front of the white cup, keeping them right side up relative to the front.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "With the left hand, position the canned goods in front of the white cup so the front serves as the reference point and they stay upright.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Place the canned goods in front of the white cup right side up with the front as the reference point.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Set the canned goods in front of the white cup, keeping them upright relative to the front.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Position the canned goods in front of the white cup with the front as the reference point, right side up.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Using the left hand, place the canned goods in front of the white cup.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "With the left hand, set the canned goods in front of the white cup.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Have the left arm position the canned goods in front of the white cup.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Place the canned goods in front of the white cup.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Set the canned goods in front of the white cup.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Position the canned goods in front of the white cup.", + "start_idx": 4965, + "end_idx": 5013 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal from the middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal from the middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Have the left arm grasp the carrot from the table diagonally at its middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "With the left hand, take hold of the carrot from the table at a diagonal from the middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Pick up the carrot from the table at a diagonal from the middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "From the table, grasp the carrot diagonally at its middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Take the carrot from the table at a diagonal from the middle.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "From the table, take the carrot.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Have the left arm pick up the carrot from the table.", + "start_idx": 5079, + "end_idx": 5112 + }, + { + "text": "Put the carrot to the left of the white cup with the left hand with the tip facing top left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Using the left hand, place the carrot to the left of the white cup with its tip pointing to the top left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Have the left arm set the carrot left of the white cup, tip facing top left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "With the left hand, position the carrot to the left of the white cup so the tip faces the upper left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Place the carrot to the left of the white cup with its tip pointing to the top left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Set the carrot left of the white cup, with the tip facing upper left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Position the carrot to the left of the white cup so its tip points top left.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Using the left hand, put the carrot to the left of the white cup.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Have the left arm place the carrot left of the white cup.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "With the left hand, set the carrot to the left of the white cup.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Place the carrot to the left of the white cup.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Set the carrot left of the white cup.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Position the carrot to the left of the white cup.", + "start_idx": 5112, + "end_idx": 5142 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Have the left hand pick the asparagus up from the table on a diagonal, holding it at the middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "With the left hand, retrieve the asparagus from the table at a diagonal angle by grasping its middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle with a grasp on the middle.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 5142, + "end_idx": 5178 + }, + { + "text": "Put the asparagus to the left of the white cup with the left hand facing top right with the tip as the reference point.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Using the left hand, place the asparagus to the left of the white cup with the tip facing the top right.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Have the left arm set the asparagus to the left of the white cup, oriented top right from the tip.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "With the left hand, position the asparagus to the left of the white cup so its tip points to the top right.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Place the asparagus to the left of the white cup with the tip facing the top right.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Set the asparagus to the left of the white cup, oriented top right from the tip.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Position the asparagus to the left of the white cup so the tip points toward the top right.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Using the left hand, place the asparagus to the left of the white cup.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "With the left hand, set the asparagus to the left of the white cup.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Have the left arm position the asparagus to the left of the white cup.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Place the asparagus to the left of the white cup.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Set the asparagus to the left of the white cup.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Position the asparagus to the left of the white cup.", + "start_idx": 5178, + "end_idx": 5217 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Have the left hand take the white coffee cup from the table using a diagonal grasp on the left lip.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table at the left lip in a diagonal hold.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Take the white coffee cup from the table with a diagonal grasp on the left lip.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Grasp the white coffee cup from the table at the left lip with a diagonal hold.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Grasp the white coffee cup from the table with the left hand.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table.", + "start_idx": 5217, + "end_idx": 5238 + }, + { + "text": "Put the white coffee cup to the left of the asparagus with the handle facing backwards with the left hand right side up front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus, right side up with the handle facing backwards from the front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus, keeping it upright and the handle facing backwards from the front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "With the left hand, position the white coffee cup to the asparagus's left, right side up and with the handle facing backwards from the front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Place the white coffee cup to the left of the asparagus, right side up with the handle facing backwards from the front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Set the white coffee cup left of the asparagus, keeping it upright with the handle facing backwards from the front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Position the white coffee cup to the asparagus's left, with the handle facing backwards from the front and right side up.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Using the left hand, put the white coffee cup to the left of the asparagus.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Have the left arm place the white coffee cup left of the asparagus.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "With the left hand, set the white coffee cup to the asparagus's left.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Put the white coffee cup to the left of the asparagus.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Place the white coffee cup left of the asparagus, right side up.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Set the white coffee cup to the left of the asparagus with the handle facing backwards from the front.", + "start_idx": 5238, + "end_idx": 5289 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Grasp the white coffee cup from the table by the left lip diagonally.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Take the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Grab the white coffee cup from the table.", + "start_idx": 5409, + "end_idx": 5436 + }, + { + "text": "Place the white coffee cup in between the carrot and the yogurt with the handle facing bottom right using the left hand.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Using the left hand, set the white coffee cup between the carrot and the yogurt with its handle pointing to the bottom right.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Have the left arm place the white coffee cup between the carrot and the yogurt, handle oriented bottom right.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "With the left hand, position the white coffee cup in between the carrot and the yogurt so the handle faces bottom right.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Place the white coffee cup between the carrot and the yogurt with its handle pointing bottom right.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Set the white coffee cup in between the carrot and the yogurt, with the handle facing the bottom right.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Position the white coffee cup between the carrot and the yogurt so its handle is at the bottom right.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Using the left hand, place the white coffee cup between the carrot and the yogurt.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "With the left hand, set the white coffee cup in between the carrot and the yogurt.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Have the left arm position the white coffee cup between the carrot and the yogurt.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Place the white coffee cup between the carrot and the yogurt.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Set the white coffee cup in between the carrot and the yogurt.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Position the white coffee cup between the carrot and the yogurt.", + "start_idx": 5436, + "end_idx": 5472 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "With the left hand, collect the carrot from the table at a diagonal angle by grasping its middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Take the carrot from the table at a diagonal angle, holding the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "From the table, retrieve the carrot at a diagonal angle with a grasp on the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Pick up the carrot from the table with the left hand, grasping the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Using the left hand, take the carrot from the table by the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Have the left arm collect the carrot from the table, gripping its middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "With the left hand, retrieve the carrot from the table at a diagonal angle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Take the carrot from the table by the middle.", + "start_idx": 5619, + "end_idx": 5643 + }, + { + "text": "Put the carrot in front of the red bell pepper with the left hand with its tip facing top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Using the left hand, place the carrot in front of the red bell pepper with its tip pointing to the top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Have the left arm set the carrot in front of the red bell pepper, tip oriented toward the top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "With the left hand, position the carrot before the red bell pepper so its tip faces the top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Place the carrot in front of the red bell pepper with its tip facing the top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Set the carrot before the red bell pepper, with the tip directed to the top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Position the carrot in front of the red bell pepper so the tip points top right.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Using the left hand, put the carrot in front of the red bell pepper.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "With the left hand, place the carrot before the red bell pepper.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Have the left arm position the carrot in front of the red bell pepper.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Put the carrot in front of the red bell pepper.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Set the carrot before the red bell pepper.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Place the carrot in front of the red bell pepper.", + "start_idx": 5643, + "end_idx": 5679 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal top lip grasp.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal grasp on the top lip.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Have the left arm pick up the white cup from the table using a diagonal top-edge lip hold.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "With the left hand, grasp the white cup from the table at the top lip from a diagonal angle.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Pick up the white cup from the table using a diagonal top lip grasp.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Take the white cup from the table with a diagonal top lip hold.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Grasp the white cup from the table at the top lip diagonally.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "With the left hand, take the white cup from the table.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Take the white cup from the table using a diagonal top lip grasp.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 5679, + "end_idx": 5709 + }, + { + "text": "Place the white cup behind the yogurt with the left hand right side up with the front as the orientation reference point.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Using the left hand, set the white cup behind the yogurt right side up, with the front as the orientation reference point.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Have the left arm place the white cup behind the yogurt in an upright orientation, referenced from the front.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "With the left hand, position the white cup behind the yogurt so it is right side up using the front as the reference point.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Place the white cup behind the yogurt right side up with the front as the orientation reference point.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Set the white cup behind the yogurt upright, using the front as the reference point.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Position the white cup behind the yogurt with its front as the orientation reference point, right side up.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Using the left hand, place the white cup behind the yogurt.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "With the left hand, set the white cup behind the yogurt.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Have the left arm position the white cup behind the yogurt.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Put the white cup behind the yogurt.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Arrange the white cup behind the yogurt.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Have the white cup placed behind the yogurt.", + "start_idx": 5709, + "end_idx": 5751 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Have the left arm take the canned goods from the table, grasping the top with a side hold from a diagonal angle.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "With the left hand, retrieve the canned goods from the table by gripping the top from a diagonal angle with a side grasp.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Take the canned goods from the table, gripping the top from a diagonal angle with a side hold.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Retrieve the canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Have the left arm take the canned goods from the table using a side hold.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "With the left hand, retrieve the canned goods from the table using a side grasp.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 5751, + "end_idx": 5790 + }, + { + "text": "Put the canned goods to the left of the carrot with the left hand.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Using the left hand, place the canned goods to the carrot's left.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Have the left arm set the canned goods on the left side of the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "With the left hand, position the canned goods left of the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Place the canned goods to the left of the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Set the canned goods on the left side of the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Position the canned goods left of the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Have the canned goods placed to the carrot's left.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Move the canned goods to the left of the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Arrange the canned goods on the carrot's left side.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Set the canned goods by the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Place the canned goods near the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Put the canned goods beside the carrot.", + "start_idx": 5790, + "end_idx": 5829 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold on the top at a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "With the left hand, secure the white cup from the table by the top using a lip grip from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Take the white cup from the table with a lip hold on the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Grasp the white cup from the table by the top using a lip grip from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the top.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Have the left arm take the white cup from the table using a lip hold on the top.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "With the left hand, grasp the white cup from the table at the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Pick up the white cup from the table with the left hand at the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Grasp the white cup from the table at the top from a diagonal angle.", + "start_idx": 5892, + "end_idx": 5922 + }, + { + "text": "Place the white cup to the left side of the yogurt with the left hand right side up with the front as reference.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Using the left hand, set the white cup to the left of the yogurt, right side up with the front as reference.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Have the left arm place the white cup on the yogurt's left side, keeping it right side up relative to the front.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "With the left hand, position the white cup left of the yogurt, oriented right side up from the front.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Place the white cup to the left of the yogurt.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Set the white cup on the left side of the yogurt.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Position the white cup left of the yogurt.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Put the white cup beside the yogurt on its left side.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Using the left hand, place the white cup to the left of the yogurt.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Have the left arm set the white cup on the yogurt's left side.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "With the left hand, position the white cup beside the yogurt on its left.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Place the white cup to the left of the yogurt, right side up.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Set the white cup on the yogurt's left side, keeping it upright from the front.", + "start_idx": 5922, + "end_idx": 5964 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Using the left hand, take the canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Have the left hand pick the canned goods up from the table with a diagonal approach at the top of the object.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "With the left arm, grasp the canned goods from the table by the top of the object at a diagonal angle.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Take the canned goods from the table with a diagonal approach, holding the top of the object.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Grasp the canned goods from the table by the top of the object at a diagonal angle.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Using the left hand, pick up the canned goods from the table at a diagonal angle.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Take the canned goods from the table with the left hand.", + "start_idx": 5964, + "end_idx": 5997 + }, + { + "text": "Put the canned goods on the bottom side of the table with the left hand.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Using the left hand, place the canned goods on the bottom side of the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Have the left arm set the canned goods onto the table's bottom side.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "With the left hand, position the canned goods on the underside of the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Place the canned goods on the bottom side of the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Set the canned goods onto the bottom side of the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Position the canned goods on the table's bottom side.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "The canned goods go on the underside of the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Put the canned goods in place.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Set down the canned goods.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Move the canned goods to the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Place the canned goods on the underside of the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Put the canned goods on the table.", + "start_idx": 5997, + "end_idx": 6036 + }, + { + "text": "Pick up the yogurt from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Using the left hand, take the yogurt from the table at a diagonal angle, grasping the top.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a diagonal approach, holding the top.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "With the left hand, retrieve the yogurt from the table by grasping its top at a diagonal angle.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Pick up the yogurt from the table at a diagonal angle, grasping the top.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Take the yogurt from the table by holding the top at a diagonal angle.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Retrieve the yogurt from the table with a diagonal approach, grasping the top.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Have the left arm take the yogurt from the table.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "With the left hand, retrieve the yogurt from the table.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Pick up the yogurt from the table with the left hand.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Take the yogurt from the table, grasping the top.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Using the left hand, pick up the yogurt from the table at a diagonal angle.", + "start_idx": 6102, + "end_idx": 6132 + }, + { + "text": "Put the yogurt to the left of the white coffee cup with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Have the left arm set the yogurt left of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "With the left hand, position the yogurt to the left of the white coffee cup, oriented right side up from the front reference point.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Place the yogurt to the left of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Set the yogurt left of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Position the yogurt to the left of the white coffee cup with a right-side-up orientation using the front as reference.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Using the left hand, place the yogurt to the left of the white coffee cup.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Have the left arm set the yogurt left of the white coffee cup.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "With the left hand, position the yogurt to the left of the white coffee cup.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Place the yogurt to the left of the white coffee cup.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Set the yogurt left of the white coffee cup.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Position the yogurt to the left of the white coffee cup.", + "start_idx": 6132, + "end_idx": 6162 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the top with a diagonal pick angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top and a diagonal pick angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "With the left hand, grasp the white cup from the table by the top lip at a diagonal angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Have the left hand pick the white cup off the table using a lip grasp at the top with a diagonal approach.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top with a diagonal pick angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Take the white cup off the table with a lip grasp at the top and a diagonal angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Grasp the white cup from the table by the top lip with a diagonal pick angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the top.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grasp at the top.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Have the left hand grasp the white cup off the table with a lip grip by the top.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal pick angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Take the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 6234, + "end_idx": 6267 + }, + { + "text": "Place the white cup in front of the white coffee cup with the left hand right side up with the front as the reference point.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Using the left hand, set the white cup in front of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Have the left arm place the white cup before the white coffee cup, keeping it right side up relative to its front.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "With the left hand, position the white cup in front of the white coffee cup so it is right side up using the front as the reference point.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Place the white cup in front of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Set the white cup in front of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Position the white cup before the white coffee cup, with the front as the reference point and right side up.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Using the left hand, place the white cup in front of the white coffee cup.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "With the left hand, set the white cup before the white coffee cup.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Have the left arm position the white cup in front of the white coffee cup.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Put the white cup in front of the white coffee cup.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Arrange the white cup before the white coffee cup.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Using the left hand, put the white cup in front of the white coffee cup.", + "start_idx": 6267, + "end_idx": 6300 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "With the left arm, take the canned goods from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Have the left hand retrieve the canned goods from the table with a side hold on the top from a diagonal approach.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Take the canned goods from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Retrieve the canned goods from the table with a side hold on the top from a diagonal approach.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "With the left arm, take the canned goods from the table using a side grasp.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Have the left hand retrieve the canned goods from the table with a side hold.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Take the canned goods from the table with the left hand at the top from a diagonal approach.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 6300, + "end_idx": 6327 + }, + { + "text": "Put the canned goods to the left of the yogurt with the left hand.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Using the left hand, place the canned goods to the left of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Have the left arm set the canned goods on the yogurt's left side.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "With the left hand, position the canned goods left of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Place the canned goods to the left of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Set the canned goods on the left side of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Move the canned goods so they are left of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "The canned goods go to the left of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Arrange the canned goods beside the yogurt on its left side.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Position the canned goods on the yogurt's left.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Place the canned goods next to the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Set the canned goods by the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Have the canned goods placed to the left of the yogurt.", + "start_idx": 6327, + "end_idx": 6363 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal from the middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal from the middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal grasp at the middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "With the left hand, grasp the carrot from the table diagonally at its middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Pick up the carrot from the table at a diagonal from the middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Take the carrot from the table with a diagonal grasp at the middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Grasp the carrot from the table diagonally from its middle.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Get the carrot from the table.", + "start_idx": 6363, + "end_idx": 6390 + }, + { + "text": "Put the carrot in front of the yogurt with the left hand with its tip facing bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Using the left hand, place the carrot in front of the yogurt with its tip pointing to the bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Have the left arm set the carrot in front of the yogurt so the tip faces bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "With the left hand, position the carrot before the yogurt, tip directed toward the bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Place the carrot in front of the yogurt with its tip pointing to the bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Set the carrot before the yogurt, with the tip aimed at the bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Position the carrot in front of the yogurt so its tip faces bottom right.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Using the left hand, put the carrot in front of the yogurt.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "With the left hand, place the carrot before the yogurt.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Have the left arm set the carrot in front of the yogurt.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Put the carrot in front of the yogurt.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Place the carrot before the yogurt.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Set the carrot in front of the yogurt.", + "start_idx": 6390, + "end_idx": 6423 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grasp at the top from a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Have the left arm pick the yogurt up from the table by grasping its top from a diagonal angle with a side grip.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "With the left hand, collect the yogurt from the table using a side hold on the top at a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Pick up the yogurt from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Take the yogurt from the table with a side grip on the top from a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "From the table, retrieve the yogurt with a side hold at the top from a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grasp.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Have the left arm take the yogurt from the table with a side grip.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "With the left hand, collect the yogurt from the table using a side hold.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Using the left hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Take the yogurt from the table with the left hand.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Pick up the yogurt from the table.", + "start_idx": 6423, + "end_idx": 6441 + }, + { + "text": "Put the yogurt in front of the canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Using the left hand, place the yogurt in front of the canned goods right side up, with the front as the reference point.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Have the left arm set the yogurt in front of the canned goods, keeping it right side up relative to the front.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "With the left hand, position the yogurt before the canned goods right side up using the front as the reference point.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Place the yogurt in front of the canned goods right side up with the front as the reference point.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Set the yogurt before the canned goods right side up, using the front as the reference point.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Position the yogurt in front of the canned goods, keeping it right side up relative to the front.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Using the left hand, place the yogurt in front of the canned goods.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "With the left hand, set the yogurt before the canned goods.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Have the left arm position the yogurt in front of the canned goods.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Put the yogurt in front of the canned goods.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Set the yogurt before the canned goods.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Using the left hand, place the yogurt in front of the canned goods right side up.", + "start_idx": 6441, + "end_idx": 6474 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left side.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Have the left arm pick the white coffee cup up from the table with a diagonal lip hold at the left side.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a diagonal lip grip at the cup's left side.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left side.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grip on the left side.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Grasp the white coffee cup from the table at the left side with a diagonal lip hold.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 6540, + "end_idx": 6573 + }, + { + "text": "Put the white coffee cup in front of the yogurt with the left hand right side up.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the yogurt right side up.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Have the left arm set the white coffee cup in front of the yogurt, keeping it upright.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "With the left hand, position the white coffee cup before the yogurt so it stays right side up.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Place the white coffee cup in front of the yogurt right side up.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Set the white coffee cup before the yogurt, upright.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Position the white coffee cup in front of the yogurt so it is right side up.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Put the white coffee cup in front of the yogurt with the left hand.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Using the left hand, place the white coffee cup before the yogurt.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Have the left arm set the white coffee cup in front of the yogurt.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Put the white coffee cup in front of the yogurt.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Set the white coffee cup before the yogurt.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Position the white coffee cup in front of the yogurt.", + "start_idx": 6573, + "end_idx": 6612 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Have the left arm pick the asparagus up from the table on a diagonal, holding it at the center.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "With the left hand, retrieve the asparagus from the table diagonally by grasping its middle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Take the asparagus from the table on a diagonal while holding the middle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal approach, grasping its center.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Pick up the asparagus from the table with the left hand, grasping the middle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Using the left hand, collect the asparagus from the table at a diagonal angle.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Have the left arm take the asparagus from the table on a diagonal.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Using the left hand, get the asparagus from the table.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 6675, + "end_idx": 6708 + }, + { + "text": "Put the asparagus on the bottom side of the table with the left hand with its tip facing bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Using the left hand, place the asparagus on the bottom side of the table with its tip pointing to the bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Have the left arm set the asparagus on the table's bottom side, tip directed bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "With the left hand, position the asparagus on the bottom edge of the table so its tip faces bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Place the asparagus on the bottom side of the table with its tip facing bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Set the asparagus on the bottom side of the table with its tip pointing bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Position the asparagus on the table's bottom side so the tip points to the bottom left.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Put the asparagus on the bottom side of the table with the left hand.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Using the left hand, place the asparagus on the table's bottom side.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Have the left arm set the asparagus on the bottom side of the table.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Put the asparagus on the bottom side of the table.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Set the asparagus on the table's bottom side.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Position the asparagus on the bottom side of the table.", + "start_idx": 6708, + "end_idx": 6750 + }, + { + "text": "Pick up the yogurt from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "With the left hand, pick up the yogurt from the table at a diagonal angle by grasping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the left arm, take the yogurt from the table with a diagonal approach, holding the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Have the left hand retrieve the yogurt from the table at a diagonal angle, gripping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the yogurt from the table at a diagonal angle by grasping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Take the yogurt from the table with a diagonal approach, holding the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Retrieve the yogurt from the table at a diagonal angle, gripping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Get the yogurt from the table by grasping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "With the left hand, pick up the yogurt from the table by grasping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Using the left arm, take the yogurt from the table while holding the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Have the left hand retrieve the yogurt from the table by gripping the top of the object.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Pick up the yogurt from the table.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 6804, + "end_idx": 6843 + }, + { + "text": "Put the yogurt to the right of the white cup with the left hand right side up front.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Using the left hand, place the yogurt to the right of the white cup, right side up with the front facing forward.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Have the left arm set the yogurt to the right of the white cup in a right-side-up position, front outward.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "With the left hand, position the yogurt to the right of the white cup so it stays right side up and front-facing.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Place the yogurt to the right of the white cup, keeping it right side up with the front facing forward.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Set the yogurt to the right of the white cup in a right-side-up orientation, front outward.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Position the yogurt to the right of the white cup so the front faces forward and it remains upright.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Using the left hand, put the yogurt to the right of the white cup.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Have the left arm place the yogurt to the right of the white cup.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "With the left hand, set the yogurt to the right of the white cup.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Place the yogurt to the right of the white cup.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Set the yogurt to the right of the white cup.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Position the yogurt to the right of the white cup.", + "start_idx": 6843, + "end_idx": 6876 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Using the left hand, take the canned goods from the table with a diagonal approach, grasping the top.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Have the left arm pick the canned goods up from the table at a diagonal angle by the top.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "With the left hand, retrieve the canned goods from the table, approaching diagonally and holding the top.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle, grasping the top.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Take the canned goods from the table with a diagonal approach and hold the top of the object.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Retrieve the canned goods from the table diagonally, grasping the top.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "With the left hand, retrieve the canned goods from the table.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Take the canned goods from the table at a diagonal angle.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Using the left hand, grasp the top of the canned goods and pick them up from the table.", + "start_idx": 6876, + "end_idx": 6915 + }, + { + "text": "Put the canned goods behind the yogurt with the left hand.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Using the left hand, place the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Have the left arm set the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "With your left hand, position the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Place the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Set the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Position the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "The canned goods go behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Move the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Behind the yogurt, place the canned goods.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Behind the yogurt, set down the canned goods.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Put the canned goods behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Have the canned goods placed behind the yogurt.", + "start_idx": 6915, + "end_idx": 6963 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left diagonally.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip at the top left diagonal.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table using a lip grasp at the top left diagonally.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by the top left diagonal using the lip.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Take the white coffee cup from the table using a lip grip at the top left diagonal.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Grasp the white coffee cup from the table with a lip grasp at the top left diagonal.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Pick the white coffee cup up from the table with a lip hold at the top left diagonal.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip grasp.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using the lip.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at the top left diagonal.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Have the left arm take the white coffee cup from the table at the top left diagonal.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 6963, + "end_idx": 6996 + }, + { + "text": "Put the white coffee cup behind the white cup with the front facing forwards using the left hand.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Using the left hand, place the white coffee cup behind the white cup with the front facing forwards.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Have the left arm set the white coffee cup behind the white cup, front facing forwards.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "With the left hand, position the white coffee cup behind the white cup so its front faces forwards.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Place the white coffee cup behind the white cup with the front facing forwards.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Set the white coffee cup behind the white cup with its front oriented forwards.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Position the white coffee cup behind the white cup, front facing forwards.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Using the left hand, put the white coffee cup behind the white cup.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "With the left hand, place the white coffee cup behind the white cup.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Have the left arm position the white coffee cup behind the white cup.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Put the white coffee cup behind the white cup.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Set the white coffee cup behind the white cup.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Place the white coffee cup behind the white cup.", + "start_idx": 6996, + "end_idx": 7038 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a top side grip at a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "With the left hand, retrieve the yogurt from the table using a side hold at the top from a diagonal approach.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Retrieve the yogurt from the table using a side hold at the top from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "With the left hand, take the yogurt from the table using a side grasp.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Have the left arm retrieve the yogurt from the table with a side hold.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Take the yogurt from the table with the left hand at the top from a diagonal angle.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Using the left hand, get the yogurt from the table.", + "start_idx": 7110, + "end_idx": 7143 + }, + { + "text": "Put the yogurt on the left side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Using the left hand, place the yogurt on the left side of the table, right side up with the front as the reference point.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Have the left arm set the yogurt on the table's left side, keeping it right side up relative to the front.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "With the left hand, position the yogurt on the left side of the table so it stays right side up, using the front as reference.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Place the yogurt on the left side of the table, right side up with the front as the reference point.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Set the yogurt on the table's left side, keeping it right side up relative to the front.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Position the yogurt on the left side of the table with its right side up, using the front as the reference.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Using the left hand, put the yogurt on the left side of the table.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "With the left hand, set the yogurt on the table's left side.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Have the left arm place the yogurt on the left side of the table.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Place the yogurt on the left side of the table.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Set the yogurt on the table's left side.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Position the yogurt on the table's left side.", + "start_idx": 7143, + "end_idx": 7179 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip from the top at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold on the top at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "With the left hand, secure the white cup from the table using the lip grasp at the top on a diagonal.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Pick up the white cup from the table using a lip grip from the top at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Take the white cup from the table with a lip grasp on the top at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Grasp the white cup from the table with a lip hold at the top on a diagonal.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "With the left hand, pick up the white cup from the table using a lip grip.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grasp.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "With the left hand, pick up the white cup from the table from the top at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Take the white cup from the table with the left hand at a diagonal angle.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 7242, + "end_idx": 7272 + }, + { + "text": "Put the white cup in front of the carrot with the left hand right side up with the front as the reference point.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Using the left hand, place the white cup in front of the carrot right side up, with the front as the reference point.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Have the left arm set the white cup in front of the carrot, keeping it right side up relative to the front.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "With the left hand, position the white cup in front of the carrot so it is right side up using the front as the reference point.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Place the white cup in front of the carrot right side up, with the front as the reference point.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Set the white cup in front of the carrot, keeping it right side up relative to the front.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Position the white cup in front of the carrot so it stays right side up with the front as the reference point.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Using the left hand, put the white cup in front of the carrot.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Have the left arm place the white cup in front of the carrot.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "With the left hand, set the white cup in front of the carrot.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Place the white cup in front of the carrot.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Set the white cup in front of the carrot.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Position the white cup in front of the carrot.", + "start_idx": 7272, + "end_idx": 7308 + }, + { + "text": "Pick up the asparagus from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at the middle using a diagonal angle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Have the left arm grasp the asparagus from the table at its middle with a diagonal approach.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Pick up the asparagus from the table at the middle using a diagonal angle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Take the asparagus from the table by the middle with a diagonal approach.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "From the table, grasp the asparagus at its middle using a diagonal angle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at the middle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Have the left arm take the asparagus from the table by the middle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "With the left hand, grasp the asparagus from the table using a diagonal angle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Take the asparagus from the table at the middle.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "From the table, grasp the asparagus.", + "start_idx": 7308, + "end_idx": 7338 + }, + { + "text": "Put the asparagus between the canned goods and red bell pepper with the left hand facing forwards with the tip as the reference point.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Using the left hand, place the asparagus between the canned goods and the red bell pepper, with the tip facing forwards.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Have the left arm set the asparagus between the canned goods and red bell pepper so its tip points forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "With the left hand, position the asparagus between the canned goods and the red bell pepper, tip facing forwards.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Place the asparagus between the canned goods and the red bell pepper with the tip facing forwards.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Set the asparagus between the canned goods and red bell pepper, keeping the tip pointed forward.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Position the asparagus between the canned goods and the red bell pepper so the tip faces forwards.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Using the left hand, put the asparagus between the canned goods and the red bell pepper.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "With the left hand, place the asparagus between the canned goods and red bell pepper.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Have the left arm position the asparagus between the canned goods and the red bell pepper.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Put the asparagus between the canned goods and red bell pepper.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Set the asparagus between the canned goods and the red bell pepper.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Position the asparagus between the canned goods and red bell pepper.", + "start_idx": 7338, + "end_idx": 7377 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grasp from the left at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grasp from the left at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Have the left arm pick the white coffee cup off the table using a left-side lip grasp at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the lip on the left at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grasp from the left at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Take the white coffee cup off the table with a left-side lip grasp at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Grasp the white coffee cup from the table by the lip from the left at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Have the left arm take the white coffee cup off the table.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Take the white coffee cup off the table from the left at a diagonal angle.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 7377, + "end_idx": 7410 + }, + { + "text": "Put the white coffee cup to the left of the red bell pepper with the handle facing backwards right side up with the left hand.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the red bell pepper, handle facing backward and right side up.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Have the left arm set the white coffee cup left of the red bell pepper with the handle pointed backward, upright.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the red bell pepper, keeping the handle facing back and the cup upright.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Place the white coffee cup to the left of the red bell pepper with the handle facing backward and right side up.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Set the white coffee cup left of the red bell pepper, with the handle pointing backward and the cup upright.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Position the white coffee cup to the left of the red bell pepper, handle facing back and right side up.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the red bell pepper.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Have the left arm set the white coffee cup left of the red bell pepper.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "With the left hand, position the white coffee cup to the left of the red bell pepper.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Put the white coffee cup to the left of the red bell pepper.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Place the white coffee cup left of the red bell pepper.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Set the white coffee cup to the left of the red bell pepper.", + "start_idx": 7410, + "end_idx": 7443 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Have the left arm take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "With the left hand, grasp the yogurt from the table on its top using a side hold from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Take the yogurt from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Grasp the yogurt from the table on its top with a side hold from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Using the left hand, pick up the yogurt from the table.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Have the left arm take the yogurt from the table.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "With the left hand, grasp the yogurt from the table.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Using the left hand, take the yogurt from the table at the top.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Grasp the yogurt from the table on its top with the left hand.", + "start_idx": 7443, + "end_idx": 7461 + }, + { + "text": "Put the yogurt in front of the white cup with the left hand right side up front.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Using the left hand, place the yogurt in front of the white cup, right side up with the front facing forward.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Have the left arm set the yogurt in front of the white cup, keeping it upright and its front to the front.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "With the left hand, position the yogurt before the white cup, right side up and front-facing.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Place the yogurt in front of the white cup, right side up with the front facing forward.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Set the yogurt before the white cup, keeping it upright and its front to the front.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Position the yogurt in front of the white cup, right side up and front-facing.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Using the left hand, put the yogurt in front of the white cup.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Have the left arm place the yogurt before the white cup.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "With the left hand, set the yogurt in front of the white cup.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Put the yogurt in front of the white cup.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Place the yogurt before the white cup.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Set the yogurt in front of the white cup.", + "start_idx": 7461, + "end_idx": 7503 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Have the left hand retrieve the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "With the left hand, grasp the asparagus at its middle and pick it up from the table on a diagonal.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Grasp the middle of the asparagus and remove it from the table at a diagonal angle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Have the left hand retrieve the asparagus from the table.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Using the left hand, grasp the asparagus from the table.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 7641, + "end_idx": 7674 + }, + { + "text": "Put the asparagus to the left of the canned goods with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Using the left hand, place the asparagus to the left of the canned goods, facing bottom right with the tip as the reference point.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Have the left arm set the asparagus left of the canned goods with its tip oriented toward the bottom right.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "With the left hand, position the asparagus to the left of the canned goods so the tip faces bottom right.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Place the asparagus to the left of the canned goods, facing bottom right with the tip as the reference point.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Set the asparagus left of the canned goods with the tip directed toward the bottom right.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Position the asparagus to the left of the canned goods so its tip points bottom right.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Place the asparagus to the left of the canned goods.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Set the asparagus left of the canned goods.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Position the asparagus to the left of the canned goods.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Using the left hand, place the asparagus to the left of the canned goods.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Have the left arm set the asparagus left of the canned goods.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "With the left hand, position the asparagus to the left of the canned goods.", + "start_idx": 7674, + "end_idx": 7719 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a diagonal grasp on the left lip.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the left side.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Grasp the white coffee cup from the table on the left side with a diagonal lip grip.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 7719, + "end_idx": 7752 + }, + { + "text": "Put the white coffee cup to the left of the asparagus with the left hand facing top right from the front.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus with its top facing top right from the front.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Have the left arm set the white coffee cup left of the asparagus, oriented top right when viewed from the front.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "With the left hand, position the white coffee cup to the asparagus's left, facing top right from the front.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Place the white coffee cup to the left of the asparagus.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Set the white coffee cup down left of the asparagus.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Position the white coffee cup to the asparagus's left side.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "The white coffee cup goes to the left of the asparagus.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the asparagus.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "With the left hand, set the white coffee cup down left of the asparagus.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Have the left arm position the white coffee cup to the asparagus's left.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Place the white coffee cup left of the asparagus, facing top right from the front.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Set the white coffee cup to the left of the asparagus with its top oriented top right from the front.", + "start_idx": 7751, + "end_idx": 7787 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Using the left hand, take the canned goods from the table at a diagonal angle from the top of the object.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Have the left arm grasp the canned goods from the table diagonally from the top of the object.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "With the left hand, retrieve the canned goods from the table by approaching diagonally from the top.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle from the top of the object.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Take the canned goods from the table diagonally from the top of the object.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Retrieve the canned goods from the table by approaching diagonally from the top.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "With the left hand, retrieve the canned goods from the table.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Retrieve the canned goods from the table.", + "start_idx": 7788, + "end_idx": 7815 + }, + { + "text": "Put the canned goods in front of the white coffee cup with the left hand.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Using the left hand, place the canned goods in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Have the left arm set the canned goods down in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "With the left hand, position the canned goods before the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Place the canned goods in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Set the canned goods in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Position the canned goods in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "The canned goods go in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Put the canned goods before the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Arrange the canned goods in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Set the canned goods down before the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Place the canned goods before the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "The canned goods should be placed in front of the white coffee cup.", + "start_idx": 7815, + "end_idx": 7854 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Have the left arm pick up the red bell pepper from the table using a side hold at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table in a side grip at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Grasp the red bell pepper from the table in a side hold at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "With the left hand, take the red bell pepper from the table at the top diagonal.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 7854, + "end_idx": 7881 + }, + { + "text": "Put the red bell pepper in front of the canned goods with the left hand right side up front.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the canned goods right side up, front facing forward.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Have the left arm set the red bell pepper in front of the canned goods with its front facing forward and right side up.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "With the left hand, position the red bell pepper in front of the canned goods upright with the front toward the reference point.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Place the red bell pepper in front of the canned goods right side up with the front facing forward.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Set the red bell pepper in front of the canned goods upright, front forward.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Position the red bell pepper in front of the canned goods with its front facing forward and the right side up.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the canned goods.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "With the left hand, set the red bell pepper in front of the canned goods.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Have the left arm position the red bell pepper in front of the canned goods.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Put the red bell pepper in front of the canned goods.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Using the left hand, place the red bell pepper right side up with its front facing forward.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Set the red bell pepper in front of the canned goods upright.", + "start_idx": 7881, + "end_idx": 7914 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Have the left hand grasp the white cup from the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip hold on the bottom left at a diagonal approach.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Take the white cup from the table with a lip grasp at the bottom left and a diagonal approach.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Grasp the white cup from the table using a bottom-left lip hold at a diagonal angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grasp.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Have the left hand grasp the white cup from the table with a lip hold.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Pick up the white cup from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Take the white cup from the table using a lip grip.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Grasp the white cup from the table at the bottom left with a diagonal angle.", + "start_idx": 8124, + "end_idx": 8160 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a diagonal approach at its middle.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "With the left hand, grasp the middle of the asparagus on the table and pick it up diagonally.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding its middle.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Grasp the middle of the asparagus from the table and pick it up at a diagonal angle.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "With the left hand, grasp the asparagus from the table and pick it up.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Grasp the asparagus from the table and pick it up.", + "start_idx": 8274, + "end_idx": 8307 + }, + { + "text": "Put the asparagus to the left of the carrot with the left hand facing top left by the tip.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Using the left hand, place the asparagus to the left of the carrot with the tip facing top left.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Have the left hand set the asparagus left of the carrot, oriented top left at the tip.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "With the left hand, position the asparagus to the carrot's left so its tip points top left.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Place the asparagus to the left of the carrot with the tip facing top left.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Set the asparagus left of the carrot, with its tip oriented top left.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Position the asparagus to the left of the carrot so the tip faces top left.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Using the left hand, place the asparagus to the left of the carrot.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Have the left hand set the asparagus on the carrot's left side.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "With the left hand, position the asparagus left of the carrot.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Place the asparagus to the left of the carrot.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Set the asparagus on the left side of the carrot.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Position the asparagus beside the carrot on its left side.", + "start_idx": 8307, + "end_idx": 8340 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand from the top at a diagonal angle using a side grasp.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Using the left hand, take the red bell pepper from the table from the top at a diagonal angle with a side grasp.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Have the left arm pick the red bell pepper off the table from the top at a diagonal angle using a side hold.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table at the top on a diagonal using a side grip.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Pick up the red bell pepper from the table from the top at a diagonal angle using a side grasp.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Take the red bell pepper off the table from the top at a diagonal angle with a side grip.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Grasp the red bell pepper from the table at the top on a diagonal using a side hold.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grasp.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "With the left hand, take the red bell pepper off the table from the top at a diagonal angle.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Have the left arm pick up the red bell pepper from the table from the top at a diagonal angle.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand from the top at a diagonal angle.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Using the left hand, grasp the red bell pepper from the table.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Take the red bell pepper off the table from the top at a diagonal angle.", + "start_idx": 8340, + "end_idx": 8373 + }, + { + "text": "Put the red bell pepper on the top side of the table right side up with the front as the reference point using the left arm.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Using the left arm, set the red bell pepper on the top side of the table right side up with the front as the reference point.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Have the left arm place the red bell pepper on the top side of the table, right side up relative to the front.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "With the left arm, position the red bell pepper on the top side of the table so it is right side up using the front as the reference point.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Place the red bell pepper on the top side of the table right side up with the front as the reference point.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Set the red bell pepper on the top side of the table, right side up relative to the front.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Position the red bell pepper on the top side of the table so it is right side up using the front as the reference point.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Using the left arm, put the red bell pepper on the top side of the table.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "With the left arm, place the red bell pepper on the top side of the table.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Have the left arm set the red bell pepper on the top side of the table.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Put the red bell pepper on the top side of the table.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Set the red bell pepper on the top side of the table.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Have the red bell pepper placed on the top side of the table.", + "start_idx": 8373, + "end_idx": 8409 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip from the top.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip from the top.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Have the left arm grasp the canned goods from the table with a top side hold.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "With the left hand, secure the canned goods from the table using a side grasp at the top.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Pick up the canned goods from the table using a side grip from the top.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Take the canned goods from the table with a side hold from the top.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Grasp the canned goods from the table at the top with a side grip.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Pick up the canned goods from the table with the left hand from the top.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Grasp the canned goods from the table.", + "start_idx": 8409, + "end_idx": 8442 + }, + { + "text": "Put the canned goods in front of the carrot with the left hand.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Using the left hand, place the canned goods in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Have the left arm set the canned goods down in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "With the left hand, position the canned goods before the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Place the canned goods in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Set the canned goods down in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Put the canned goods before the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Position the canned goods in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Move the canned goods to the spot in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "The canned goods go in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Arrange the canned goods before the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Get the canned goods in front of the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Place the canned goods before the carrot.", + "start_idx": 8442, + "end_idx": 8478 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Using the left hand, take the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Have the left arm grasp the asparagus from the table diagonally at its middle.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "With the left hand, collect the asparagus from the table using a diagonal middle grasp.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Take the asparagus from the table diagonally from the middle.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "From the table, grasp the asparagus at a diagonal angle from the middle.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "With the left hand, grasp the asparagus from the table.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "From the table, take the asparagus.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Have the asparagus picked up from the table.", + "start_idx": 8544, + "end_idx": 8568 + }, + { + "text": "Put the asparagus on the side of the table with the left hand with the tip facing top right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Using the left hand, place the asparagus on the side of the table with the tip pointing to the top right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Have the left arm set the asparagus on the table's side, tip oriented toward the upper right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "With the left hand, position the asparagus at the side of the table so its tip faces the top right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Place the asparagus on the side of the table with the tip facing the top right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Set the asparagus on the side of the table, tip pointed toward the upper right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Position the asparagus at the side of the table with its tip directed to the top right.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Put the asparagus on the side of the table with the left hand.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Using the left hand, place the asparagus on the side of the table.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Have the left arm set the asparagus on the table's side.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Place the asparagus on the side of the table.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Set the asparagus at the side of the table.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Position the asparagus on the table's side.", + "start_idx": 8568, + "end_idx": 8604 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold at the top on a diagonal.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "With the left hand, secure the red bell pepper from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Grasp the red bell pepper from the table by the top with a side hold from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "With the left hand, take the red bell pepper from the table using a side grasp.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table with a side hold.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "With the left hand, take the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 8604, + "end_idx": 8634 + }, + { + "text": "Put the red bell pepper to the left of the asparagus with the left hand right side up with the front as the reference point.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Have the left arm set the red bell pepper left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "With the left hand, position the red bell pepper on the asparagus's left side, right side up using the front as the reference point.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Place the red bell pepper to the left of the asparagus.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Set the red bell pepper on the left side of the asparagus.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Position the red bell pepper left of the asparagus.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Using the left hand, place the red bell pepper to the left of the asparagus.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Have the left arm set the red bell pepper left of the asparagus.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "With the left hand, position the red bell pepper on the asparagus's left side.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Place the red bell pepper to the left of the asparagus with the front as the reference point.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Set the red bell pepper left of the asparagus, keeping it right side up.", + "start_idx": 8634, + "end_idx": 8670 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the left side and a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip on its left side at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold at the left side, diagonally.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "With the left hand, collect the white coffee cup from the table using a lip grasp on the left side at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip at the left side and a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Grasp the white coffee cup from the table using a lip hold on the left side at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip at the left side.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "With the left hand, take the white coffee cup from the table using a lip grasp.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Have the left hand collect the white coffee cup from the table with a lip hold.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Using the left hand, grasp the white coffee cup from the table at the left side and a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Take the white coffee cup from the table at the left side and a diagonal angle.", + "start_idx": 8670, + "end_idx": 8691 + }, + { + "text": "Put the white coffee cup on the center of the table with the left hand right side up with the front facing bottom left.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table right side up, with the front facing bottom left.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Have the left arm set the white coffee cup in the table center, keeping it upright and the front pointed bottom left.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "With the left hand, position the white coffee cup on the table's center right side up, front toward the bottom left.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Place the white coffee cup at the center of the table.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Set the white coffee cup down in the middle of the table.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Put the white coffee cup on the center of the table.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Using the left hand, place the white coffee cup at the center of the table.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Have the left arm set the white coffee cup in the table center.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "With the left hand, position the white coffee cup on the table's center.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Place the white coffee cup at the center of the table right side up.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Set the white coffee cup in the middle of the table with the front facing bottom left.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Using the left hand, place the white coffee cup on the center of the table right side up.", + "start_idx": 8691, + "end_idx": 8730 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top diagonally.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Have the left arm pick up the red bell pepper from the table in a diagonal top side grip.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by its top using a diagonal side hold.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top diagonally.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Take the red bell pepper from the table with a diagonal side grasp at the top.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Grasp the red bell pepper from the table by the top in a side hold diagonally.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "From the table, retrieve the red bell pepper using a side grip.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "With the left hand, take the red bell pepper from the table.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Have the left arm grasp the red bell pepper from the table.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Pick up the red bell pepper from the table diagonally.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Take the red bell pepper from the table.", + "start_idx": 8790, + "end_idx": 8817 + }, + { + "text": "Put the red bell pepper behind the white coffee cup with the left hand right side up.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Using the left hand, place the red bell pepper behind the white coffee cup right side up.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Have the left arm set the red bell pepper behind the white coffee cup in an upright position.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "With the left hand, position the red bell pepper behind the white coffee cup so it stays right side up.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Place the red bell pepper behind the white coffee cup right side up.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Set the red bell pepper behind the white coffee cup in an upright orientation.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Position the red bell pepper behind the white coffee cup so it is right side up.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Using the left hand, put the red bell pepper behind the white coffee cup.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "With the left hand, place the red bell pepper behind the white coffee cup.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Have the left arm position the red bell pepper behind the white coffee cup.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Put the red bell pepper behind the white coffee cup.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Set the red bell pepper behind the white coffee cup.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Position the red bell pepper behind the white coffee cup.", + "start_idx": 8817, + "end_idx": 8847 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip from the top at a diagonal angle.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the top, angled diagonally.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Have the left arm grasp the white cup from the table by the top with a lip grip at a diagonal angle.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "With the left hand, secure the white cup from the table using a top lip grasp on a diagonal.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Pick up the white cup from the table using a lip grip from the top at a diagonal angle.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Take the white cup from the table with a top lip grasp at a diagonal angle.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Grasp the white cup from the table by the top using a lip grip on a diagonal.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "With the left hand, pick up the white cup from the table using a lip grip.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grasp at the top.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Have the left arm grasp the white cup from the table from the top at a diagonal angle.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at a diagonal angle.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Grasp the white cup from the table by the top.", + "start_idx": 8847, + "end_idx": 8871 + }, + { + "text": "Put the white cup to the right of the red bell pepper with the left hand right side up with the front as the orientation reference point.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Using the left hand, place the white cup to the right of the red bell pepper, right side up with the front as the reference point.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Have the left arm set the white cup to the right of the red bell pepper, keeping it right side up relative to the front.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "With the left hand, position the white cup to the right of the red bell pepper so it is right side up using the front as the reference point.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Place the white cup to the right of the red bell pepper, right side up with the front as the reference point.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Set the white cup to the right of the red bell pepper, keeping it right side up relative to the front.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Position the white cup to the right of the red bell pepper with the front as the orientation reference, right side up.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Using the left hand, put the white cup to the right of the red bell pepper.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "With the left hand, place the white cup to the right of the red bell pepper.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Have the left arm set the white cup to the right of the red bell pepper.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Put the white cup to the right of the red bell pepper.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Place the white cup to the right of the red bell pepper.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Set the white cup to the right of the red bell pepper.", + "start_idx": 8871, + "end_idx": 8916 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip at the top left from a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold on the top left at a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "With the left hand, take the white coffee cup from the table by its top left using a lip grasp from a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Pick up the white coffee cup from the table with a lip grip at the top left from a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Grasp the white coffee cup from the table by the top left with a lip hold at a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Take the white coffee cup from the table using a lip grasp on the top left from a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a lip hold.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Have the left hand take the white coffee cup from the table with a lip grasp.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table at the top left from a diagonal angle.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 8979, + "end_idx": 9015 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "With the left hand, grasp the asparagus from the table diagonally at its middle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Have the left arm take the asparagus from the table using a diagonal approach at the middle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle from the middle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Grasp the asparagus from the table diagonally from the middle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Take the asparagus from the table from the middle at a diagonal angle.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Using the left hand, take the asparagus from the table.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Have the left arm grasp the asparagus from the table.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 9120, + "end_idx": 9153 + }, + { + "text": "Put the asparagus in front of the white coffee cup with the left hand facing top left by the tip.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Using the left hand, place the asparagus in front of the white coffee cup with the tip facing top left.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Have the left arm set the asparagus in front of the white coffee cup, tip oriented toward the top left.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "With the left hand, position the asparagus before the white coffee cup so the tip points top left.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Place the asparagus in front of the white coffee cup with the tip facing top left.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Set the asparagus before the white coffee cup, with the tip pointed toward the top left.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Position the asparagus in front of the white coffee cup so its tip faces the top left.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Using the left hand, put the asparagus in front of the white coffee cup.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "With the left hand, place the asparagus before the white coffee cup.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Have the left arm set the asparagus in front of the white coffee cup.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Place the asparagus in front of the white coffee cup.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Set the asparagus before the white coffee cup.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Position the asparagus in front of the white coffee cup.", + "start_idx": 9153, + "end_idx": 9186 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "From a diagonal angle, have the left hand grasp the red bell pepper on the table with a side hold at the top.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "With the left hand, seize the red bell pepper from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "From a diagonal angle, grasp the red bell pepper on the table with a side hold at the top.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Have the left hand take the red bell pepper from the table.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Pick up the red bell pepper from the table from a diagonal angle.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "From a diagonal angle, take the red bell pepper from the table.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Grasp the red bell pepper from the table.", + "start_idx": 9186, + "end_idx": 9219 + }, + { + "text": "Put the red bell pepper in front of the asparagus with the left hand right side up with the front as the orientation reference point.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the asparagus, right side up with the front as the reference point.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Have the left arm set the red bell pepper in front of the asparagus with its front as the orientation reference point, right side up.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "With the left hand, position the red bell pepper in front of the asparagus so it is right side up, using the front as the reference point.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Place the red bell pepper in front of the asparagus, right side up with the front as the orientation reference point.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Set the red bell pepper in front of the asparagus with its front as the orientation reference point and keep it right side up.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Position the red bell pepper in front of the asparagus so it stays right side up relative to its front.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "With the left hand, put the red bell pepper in front of the asparagus.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Using the left hand, place the red bell pepper in front of the asparagus.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Have the left arm set the red bell pepper in front of the asparagus.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Put the red bell pepper in front of the asparagus.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Place the red bell pepper in front of the asparagus.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Set the red bell pepper in front of the asparagus.", + "start_idx": 9219, + "end_idx": 9249 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Using the left hand, take the red bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Have the left arm pick the red bell pepper up from the table using a side grip on its top at a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "With the left hand, grasp the red bell pepper from the table by the top using a side hold from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Take the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold on the top from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "The red bell pepper should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Using the left hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Have the left arm take the red bell pepper from the table using a side grasp.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "With the left hand, secure the red bell pepper from the table by its top.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Pick up the red bell pepper from the table with the left hand from a diagonal angle.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Take the red bell pepper from the table with the left hand at the top.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "The red bell pepper should be grasped from the table using a side grip.", + "start_idx": 9321, + "end_idx": 9351 + }, + { + "text": "Put the red bell pepper between the white cup and yogurt with the left hand right side up front.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Using the left hand, place the red bell pepper between the white cup and yogurt right side up with its front facing forward.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Have the left arm set the red bell pepper between the white cup and yogurt, keeping it right side up and front-facing.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "With the left hand, position the red bell pepper between the white cup and yogurt in a right-side-up orientation with the front forward.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Place the red bell pepper between the white cup and yogurt right side up with its front facing forward.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Set the red bell pepper between the white cup and yogurt, keeping it upright and front-facing.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Position the red bell pepper between the white cup and yogurt in a right-side-up, front-forward orientation.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Using the left hand, put the red bell pepper between the white cup and yogurt.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "With the left hand, place the red bell pepper between the white cup and yogurt.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Have the left arm set the red bell pepper between the white cup and yogurt.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Put the red bell pepper between the white cup and yogurt.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Set the red bell pepper between the white cup and yogurt.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Position the red bell pepper between the white cup and yogurt.", + "start_idx": 9351, + "end_idx": 9390 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grasp from the top at the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grasp from the top at the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a lip grip from the top-left side.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by its lip from above on the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grasp from the top at the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Take the white coffee cup from the table with a lip grip from the top-left side.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Grasp the white coffee cup from the table by its lip from above on the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grasp.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "With the left hand, take the white coffee cup from the table using a lip grip.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by its lip.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Pick up the white coffee cup from the table from the top at the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table from the top at the left.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 9465, + "end_idx": 9498 + }, + { + "text": "Put the white coffee cup on the bottom side of the table with the left hand facing forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Using the left hand, place the white coffee cup on the bottom side of the table facing forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Have the left arm set the white coffee cup on the bottom side of the table, oriented forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "With the left hand, position the white coffee cup on the bottom side of the table so it faces forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Place the white coffee cup on the bottom side of the table facing forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Set the white coffee cup on the bottom side of the table, oriented forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Position the white coffee cup on the bottom side of the table so it faces forwards relative to the front.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Using the left hand, place the white coffee cup on the bottom side of the table.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "With the left hand, set the white coffee cup on the bottom side of the table.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Have the left arm position the white coffee cup on the bottom side of the table.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Put the white coffee cup on the bottom side of the table.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Place the white coffee cup on the bottom side of the table with the left hand.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Set the white coffee cup facing forwards relative to the front on the bottom side of the table.", + "start_idx": 9498, + "end_idx": 9540 + }, + { + "text": "Pick up the asparagus from the table with the left hand at the middle using a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Using the left hand, take the asparagus from the table at the middle with a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Have the left arm grasp the asparagus from the table at its middle on a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "With the left hand, collect the asparagus from the table by the middle at a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Pick up the asparagus from the table at the middle using a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Take the asparagus from the table by its middle with a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Grasp the asparagus from the table at the middle on a diagonal angle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at the middle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "With the left hand, take the asparagus from the table by the middle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Have the left arm collect the asparagus from the table at its middle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Using the left hand, grasp the asparagus from the table.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Take the asparagus from the table at the middle.", + "start_idx": 9621, + "end_idx": 9645 + }, + { + "text": "Put the asparagus in front of the red bell pepper with the left hand with its tip facing top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Using the left hand, place the asparagus in front of the red bell pepper with its tip pointing to the top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Have the left arm set the asparagus in front of the red bell pepper, tip oriented toward the top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "With the left hand, position the asparagus before the red bell pepper so its tip faces the top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Place the asparagus in front of the red bell pepper with its tip facing the top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Set the asparagus before the red bell pepper, with the tip directed to the top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Position the asparagus in front of the red bell pepper, keeping its tip toward the top right.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Using the left hand, put the asparagus in front of the red bell pepper.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "With the left hand, place the asparagus before the red bell pepper.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Have the left arm position the asparagus in front of the red bell pepper.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Put the asparagus in front of the red bell pepper.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Set the asparagus before the red bell pepper.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Position the asparagus in front of the red bell pepper.", + "start_idx": 9645, + "end_idx": 9684 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Have the right arm pick the white cup off the table using a right-side diagonal lip grip.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "With the right hand, grasp the white cup from the table via a diagonal lip hold on its right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Take the white cup off the table with a diagonal lip grip on the right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip hold on the right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "With the right hand, pick up the white cup from the table.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Using the right hand, take the white cup off the table.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "With the right hand, pick up the white cup from the table on the right side.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Take the white cup off the table.", + "start_idx": 174, + "end_idx": 201 + }, + { + "text": "Put the white cup in front of the carrot with the right hand right side up with the front as the orientation reference point.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Using the right hand, place the white cup in front of the carrot right side up, with the front as the orientation reference point.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Have the right arm set the white cup in front of the carrot, keeping it right side up relative to its front.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "With the right hand, position the white cup in front of the carrot in an upright orientation, using the front as the reference point.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Place the white cup in front of the carrot right side up, with the front as the orientation reference point.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Set the white cup in front of the carrot upright, using the front as the orientation reference point.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Position the white cup in front of the carrot with its front as the orientation reference point, right side up.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Using the right hand, put the white cup in front of the carrot.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "With the right hand, place the white cup in front of the carrot.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Have the right arm set the white cup in front of the carrot.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Put the white cup in front of the carrot.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Place the white cup in front of the carrot.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Set the white cup in front of the carrot.", + "start_idx": 201, + "end_idx": 240 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Have the right arm pick the carrot off the table diagonally by its middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "With the right hand, collect the carrot from the table with a diagonal approach at the center.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Take the carrot off the table diagonally by the middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "The carrot should be picked from the table at a diagonal angle, holding its middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "With the right hand, take the carrot off the table.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Have the right arm collect the carrot from the table.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Pick up the carrot from the table grasping the middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Take the carrot off the table by its middle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 240, + "end_idx": 264 + }, + { + "text": "Put the carrot to the right of the asparagus with the right hand facing left with the tip as the reference point.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Using the right hand, place the carrot to the right of the asparagus, facing left with the tip as the reference point.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Have the right arm set the carrot to the asparagus's right, with the tip as the reference point and facing left.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "With the right hand, position the carrot on the right side of the asparagus, oriented leftward using the tip as the reference point.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Place the carrot to the right of the asparagus, facing left with the tip as the reference point.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Set the carrot on the right side of the asparagus, with the tip as the reference point and facing left.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Position the carrot to the asparagus's right, oriented leftward from the tip reference point.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Using the right hand, put the carrot to the right of the asparagus.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Have the right arm place the carrot on the right side of the asparagus.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "With the right hand, set the carrot to the asparagus's right.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Put the carrot to the right of the asparagus.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Place the carrot on the right side of the asparagus.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Set the carrot to the asparagus's right.", + "start_idx": 264, + "end_idx": 303 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal angle by grasping its middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Take the asparagus from the table on a diagonal angle, holding the middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal pickup at its middle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "With the right hand, pick up the asparagus from the table.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Using the right hand, take the asparagus from the table.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Have the right hand pick up the asparagus from the table at a diagonal angle.", + "start_idx": 303, + "end_idx": 336 + }, + { + "text": "Put the asparagus to the left of the red bell pepper with the right hand facing forwards with the tip facing forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Using the right hand, place the asparagus to the left of the red bell pepper, facing forwards with its tip pointing forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Have the right arm set the asparagus left of the red bell pepper, with the asparagus facing forwards and the tip facing forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "With the right hand, position the asparagus to the left of the red bell pepper so it faces forwards and the tip points forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Place the asparagus to the left of the red bell pepper, facing forwards with its tip pointing forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Set the asparagus left of the red bell pepper with the asparagus facing forwards and the tip facing forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Position the asparagus to the left of the red bell pepper so it faces forwards and the tip points forwards.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Using the right hand, put the asparagus to the left of the red bell pepper.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Have the right arm place the asparagus left of the red bell pepper.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "With the right hand, set the asparagus to the left of the red bell pepper.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Put the asparagus to the left of the red bell pepper.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Using the right hand, position the asparagus to the left of the red bell pepper.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Have the asparagus placed left of the red bell pepper.", + "start_idx": 336, + "end_idx": 372 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "From the table, retrieve the asparagus on a diagonal while gripping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Have the right arm take the asparagus from the table, holding it at the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "With the right hand, retrieve the asparagus from the table at a diagonal angle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "From the table, pick up the asparagus with the right hand.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Pick up the asparagus from the table, grasping the middle.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Take the asparagus from the table on a diagonal.", + "start_idx": 564, + "end_idx": 594 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Have the right arm pick the red bell pepper off the table with a top side grip and a diagonal approach.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table using a side hold at the top on a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Take the red bell pepper off the table with a top side grasp and a diagonal approach.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Grasp the red bell pepper from the table with a side hold at the top at a diagonal angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Have the right arm take the red bell pepper off the table.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand and a diagonal pick angle.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grip at the top.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Pick up the red bell pepper from the table with a diagonal approach.", + "start_idx": 624, + "end_idx": 645 + }, + { + "text": "Put the red bell pepper behind the canned goods with the right hand right side up.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Using the right hand, place the red bell pepper behind the canned goods right side up.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Have the right arm set the red bell pepper behind the canned goods in an upright position.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "With the right hand, position the red bell pepper behind the canned goods, keeping it right side up.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Place the red bell pepper behind the canned goods.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Set the red bell pepper behind the canned goods.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Position the red bell pepper behind the canned goods.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Using the right hand, put the red bell pepper behind the canned goods.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Have the right arm place the red bell pepper behind the canned goods.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Put the red bell pepper behind the canned goods with the right hand.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Set the red bell pepper behind the canned goods right side up.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Position the red bell pepper behind the canned goods upright.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Put the red bell pepper behind the canned goods.", + "start_idx": 645, + "end_idx": 687 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "With the right hand, retrieve the asparagus from the table diagonally, gripping the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "The asparagus from the table should be picked up diagonally by the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "With the right hand, take the asparagus from the table.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Have the right hand retrieve the asparagus from the table.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "The asparagus from the table should be picked up by the middle.", + "start_idx": 822, + "end_idx": 852 + }, + { + "text": "Place the asparagus behind the yogurt with the right hand facing top left by the tip.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Using the right hand, set the asparagus behind the yogurt with the tip facing top left.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Have the right hand place the asparagus behind the yogurt, oriented top left at the tip.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "With the right hand, position the asparagus behind the yogurt so its tip points top left.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Place the asparagus behind the yogurt with the tip facing top left.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Set the asparagus behind the yogurt, with the tip oriented top left.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Position the asparagus behind the yogurt so the tip points top left.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Using the right hand, place the asparagus behind the yogurt.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Have the right hand set the asparagus behind the yogurt.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "With the right hand, position the asparagus behind the yogurt.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Place the asparagus behind the yogurt.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Set the asparagus behind the yogurt.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Position the asparagus behind the yogurt.", + "start_idx": 852, + "end_idx": 888 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Have the right hand take the carrot from the table with a diagonal middle grasp.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "With the right hand, grasp the carrot from the table diagonally at its middle.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Take the carrot from the table with a diagonal grasp from the middle.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Grasp the carrot from the table diagonally at its middle.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Have the right hand take the carrot from the table.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "With the right hand, grasp the carrot from the table.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 1107, + "end_idx": 1152 + }, + { + "text": "Put the carrot in front of the asparagus with the right hand facing top left by the tip.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Using the right hand, place the carrot in front of the asparagus with the tip facing the top left.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Have the right arm set the carrot in front of the asparagus, oriented top left at the tip.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "With the right hand, position the carrot before the asparagus so its tip points toward the top left.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Place the carrot in front of the asparagus with the tip facing the top left.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Set the carrot before the asparagus, with its tip oriented toward the top left.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Position the carrot in front of the asparagus so the tip points top left.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Using the right hand, put the carrot in front of the asparagus.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "With the right hand, place the carrot before the asparagus.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Have the right arm position the carrot in front of the asparagus.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Put the carrot in front of the asparagus.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Set the carrot before the asparagus.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Place the carrot in front of the asparagus.", + "start_idx": 1152, + "end_idx": 1185 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grasp at the top diagonally.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Have the right arm pick up the yogurt from the table with a top side grip at a diagonal angle.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "With the right hand, grasp the yogurt from the table using a diagonal side hold at the top.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top diagonally.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Grasp the yogurt from the table with a side hold at the top diagonal.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "The yogurt from the table should be picked up using a side grasp at the top diagonally.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Using the right hand, pick up the yogurt from the table.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Have the right arm take the yogurt from the table.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "The yogurt from the table should be grasped with the right hand.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Pick up the yogurt from the table.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Take the yogurt from the table with the right hand.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Grasp the yogurt from the table using a side grip.", + "start_idx": 1335, + "end_idx": 1368 + }, + { + "text": "Put the yogurt in front of the white cup with the right hand right side up.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Using the right hand, place the yogurt in front of the white cup right side up.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Have the right arm set the yogurt down in front of the white cup, keeping it right side up.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "With the right hand, position the yogurt right side up in front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Place the yogurt right side up in front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Set the yogurt down in front of the white cup while keeping it upright.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Position the yogurt in front of the white cup with its right side up.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Using the right hand, put the yogurt in front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "With the right hand, place the yogurt by the front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Have the right arm set the yogurt in front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Put the yogurt in front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Place the yogurt by the front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Set the yogurt down near the front of the white cup.", + "start_idx": 1368, + "end_idx": 1401 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip on the right side at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Have the right hand grasp the white cup from the table with a lip hold at the cup's right side, diagonally.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "With the right hand, seize the white cup from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Pick up the white cup from the table using a lip grip on the right side at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Grasp the white cup from the table with a lip hold at the right side and a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "The white cup from the table should be taken using a lip grasp on its right side at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "With the right hand, take the white cup from the table using a lip grasp.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Have the right hand grasp the white cup from the table with a lip hold.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Using the right hand, pick up the white cup from the table at the right side with a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "With the right hand, take the white cup from the table at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1605, + "end_idx": 1635 + }, + { + "text": "Put the white cup between the canned goods and red bell pepper with the right hand right side up with the front as the reference point.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Using the right hand, place the white cup between the canned goods and the red bell pepper, right side up with the front as the reference point.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Have the right arm set the white cup between the canned goods and red bell pepper, keeping it right side up relative to the front.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "With the right hand, position the white cup between the canned goods and the red bell pepper so its front serves as the reference point and it stays right side up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Place the white cup between the canned goods and the red bell pepper, right side up with the front as the reference point.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Set the white cup between the canned goods and red bell pepper, keeping it right side up relative to the front.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Position the white cup between the canned goods and the red bell pepper with its front as the reference point, right side up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Using the right hand, place the white cup between the canned goods and the red bell pepper.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Have the right arm set the white cup between the canned goods and red bell pepper.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "With the right hand, position the white cup between the canned goods and the red bell pepper.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Put the white cup between the canned goods and red bell pepper.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Set the white cup between the canned goods and the red bell pepper.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Position the white cup between the canned goods and red bell pepper.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "With the right hand, grasp the asparagus from the table at a diagonal angle around its middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup at the middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Grasp the asparagus from the table diagonally at its middle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "With the right hand, take the asparagus from the table.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Have the right hand grasp the asparagus from the table.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "At a diagonal angle, take the asparagus from the table with the right hand.", + "start_idx": 1671, + "end_idx": 1704 + }, + { + "text": "Put the asparagus behind the yogurt with the right hand facing top right with the tip as the reference point.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Using the right hand, place the asparagus behind the yogurt with the tip facing the top right.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Have the right arm set the asparagus behind the yogurt, oriented top right at the tip.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "With the right hand, position the asparagus behind the yogurt so its tip points to the top right.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Place the asparagus behind the yogurt with the tip facing the top right.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Set the asparagus behind the yogurt so the tip points top right.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Position the asparagus behind the yogurt, with its tip oriented toward the top right.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Using the right hand, put the asparagus behind the yogurt.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Have the right arm place the asparagus behind the yogurt.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "With the right hand, set the asparagus behind the yogurt.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Put the asparagus behind the yogurt.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Place the asparagus behind the yogurt.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Set the asparagus behind the yogurt.", + "start_idx": 1704, + "end_idx": 1749 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a side grip on the top at a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "With the right hand, grasp the canned goods from the table using a side hold at the top from a diagonal approach.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Take the canned goods from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Grasp the canned goods from the table with a side hold at the top from a diagonal approach.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "With the right hand, grasp the canned goods from the table.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Take the canned goods from the table at the top from a diagonal approach.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1997, + "end_idx": 2030 + }, + { + "text": "Put the canned goods to the right of the white coffee cup with the right hand right side up.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white coffee cup right side up.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Have the right arm set the canned goods to the right of the white coffee cup in an upright orientation.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "With the right hand, position the canned goods to the right of the white coffee cup so it is right side up.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Place the canned goods to the right of the white coffee cup right side up.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Set the canned goods to the right of the white coffee cup in an upright position.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Position the canned goods to the right of the white coffee cup so it remains right side up.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Arrange the canned goods to the right of the white coffee cup.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Put the canned goods to the right of the white coffee cup.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Set the canned goods down to the right of the white coffee cup.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Using the right hand, place the canned goods to the right of the white coffee cup.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Have the right arm set the canned goods down to the right of the white coffee cup.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "With the right hand, arrange the canned goods to the right of the white coffee cup.", + "start_idx": 2031, + "end_idx": 2073 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp at the top with a diagonal pick angle.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Using the right hand, secure the red bell pepper from the table in a side grip at the top on a diagonal approach.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a top side hold at a diagonal angle.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Take the red bell pepper from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Grasp the red bell pepper from the table in a side hold at the top with a diagonal angle.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "With the right hand, pick up the red bell pepper from the table using a side grip at the top.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Using the right hand, take the red bell pepper from the table in a side grasp at the top.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a top side hold.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "With the right hand, pick up the red bell pepper from the table at a diagonal angle.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Using the right hand, take the red bell pepper from the table on a diagonal approach.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Pick up the red bell pepper from the table.", + "start_idx": 2265, + "end_idx": 2289 + }, + { + "text": "Put the red bell pepper behind the carrot with the right hand.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Using the right hand, place the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Have the right arm set the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "With the right hand, position the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Place the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Set the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Position the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Move the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Arrange the red bell pepper behind the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Put the red bell pepper by the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Set the red bell pepper next to the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Move the red bell pepper near the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Place the red bell pepper beside the carrot.", + "start_idx": 2289, + "end_idx": 2325 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Have the right arm pick up the canned goods from the table with a top side grip at a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "With the right hand, grasp the canned goods from the table from a diagonal angle using a side hold at the top.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "From the table, take the canned goods with a top side grasp at a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "The canned goods should be picked up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "With the right hand, collect the canned goods from the table using a side grasp at the top.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Have the right arm take the canned goods from the table with a top side hold.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "From the table, grasp the canned goods with the right hand at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Pick up the canned goods from the table at the top from a diagonal angle.", + "start_idx": 2400, + "end_idx": 2436 + }, + { + "text": "Put the canned goods in front of the carrot with the right hand.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Using the right hand, place the canned goods in front of the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Have the right arm set the canned goods down in front of the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "With your right hand, position the canned goods before the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Place the canned goods in front of the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Set the canned goods down in front of the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Position the canned goods before the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "The canned goods go in front of the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Put the canned goods by the carrot with the right hand.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Using the right hand, place the canned goods near the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Set the canned goods by the carrot with the right hand.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Place the canned goods by the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "The canned goods should go near the carrot.", + "start_idx": 2436, + "end_idx": 2478 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Have the right arm pick the yogurt up from the table using a side hold on the top at a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "With the right hand, grasp the yogurt from the table from a diagonal angle using a side grip on its top.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Take the yogurt from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Have the right arm take the yogurt from the table using a side grasp on the top.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "With the right hand, grasp the yogurt from the table at the top using a side hold.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Using the right hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Pick up the yogurt from the table with the right hand from a diagonal angle.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Take the yogurt from the table with the right hand using a side grasp.", + "start_idx": 2478, + "end_idx": 2505 + }, + { + "text": "Put the yogurt to the right of the canned goods with the right hand.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Using the right hand, place the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Have the right arm set the yogurt down to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "With the right hand, position the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Place the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Set the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Position the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Move the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Arrange the yogurt to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "The yogurt goes to the right of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Put the yogurt beside the canned goods on the right.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Using the right hand, place the yogurt beside the canned goods on the right.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Have the yogurt placed on the right side of the canned goods.", + "start_idx": 2505, + "end_idx": 2535 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Have the right hand collect the canned goods from the table with a top side grip at a diagonal angle.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "With the right hand, secure the canned goods from the table using a side hold at the top on a diagonal approach.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Collect the canned goods from the table using a top side grip at a diagonal angle.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Have the right hand take the canned goods from the table using a side grasp at the top.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "With the right hand, collect the canned goods from the table using a side hold.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Pick up the canned goods from the table with a diagonal pick angle.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Take the canned goods from the table with the right hand.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Collect the canned goods from the table using a side grip at the top.", + "start_idx": 2706, + "end_idx": 2748 + }, + { + "text": "Put the canned goods to the top side of the table with the right hand.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Using the right hand, place the canned goods on the top side of the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Have the right arm set the canned goods onto the table's top side.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "With the right hand, position the canned goods at the top side of the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Place the canned goods on the top side of the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Set the canned goods onto the table's top side.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Position the canned goods at the top side of the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Move the canned goods to the top side of the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Transfer the canned goods onto the table's top side.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Have the canned goods placed on the top side of the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Put the canned goods on the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Set the canned goods onto the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Move the canned goods to the table.", + "start_idx": 2748, + "end_idx": 2784 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Have the right arm pick the red bell pepper off the table with a top side hold at a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "With the right hand, collect the red bell pepper from the table using a side grip on the top from a diagonal approach.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Take the red bell pepper off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Grab the red bell pepper from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Have the right arm take the red bell pepper off the table.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "With the right hand, collect the red bell pepper from the table.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Using the right hand, take the red bell pepper from the table from a diagonal angle.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Pick up the red bell pepper from the table with a side grip at the top.", + "start_idx": 2907, + "end_idx": 2934 + }, + { + "text": "Put the red bell pepper between the white cup and asparagus with the right hand right side up front.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Using the right hand, place the red bell pepper between the white cup and asparagus, right side up with the front facing forward.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Have the right arm set the red bell pepper between the white cup and asparagus in an upright position, front forward.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "With the right hand, position the red bell pepper between the white cup and asparagus so it stays right side up, front-facing.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Place the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Set the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Position the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Using the right hand, put the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Have the right arm place the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "With the right hand, set the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Put the red bell pepper between the white cup and asparagus right side up.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Set the red bell pepper between the white cup and asparagus with the front facing forward.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Using the right hand, place the red bell pepper between the white cup and asparagus.", + "start_idx": 2934, + "end_idx": 2961 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal approach, holding it at the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Take the asparagus from the table with a diagonal approach, holding the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Retrieve the asparagus from the table on a diagonal, gripping it at the middle.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "From the table, pick up the asparagus with the right hand.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Use the right hand to take the asparagus from the table.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "From the table, retrieve the asparagus.", + "start_idx": 3141, + "end_idx": 3159 + }, + { + "text": "Put the asparagus in front of the carrot with the right hand facing top right by the tip.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Using the right hand, place the asparagus in front of the carrot with the tip facing the top right.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Have the right hand set the asparagus in front of the carrot, oriented top right at the tip.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "With the right hand, position the asparagus before the carrot so the tip points top right.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Place the asparagus in front of the carrot with the tip facing the top right.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Set the asparagus before the carrot, with the tip oriented toward the top right.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Position the asparagus in front of the carrot so its tip points to the top right.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Using the right hand, place the asparagus in front of the carrot.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Have the right hand set the asparagus before the carrot.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "With the right hand, position the asparagus in front of the carrot.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Place the asparagus in front of the carrot.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Set the asparagus before the carrot.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Position the asparagus in front of the carrot.", + "start_idx": 3159, + "end_idx": 3198 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Have the right arm pick the canned goods off the table with a side grip on the top at a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold at the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Take the canned goods off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Retrieve the canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Have the right arm take the canned goods off the table using a side grasp.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "With the right hand, retrieve the canned goods from the table with a side hold.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Using the right hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Take the canned goods off the table with the right hand at the top from a diagonal angle.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 3249, + "end_idx": 3273 + }, + { + "text": "Put the canned goods to the right of the yogurt with the right hand right side up.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Using the right hand, place the canned goods to the yogurt's right, right side up.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Have the right arm set the canned goods to the right of the yogurt, keeping them upright.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "With the right hand, position the canned goods on the yogurt's right side, right side up.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Place the canned goods to the right of the yogurt.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Set the canned goods on the right side of the yogurt.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Position the canned goods to the yogurt's right.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Arrange the canned goods beside the yogurt on its right.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Using the right hand, put the canned goods to the right of the yogurt.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Have the right arm place the canned goods to the right of the yogurt.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "With the right hand, set the canned goods by the yogurt on its right side.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Place the canned goods to the right of the yogurt, right side up.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Set the canned goods on the yogurt's right, upright.", + "start_idx": 3273, + "end_idx": 3309 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Have the right arm pick up the white cup from the table using a diagonal lip grip on its right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "With the right hand, grasp the white cup from the table via a diagonal lip hold on the right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip on the right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip hold on the right side.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Using the right hand, take the white cup from the table.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 3357, + "end_idx": 3387 + }, + { + "text": "Put the white cup behind the carrot with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Using the right hand, place the white cup behind the carrot right side up, with the front as the orientation reference point.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Have the right arm set the white cup behind the carrot, keeping it right side up relative to the front.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "With the right hand, position the white cup behind the carrot so it is right side up using the front as the reference point.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Place the white cup behind the carrot right side up, with the front as the orientation reference point.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Set the white cup behind the carrot, keeping it right side up relative to the front.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Position the white cup behind the carrot so it remains right side up with the front as the reference point.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Using the right hand, put the white cup behind the carrot.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "With the right hand, place the white cup behind the carrot.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Have the right arm position the white cup behind the carrot.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Put the white cup behind the carrot.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Set the white cup behind the carrot.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Position the white cup behind the carrot.", + "start_idx": 3387, + "end_idx": 3426 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "With the right hand, collect the asparagus from the table on a diagonal angle by grasping the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Take the asparagus from the table on a diagonal angle, holding the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Grasp the asparagus from the table at a diagonal angle by the middle.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "With the right hand, collect the asparagus from the table.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Have the asparagus taken from the table.", + "start_idx": 3615, + "end_idx": 3633 + }, + { + "text": "Put the asparagus to the left of the white coffee cup with the right hand with the tip facing bottom left.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Using the right hand, place the asparagus to the left of the white coffee cup with the tip pointing bottom left.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Have the right arm set the asparagus left of the white coffee cup, tip facing the bottom left.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "With the right hand, position the asparagus to the left of the white coffee cup so its tip faces bottom left.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Place the asparagus to the left of the white coffee cup.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Set the asparagus left of the white coffee cup.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Position the asparagus to the left of the white coffee cup.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Put the asparagus to the left of the white coffee cup with the right hand.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Using the right hand, place the asparagus to the left of the white coffee cup.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Have the right arm set the asparagus left of the white coffee cup.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Place the asparagus to the left of the white coffee cup with the tip facing bottom left.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Set the asparagus left of the white coffee cup with its tip pointing bottom left.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Position the asparagus with the tip facing bottom left to the left of the white coffee cup.", + "start_idx": 3633, + "end_idx": 3669 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Have the right arm grasp the carrot from the table at the top with a side hold, using a diagonal approach.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "With the right hand, secure the carrot from the table by its top in a side grasp at a diagonal angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Pick up the carrot from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Take the carrot from the table by its top with a side grasp and a diagonal approach.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Grasp the carrot from the table at the top using a side hold and a diagonal pick angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Using the right hand, pick up the carrot from the table with a side grip at the top.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Have the right arm take the carrot from the table by its top with a side grasp.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "With the right hand, grasp the carrot from the table at the top using a side hold.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Pick up the carrot from the table with the right hand at the top using a diagonal pick angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Using the right hand, take the carrot from the table from the top with a diagonal approach.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Have the right arm grasp the carrot from the table by its top with a diagonal pick angle.", + "start_idx": 3735, + "end_idx": 3756 + }, + { + "text": "Put the carrot to the right of the red bell pepper with the right hand with the tip facing left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Using the right hand, place the carrot to the right of the red bell pepper with the tip facing left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Have the right arm set the carrot to the right of the red bell pepper, tip pointed left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "With the right hand, position the carrot to the right of the red bell pepper so its tip faces left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Place the carrot to the right of the red bell pepper with the tip facing left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Set the carrot to the right of the red bell pepper, with its tip pointed left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Position the carrot to the right of the red bell pepper so the tip faces left.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Using the right hand, place the carrot to the right of the red bell pepper.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Have the right arm set the carrot to the right of the red bell pepper.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "With the right hand, position the carrot to the right of the red bell pepper.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Place the carrot to the right of the red bell pepper.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Set the carrot on the right side of the red bell pepper.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Position the carrot beside the red bell pepper on its right side.", + "start_idx": 3756, + "end_idx": 3792 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Have the right hand take the canned goods from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side hold on the top at a diagonal angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Take the canned goods from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Retrieve the canned goods from the table using a side hold on the top at a diagonal angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "With the right hand, take the canned goods from the table by the top using a side grasp.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Have the right hand collect the canned goods from the table with a side hold on the top.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Using the right hand, pick up the canned goods from the table at a diagonal angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "With the right hand, take the canned goods from the table using a diagonal pick angle.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 3792, + "end_idx": 3816 + }, + { + "text": "Put the canned goods to the right side of the carrot with the right hand right side up with the front as the orientation reference point.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Using the right hand, place the canned goods to the carrot's right, right side up with the front as the reference point.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Have the right arm set the canned goods on the right side of the carrot, keeping them right side up relative to the front.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "With the right hand, position the canned goods to the right of the carrot, oriented right side up using the front as the reference point.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Place the canned goods to the right of the carrot, right side up with the front as the reference point.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Set the canned goods on the carrot's right side, keeping them right side up relative to the front.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Position the canned goods to the right of the carrot with the front as the orientation reference, right side up.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Using the right hand, place the canned goods to the right of the carrot.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Have the right arm set the canned goods on the carrot's right side.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "With the right hand, position the canned goods to the carrot's right.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Place the canned goods to the right of the carrot.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Set the canned goods on the right side of the carrot.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Have the canned goods placed to the carrot's right.", + "start_idx": 3816, + "end_idx": 3849 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grasp at the right side with a diagonal pick angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grasp at the right side and a diagonal pick angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Have the right hand take the white cup from the table by its right side with a lip grasp at a diagonal angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "With the right hand, grasp the white cup from the table using a lip hold on the right side at a diagonal approach.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Pick up the white cup from the table with a lip grasp at the right side and a diagonal pick angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Take the white cup from the table by its right side with a lip grasp at a diagonal angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Grasp the white cup from the table using a lip hold on the right side at a diagonal approach.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grasp.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Have the right hand take the white cup from the table using a lip grasp.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "With the right hand, grasp the white cup from the table using a lip hold.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Using the right hand, pick up the white cup from the table at the right side with a diagonal pick angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Have the right hand take the white cup from the table by its right side at a diagonal angle.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 3849, + "end_idx": 3873 + }, + { + "text": "Put the white cup on the right side of the table with the right hand right side up with the front as the reference point.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Using the right hand, place the white cup on the table's right side with its front as the reference point, right side up.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Have the right arm set the white cup on the right side of the table, right side up relative to the front.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "With the right hand, position the white cup on the table's right side so it stays right side up, using the front as reference.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Place the white cup on the right side of the table, keeping it right side up with the front as the reference point.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Set the white cup on the table's right side, right side up relative to the front.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Position the white cup on the right side of the table with the front as the reference point, right side up.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Using the right hand, place the white cup on the right side of the table.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Have the right arm set the white cup on the table's right side.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "With the right hand, position the white cup on the table's right side.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Place the white cup on the right side of the table.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Set the white cup on the table's right side.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Position the white cup on the table's right side.", + "start_idx": 3873, + "end_idx": 3909 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Have the right arm pick the canned goods up from the table with a side grip at the top on a diagonal.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "From a diagonal angle, the right hand should grasp the canned goods from the table with a side hold at the top.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "From a diagonal angle, grasp the canned goods from the table with a side hold at the top.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top on a diagonal.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "With the right hand, pick up the canned goods from the table using a side grip.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Have the right arm take the canned goods from the table with a side grasp.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Using the right hand, grasp the canned goods from the table with a side hold.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Pick up the canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "From a diagonal angle, the right hand should take the canned goods from the table.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 4116, + "end_idx": 4143 + }, + { + "text": "Put the canned goods on the bottom side of the table with the right hand.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Using the right hand, place the canned goods on the bottom side of the table upright with the front as reference.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Have the right arm set the canned goods on the bottom side of the table, keeping them right side up relative to the front.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "With the right hand, position the canned goods on the table's bottom side, oriented right side up from the front.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Place the canned goods on the bottom side of the table.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Set the canned goods on the bottom side of the table.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Have the canned goods placed on the bottom side of the table.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Using the right hand, put the canned goods on the bottom side of the table.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "With the right hand, set the canned goods on the bottom side of the table.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Place the canned goods on the bottom side of the table with the right hand.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Put the canned goods on the bottom side of the table upright.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Set the canned goods on the bottom side of the table right side up.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Have the canned goods placed on the bottom side of the table, upright.", + "start_idx": 4143, + "end_idx": 4182 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Have the right arm grasp the white cup from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "With the right hand, secure the white cup from the table by the bottom right using a lip grip from a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Grasp the white cup from the table with a lip hold on the bottom right at a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "The white cup should be taken from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "With the right hand, take the white cup from the table using a lip hold.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Pick up the white cup from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Grab the white cup from the table.", + "start_idx": 4245, + "end_idx": 4266 + }, + { + "text": "Put the white cup on the bottom side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Using the right hand, place the white cup on the bottom side of the table, right side up with the front as the reference point.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Have the right arm set the white cup on the bottom side of the table with the front as the orientation reference, right side up.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "With the right hand, position the white cup on the bottom side of the table so it is right side up, using the front as the reference point.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Place the white cup on the bottom side of the table, right side up with the front as the reference point.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Set the white cup on the bottom side of the table with the front as the orientation reference, keeping it right side up.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Position the white cup on the bottom side of the table so the front serves as the reference point and it remains right side up.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Using the right hand, put the white cup on the bottom side of the table.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Have the right arm place the white cup on the bottom side of the table.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "With the right hand, set the white cup on the bottom side of the table.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Put the white cup on the bottom side of the table.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Place the white cup on the bottom side of the table.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Set the white cup on the bottom side of the table.", + "start_idx": 4266, + "end_idx": 4293 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal from the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal from the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Have the right arm grasp the asparagus from the table diagonally at the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "With the right hand, retrieve the asparagus from the table, grasping it diagonally at the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Pick up the asparagus from the table at a diagonal from the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Take the asparagus from the table diagonally from the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Retrieve the asparagus from the table with a diagonal middle grasp.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "The asparagus from the table should be picked up from the middle.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "With the right hand, take the asparagus from the table.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 4668, + "end_idx": 4701 + }, + { + "text": "Put the asparagus in front of the white coffee cup with the tip facing top left using the right hand.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Using the right hand, place the asparagus in front of the white coffee cup with the tip pointing to the top left.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Have the right hand set the asparagus in front of the white coffee cup so its tip faces the upper left.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "With your right hand, position the asparagus before the white coffee cup, tip directed toward the top left.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Place the asparagus in front of the white coffee cup with the tip facing top left.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Set the asparagus before the white coffee cup so the tip points to the upper left.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Position the asparagus in front of the white coffee cup, with its tip directed to the top left.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Using the right hand, put the asparagus in front of the white coffee cup.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Have the right hand place the asparagus before the white coffee cup.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "With the right hand, position the asparagus in front of the white coffee cup.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Place the asparagus in front of the white coffee cup.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Set the asparagus before the white coffee cup.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Position the asparagus in front of the white coffee cup.", + "start_idx": 4701, + "end_idx": 4743 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a diagonal grasp on the right lip.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Have the right arm take the white cup from the table using a right-side diagonal lip grip.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "With the right hand, grasp the white cup from the table at the right lip in a diagonal hold.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Pick up the white cup from the table using a diagonal grasp on the right lip.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Take the white cup from the table with a diagonal right-lip grip.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Grasp the white cup from the table at the right lip on a diagonal.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 4881, + "end_idx": 4908 + }, + { + "text": "Put the white cup to the right of the red bell pepper with the right hand right side up with the front as the orientation reference point.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Using the right hand, place the white cup to the right of the red bell pepper, right side up with the front as the reference point.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Have the right arm set the white cup to the right of the red bell pepper, keeping it right side up relative to its front.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "With the right hand, position the white cup to the right of the red bell pepper so it stays right side up, using the front as the reference point.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Place the white cup to the right of the red bell pepper, right side up with the front as the reference point.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Set the white cup to the right of the red bell pepper, keeping it right side up relative to the front.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Position the white cup to the right of the red bell pepper with its front as the reference point.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Put the white cup to the right of the red bell pepper.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Arrange the white cup to the right of the red bell pepper.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "The white cup should go to the right of the red bell pepper.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Using the right hand, place the white cup to the right of the red bell pepper.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Have the right arm set the white cup to the right of the red bell pepper.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "With the right hand, put the white cup to the right of the red bell pepper.", + "start_idx": 4908, + "end_idx": 4938 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the right in a diagonal pick angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grip at the right in a diagonal pick angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table using a side hold on the right at a diagonal angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "With the right hand, secure the red bell pepper from the table by the right side using a side grasp at a diagonal pick angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the right in a diagonal pick angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Take the red bell pepper from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "From the table, grasp the red bell pepper with a side hold on its right side at a diagonal pick angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a side hold.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Take the red bell pepper from the table at the right in a diagonal pick angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "From the table, grasp the red bell pepper on the right at a diagonal angle.", + "start_idx": 5013, + "end_idx": 5043 + }, + { + "text": "Put the red bell pepper to the right of the white cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the white cup, right side up with the front as the reference point.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Have the right arm set the red bell pepper to the white cup's right, keeping it right side up relative to the front.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "With the right hand, position the red bell pepper on the right side of the white cup, oriented right side up from the front.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Place the red bell pepper to the right of the white cup, right side up with the front as the reference point.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Set the red bell pepper on the right side of the white cup, keeping it right side up relative to the front.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Position the red bell pepper to the white cup's right, with the front as the reference point and right side up.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Have the right arm set the red bell pepper on the right side of the white cup.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "With the right hand, position the red bell pepper to the white cup's right.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Place the red bell pepper to the right of the white cup.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Set the red bell pepper on the right side of the white cup.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Position the red bell pepper to the white cup's right.", + "start_idx": 5043, + "end_idx": 5079 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top and a diagonal angle.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp at the top and a diagonal angle.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Using the right hand, collect the canned goods from the table with a side hold on the top at a diagonal angle.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Have the right hand pick the canned goods up from the table with a side grip at the top and diagonally.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top and a diagonal angle.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Take the canned goods from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "The canned goods should be picked up from the table with a side hold at the top and diagonally.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Have the right hand take the canned goods from the table.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "The canned goods should be picked up from the table with the right hand.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Pick up the canned goods from the table at a diagonal angle.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Take the canned goods from the table with a diagonal approach.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 5289, + "end_idx": 5319 + }, + { + "text": "Put the canned goods in front of the white coffee cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Using the right hand, place the canned goods in front of the white coffee cup right side up, with the front as the orientation reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Have the right arm set the canned goods in front of the white coffee cup, keeping them right side up with the front as the reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "With the right hand, position the canned goods in front of the white coffee cup so they are right side up, using the front as the orientation reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Place the canned goods in front of the white coffee cup right side up, with the front as the orientation reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Set the canned goods in front of the white coffee cup right side up, using the front as the reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Position the canned goods in front of the white coffee cup so they remain right side up, with the front as the orientation reference point.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Using the right hand, place the canned goods in front of the white coffee cup.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Have the right arm set the canned goods in front of the white coffee cup.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "With the right hand, position the canned goods in front of the white coffee cup.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Put the canned goods in front of the white coffee cup.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Arrange the canned goods in front of the white coffee cup.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Set the canned goods in front of the white coffee cup.", + "start_idx": 5319, + "end_idx": 5352 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at a diagonal angle from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at a diagonal angle from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Have the right hand grasp the white cup from the table with a lip hold, approaching diagonally from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "With the right hand, secure the white cup from the table using the lip at a diagonal angle from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Take the white cup from the table with a lip grip at a diagonal angle from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Grasp the white cup from the table using the lip, diagonally from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "The white cup should be picked up from the table with a lip hold at a diagonal angle from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "With the right hand, take the white cup from the table using the lip.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Have the right hand grasp the white cup from the table with a lip hold.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Using the right hand, pick up the white cup from the table at a diagonal angle from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Take the white cup from the table diagonally from the right.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "The white cup should be picked up from the table.", + "start_idx": 5352, + "end_idx": 5376 + }, + { + "text": "Place the white cup in front of the asparagus with the right hand right side up with the front as the orientation reference point.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Using the right hand, set the white cup in front of the asparagus right side up, with the front as the orientation reference point.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Have the right arm place the white cup in front of the asparagus, keeping it right side up relative to the front.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "With the right hand, position the white cup in front of the asparagus so it is right side up using the front as the reference point.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Place the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Set the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Position the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Put the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Using the right hand, place the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Have the right arm set the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "With the right hand, position the white cup in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Place the white cup right side up in front of the asparagus.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Set the white cup in front of the asparagus so its front serves as the reference point.", + "start_idx": 5376, + "end_idx": 5409 + }, + { + "text": "Pick up the yogurt from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Using the right hand, take the yogurt from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Have the right arm pick the yogurt up from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "With the right hand, retrieve the yogurt from the table diagonally using a full-object grasp.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Pick up the yogurt from the table at a diagonal angle, grasping the entire object.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Take the yogurt from the table diagonally with a whole-object grasp.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Retrieve the yogurt from the table at a diagonal angle using a full-object hold.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Using the right hand, pick up the yogurt from the table.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "With the right hand, take the yogurt from the table.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Have the right arm retrieve the yogurt from the table.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Pick up the yogurt from the table with the right hand at a diagonal angle.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Take the yogurt from the table diagonally with the right hand.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Using the right hand, grasp the yogurt from the table.", + "start_idx": 5505, + "end_idx": 5526 + }, + { + "text": "Put the yogurt to the left of the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Using the right hand, place the yogurt to the left of the asparagus, right side up with the front as the reference point.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Have the right arm set the yogurt left of the asparagus, keeping it right side up relative to the front.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "With the right hand, position the yogurt to the asparagus's left, oriented right side up from the front reference point.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Place the yogurt to the left of the asparagus, keeping it right side up with the front as the reference point.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Set the yogurt left of the asparagus, right side up relative to the front.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Position the yogurt to the asparagus's left with its front as the reference point, right side up.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Using the right hand, put the yogurt to the left of the asparagus.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Have the right arm place the yogurt left of the asparagus.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "With the right hand, set the yogurt to the asparagus's left.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Place the yogurt to the left of the asparagus.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Set the yogurt left of the asparagus.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Position the yogurt to the asparagus's left.", + "start_idx": 5526, + "end_idx": 5553 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "With the right hand, take the red bell pepper from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Using the right arm, seize the red bell pepper from the table with a side hold on the top at a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Have the right hand collect the red bell pepper from the table with a side grip at the top from a diagonal approach.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Take the red bell pepper from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Grab the red bell pepper from the table with a side hold on the top from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "The red bell pepper should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "With the right arm, take the red bell pepper from the table.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Have the right hand grab the red bell pepper from the table.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Using the right hand, collect the red bell pepper from the table from a diagonal angle.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Take the red bell pepper from the table with a side grip.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "The red bell pepper should be picked up from the table.", + "start_idx": 5553, + "end_idx": 5589 + }, + { + "text": "Put the red bell pepper to the right of the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the asparagus, right side up with the front as the reference point.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Have the right arm set the red bell pepper to the asparagus's right, keeping it right side up relative to the front.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "With the right hand, position the red bell pepper on the right side of the asparagus, right side up using the front as the reference point.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Place the red bell pepper to the right of the asparagus.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Set the red bell pepper on the asparagus's right side.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Position the red bell pepper to the right of the asparagus.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the asparagus.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "With the right hand, set the red bell pepper on the right side of the asparagus.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Have the right arm position the red bell pepper to the asparagus's right.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Place the red bell pepper to the right of the asparagus, right side up with the front as the reference point.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Set the red bell pepper on the asparagus's right side, keeping it right side up relative to the front.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Have the red bell pepper placed to the right of the asparagus, right side up using the front as the reference point.", + "start_idx": 5589, + "end_idx": 5619 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Have the right arm pick the red bell pepper off the table using a side grip on the top at a diagonal angle.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table in a side hold at the top with a diagonal approach.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Pick up the red bell pepper from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Take the red bell pepper off the table with a side grasp at the top and a diagonal approach.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Grasp the red bell pepper from the table in a side hold at the top with a diagonal angle.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Have the right arm take the red bell pepper off the table.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "With the right hand, grasp the red bell pepper from the table.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Take the red bell pepper off the table using a side grip at the top.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Grasp the red bell pepper from the table with the right hand at the top.", + "start_idx": 5829, + "end_idx": 5862 + }, + { + "text": "Put the red bell pepper on the right side of the table right side up with the front as the reference using the right hand.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Using the right hand, place the red bell pepper on the right side of the table, right side up with the front as reference.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Have the right arm set the red bell pepper on the table's right side, keeping it right side up relative to the front.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "With the right hand, position the red bell pepper on the right side of the table so it is right side up using the front as the reference.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Place the red bell pepper on the right side of the table, right side up with the front as the reference.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Set the red bell pepper on the table's right side, keeping it right side up relative to the front.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Position the red bell pepper on the right side of the table so it stays right side up based on the front.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Using the right hand, place the red bell pepper on the right side of the table.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "With the right hand, set the red bell pepper on the table's right side.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Have the right arm place the red bell pepper on the right side of the table.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Put the red bell pepper on the right side of the table.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Set the red bell pepper on the table's right side.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Have the red bell pepper placed on the right side of the table.", + "start_idx": 5862, + "end_idx": 5892 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "From a diagonal angle, have the right hand grasp the asparagus from the table with a side hold at the bottom.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "With the right hand, secure the asparagus from the table at its bottom using a side grasp from a diagonal angle.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "From a diagonal angle, grasp the asparagus from the table with a side grip at the bottom.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Take the asparagus from the table at the bottom with a side hold from a diagonal angle.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Using a side grip at the bottom, pick up the asparagus from the table with the right hand.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "With the right hand, grasp the asparagus from the table using a side grip.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Have the right hand take the asparagus from the table with a side grasp.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Pick up the asparagus from the table with the right hand from a diagonal angle.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "From a diagonal angle, pick up the asparagus from the table with the right hand.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Using the right hand, take the asparagus from the table.", + "start_idx": 6036, + "end_idx": 6069 + }, + { + "text": "Put the asparagus to the right of the white coffee cup with the right hand facing bottom right by the tip.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white coffee cup with the tip facing bottom right.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Have the right arm set the asparagus to the right of the white coffee cup, tip oriented toward the bottom right.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "With the right hand, position the asparagus to the right of the white coffee cup so its tip points bottom right.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Place the asparagus to the right of the white coffee cup with the tip facing bottom right.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Set the asparagus to the right of the white coffee cup, with its tip directed toward the bottom right.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Position the asparagus to the right of the white coffee cup so the tip points to the bottom right.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white coffee cup.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Have the right arm set the asparagus to the right of the white coffee cup.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "With the right hand, position the asparagus to the right of the white coffee cup.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Place the asparagus to the right of the white coffee cup.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Set the asparagus with the right hand to the right of the white coffee cup.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "To the right of the white coffee cup, position the asparagus.", + "start_idx": 6069, + "end_idx": 6102 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "With the right hand, retrieve the carrot from the table on a diagonal approach and grip its middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Take the carrot from the table with a diagonal pickup, holding the middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Retrieve the carrot from the table on a diagonal approach, gripping its middle.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Take the carrot from the table with the right arm.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 6162, + "end_idx": 6198 + }, + { + "text": "Put the carrot to the right of the white cup with the right hand facing left by the tip.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Using the right hand, place the carrot to the right of the white cup with its tip facing left.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Have the right arm set the carrot to the right of the white cup, tip pointed left.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "With the right hand, position the carrot to the right of the white cup so the tip faces left.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Place the carrot to the right of the white cup with its tip facing left.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Set the carrot to the right of the white cup with the tip pointed left.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Position the carrot to the right of the white cup, tip facing left.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Using the right hand, put the carrot to the right of the white cup.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Have the right arm place the carrot to the right of the white cup.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "With the right hand, set the carrot to the right of the white cup.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Place the carrot to the right of the white cup.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Set the carrot to the right of the white cup.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Have the right arm put the carrot to the right of the white cup.", + "start_idx": 6198, + "end_idx": 6234 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Have the right arm grasp the white cup from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "With the right hand, secure the white cup from the table using a lip grasp on its right side at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the right side with a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Take the white cup from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Grasp the white cup from the table using a lip grasp at the right side with a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Have the right arm take the white cup from the table using a lip hold.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "With the right hand, grasp the white cup from the table using a lip grasp.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Pick up the white cup from the table with the right hand at the right side with a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Using the right hand, take the white cup from the table at the right side with a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Have the right arm grasp the white cup from the table on the right side at a diagonal angle.", + "start_idx": 6474, + "end_idx": 6498 + }, + { + "text": "Put the white cup in front of the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Using the right hand, place the white cup in front of the asparagus right side up, with the front as the reference point.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Have the right arm set the white cup in front of the asparagus, keeping it right side up relative to the front.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "With the right hand, position the white cup in front of the asparagus so it is right side up, using the front as the reference point.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Place the white cup in front of the asparagus right side up, with the front as the reference point.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Set the white cup in front of the asparagus, keeping it right side up relative to the front.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Position the white cup in front of the asparagus so it remains right side up, using the front as reference.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Using the right hand, put the white cup in front of the asparagus.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "With the right hand, set the white cup in front of the asparagus.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Have the right arm place the white cup in front of the asparagus.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Put the white cup in front of the asparagus.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Place the white cup in front of the asparagus.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Set the white cup in front of the asparagus.", + "start_idx": 6498, + "end_idx": 6540 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup angle and a middle grasp.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "The carrot from the table should be picked up with the right hand at a diagonal angle, holding its middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Take the carrot from the table with a diagonal pickup angle, holding the middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "The carrot from the table should be picked up diagonally, grasping its middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "The carrot from the table should be picked up with the right hand.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Take the carrot from the table, grasping the middle.", + "start_idx": 6612, + "end_idx": 6639 + }, + { + "text": "Put the carrot in front of the white cup with the tip facing right using the right hand.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Using the right hand, place the carrot in front of the white cup with its tip pointing right.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Have the right hand set the carrot in front of the white cup, tip facing to the right.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "With the right hand, position the carrot before the white cup so the tip faces right.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Place the carrot in front of the white cup with its tip pointing right.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Set the carrot before the white cup with the tip facing right.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Position the carrot in front of the white cup so its tip faces right.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Using the right hand, put the carrot in front of the white cup.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "With the right hand, place the carrot before the white cup.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Have the right hand position the carrot in front of the white cup.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Put the carrot in front of the white cup.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Set the carrot before the white cup.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Position the carrot in front of the white cup.", + "start_idx": 6639, + "end_idx": 6675 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grasp at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grasp at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Have the right hand take the white cup from the table with a lip grasp, keeping it at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "With a diagonal lip grasp, the right hand should collect the white cup from the table.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Pick up the white cup from the table using a lip grasp at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Take the white cup from the table with a lip grasp at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "The white cup should be picked up from the table with a lip grasp at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "The right hand should take the white cup from the table.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "From the table, collect the white cup with the right hand.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "With the right hand, pick up the white cup from the table at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Take the white cup from the table at a diagonal angle.", + "start_idx": 6750, + "end_idx": 6774 + }, + { + "text": "Put the white cup behind the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Using the right hand, place the white cup behind the asparagus right side up, with the front as the reference point.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Have the right arm set the white cup behind the asparagus in an upright orientation, referenced to the front.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "With the right hand, position the white cup behind the asparagus so it is right side up relative to the front.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Place the white cup behind the asparagus right side up, with the front as the reference point.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Set the white cup behind the asparagus in an upright orientation relative to the front.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Position the white cup behind the asparagus so it stands right side up, using the front as reference.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Using the right hand, put the white cup behind the asparagus.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "With the right hand, place the white cup behind the asparagus.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Have the right arm set the white cup behind the asparagus.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Put the white cup behind the asparagus.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Place the white cup behind the asparagus in an upright orientation.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Set the white cup behind the asparagus right side up.", + "start_idx": 6774, + "end_idx": 6804 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Have the right arm pick the carrot up from the table diagonally by its middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "With the right hand, retrieve the carrot from the table in a diagonal orientation, holding its middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "The carrot from the table should be picked up at a diagonal angle, holding the middle.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "With the right hand, take the carrot from the table.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Have the right arm retrieve the carrot from the table.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Have the carrot picked up from the table.", + "start_idx": 7038, + "end_idx": 7068 + }, + { + "text": "Put the carrot to the right of the canned goods with the right hand with its tip facing top left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Using the right hand, place the carrot to the right of the canned goods with its tip pointing to the top left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Have the right arm set the carrot to the right of the canned goods, tip directed toward the top left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "With the right hand, position the carrot to the right of the canned goods so its tip faces the upper left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Place the carrot to the right of the canned goods with its tip facing the top left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Set the carrot to the right of the canned goods, keeping its tip pointed toward the upper left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Position the carrot to the right of the canned goods so the tip points top left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Using the right hand, put the carrot to the right of the canned goods.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "With the right hand, place the carrot to the right of the canned goods.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Have the right arm set the carrot to the right of the canned goods.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Put the carrot to the right of the canned goods.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Using the right hand, position the carrot with its tip facing the top left.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Set the carrot to the right of the canned goods.", + "start_idx": 7068, + "end_idx": 7110 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Using the right hand, take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Have the right hand grasp the red bell pepper from the table with a side hold at the top on a diagonal approach.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "With the right hand, secure the red bell pepper from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Take the red bell pepper from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Grasp the red bell pepper from the table using a side hold at the top on a diagonal approach.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "The red bell pepper from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Using the right hand, pick up the red bell pepper from the table with a side grip.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Have the right hand take the red bell pepper from the table using a side grasp at the top.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "With the right hand, collect the red bell pepper from the table using a side hold.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Pick up the red bell pepper from the table with the right hand from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Using the right hand, grasp the red bell pepper from the table at the top from a diagonal approach.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Take the red bell pepper from the table at the top from a diagonal angle.", + "start_idx": 7179, + "end_idx": 7209 + }, + { + "text": "Put the red bell pepper to the right of the asparagus with the right hand right side up with the front as the orientation reference point.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Using the right hand, place the red bell pepper to the asparagus's right, right side up, with the front as the reference point.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Have the right arm set the red bell pepper to the right of the asparagus, keeping it right side up and using the front as the orientation reference.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "With the right hand, position the red bell pepper on the right side of the asparagus, right side up, referencing the front.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Place the red bell pepper to the right of the asparagus, right side up, with the front as the orientation reference point.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Set the red bell pepper on the right side of the asparagus, right side up, using the front as the reference point.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Position the red bell pepper to the asparagus's right, right side up, with the front as the reference.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Put the red bell pepper to the right of the asparagus.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Place the red bell pepper on the right side of the asparagus.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Set the red bell pepper to the asparagus's right.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Using the right hand, place the red bell pepper to the right of the asparagus.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Have the right arm set the red bell pepper on the right side of the asparagus.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "With the right hand, position the red bell pepper to the asparagus's right.", + "start_idx": 7209, + "end_idx": 7242 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Have the right arm take the carrot from the table diagonally by its middle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "With the right hand, retrieve the carrot from the table at a diagonal angle, holding the center.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Take the carrot from the table diagonally by the middle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Retrieve the carrot from the table with a diagonal approach, holding its center.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Take the carrot from the table at a diagonal angle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Have the right arm pick up the carrot from the table at a diagonal angle.", + "start_idx": 7503, + "end_idx": 7536 + }, + { + "text": "Put the carrot to the right of the white cup with the tip facing top right using the right hand.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Using the right hand, place the carrot to the right of the white cup with its tip facing the top right.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Have the right hand set the carrot to the right of the white cup, tip oriented toward the top right.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "With the right hand, position the carrot to the right of the white cup so the tip points top right.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Place the carrot to the right of the white cup with its tip facing the top right.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Set the carrot to the right of the white cup, with the tip pointed toward the top right.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Position the carrot to the right of the white cup so its tip faces top right.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Using the right hand, place the carrot to the right of the white cup.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Have the right hand set the carrot to the right of the white cup.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "With the right hand, position the carrot beside the white cup on its right side.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Place the carrot to the right of the white cup.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Set the carrot beside the white cup on its right side.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Position the carrot on the right side of the white cup.", + "start_idx": 7536, + "end_idx": 7572 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Have the right hand pick the white cup up from the table using a diagonal lip grasp at the cup's right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "With the right hand, grasp the white cup from the table in a diagonal lip hold on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Grasp the white cup from the table in a diagonal lip hold on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Take the white cup from the table using a diagonal grasp on the right side.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Put the white cup to the right of the canned goods with the right hand right side up with the front as the reference point.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "With the right hand, position the white cup to the right of the canned goods so it is right side up using the front as reference.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Place the white cup to the right of the canned goods, right side up with the front as the reference point.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Set the white cup to the right of the canned goods, keeping it right side up relative to the front.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Position the white cup to the right of the canned goods so it stays right side up with the front as reference.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "With the right hand, position the white cup to the right of the canned goods.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Put the white cup to the right of the canned goods.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Set the white cup to the right of the canned goods.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Position the white cup to the right of the canned goods.", + "start_idx": 7602, + "end_idx": 7641 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Have the right hand take the white cup from the table with a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "With the right hand, grasp the white cup from the table using the lip at the bottom right on a diagonal approach.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Pick up the white cup from the table with a lip grip at the bottom right and a diagonal pick angle.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Take the white cup from the table using a lip grasp at the bottom right with a diagonal approach.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Grasp the white cup from the table with the lip at the bottom right at a diagonal angle.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "With the right hand, take the white cup from the table using a lip grasp.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Have the right hand grasp the white cup from the table with the lip.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Using the right hand, pick up the white cup from the table at the bottom right with a diagonal pick angle.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Take the white cup from the table at the bottom right with a diagonal approach.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 7914, + "end_idx": 7941 + }, + { + "text": "Put the white cup in front of the asparagus with the right hand right side up.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Using the right hand, place the white cup in front of the asparagus right side up.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Have the right arm set the white cup down in front of the asparagus, upright.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "With the right hand, position the white cup in front of the asparagus so it stays right side up.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Place the white cup in front of the asparagus right side up.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Set the white cup down in front of the asparagus, upright.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Position the white cup in front of the asparagus so it is right side up.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Using the right hand, put the white cup in front of the asparagus.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "With the right hand, place the white cup before the asparagus.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Have the right arm set the white cup down in front of the asparagus.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Put the white cup in front of the asparagus.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Set the white cup down before the asparagus.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Have the white cup placed in front of the asparagus.", + "start_idx": 7941, + "end_idx": 7974 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Have the right hand grasp the yogurt from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "From a diagonal angle, pick up the yogurt from the table with the right hand in a side grasp at the top.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "From a diagonal angle, grasp the yogurt from the table with a side hold at the top.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Take the yogurt from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "With the right hand, pick up the yogurt from the table using a side grip.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side hold at the top.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Have the right hand grasp the yogurt from the table with a side grasp.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Pick up the yogurt from the table with the right hand from a diagonal angle.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "From a diagonal angle, take the yogurt from the table with the right hand.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Pick up the yogurt from the table.", + "start_idx": 7974, + "end_idx": 8007 + }, + { + "text": "Put the yogurt to the right of the white cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Using the right hand, place the yogurt to the right of the white cup, right side up with the front as the reference point.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Have the right arm set the yogurt to the white cup's right, keeping it right side up relative to its front.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "With the right hand, position the yogurt on the right side of the white cup, oriented right side up from the front reference point.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Place the yogurt to the right of the white cup.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Set the yogurt on the right side of the white cup.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Position the yogurt to the white cup's right.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Arrange the yogurt right of the white cup.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Using the right hand, place the yogurt to the right of the white cup.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Have the right arm set the yogurt on the white cup's right side.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "With the right hand, position the yogurt to the white cup's right.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Place the yogurt to the right of the white cup, right side up.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Set the yogurt on the right side of the white cup with its front as the reference point.", + "start_idx": 8006, + "end_idx": 8045 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "From a diagonal angle, have the right hand grasp the carrot from the table at the bottom with a side hold.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "With the right hand, secure the carrot from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Take the carrot from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "From a diagonal angle, grasp the carrot from the table at the bottom with a side grip.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Pick up the carrot from the table using a side grip at the bottom.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Seize the carrot from the table with the right hand using a side grasp.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "With the right hand, take the carrot from the table using a side hold.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Grasp the carrot from the table with the right hand.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Pick up the carrot from the table from a diagonal angle.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 8046, + "end_idx": 8085 + }, + { + "text": "Place the carrot to the right of the yogurt with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Using the right hand, position the carrot to the yogurt's right with its tip oriented toward the bottom left.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Have the right hand place the carrot on the right side of the yogurt, tip facing bottom left.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "With the right hand, set the carrot to the right of the yogurt, using the tip as the reference point and facing bottom left.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Place the carrot to the right of the yogurt with its tip facing bottom left.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Set the carrot on the right side of the yogurt, with the tip oriented toward the bottom left.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Position the carrot to the yogurt's right, tip directed to the bottom left.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Place the carrot to the right of the yogurt with the right hand.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Using the right hand, set the carrot on the right side of the yogurt.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Have the right hand position the carrot to the yogurt's right.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Place the carrot to the right of the yogurt.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Set the carrot on the right side of the yogurt.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Position the carrot to the yogurt's right.", + "start_idx": 8085, + "end_idx": 8124 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Have the right hand take the yogurt from the table, grasping its top with a side hold from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "With the right hand, grasp the yogurt from the table at the top using a side grip from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Pick up the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Take the yogurt from the table, holding the top with a side grasp from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "From a diagonal angle, grasp the yogurt from the table at the top with a side hold.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Using the right hand, pick up the yogurt from the table with a side grip.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "With the right hand, take the yogurt from the table using a side grasp.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Have the right hand grasp the yogurt from the table with a side hold.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Using the right hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Pick up the yogurt from the table with the right hand.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Take the yogurt from the table.", + "start_idx": 8205, + "end_idx": 8241 + }, + { + "text": "Put the yogurt to the right of the carrot with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Using the right hand, place the yogurt to the carrot's right, right side up with the front as the reference point.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Have the right arm set the yogurt to the right of the carrot, keeping it right side up relative to the front.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "With the right hand, position the yogurt on the carrot's right side, oriented right side up using the front as the reference.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Place the yogurt to the right of the carrot, keeping it right side up relative to the front.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Set the yogurt on the right side of the carrot, with the front as the reference and right side up.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Position the yogurt to the carrot's right, oriented right side up using the front as the reference point.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Using the right hand, put the yogurt to the right of the carrot.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Have the right arm place the yogurt on the carrot's right side.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "With the right hand, set the yogurt to the right of the carrot.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Place the yogurt to the right of the carrot.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Set the yogurt on the right side of the carrot.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Position the yogurt to the carrot's right.", + "start_idx": 8241, + "end_idx": 8274 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Have the right hand pick up the white cup from the table using a right-side diagonal lip grasp.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "With the right hand, grasp the white cup from the table by its lip at a diagonal on the right side.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the right side.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Grasp the white cup from the table by the lip at the right side in a diagonal hold.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Have the right hand pick up the white cup from the table using a lip grasp.", + "start_idx": 8478, + "end_idx": 8511 + }, + { + "text": "Put the white cup behind the yogurt with the right hand right side up with the front as the reference point.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Using the right hand, place the white cup behind the yogurt right side up, with the front as the reference point.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Have the right arm set the white cup behind the yogurt in an upright orientation, referencing the front.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "With the right hand, position the white cup behind the yogurt so it is right side up relative to the front.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Place the white cup behind the yogurt right side up, with the front as the reference point.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Set the white cup behind the yogurt in an upright orientation using the front as the reference point.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Position the white cup behind the yogurt so it stays right side up relative to the front.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Using the right hand, put the white cup behind the yogurt.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "With the right hand, place the white cup behind the yogurt.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Have the right arm set the white cup behind the yogurt.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Put the white cup behind the yogurt.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Position the white cup behind the yogurt.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Set the white cup behind the yogurt.", + "start_idx": 8511, + "end_idx": 8544 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip at the top from a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Have the right hand grasp the white cup off the table with a top lip grip at a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "With the right hand, secure the white cup from the table using a lip hold on the top from a diagonal approach.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Take the white cup off the table with a lip grip on its top from a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Grasp the white cup from the table with a top lip grip from a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip at the top.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "With the right hand, take the white cup off the table using a lip grip on the top.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Have the right hand grasp the white cup from the table with a lip hold at the top.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Using the right hand, pick up the white cup from the table from a diagonal angle.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "With the right hand, take the white cup off the table from a diagonal approach.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 8730, + "end_idx": 8751 + }, + { + "text": "Put the white cup to the right of the white coffee cup with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Using the right hand, place the white cup to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Have the right arm set the white cup to the right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "With the right hand, position the white cup to the right of the white coffee cup so the front serves as the reference point and it stays right side up.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Place the white cup to the right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Set the white cup to the right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Position the white cup to the right of the white coffee cup with the front as the reference point, right side up.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Using the right hand, place the white cup to the right of the white coffee cup.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "With the right hand, set the white cup to the right of the white coffee cup.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Have the right arm position the white cup to the right of the white coffee cup.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Put the white cup to the right of the white coffee cup.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Arrange the white cup to the right of the white coffee cup.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "To the right of the white coffee cup, place the white cup.", + "start_idx": 8751, + "end_idx": 8790 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top and at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Have the right arm pick the canned goods off the table with a top side hold at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "With the right hand, collect the canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Take the canned goods from the table using a side grip at the top and at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Pick the canned goods up from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "The canned goods should be picked up from the table with a top side hold at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "With the right hand, take the canned goods from the table using a side grasp on the top.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Have the right arm collect the canned goods from the table with a top side hold.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Pick up the canned goods from the table with the right hand at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Using the right hand, take the canned goods from the table at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Pick the canned goods up from the table at a diagonal angle.", + "start_idx": 8916, + "end_idx": 8940 + }, + { + "text": "Put the canned goods behind the yogurt with the right hand right side up with the front as the orientation reference point.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Using the right hand, place the canned goods behind the yogurt right side up, with the front as the reference point.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Have the right arm set the canned goods behind the yogurt in an upright orientation, referenced from the front.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "With the right hand, position the canned goods behind the yogurt so they are right side up relative to the front.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Place the canned goods behind the yogurt right side up, with the front as the reference point.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Set the canned goods behind the yogurt in an upright position relative to the front.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Position the canned goods behind the yogurt with the front as the orientation reference, right side up.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Using the right hand, put the canned goods behind the yogurt.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Have the right arm place the canned goods behind the yogurt.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "With the right hand, set the canned goods behind the yogurt.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Put the canned goods behind the yogurt.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Position the canned goods behind the yogurt.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Behind the yogurt, place the canned goods.", + "start_idx": 8940, + "end_idx": 8979 + }, + { + "text": "Pick up the carrot from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Using the right hand, take the carrot from the table with a side grip at the top from a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "From a diagonal angle, have the right hand grasp the carrot from the table with a side hold at the top.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "With the right hand, secure the carrot from the table by its top using a side grip at a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Pick up the carrot from the table with a side grip at the top from a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "From a diagonal angle, grasp the carrot from the table with a side hold at the top.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Take the carrot from the table by the top with a side grip at a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Use the right hand to pick up the carrot from the table.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Have the right hand take the carrot from the table.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "With the right hand, grasp the carrot from the table.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Pick up the carrot from the table with the right hand from a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Using the right hand, take the carrot from the table at the top from a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Grasp the carrot from the table at the top from a diagonal angle.", + "start_idx": 9063, + "end_idx": 9090 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Have the right arm pick up the white cup from the table using a diagonal lip grasp at the cup's right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "With the right hand, grasp the white cup from the table via a diagonal lip hold on the right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Grasp the white cup from the table via a diagonal lip hold at its right side.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Take the white cup from the table using the right hand.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Have the right arm collect the white cup from the table.", + "start_idx": 9249, + "end_idx": 9276 + }, + { + "text": "Put the white cup on the center of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Using the right hand, place the white cup at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Have the right arm set the white cup in the table's center, right side up, using the front as the orientation reference point.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "With the right hand, position the white cup on the center of the table so it is right side up relative to the front.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Place the white cup at the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Set the white cup on the center of the table right side up, using the front as the orientation reference point.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "The white cup goes on the center of the table right side up, with the front as the orientation reference point.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Using the right hand, place the white cup at the center of the table.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Have the right arm set the white cup in the table's center.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "With the right hand, position the white cup on the center of the table.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Put the white cup on the center of the table.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Set the white cup at the center of the table.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "The white cup goes in the center of the table.", + "start_idx": 9276, + "end_idx": 9321 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Using the right hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Have the right hand grasp the yogurt from the table at the top with a side hold from a diagonal angle.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "From a diagonal angle, pick the yogurt up from the table with the right hand using a side grip at the top.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "From a diagonal angle, grasp the yogurt from the table with a side hold at the top.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Take the yogurt from the table at the top with a side grip from a diagonal approach.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Pick up the yogurt from the table with the right hand using a side grip.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "With the right hand, grasp the yogurt from the table using a side hold.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Have the right hand take the yogurt from the table with a side grasp.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Pick up the yogurt from the table with the right hand at the top.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Using the right hand, take the yogurt from the table from a diagonal angle.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Grasp the yogurt from the table at the top.", + "start_idx": 9390, + "end_idx": 9429 + }, + { + "text": "Put the yogurt behind the red bell pepper with the right hand right side up with the front as the orientation reference point.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Using the right hand, place the yogurt behind the red bell pepper right side up, with the front as the orientation reference point.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Have the right arm set the yogurt behind the red bell pepper, keeping it right side up relative to its front.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "With the right hand, position the yogurt behind the red bell pepper in a right-side-up orientation using the front as reference.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Place the yogurt behind the red bell pepper right side up, with the front as the orientation reference point.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Set the yogurt behind the red bell pepper, keeping it right side up relative to the front.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Position the yogurt behind the red bell pepper in a right-side-up pose using the front as the reference point.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Using the right hand, place the yogurt behind the red bell pepper.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "With the right hand, set the yogurt behind the red bell pepper.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Have the right arm position the yogurt behind the red bell pepper.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Put the yogurt behind the red bell pepper.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Arrange the yogurt behind the red bell pepper.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Deposit the yogurt behind the red bell pepper.", + "start_idx": 9429, + "end_idx": 9465 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Have the right hand take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Take the carrot from the table with a diagonal approach at its middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Retrieve the carrot from the table diagonally by the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "With the right hand, take the carrot from the table by the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Have the right hand retrieve the carrot from the table.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Take the carrot from the table at a diagonal angle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Grasp the carrot from the table by the middle.", + "start_idx": 9540, + "end_idx": 9570 + }, + { + "text": "Put the carrot behind the white cup with the right hand facing top left by the tip.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Using the right hand, place the carrot behind the white cup with the tip facing top left.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Have the right arm set the carrot behind the white cup so its tip points to the top left.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "With the right hand, position the carrot behind the white cup, tip oriented top left.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Place the carrot behind the white cup with the tip facing top left.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Set the carrot behind the white cup so the tip points top left.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Position the carrot behind the white cup, keeping its tip toward the top left.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Using the right hand, put the carrot behind the white cup.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Have the right arm place the carrot behind the white cup.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "With the right hand, set the carrot behind the white cup.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Place the carrot behind the white cup.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Set the carrot behind the white cup.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Position the carrot behind the white cup.", + "start_idx": 9570, + "end_idx": 9621 + }, + { + "text": "Return both arms to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Bring both arms to their home position.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Have both arms return to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Return the arms to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Bring the arms back to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Move the arms to the home position.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Set the arms back to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Have the arms go to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Send the arms back home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "The arms should return to home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Bring both manipulators home.", + "start_idx": 9684, + "end_idx": 9705 + }, + { + "text": "Move both manipulators to the home position.", + "start_idx": 9684, + "end_idx": 9705 + } + ] + }, + "2026-03-17-18-09-03-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "pick and place day 2 of data collection", + "total_frames": 9825, + "num_annotations": 3963, + "annotations": [ + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "With the right hand, grasp the white canned goods on the table from a diagonal angle, holding the top with a side grasp.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Have the right hand retrieve the white canned goods from the table by taking the top with a side hold from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Take the white canned goods from the table, using a side grasp at the top from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Grasp the white canned goods on the table at the top with a side hold from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "With the right hand, take the white canned goods from the table.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Have the right hand grasp the white canned goods from the table.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Take the white canned goods from the table with the right hand.", + "start_idx": 177, + "end_idx": 204 + }, + { + "text": "Put the white canned goods to the right of the blue soda can with the right hand.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Have the right arm set the white canned goods on the right side of the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "With the right hand, position the white canned goods to the blue soda can's right.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Place the white canned goods to the right of the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Set the white canned goods on the right side of the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Position the white canned goods to the blue soda can's right.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Put the white canned goods by the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Move the white canned goods next to the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Using the right hand, put the white canned goods by the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "With the right hand, move the white canned goods next to the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Have the right arm place the white canned goods beside the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Set the white canned goods beside the blue soda can.", + "start_idx": 204, + "end_idx": 237 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Have the right hand grasp the blue soda can from the table from the top using a side hold at a diagonal angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "With the right hand, secure the blue soda can from the table by its top using a side grasp at a diagonal pick angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "From the table, grasp the blue soda can by the top with a side hold at a diagonal angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top and a diagonal pickup angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Have the right hand take the blue soda can from the table using a side grasp at the top.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "With the right hand, grasp the blue soda can from the table by the top using a side hold.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Pick up the blue soda can from the table with the right hand at the top using a diagonal pick angle.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Using the right hand, take the blue soda can from the table from the top.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Grasp the blue soda can from the table by the top.", + "start_idx": 426, + "end_idx": 456 + }, + { + "text": "Put the blue soda can to the right of the blue screwdriver with the right hand.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Place the blue soda can to the right of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Set the blue soda can down to the right of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Position the blue soda can on the right side of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Move the blue soda can beside the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "The blue soda can goes to the right of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Put the blue soda can next to the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Set the blue soda can beside the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Have the can placed to the right of the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Position the blue soda can by the blue screwdriver.", + "start_idx": 456, + "end_idx": 498 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Have the right hand take the blue soda can from the table by its top, using a side grasp from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "With the right hand, grasp the blue soda can from the table at the top using a side hold from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Grasp the blue soda can from the table by the top using a side hold from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Take the blue soda can from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "With the right hand, take the blue soda can from the table by its top using a side grasp.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Have the right hand grasp the blue soda can from the table at the top with a side hold.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "With the right hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 693, + "end_idx": 729 + }, + { + "text": "Put the blue soda can to the right of the pink plate with the right hand.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Place the blue soda can to the right of the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Set the blue soda can on the right side of the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "The blue soda can goes to the right of the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Position the blue soda can by the pink plate with the right hand.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Using the right hand, put the blue soda can next to the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Have the right arm place the blue soda can beside the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Put the blue soda can by the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Set the blue soda can beside the pink plate with the right hand.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "The blue soda can should be placed next to the pink plate.", + "start_idx": 729, + "end_idx": 771 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Have the right hand take the white canned goods off the table, grasping the top with a side hold at a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "With the right hand, remove the white canned goods from the table using a side grasp on the top from a diagonal approach.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Take the white canned goods off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "The white canned goods should be picked up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Have the right hand take the white canned goods off the table.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "With the right hand, remove the white canned goods from the table.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Pick up the white canned goods from the table with the right hand.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "The white canned goods should be taken off the table with the right hand.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1044, + "end_idx": 1074 + }, + { + "text": "Put the white canned goods to the right of the blue soda can with the right hand.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Have the right arm set the white canned goods to the right of the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "With your right hand, position the white canned goods to the right of the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Place the white canned goods to the right of the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Set the white canned goods to the right of the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "The white canned goods should go to the right of the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Position the white canned goods by the blue soda can with the right hand.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Using the right hand, set the white canned goods next to the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Have the right arm place the white canned goods beside the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Put the white canned goods by the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Set the white canned goods beside the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "The white canned goods should be placed next to the blue soda can.", + "start_idx": 1074, + "end_idx": 1113 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle gripping the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, gripping the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Have the right hand take the blue marker from the table diagonally by the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "With the right hand, grasp the blue marker from the table at a diagonal angle from its middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, gripping the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Grasp the blue marker from the table at a diagonal angle from its middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Using the right hand, pick up the blue marker from the table, gripping the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "With the right hand, take the blue marker from the table by the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Have the right hand grasp the blue marker from the table at the middle.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Pick up the blue marker from the table with the right hand.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Using the right hand, take the blue marker from the table.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Grasp the blue marker from the table.", + "start_idx": 1416, + "end_idx": 1446 + }, + { + "text": "Put the blue marker to the left of the blue screwdriver with the right hand with its tip facing left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Using the right hand, place the blue marker to the left of the blue screwdriver with its tip pointing left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Have the right hand set the blue marker left of the blue screwdriver, keeping the tip oriented left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "With the right hand, position the blue marker on the left side of the blue screwdriver so its tip faces left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Place the blue marker to the left of the blue screwdriver with its tip facing left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Set the blue marker left of the blue screwdriver with the tip pointing left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Position the blue marker on the left side of the blue screwdriver, with its tip oriented left.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Using the right hand, put the blue marker to the left of the blue screwdriver.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Have the right hand place the blue marker left of the blue screwdriver.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "With the right hand, set the blue marker on the left side of the blue screwdriver.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Put the blue marker to the left of the blue screwdriver.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Using the right hand, place the blue marker to the left of the blue screwdriver.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Set the blue marker left of the blue screwdriver.", + "start_idx": 1446, + "end_idx": 1479 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Have the right arm grasp the blue screwdriver from the table with a side hold at the bottom at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "With the right hand, collect the blue screwdriver from the table using a bottom side grasp and a diagonal approach.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the bottom and a diagonal pick angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Grasp the blue screwdriver from the table with a side hold at the bottom at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "With the right hand, take the blue screwdriver from the table using a side grasp at the bottom.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Have the right arm collect the blue screwdriver from the table with a side hold at the bottom.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Using the right hand, grasp the blue screwdriver from the table at a diagonal angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table with a diagonal approach.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Get the blue screwdriver from the table with a diagonal pick angle.", + "start_idx": 1809, + "end_idx": 1848 + }, + { + "text": "Put the blue screwdriver in front of the white canned goods with the right hand with its tip facing top right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Using the right hand, place the blue screwdriver in front of the white canned goods with its tip pointing to the top right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Have the right arm set the blue screwdriver in front of the white canned goods, tip oriented toward the top right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "With the right hand, position the blue screwdriver before the white canned goods so its tip faces the upper right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Place the blue screwdriver in front of the white canned goods with its tip pointing to the top right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Set the blue screwdriver before the white canned goods, with the tip directed toward the upper right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "The blue screwdriver goes in front of the white canned goods, tip facing top right.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Using the right hand, place the blue screwdriver in front of the white canned goods.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Have the right arm put the blue screwdriver before the white canned goods.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "With the right hand, position the blue screwdriver in front of the white canned goods.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Place the blue screwdriver in front of the white canned goods.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Set the blue screwdriver before the white canned goods.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Put the blue screwdriver in front of the white canned goods.", + "start_idx": 1848, + "end_idx": 1887 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Have the right arm collect the white canned goods from the table with a top side grip at a diagonal angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "With the right hand, secure the white canned goods from the table using a side hold at the top with a diagonal approach.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Collect the white canned goods from the table with a top side grip and a diagonal approach.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "With the right hand, take the white canned goods from the table.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Have the right arm collect the white canned goods from the table.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Using the right hand, secure the white canned goods from the table.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Take the white canned goods from the table at the top with a diagonal angle.", + "start_idx": 2079, + "end_idx": 2109 + }, + { + "text": "Put the white canned goods to the right of the blue soda can with the right hand.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Have the right arm set the white canned goods to the right of the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "With the right hand, position the white canned goods on the right side of the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Place the white canned goods to the right of the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Set the white canned goods on the right side of the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "The white canned goods go to the right of the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Position the white canned goods beside the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Using the right hand, place the white canned goods by the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "With the right hand, set the white canned goods beside the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Have the right arm position the white canned goods by the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Place the white canned goods by the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Set the white canned goods next to the blue soda can.", + "start_idx": 2109, + "end_idx": 2145 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Have the right arm take the blue screwdriver from the table diagonally by its middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal hold at its middle.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Take the blue screwdriver from the table with the right hand.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally.", + "start_idx": 2217, + "end_idx": 2253 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate with the right hand facing top right with the tip as the reference point.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Using the right hand, set the blue screwdriver to the right of the pink plate with the tip facing top right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Have the right hand place the blue screwdriver to the pink plate's right, oriented top right by the tip.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "With the right hand, position the blue screwdriver right of the pink plate, tip pointing toward the top right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate with the tip facing top right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Set the blue screwdriver to the pink plate's right, with the tip oriented toward the top right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Position the blue screwdriver right of the pink plate, keeping the tip pointed top right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Set the blue screwdriver to the pink plate's right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Position the blue screwdriver right of the pink plate.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the pink plate.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Have the right hand set the blue screwdriver to the pink plate's right.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "With the right hand, position the blue screwdriver right of the pink plate.", + "start_idx": 2253, + "end_idx": 2286 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Have the right arm grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "With the right hand, collect the white canned goods from the table by the top with a side grasp and a diagonal approach.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Take the white canned goods from the table by the top using a side grasp at a diagonal angle.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Grasp the white canned goods from the table at the top with a side hold and a diagonal approach.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "With the right hand, take the white canned goods from the table using a side grasp at the top.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Have the right arm secure the white canned goods from the table with a side hold at the top.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a diagonal pick angle.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Pick up the white canned goods from the table with the right hand.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Take the white canned goods from the table by the top.", + "start_idx": 2424, + "end_idx": 2454 + }, + { + "text": "Put the white canned goods in front of the blue screwdriver with the right hand right side up.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Using the right hand, place the white canned goods in front of the blue screwdriver right side up.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Have the right arm set the white canned goods in front of the blue screwdriver, keeping it right side up.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "With the right hand, position the white canned goods in front of the blue screwdriver so it stays upright.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Place the white canned goods in front of the blue screwdriver right side up.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Set the white canned goods in front of the blue screwdriver upright.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Position the white canned goods in front of the blue screwdriver with its top facing up.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Put the white canned goods in front of the blue screwdriver.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Using the right hand, place the white canned goods in front of the blue screwdriver.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "With the right hand, set the white canned goods in front of the blue screwdriver.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Have the right arm position the white canned goods in front of the blue screwdriver.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Place the white canned goods in front of the blue screwdriver.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Set the white canned goods in front of the blue screwdriver.", + "start_idx": 2454, + "end_idx": 2487 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Have the right hand pick the white canned goods off the table using a top side grip with a diagonal approach.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top using a side hold and a diagonal angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Take the white canned goods off the table with a top side grasp and a diagonal approach.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Grasp the white canned goods from the table at the top with a side hold and a diagonal angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Have the right hand take the white canned goods off the table using a top side grasp.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top using a side hold.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Using the right hand, take the white canned goods off the table with a diagonal approach.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Grasp the white canned goods from the table at the top with a diagonal angle.", + "start_idx": 2730, + "end_idx": 2751 + }, + { + "text": "Put the white canned goods to the right of the blue marker with the right hand.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "With the right hand, position the white canned goods to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Place the white canned goods to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Set the white canned goods down to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Position the white canned goods to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Move the white canned goods to the blue marker's right side.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "The white canned goods go to the right of the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Arrange the white canned goods beside the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Put the white canned goods next to the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Place the white canned goods by the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Set the white canned goods beside the blue marker.", + "start_idx": 2751, + "end_idx": 2790 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Have the right hand grasp the white canned goods from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "From a diagonal approach, the right hand should seize the white canned goods from the table with a side grasp at the top.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Take the white canned goods from the table, keeping the side grip at the top and the diagonal approach.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "From a diagonal angle, grasp the white canned goods from the table with a side hold at the top.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "The right hand should take the white canned goods from the table.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Pick up the white canned goods from the table with the right hand.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "With the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Using a side grip at the top, pick up the white canned goods from the table.", + "start_idx": 2937, + "end_idx": 2961 + }, + { + "text": "Put the white canned goods in front of the blue marker with the right hand.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white canned goods in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the white canned goods down in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the white canned goods in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Place the white canned goods in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Set the white canned goods in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Position the white canned goods in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Put the white canned goods by the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Arrange the white canned goods near the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "The white canned goods should go in front of the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Place the white canned goods by the blue marker with the right hand.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Using the right hand, set the white canned goods near the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Have the white canned goods placed by the blue marker.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Have the right arm pick the blue marker off the table diagonally by the middle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "With the right hand, retrieve the blue marker from the table, approaching diagonally and holding the middle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Take the blue marker off the table diagonally by the middle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Retrieve the blue marker from the table while grasping its middle at a diagonal angle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Have the right arm take the blue marker off the table.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Take the blue marker off the table with the right hand.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Get the blue marker from the table at a diagonal angle.", + "start_idx": 3060, + "end_idx": 3093 + }, + { + "text": "Put the blue marker to the right of the white canned goods with the right hand with its tip facing left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Using the right hand, place the blue marker to the right of the white canned goods with its tip pointing left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Have the right hand set the blue marker to the right of the white canned goods, tip facing left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "With the right arm, position the blue marker to the right of the white canned goods so its tip faces left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Place the blue marker to the right of the white canned goods with its tip pointing left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Set the blue marker to the right of the white canned goods, with the tip facing left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "The blue marker goes to the right of the white canned goods with its tip oriented left.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Using the right hand, place the blue marker to the right of the white canned goods.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "With the right arm, set the blue marker to the right of the white canned goods.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Have the right hand position the blue marker to the right of the white canned goods.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Put the blue marker to the right of the white canned goods.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Arrange the blue marker to the right of the white canned goods.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "The blue marker should be placed to the right of the white canned goods.", + "start_idx": 3093, + "end_idx": 3135 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top diagonally.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Have the right arm pick the white canned goods up from the table using a diagonal side grip at the top.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "With the right hand, grasp the white canned goods from the table from the side at the top on a diagonal.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top diagonally.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Grasp the white canned goods from the table with a side hold at the top diagonally.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top diagonally.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Have the right arm take the white canned goods from the table.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "With the right hand, grasp the white canned goods from the table.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Pick up the white canned goods from the table with the right hand diagonally at the top.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Using the right hand, take the white canned goods from the table.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Grasp the white canned goods from the table diagonally at the top.", + "start_idx": 3135, + "end_idx": 3174 + }, + { + "text": "Put the white canned goods behind the blue marker with the right hand.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Using the right hand, place the white canned goods behind the blue marker.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Have the right arm set the white canned goods behind the blue marker.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "With the right hand, position the white canned goods behind the blue marker.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Place the white canned goods behind the blue marker.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Set the white canned goods behind the blue marker.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Position the white canned goods behind the blue marker.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Put the white canned goods with the front facing forward using the right hand.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Using the right hand, place the white canned goods right side up.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Have the right arm set the white canned goods down.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Place the white canned goods with the front facing forward.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Set the white canned goods right side up.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Put the white canned goods down.", + "start_idx": 3174, + "end_idx": 3210 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top diagonally.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Have the right arm take the blue soda can from the table, grasping its top with a diagonal side hold.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top diagonally.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Take the blue soda can from the table using a side grasp on the top diagonally.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Retrieve the blue soda can from the table with a diagonal side hold at the top.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Have the right arm take the blue soda can from the table using a side hold.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table by grasping the top from the side.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table diagonally at the top.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 3342, + "end_idx": 3375 + }, + { + "text": "Put the blue soda can behind the white canned goods with the right hand.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Using the right hand, place the blue soda can behind the white canned goods upright from the front.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Have the right arm set the blue soda can behind the white canned goods, keeping it right side up relative to the front.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "With the right hand, position the blue soda can behind the white canned goods so it stays upright facing the front.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Place the blue soda can behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Set the blue soda can behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Position the blue soda can behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Arrange the blue soda can behind the white canned goods, keeping it right side up relative to the front.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Keep the blue soda can upright and place it behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Put the blue soda can behind the white canned goods so it remains right side up.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Using the right hand, place the blue soda can behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "With the right hand, set the blue soda can behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Have the right arm put the blue soda can behind the white canned goods.", + "start_idx": 3375, + "end_idx": 3414 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Have the right hand take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Have the right hand take the blue marker from the table.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 3483, + "end_idx": 3516 + }, + { + "text": "Put the blue marker between the blue screwdriver and the white canned goods with the right hand facing forwards with the tip facing forwards.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Using the right hand, place the blue marker between the blue screwdriver and the white canned goods, with its tip pointing forward.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Have the right hand set the blue marker between the blue screwdriver and the white canned goods, oriented forward at the tip.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "With the right hand, position the blue marker between the blue screwdriver and the white canned goods so the tip faces forward.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Place the blue marker between the blue screwdriver and the white canned goods, with its tip pointing forward.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Set the blue marker between the blue screwdriver and the white canned goods so the tip faces forward.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Position the blue marker between the blue screwdriver and the white canned goods, oriented with the tip forward.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Using the right hand, put the blue marker between the blue screwdriver and the white canned goods.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Have the right hand place the blue marker between the blue screwdriver and the white canned goods.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "With the right hand, set the blue marker between the blue screwdriver and the white canned goods.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Place the blue marker between the blue screwdriver and the white canned goods.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Set the blue marker between the blue screwdriver and the white canned goods.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Position the blue marker between the blue screwdriver and the white canned goods.", + "start_idx": 3516, + "end_idx": 3543 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grasp at the top from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Have the right hand pick the blue soda can off the table using a side grasp on the top from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "From a diagonal angle, grasp the top of the blue soda can on the table with the right hand using a side grasp.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Pick up the blue soda can from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Take the blue soda can off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "From a diagonal angle, pick the blue soda can up from the table with a side grasp on the top.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Have the right hand take the blue soda can off the table.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Using the right hand, take the blue soda can from the table from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 3543, + "end_idx": 3570 + }, + { + "text": "Put the blue soda can in front of the blue marker with the right hand.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Using the right hand, place the blue soda can in front of the blue marker upright.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Have the right arm set the blue soda can upright in front of the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "With the right hand, position the blue soda can right side up before the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Place the blue soda can in front of the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Set the blue soda can before the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Position the blue soda can in front of the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Put the blue soda can by the blue marker with the right hand.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Using the right hand, place the blue soda can in front of the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Have the right arm set the blue soda can before the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Place the blue soda can by the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Set the blue soda can in front of the blue marker upright.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Position the blue soda can upright before the blue marker.", + "start_idx": 3570, + "end_idx": 3609 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Have the right arm grasp the blue marker from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "With the right hand, collect the blue marker from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Take the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Grasp the blue marker from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "The blue marker from the table should be picked up by the bottom with a side grasp from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "With the right hand, take the blue marker from the table by the bottom using a side grasp.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Have the right arm pick up the blue marker from the table with a side hold.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Using the right hand, pick up the blue marker from the table from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Pick up the blue marker from the table at the bottom from a diagonal angle.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "The blue marker from the table should be picked up by the bottom.", + "start_idx": 3672, + "end_idx": 3699 + }, + { + "text": "Put the blue marker to the right of the blue soda can with the right hand with its tip facing left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Using the right hand, place the blue marker to the right of the blue soda can with its tip pointing left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Have the right arm set the blue marker to the right of the blue soda can, tip facing left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "With the right hand, position the blue marker to the right of the blue soda can so its tip faces left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Place the blue marker to the right of the blue soda can with its tip pointing left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Set the blue marker to the right of the blue soda can, with the tip facing left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Position the blue marker to the right of the blue soda can so the tip points left.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Using the right hand, put the blue marker to the right of the blue soda can.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Have the right arm place the blue marker to the right of the blue soda can.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "With the right hand, set the blue marker to the right of the blue soda can.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Place the blue marker to the right of the blue soda can.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Set the blue marker with the right hand.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Have the right arm place the blue marker.", + "start_idx": 3699, + "end_idx": 3732 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Have the right arm pick the blue soda can off the table using a top side grip at a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "With the right hand, grasp the blue soda can from the table on its top using a side hold from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Grasp the blue soda can off the table with a side hold on the top from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "The blue soda can should be picked up from the table with a top side grasp from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Have the right arm take the blue soda can off the table.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Grasp the blue soda can off the table from a diagonal angle.", + "start_idx": 3732, + "end_idx": 3768 + }, + { + "text": "Put the blue soda can behind the white canned goods with the right hand.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Using the right hand, place the blue soda can behind the white canned goods upright.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Have the right arm set the blue soda can behind the white canned goods in an upright position.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "With the right hand, position the blue soda can behind the white canned goods right side up.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Place the blue soda can behind the white canned goods upright.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Set the blue soda can behind the white canned goods in an upright position.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Position the blue soda can behind the white canned goods right side up.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Using the right hand, put the blue soda can behind the white canned goods.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "With the right hand, place the blue soda can behind the white canned goods.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Have the right arm position the blue soda can behind the white canned goods.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Put the blue soda can behind the white canned goods.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Set the blue soda can behind the white canned goods.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Position the blue soda can behind the white canned goods.", + "start_idx": 3768, + "end_idx": 3804 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Have the right arm grasp the blue soda can from the table with a side hold at the top on a diagonal angle.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "With the right hand, seize the blue soda can from the table using a top side grasp at a diagonal approach.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top and a diagonal approach.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top on a diagonal pick angle.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "With the right hand, take the blue soda can from the table using a side grasp at the top.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Have the right arm grasp the blue soda can from the table with a top side hold.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table at a diagonal angle.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "With the right hand, take the blue soda can from the table on a diagonal approach.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Have the right arm grasp the blue soda can from the table diagonally.", + "start_idx": 3935, + "end_idx": 3965 + }, + { + "text": "Put the blue soda can behind the blue screwdriver with the right hand.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Using the right hand, place the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Have the right arm set the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "With the right hand, position the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Place the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Set the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Position the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Move the blue soda can behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Have the blue soda can placed behind the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Using the right hand, place the blue soda can by the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Set the blue soda can by the blue screwdriver with the right hand.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Place the blue soda can by the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Have the right arm put the blue soda can by the blue screwdriver.", + "start_idx": 3965, + "end_idx": 4007 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "With the right arm, grasp the white canned goods from the table at the top using a side grasp and a diagonal approach.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Have the right hand pick the white canned goods off the table with a top side hold at a diagonal angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Take the white canned goods off the table with a side grasp at the top and a diagonal approach.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "The white canned goods from the table should be grasped at the top with a side hold and a diagonal pick angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "With the right arm, take the white canned goods from the table using a side grasp at the top.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Have the right hand grasp the white canned goods off the table with a top side hold.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a diagonal pick angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "With the right arm, take the white canned goods off the table at the top and with a diagonal approach.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Pick up the white canned goods from the table at the top with a diagonal pick angle.", + "start_idx": 4077, + "end_idx": 4101 + }, + { + "text": "Put the white canned goods to the right of the blue screwdriver with the right hand.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "With the right hand, position the white canned goods on the blue screwdriver's right side.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Place the white canned goods to the right of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Set the white canned goods on the right side of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "The white canned goods go to the right of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Put the white canned goods by the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Position the white canned goods next to the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Set the white canned goods to the right of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Place the white canned goods beside the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Have the white canned goods placed to the right of the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "The white canned goods should be set by the blue screwdriver.", + "start_idx": 4101, + "end_idx": 4137 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Have the right hand grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "With the right hand, take the white canned goods from the table by the top using a side grasp on a diagonal.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Take the white canned goods from the table from the top with a side grasp at a diagonal angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "The white canned goods from the table should be picked up by the top with a side hold and a diagonal approach.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a side grip at the top.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Have the right hand take the white canned goods from the table by the top with a side grasp.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a diagonal pick angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Take the white canned goods from the table from the top at a diagonal angle.", + "start_idx": 4206, + "end_idx": 4242 + }, + { + "text": "Put the white canned goods to the right of the blue screwdriver with the right hand.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "With the right hand, position the white canned goods on the blue screwdriver's right side.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Place the white canned goods to the right of the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Set the white canned goods down to the right of the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Position the white canned goods on the right side of the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Using the right hand, put the white canned goods by the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "With the right hand, place the white canned goods next to the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Have the right arm set the white canned goods beside the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Put the white canned goods by the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Position the white canned goods beside the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Set down the white canned goods next to the blue screwdriver.", + "start_idx": 4242, + "end_idx": 4281 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Have the right arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "With the right hand, retrieve the blue marker from the table at a diagonal angle by gripping the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Take the blue marker from the table at a diagonal angle while holding the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup, gripping its middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Using the right hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Have the right arm take the blue marker from the table by the middle.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "The blue marker on the table should be picked up.", + "start_idx": 4419, + "end_idx": 4443 + }, + { + "text": "Put the blue marker on top of the pink plate with the right hand with its tip facing top right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Using the right hand, place the blue marker on top of the pink plate with its tip pointing to the top right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Have the right hand set the blue marker onto the pink plate, keeping the tip oriented top right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "With the right hand, position the blue marker on the pink plate so its tip faces the upper right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Place the blue marker on top of the pink plate with its tip facing the top right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Set the blue marker onto the pink plate with the tip pointed top right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Position the blue marker on the pink plate so the tip points to the upper right.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Using the right hand, put the blue marker on top of the pink plate.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "With the right hand, set the blue marker onto the pink plate.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Have the right hand place the blue marker on the pink plate.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Put the blue marker on top of the pink plate.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Set the blue marker onto the pink plate.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Position the blue marker on the pink plate.", + "start_idx": 4443, + "end_idx": 4479 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Have the right arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "With the right hand, grasp the middle of the blue screwdriver on the table and pick it up diagonally.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Grasp the middle of the blue screwdriver on the table and pick it up at a diagonal angle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup while holding the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "With the right hand, grasp the blue screwdriver on the table and pick it up.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Pick up the blue screwdriver from the table grasping the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Take the blue screwdriver from the table while holding the middle.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Grasp the blue screwdriver on the table and pick it up.", + "start_idx": 4548, + "end_idx": 4572 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate with the right hand facing top left with its tip as the reference point.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Using the right hand, place the blue screwdriver to the left of the pink plate with the tip facing top left.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Have the right hand set the blue screwdriver left of the pink plate, oriented top left from its tip.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "With the right hand, position the blue screwdriver to the left of the pink plate so its tip points top left.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate with the tip facing top left.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Set the blue screwdriver left of the pink plate, with its tip oriented toward the top left.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate so the tip points top left.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Using the right hand, put the blue screwdriver to the left of the pink plate.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "With the right hand, place the blue screwdriver left of the pink plate.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Have the right hand position the blue screwdriver to the left of the pink plate.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Set the blue screwdriver to the left of the pink plate.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Position the blue screwdriver left of the pink plate.", + "start_idx": 4572, + "end_idx": 4614 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "From a diagonal angle, have the right hand grasp the top of the white canned goods on the table with a side hold.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "With the right hand, secure the white canned goods from the table by the top using a side grip from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Take the white canned goods from the table, grasping the top with a side hold from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "The white canned goods should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Have the right hand take the white canned goods from the table.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "With the right hand, collect the white canned goods from the table.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "From a diagonal angle, take the white canned goods from the table.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 4695, + "end_idx": 4725 + }, + { + "text": "Put the white canned goods behind the pink plate with the right hand.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Using the right hand, place the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Have the right arm set the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "With your right hand, position the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Place the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Set the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Position the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Move the white canned goods behind the pink plate.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Behind the pink plate, put the white canned goods.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Using the right hand, place the white canned goods.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Have the right arm set the white canned goods down.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Put the white canned goods in place with the right hand.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Place the white canned goods down.", + "start_idx": 4725, + "end_idx": 4764 + }, + { + "text": "Pick up the blue marker from the pink plate with the right hand at a diagonal angle grasping the middle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Using the right hand, take the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Have the right hand retrieve the blue marker from the pink plate with a diagonal pickup, holding it at the middle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "With the right hand, collect the blue marker from the pink plate by grasping its middle at a diagonal angle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Pick up the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Take the blue marker from the pink plate, holding the middle at a diagonal angle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "From the pink plate, retrieve the blue marker with a diagonal pickup at the middle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Pick up the blue marker from the pink plate with the right hand.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Use the right hand to take the blue marker from the pink plate.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Have the right hand pick up the blue marker from the pink plate.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Pick up the blue marker from the pink plate.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Take the blue marker from the pink plate at a diagonal angle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "With the right hand, pick up the blue marker from the pink plate at a diagonal angle.", + "start_idx": 4836, + "end_idx": 4869 + }, + { + "text": "Put the blue marker to the right of the pink plate with the right hand with its tip facing left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Using the right hand, place the blue marker to the right of the pink plate with its tip pointing left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Have the right hand set the blue marker to the right of the pink plate, tip facing left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "With the right hand, position the blue marker to the right of the pink plate so its tip faces left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Place the blue marker to the right of the pink plate with its tip pointing left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Set the blue marker to the right of the pink plate, with the tip facing left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Position the blue marker to the right of the pink plate so the tip points left.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Using the right hand, put the blue marker to the right of the pink plate.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "With the right hand, place the blue marker to the right of the pink plate.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Have the right hand set the blue marker to the right of the pink plate.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Put the blue marker to the right of the pink plate.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Position the blue marker with the right hand to the right of the pink plate.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Set the blue marker to the right of the pink plate.", + "start_idx": 4869, + "end_idx": 4902 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top at a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a top side hold at a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Have the right arm pick the white canned goods off the table with a side grasp on the top at a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Grasp the white canned goods from the table with a side hold at the top at a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "The white canned goods from the table should be picked up with a side grasp on the top at a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "With the right hand, take the white canned goods from the table using a side grasp on the top.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Have the right arm grasp the white canned goods from the table at the top with a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Pick up the white canned goods from the table with the right hand.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "The white canned goods from the table should be picked up.", + "start_idx": 4968, + "end_idx": 4995 + }, + { + "text": "Put the white canned goods in front of the blue marker with the right hand.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Using the right hand, place the white canned goods in front of the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Have the right arm set the white canned goods down in front of the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "With the right hand, position the white canned goods before the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Place the white canned goods in front of the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Set the white canned goods down in front of the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Position the white canned goods before the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "The white canned goods should go by the blue marker.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Put the white canned goods with the right hand.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Using the right hand, set down the white canned goods.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Have the right arm place the white canned goods.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Place the white canned goods.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Set down the white canned goods.", + "start_idx": 4995, + "end_idx": 5031 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Have the right arm pick up the blue marker from the table diagonally by its middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "With the right hand, retrieve the blue marker from the table, holding it at a diagonal angle around the center.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Take the blue marker from the table diagonally by its middle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Retrieve the blue marker from the table while holding the center at a diagonal angle.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "With the right hand, take the blue marker from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Have the right arm retrieve the blue marker from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 5199, + "end_idx": 5232 + }, + { + "text": "Put the blue marker on top of the pink plate with the right hand with its tip facing bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Using the right hand, place the blue marker on top of the pink plate with its tip pointing to the bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Have the right arm set the blue marker atop the pink plate so the tip faces bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "With the right hand, position the blue marker on the pink plate, tip directed toward the bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Place the blue marker on top of the pink plate with its tip facing bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Set the blue marker atop the pink plate so its tip points to the bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Position the blue marker on the pink plate with the tip oriented toward bottom left.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Put the blue marker on top of the pink plate with the right hand.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Using the right hand, place the blue marker atop the pink plate.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Have the right arm set the blue marker on the pink plate.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Put the blue marker on top of the pink plate.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Set the blue marker atop the pink plate.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Position the blue marker on the pink plate.", + "start_idx": 5232, + "end_idx": 5259 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top, held diagonally.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Have the right arm pick up the white canned goods from the table with a top side grip at a diagonal angle.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a side hold on the top at a diagonal.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Take the white canned goods from the table with a side grasp on the top at a diagonal.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Grasp the white canned goods from the table using a top side hold at a diagonal angle.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "With the right hand, take the white canned goods from the table using a side grasp.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Have the right arm grasp the white canned goods from the table with a side hold.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top with a diagonal angle.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Take the white canned goods from the table with the right hand at a diagonal angle.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top.", + "start_idx": 5331, + "end_idx": 5361 + }, + { + "text": "Put the white canned goods on the top side of the table with the right hand.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Using the right hand, place the white canned goods on the table's top side, right side up from the front.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Have the right arm set the white canned goods on the top side of the table, keeping them right side up relative to the front.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "With the right hand, position the white canned goods on the table's top side so the front remains right side up.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Place the white canned goods on the top side of the table.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Set the white canned goods on the table's top side.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "The white canned goods should go on the top side of the table.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Using the right hand, put the white canned goods on the top side of the table.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "With the right hand, set the white canned goods on the table's top side.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Have the right arm place the white canned goods on the top side of the table.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Place the white canned goods on the table's top side, right side up from the front.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Set the white canned goods right side up from the front on the top side of the table.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "The white canned goods should be placed on the top side of the table, with the front right side up.", + "start_idx": 5361, + "end_idx": 5394 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Have the right arm take the blue screwdriver off the table, grasping its bottom with a side hold from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "With the right hand, secure the blue screwdriver from the table in a side grasp at the bottom from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Pick up the blue screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Take the blue screwdriver off the table in a side grasp at the bottom from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "From the table, grasp the blue screwdriver at the bottom with a side hold from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Have the right arm take the blue screwdriver off the table with a side hold at the bottom.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table at the bottom using a side grasp.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Have the right arm take the blue screwdriver off the table at the bottom from a diagonal angle.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "From the table, grasp the blue screwdriver at the bottom.", + "start_idx": 5652, + "end_idx": 5688 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate with the right hand with its tip facing top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the pink plate with its tip pointing to the top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Have the right hand set the blue screwdriver to the right of the pink plate, tip aimed toward the top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "With the right hand, position the blue screwdriver to the right of the pink plate so its tip faces top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate with its tip pointing to the top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate so the tip faces top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate, with the tip oriented top right.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Using the right hand, put the blue screwdriver to the right of the pink plate.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "With the right hand, place the blue screwdriver to the right of the pink plate.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Have the right hand position the blue screwdriver to the right of the pink plate.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate.", + "start_idx": 5688, + "end_idx": 5721 + }, + { + "text": "Pick up the blue soda can from the pink plate with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Using the right hand, take the blue soda can from the pink plate with a side grasp at the top from a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Have the right arm pick the blue soda can off the pink plate using a side grip on the top at a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "With the right hand, grasp the blue soda can from the pink plate by the top using a side hold from a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Pick up the blue soda can from the pink plate using a side grip at the top from a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Take the blue soda can off the pink plate with a side grasp on the top from a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Grasp the blue soda can from the pink plate by the top with a side hold from a diagonal angle.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Using the right hand, pick up the blue soda can from the pink plate.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Have the right arm take the blue soda can off the pink plate.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "With the right hand, grasp the blue soda can from the pink plate.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Pick up the blue soda can from the pink plate with the right hand.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Using the right hand, take the blue soda can off the pink plate.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Pick up the blue soda can from the pink plate.", + "start_idx": 5781, + "end_idx": 5808 + }, + { + "text": "Put the blue soda can to the left of the blue marker with the right hand.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Using the right hand, place the blue soda can to the left of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Have the right arm set the blue soda can down left of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "With the right hand, position the blue soda can on the left side of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Place the blue soda can to the left of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Set the blue soda can down left of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Position the blue soda can on the left side of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Move the blue soda can beside the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Put the blue soda can near the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Set the blue soda can down by the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Place the blue soda can left of the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Using the right hand, move the blue soda can beside the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Have the right arm put the blue soda can near the blue marker.", + "start_idx": 5808, + "end_idx": 5844 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Have the right hand take the white canned goods from the table, grasping the top with a side hold at a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table using a side grasp on the top from a diagonal approach.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Retrieve the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Take the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "With the right hand, take the white canned goods from the table using a side grasp on the top.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Have the right hand retrieve the white canned goods from the table with a side hold at the top.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "With the right hand, take the white canned goods from the table from a diagonal approach.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 5844, + "end_idx": 5871 + }, + { + "text": "Put the white canned goods on top of the pink plate with the right hand.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Using the right hand, place the white canned goods on top of the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Have the right arm set the white canned goods atop the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "With the right hand, position the white canned goods on the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Place the white canned goods on top of the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Set the white canned goods atop the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "The white canned goods should go on the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Put the white canned goods onto the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Using the right hand, put the white canned goods on the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "With the right hand, set the white canned goods atop the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Have the right arm place the white canned goods on the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Position the white canned goods on the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Set the white canned goods on the pink plate.", + "start_idx": 5871, + "end_idx": 5910 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Have the right arm grasp the blue screwdriver from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "With the right hand, take the blue screwdriver from the table using a side grasp at the bottom on a diagonal.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Pick up the blue screwdriver from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Take the blue screwdriver from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Grasp the blue screwdriver from the table with a side hold at the bottom on a diagonal.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Have the right arm take the blue screwdriver from the table using a side grasp at the bottom.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table using a side hold on the bottom.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Have the right arm grasp the blue screwdriver from the table on a diagonal.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "With the right hand, take the blue screwdriver from the table.", + "start_idx": 5910, + "end_idx": 5934 + }, + { + "text": "Put the blue screwdriver behind the blue marker with the right hand facing forwards with the tip as the reference point.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Using the right hand, place the blue screwdriver behind the blue marker with the tip facing forwards.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Have the right arm set the blue screwdriver behind the blue marker, oriented forward relative to its tip.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "With the right hand, position the blue screwdriver behind the blue marker so the tip faces forwards.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Place the blue screwdriver behind the blue marker with the tip facing forwards.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Set the blue screwdriver behind the blue marker, keeping the tip oriented forwards.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Position the blue screwdriver behind the blue marker so its tip points forwards.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Using the right hand, put the blue screwdriver behind the blue marker.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "With the right hand, place the blue screwdriver behind the blue marker.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Have the right arm set the blue screwdriver behind the blue marker.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Put the blue screwdriver behind the blue marker.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Position the blue screwdriver behind the blue marker.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Set the blue screwdriver behind the blue marker.", + "start_idx": 5934, + "end_idx": 5970 + }, + { + "text": "Pick up the white canned goods from the pink plate with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Using the right hand, take the white canned goods from the pink plate with a side grip at the top and a diagonal pick angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Have the right hand grasp the white canned goods from the pink plate from the top with a side hold at a diagonal angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "With the right hand, retrieve the white canned goods from the pink plate using a side grasp on the top at a diagonal angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Pick up the white canned goods from the pink plate with a side grip at the top and a diagonal pick angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Take the white canned goods from the pink plate from the top with a side grasp at a diagonal angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Retrieve the white canned goods from the pink plate using a side hold on the top at a diagonal angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Using the right hand, pick up the white canned goods from the pink plate.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Have the right hand take the white canned goods from the pink plate.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "With the right hand, collect the white canned goods from the pink plate.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Pick up the white canned goods from the pink plate with the right hand at the top with a diagonal pick angle.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "From the pink plate, take the white canned goods with the right hand.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Using the right hand, grasp the white canned goods from the pink plate.", + "start_idx": 6087, + "end_idx": 6111 + }, + { + "text": "Put the white canned goods behind the blue marker with the right hand.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Using the right hand, place the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Have the right arm set the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "With the right hand, position the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Place the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Set the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Position the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "The white canned goods go behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Move the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Transfer the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Put the white canned goods behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Behind the blue marker, place the white canned goods.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Have the white canned goods placed behind the blue marker.", + "start_idx": 6111, + "end_idx": 6141 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Have the right arm grasp the blue screwdriver from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Grasp the blue screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Take the blue screwdriver from the table using a side hold at the bottom with a diagonal approach.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Retrieve the blue screwdriver from the table with a side grasp on the bottom at a diagonal angle.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Have the right arm take the blue screwdriver from the table with a side hold at the bottom.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table using a side grasp on the bottom.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal pick angle.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Have the right arm retrieve the blue screwdriver from the table with a diagonal approach.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 6141, + "end_idx": 6168 + }, + { + "text": "Put the blue screwdriver between the white canned goods and the pink plate with the right hand facing left with the tip as the reference point.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Using the right hand, place the blue screwdriver between the white canned goods and the pink plate, with the tip facing left.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Have the right arm set the blue screwdriver between the white canned goods and the pink plate so the tip points left.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "With the right hand, position the blue screwdriver between the white canned goods and the pink plate, oriented leftward by its tip.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Place the blue screwdriver between the white canned goods and the pink plate with the tip facing left.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Set the blue screwdriver between the white canned goods and the pink plate so the tip points left.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Position the blue screwdriver between the white canned goods and the pink plate, left-facing at the tip.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Using the right hand, put the blue screwdriver between the white canned goods and the pink plate.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "With the right hand, set the blue screwdriver between the white canned goods and the pink plate.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Have the right arm place the blue screwdriver between the white canned goods and the pink plate.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Put the blue screwdriver between the white canned goods and the pink plate.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Arrange the blue screwdriver between the white canned goods and the pink plate.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "The blue screwdriver goes between the white canned goods and the pink plate.", + "start_idx": 6168, + "end_idx": 6204 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "From a diagonal angle, have the right hand grasp the pink plate off the table with a lip grip at the bottom right.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "From a diagonal angle, grasp the pink plate off the table with a lip grip at the bottom right.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Take the pink plate from the table using a lip grasp on the bottom right at a diagonal angle.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "With the right hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Have the right hand take the pink plate from the table with a lip grasp.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Using the right hand, grasp the pink plate off the table with the lip grip.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "With the right hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Pick up the pink plate from the table with the right hand.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 6456, + "end_idx": 6477 + }, + { + "text": "Put the pink plate in front of the blue marker with the right hand right side up with the front as the orientation reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Using the right hand, place the pink plate in front of the blue marker, right side up with the front as the orientation reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Have the right arm set the pink plate in front of the blue marker, keeping it right side up with the front as the reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "With the right hand, position the pink plate in front of the blue marker so it is right side up, using the front as the orientation reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Place the pink plate in front of the blue marker, right side up with the front as the orientation reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Set the pink plate in front of the blue marker, keeping it right side up with the front as the reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Position the pink plate in front of the blue marker so it remains right side up, using the front as the reference point.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Using the right hand, put the pink plate in front of the blue marker.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Have the right arm place the pink plate in front of the blue marker.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "With the right hand, set the pink plate in front of the blue marker.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Put the pink plate in front of the blue marker.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Position the pink plate in front of the blue marker.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Set the pink plate in front of the blue marker.", + "start_idx": 6477, + "end_idx": 6513 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top diagonally.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Have the right hand grasp the blue soda can from the table from the top with a diagonal side hold.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "With the right hand, secure the blue soda can from the table using a side grasp at the top on a diagonal.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top diagonally.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "The blue soda can from the table should be taken with a side grasp at the top diagonally.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Take the blue soda can from the table with the right hand using a side grasp.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "With the right hand, collect the blue soda can from the table at the top diagonally.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Pick up the blue soda can from the table using a side grip.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "The blue soda can from the table should be grasped by the right hand.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 6627, + "end_idx": 6651 + }, + { + "text": "Put the blue soda can to the right of the white canned goods with the right hand.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Have the right arm set the blue soda can to the right of the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "With the right hand, position the blue soda can to the right of the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Place the blue soda can to the right of the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Set the blue soda can to the right of the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Position the blue soda can to the right of the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Put the blue soda can by the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Set the blue soda can next to the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Place the blue soda can beside the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Have the right arm place the blue soda can by the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Using the right hand, set the blue soda can beside the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Position the blue soda can next to the white canned goods.", + "start_idx": 6651, + "end_idx": 6684 + }, + { + "text": "Pick up the blue marker from the pink plate with the right hand at a diagonal angle grasping the middle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Using the right hand, take the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Have the right arm pick the blue marker off the pink plate with a diagonal approach at the middle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "With the right hand, grasp the middle of the blue marker from the pink plate at a diagonal angle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Take the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "The blue marker on the pink plate should be picked up diagonally by the middle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "From the pink plate, collect the blue marker with a diagonal pickup at its middle.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Using the right hand, pick up the blue marker from the pink plate.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Have the right arm take the blue marker off the pink plate.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "With the right hand, collect the blue marker from the pink plate.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Pick up the blue marker from the pink plate.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Take the blue marker off the pink plate.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "The blue marker from the pink plate should be grasped.", + "start_idx": 6813, + "end_idx": 6852 + }, + { + "text": "Put the blue marker to the right of the white canned goods with the right hand with its tip facing top right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Using the right hand, place the blue marker to the right of the white canned goods with its tip pointing to the top right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Have the right hand set the blue marker to the right of the white canned goods, tip oriented toward the top right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "With the right hand, position the blue marker right of the white canned goods so its tip faces the upper right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Place the blue marker to the right of the white canned goods with its tip facing the top right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Set the blue marker right of the white canned goods, with the tip pointing toward the top right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Position the blue marker to the right of the white canned goods so the tip points upper right.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Using the right hand, put the blue marker to the right of the white canned goods.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "With the right hand, place the blue marker right of the white canned goods.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Have the right hand position the blue marker to the right of the white canned goods.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Put the blue marker to the right of the white canned goods.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Using the right hand, set the blue marker beside the white canned goods.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Place the blue marker beside the white canned goods.", + "start_idx": 6852, + "end_idx": 6903 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Have the right arm take the white canned goods from the table, grasping the top from the side at a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table by gripping the top from the side at a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Take the white canned goods from the table by grasping the top from the side at a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Retrieve the white canned goods from the table using a side hold on the top at a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Have the right arm take the white canned goods from the table from the side.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table at the top.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top and a diagonal angle.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Using the right hand, take the white canned goods from the table.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Get the white canned goods from the table with the top grasp.", + "start_idx": 7050, + "end_idx": 7068 + }, + { + "text": "Put the white canned goods to the left of the pink plate with the right hand.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Using the right hand, place the white canned goods to the left of the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Have the right arm set the white canned goods down to the left of the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "With the right hand, position the white canned goods to the left of the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Place the white canned goods to the left of the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Set the white canned goods down to the left of the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Position the white canned goods to the left of the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Using the right hand, put the white canned goods by the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Have the right arm place the white canned goods beside the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Set the white canned goods next to the pink plate with the right hand.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Put the white canned goods by the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Place the white canned goods beside the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Have the white canned goods placed next to the pink plate.", + "start_idx": 7068, + "end_idx": 7104 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "With the right hand, take the blue soda can from the table using a side grasp at the top and a diagonal pick angle.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Using the right arm, grasp the blue soda can from the table with a side hold on the top at a diagonal angle.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Have the right hand pick the blue soda can off the table with a side grip at the top and a diagonal approach.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Take the blue soda can from the table using a side grasp at the top and a diagonal pick angle.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Grasp the blue soda can off the table with a side hold on the top and a diagonal angle.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Pick the blue soda can up from the table with a side grip at the top and a diagonal approach.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "With the right hand, take the blue soda can from the table using a side grip at the top.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Using the right arm, grasp the blue soda can off the table with a side hold on the top.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Have the right hand pick up the blue soda can from the table with a side grasp.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "With the right hand, take the blue soda can from the table at a diagonal angle.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Using the right arm, grasp the blue soda can off the table with a diagonal approach.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Have the right hand pick up the blue soda can from the table.", + "start_idx": 7227, + "end_idx": 7251 + }, + { + "text": "Put the blue soda can behind the pink plate with the right hand.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Using the right hand, place the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Have the right arm set the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "With the right hand, position the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Behind the pink plate, place the blue soda can with the right hand.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Using the right hand, set the blue soda can by the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Have the right arm put the blue soda can by the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Place the blue soda can by the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Set the blue soda can by the pink plate.", + "start_idx": 7251, + "end_idx": 7296 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Have the right arm take the white canned goods off the table, gripping the top from a diagonal angle with a side grasp.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Grasp the white canned goods off the table at the top with a side hold from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "The white canned goods should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Have the right arm take the white canned goods off the table.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "With the right hand, grasp the white canned goods from the table.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Pick up the white canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Using the right hand, take the white canned goods off the table with a side grip.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Grasp the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 7413, + "end_idx": 7446 + }, + { + "text": "Put the white canned goods to the right of the pink plate with the right hand.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Have the right arm set the white canned goods to the right of the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "With the right hand, position the white canned goods on the pink plate's right side.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Place the white canned goods to the right of the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Set the white canned goods on the right side of the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Position the white canned goods to the right of the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Arrange the white canned goods beside the pink plate on its right side.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Using the right hand, put the white canned goods by the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "With the right hand, place the white canned goods next to the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Have the right arm set the white canned goods beside the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Put the white canned goods next to the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Set the white canned goods beside the pink plate.", + "start_idx": 7446, + "end_idx": 7479 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grasp at the bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Have the right arm pick the blue marker off the table with a side grasp at its bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "With the right hand, grasp the blue marker from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Pick up the blue marker from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Take the blue marker off the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Grasp the blue marker from the table at its bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "The blue marker should be picked up from the table at the bottom from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Using the right hand, pick up the blue marker from the table from a diagonal angle.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "With the right hand, take the blue marker off the table at its bottom.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Have the right arm grasp the blue marker from the table.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Pick up the blue marker from the table with the right hand.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "The blue marker should be taken from the table.", + "start_idx": 7548, + "end_idx": 7572 + }, + { + "text": "Put the blue marker to the right of the blue soda can with the right hand with its tip facing top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Using the right hand, place the blue marker to the right of the blue soda can with its tip pointing toward the top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Have the right hand set the blue marker to the right of the blue soda can, tip directed top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "With the right hand, position the blue marker to the right of the blue soda can so its tip faces the top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Place the blue marker to the right of the blue soda can with its tip pointing toward the top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Set the blue marker to the right of the blue soda can, with the tip facing top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Position the blue marker to the right of the blue soda can so the tip points top left.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Using the right hand, put the blue marker to the right of the blue soda can.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "With the right hand, place the blue marker to the right of the blue soda can.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Have the right hand position the blue marker to the right of the blue soda can.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Put the blue marker to the right of the blue soda can.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Set the blue marker to the right of the blue soda can.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Position the blue marker to the right of the blue soda can.", + "start_idx": 7572, + "end_idx": 7602 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Have the right hand grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "With the right hand, secure the white canned goods from the table by the top in a side grasp at a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Take the white canned goods from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Grasp the white canned goods from the table at the top using a side hold and a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "With the right hand, take the white canned goods from the table using a side grasp.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Have the right hand collect the white canned goods from the table with a side hold.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top with a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Using the right hand, grasp the white canned goods from the table from the top.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Take the white canned goods from the table at the top with a diagonal angle.", + "start_idx": 7740, + "end_idx": 7773 + }, + { + "text": "Put the white canned goods to the right of the pink plate with the right hand.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "With the right hand, position the white canned goods on the right side of the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Place the white canned goods to the right of the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Set the white canned goods on the right side of the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Position the white canned goods to the pink plate's right.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Move the white canned goods to the right of the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Using the right hand, place the white canned goods by the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "With the right hand, set the white canned goods next to the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Have the right arm position the white canned goods beside the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Put the white canned goods beside the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Set the white canned goods next to the pink plate.", + "start_idx": 7773, + "end_idx": 7815 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "With the right hand, take the blue soda can from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Using the right arm, grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Have the right hand pick the blue soda can up from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Take the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Pick up the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "With the right hand, pick up the blue soda can from the table using a side grip.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Using the right arm, take the blue soda can from the table with a side grasp.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Have the right hand grasp the blue soda can from the table with a side hold.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "With the right hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Using the right arm, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 7929, + "end_idx": 7959 + }, + { + "text": "Put the blue soda can in front of the pink plate with the right hand.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Using the right hand, place the blue soda can in front of the pink plate upright.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Have the right arm set the blue soda can down upright in front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "With the right hand, position the blue soda can right side up in front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Place the blue soda can upright in front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Set the blue soda can down in front of the pink plate, right side up.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Position the blue soda can in front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Put the blue soda can by the front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Set the blue soda can down near the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Using the right hand, place the blue soda can in front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "With the right hand, set the blue soda can by the front of the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Have the right arm put the blue soda can near the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Place the blue soda can next to the pink plate.", + "start_idx": 7959, + "end_idx": 7995 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Have the right arm take the white canned goods off the table with a top side grasp from a diagonal approach.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top using a side hold from a diagonal angle.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Grasp the white canned goods off the table at the top with a side hold from a diagonal approach.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Take the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Have the right arm take the white canned goods off the table.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "With the right hand, grasp the white canned goods from the table.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Pick up the white canned goods from the table with the right hand from a diagonal angle.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Using the right hand, take the white canned goods off the table with a side grip.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Grasp the white canned goods from the table at the top from a diagonal approach.", + "start_idx": 7995, + "end_idx": 8019 + }, + { + "text": "Put the white canned goods in front of the blue marker with the right hand.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Using the right hand, place the white canned goods in front of the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Have the right arm set the white canned goods down in front of the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "With the right hand, position the white canned goods before the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Place the white canned goods in front of the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Set the white canned goods down in front of the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Position the white canned goods before the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "The white canned goods go in front of the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Put the white canned goods by the blue marker with the right hand.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Using the right hand, place the white canned goods next to the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Set the white canned goods by the blue marker with the right hand.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Put the white canned goods by the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "The white canned goods should be placed next to the blue marker.", + "start_idx": 8019, + "end_idx": 8061 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "At a diagonal angle, have the right hand take the blue screwdriver from the table by its middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "The blue screwdriver should be picked up from the table with the right hand, contacting the middle at a diagonal angle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Take the blue screwdriver from the table by the middle at a diagonal angle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "The blue screwdriver from the table should be picked up at a diagonal angle by its middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "With the right hand, pick up the blue screwdriver from the table, grasping the middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Have the right hand take the blue screwdriver from the table by its middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "The blue screwdriver should be picked up from the table with the right hand, holding the middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "The blue screwdriver from the table should be picked up by its middle.", + "start_idx": 8061, + "end_idx": 8094 + }, + { + "text": "Put the blue screwdriver on the top side of the table with the right hand with its tip facing top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Using the right hand, place the blue screwdriver on the top side of the table with its tip facing top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Have the right arm set the blue screwdriver on the table's top side, tip oriented toward the top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "With the right hand, position the blue screwdriver on the top side of the table so its tip points top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Place the blue screwdriver on the top side of the table with its tip facing top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Set the blue screwdriver on the table's top side, with the tip pointing toward the top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "The blue screwdriver goes on the top side of the table, tip directed to the top right.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Using the right hand, put the blue screwdriver on the top side of the table.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "With the right hand, set the blue screwdriver on the table's top side.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Have the right arm place the blue screwdriver on the top side of the table.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Place the blue screwdriver on the top side of the table.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Set the blue screwdriver on the table's top side.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "The blue screwdriver should be placed on the top side of the table.", + "start_idx": 8094, + "end_idx": 8130 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Have the right arm pick the blue screwdriver off the table with a side grip on its bottom at a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Take the blue screwdriver off the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "The blue screwdriver should be picked up from the table with a side hold at the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Have the right arm take the blue screwdriver from the table with a side grasp on the bottom.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table by the bottom using a side hold.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Take the blue screwdriver off the table with the right hand at the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Pick up the blue screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 8442, + "end_idx": 8463 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate with the right hand with its tip facing top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the pink plate with its tip pointing to the top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Have the right arm set the blue screwdriver down to the right of the pink plate, tip oriented toward the top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "With the right hand, position the blue screwdriver to the right of the pink plate so its tip faces top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate with its tip pointing to the top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Set the blue screwdriver down to the right of the pink plate, with the tip facing the top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate so the tip points top left.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the pink plate.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "With the right hand, set the blue screwdriver down to the right of the pink plate.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Have the right arm position the blue screwdriver to the right of the pink plate.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Using the right hand, move the blue screwdriver to the right of the pink plate.", + "start_idx": 8463, + "end_idx": 8490 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Have the right hand grasp the blue marker from the table from the top using a side grasp at a diagonal angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "With the right hand, secure the blue marker from the table by its top with a side hold and a diagonal approach.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Grasp the blue marker from the table by the top with a side grasp and a diagonal angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Take the blue marker from the table with a side hold at the top and a diagonal approach.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the top.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Have the right hand take the blue marker from the table using a side grasp at the top.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "With the right hand, grasp the blue marker from the table by the top using a side hold.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Pick up the blue marker from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Using the right hand, take the blue marker from the table from the top at a diagonal angle.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Grasp the blue marker from the table by the top with a diagonal approach.", + "start_idx": 8799, + "end_idx": 8829 + }, + { + "text": "Place the blue marker to the right of the pink plate with the right hand with its tip facing top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Using the right hand, set the blue marker to the right of the pink plate with its tip pointing to the top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Have the right hand place the blue marker to the right of the pink plate, tip oriented toward the top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "With the right hand, position the blue marker to the right of the pink plate so its tip faces the top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Place the blue marker to the right of the pink plate with its tip facing the top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Set the blue marker to the right of the pink plate, with the tip directed toward the top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Position the blue marker to the right of the pink plate, tip pointing top right.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Using the right hand, place the blue marker to the right of the pink plate.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "With the right hand, set the blue marker to the right of the pink plate.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Have the right hand position the blue marker to the right of the pink plate.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Place the blue marker to the right of the pink plate.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Set the blue marker to the right of the pink plate.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Position the blue marker to the right of the pink plate.", + "start_idx": 8829, + "end_idx": 8859 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Have the right arm take the blue marker from the table with a bottom side grasp, held diagonally.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "With the right hand, grasp the blue marker from the table at its bottom using a side hold on a diagonal.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Pick up the blue marker from the table with a side grip at the bottom at a diagonal angle.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Take the blue marker from the table using a side grasp at the bottom on a diagonal.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Grasp the blue marker from the table with a side hold at its bottom, diagonally oriented.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Have the right arm take the blue marker from the table with a side grasp at its bottom.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "With the right hand, grasp the blue marker from the table using a side hold.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "From the table, take the blue marker with the right hand.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 8967, + "end_idx": 9000 + }, + { + "text": "Put the blue marker to the right of the blue soda can with the right hand facing top left with the tip as the reference point.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Using the right hand, place the blue marker to the right of the blue soda can, with its tip facing the top left.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Have the right arm set the blue marker to the right of the blue soda can so the tip points top left.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "With the right hand, position the blue marker to the right of the blue soda can, oriented top left from the tip.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Place the blue marker to the right of the blue soda can with its tip facing the top left.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Set the blue marker to the right of the blue soda can, with the tip oriented toward the top left.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Position the blue marker to the right of the blue soda can so the tip points to the top left.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Using the right hand, put the blue marker to the right of the blue soda can.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Have the right arm place the blue marker to the right of the blue soda can.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "With the right hand, set the blue marker to the right of the blue soda can.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Put the blue marker to the right of the blue soda can.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Place the blue marker to the right of the blue soda can.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Position the blue marker to the right of the blue soda can.", + "start_idx": 9000, + "end_idx": 9030 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Have the right arm pick the white canned goods off the table with a top side grip at a diagonal angle.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a side hold at the top on a diagonal approach.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Take the white canned goods off the table with a side grasp at the top and a diagonal approach.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Grasp the white canned goods from the table with a side hold at the top at a diagonal angle.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Have the right arm take the white canned goods off the table using a side grasp at the top.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "With the right hand, grasp the white canned goods from the table by the top using a side hold.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Have the right arm take the white canned goods off the table.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Pick up the white canned goods from the table with a diagonal approach.", + "start_idx": 9198, + "end_idx": 9219 + }, + { + "text": "Put the white canned goods to the right of the blue marker with the right hand.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "With your right hand, position the white canned goods on the blue marker's right side.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Place the white canned goods to the right of the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Set the white canned goods on the right side of the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Move the white canned goods to the blue marker's right.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Position the white canned goods beside the blue marker on its right side.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Using the right hand, place the white canned goods by the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "With the right hand, set the white canned goods next to the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Have the right arm move the white canned goods beside the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Put the white canned goods by the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Set the white canned goods next to the blue marker.", + "start_idx": 9219, + "end_idx": 9252 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Have the right arm take the white canned goods from the table by the top with a side grasp and a diagonal approach.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "With the right hand, grasp the white canned goods from the table at the top using a side hold and a diagonal angle.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Take the white canned goods from the table by the top using a side grasp and a diagonal approach.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Grasp the white canned goods from the table at the top with a side hold and a diagonal angle.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Have the right arm take the white canned goods from the table.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "With the right hand, grasp the white canned goods from the table.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table at the top and a diagonal pick angle.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Take the white canned goods from the table with the right hand.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Grasp the white canned goods from the table.", + "start_idx": 9468, + "end_idx": 9504 + }, + { + "text": "Put the white canned goods to the right of the pink plate with the right hand.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "With the right hand, position the white canned goods on the right side of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Place the white canned goods to the right of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Set the white canned goods on the right side of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Position the white canned goods to the right of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "The white canned goods should go to the right of the pink plate.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Put the white canned goods down with the right hand.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Using the right hand, set the white canned goods in place.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Have the right arm place the white canned goods.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Set the white canned goods down.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Place the white canned goods.", + "start_idx": 9504, + "end_idx": 9540 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the right hand at a diagonal angle grasping the middle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Using the right hand, take the blue screwdriver from the pink plate at a diagonal angle, grasping its middle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Have the right hand collect the blue screwdriver from the pink plate with a diagonal pickup, holding the middle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the pink plate by grasping the middle at a diagonal angle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Pick up the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Take the blue screwdriver from the pink plate with a diagonal pickup, holding the middle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Retrieve the blue screwdriver from the pink plate by grasping its middle at a diagonal angle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the pink plate.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "With the right hand, take the blue screwdriver from the pink plate.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Have the right hand retrieve the blue screwdriver from the pink plate.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the right hand.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Take the blue screwdriver from the pink plate at a diagonal angle.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Grasp the blue screwdriver from the pink plate with the right hand.", + "start_idx": 9540, + "end_idx": 9567 + }, + { + "text": "Put the blue screwdriver to the right of the white canned goods with the right hand facing forwards with the tip as the reference point.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the white canned goods, facing forwards with the tip as the reference point.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Have the right arm set the blue screwdriver to the right of the white canned goods, oriented forward using the tip as the reference point.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "With the right hand, position the blue screwdriver to the right of the white canned goods so it faces forwards from the tip.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Place the blue screwdriver to the right of the white canned goods, facing forwards with the tip as the reference point.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Set the blue screwdriver to the right of the white canned goods, with the tip as the reference point and facing forwards.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Position the blue screwdriver to the right of the white canned goods so it faces forwards from the tip.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the white canned goods.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the white canned goods.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Have the right arm position the blue screwdriver to the right of the white canned goods.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Put the blue screwdriver to the right of the white canned goods.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Set the blue screwdriver to the right of the white canned goods.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Position the blue screwdriver to the right of the white canned goods.", + "start_idx": 9567, + "end_idx": 9597 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a bottom-left lip hold at a diagonal angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "With the left hand, collect the pink plate from the table using a lip grasp on the bottom left at a diagonal approach.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the bottom left and a diagonal angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Grasp the pink plate from the table with a bottom-left lip hold at a diagonal pick angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Have the left hand take the pink plate from the table using a lip grasp.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip hold.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left using a diagonal pick angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Take the pink plate from the table with the left hand from the bottom left at a diagonal angle.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Using a lip grip, pick up the pink plate from the table with the left hand.", + "start_idx": 0, + "end_idx": 24 + }, + { + "text": "Place the pink plate to the left of the blue marker with the left hand right side up front.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Using the left hand, set the pink plate to the left of the blue marker right side up with the front as the reference.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Have the left arm place the pink plate left of the blue marker, keeping it right side up and front-oriented.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue marker so it is right side up, front.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Place the pink plate to the left of the blue marker right side up with the front as reference.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Set the pink plate left of the blue marker, keeping it right side up and front-oriented.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Position the pink plate to the left of the blue marker so it stays right side up, front.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue marker.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Have the left arm set the pink plate left of the blue marker.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue marker.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Place the pink plate to the left of the blue marker.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Set the pink plate left of the blue marker.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Have the left arm place the pink plate left of the blue marker, keeping it right side up.", + "start_idx": 24, + "end_idx": 63 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Have the left arm take the blue screwdriver from the table diagonally by its middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle, holding its middle.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Take the blue screwdriver from the table with the left hand.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally.", + "start_idx": 63, + "end_idx": 81 + }, + { + "text": "Put the blue screwdriver on top of the pink plate with the left hand with its tip facing bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Using the left hand, place the blue screwdriver on top of the pink plate with its tip pointing to the bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Have the left arm set the blue screwdriver atop the pink plate, tip oriented toward the bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "With the left hand, position the blue screwdriver on the pink plate so the tip faces bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Place the blue screwdriver on top of the pink plate with its tip pointing to the bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Set the blue screwdriver atop the pink plate, with the tip directed toward the bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Position the blue screwdriver on the pink plate so its tip faces the bottom left.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Using the left hand, put the blue screwdriver on top of the pink plate.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "With the left hand, set the blue screwdriver atop the pink plate.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Have the left arm place the blue screwdriver on the pink plate.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Put the blue screwdriver on top of the pink plate.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Set the blue screwdriver atop the pink plate.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Position the blue screwdriver on the pink plate.", + "start_idx": 81, + "end_idx": 114 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "With the left hand, secure the blue soda can from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "From a diagonal angle, pick up the blue soda can from the table using a side grasp at the top.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Grasp the blue soda can from the table from a diagonal angle.", + "start_idx": 114, + "end_idx": 138 + }, + { + "text": "Put the blue soda can to the right of the blue marker with the left hand.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "With the left hand, position the blue soda can to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Place the blue soda can to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Set the blue soda can down to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Position the blue soda can to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Leave the blue soda can to the right of the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Using the left hand, place the blue soda can by the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "With the left hand, set the blue soda can next to the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Have the left arm position the blue soda can beside the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Place the blue soda can by the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Set the blue soda can beside the blue marker.", + "start_idx": 138, + "end_idx": 177 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Have the left arm take the blue marker from the table, holding it at a diagonal angle around the middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "With the left hand, retrieve the blue marker from the table, grasping its middle at a diagonal angle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Take the blue marker from the table, holding the middle at a diagonal angle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal hold on its middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Using the left hand, pick up the blue marker from the table by grasping the middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Have the left arm take the blue marker from the table, holding the middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "With the left hand, retrieve the blue marker from the table by grasping its middle.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Take the blue marker from the table with the left arm.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 237, + "end_idx": 261 + }, + { + "text": "Put the blue marker behind the blue soda can with the left hand with its tip facing right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Using the left hand, place the blue marker behind the blue soda can with its tip pointing right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Have the left arm set the blue marker behind the blue soda can, tip oriented to the right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "With the left hand, position the blue marker behind the blue soda can so the tip faces right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Place the blue marker behind the blue soda can with its tip pointing right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Set the blue marker behind the blue soda can so the tip faces right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Position the blue marker behind the blue soda can, keeping the tip directed right.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Using the left hand, put the blue marker behind the blue soda can.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "With the left hand, position the blue marker behind the blue soda can.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Have the left arm place the blue marker behind the blue soda can.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Put the blue marker behind the blue soda can.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Set the blue marker behind the blue soda can.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Position the blue marker behind the blue soda can.", + "start_idx": 261, + "end_idx": 294 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Using the left hand, take the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Have the left arm pick the blue screwdriver off the pink plate with a diagonal approach at its middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the pink plate, holding it at the middle on a diagonal.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Pick up the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Take the blue screwdriver off the pink plate with a diagonal approach, holding the middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Retrieve the blue screwdriver from the pink plate at a diagonal angle by the middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the pink plate.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "With the left hand, take the blue screwdriver off the pink plate.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the pink plate.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the left hand.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Take the blue screwdriver from the pink plate, grasping the middle.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Retrieve the blue screwdriver off the pink plate.", + "start_idx": 294, + "end_idx": 324 + }, + { + "text": "Put the blue screwdriver to the right of the blue marker with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the blue marker with the tip facing backwards.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Have the left arm set the blue screwdriver to the right of the blue marker, oriented backwards by its tip.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the blue marker so the tip points backwards.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker with the tip facing backwards.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Set the blue screwdriver to the right of the blue marker, with its tip oriented backwards.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Position the blue screwdriver to the right of the blue marker so the tip faces backwards.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Using the left hand, put the blue screwdriver to the right of the blue marker.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Have the left arm place the blue screwdriver to the right of the blue marker.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "With the left hand, set the blue screwdriver to the right of the blue marker.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Put the blue screwdriver to the right of the blue marker.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker with the left hand.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Set the blue screwdriver to the right of the blue marker.", + "start_idx": 324, + "end_idx": 357 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Have the left arm pick the pink plate off the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "The left hand should grasp the pink plate from the table using a lip hold at the bottom left with a diagonal orientation.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Take the pink plate off the table with a lip grasp at the bottom left on a diagonal.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "The left hand should take the pink plate off the table with a lip grasp.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Using the left hand, grasp the pink plate from the table with a lip hold.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Take the pink plate off the table at the bottom left on a diagonal.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Grasp the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 357, + "end_idx": 390 + }, + { + "text": "Put the pink plate right side up with the front to the left of the blue marker using the left hand.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Using the left hand, place the pink plate right side up with its front facing left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Have the left arm set the pink plate down right side up, front oriented to the left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "With the left hand, position the pink plate upright, its front toward the left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Place the pink plate right side up with its front to the left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Set the pink plate down upright, front facing left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Position the pink plate right side up with the front on the left side of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Put the pink plate to the left of the blue marker using the left hand.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Using the left hand, place the pink plate by the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Have the left arm set the pink plate down to the left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Place the pink plate to the left of the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Set the pink plate down beside the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Position the pink plate next to the blue marker.", + "start_idx": 390, + "end_idx": 426 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Have the left arm grasp the white canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Take the white canned goods from the table, using a side grasp at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "From the table, grasp the white canned goods at the top with a side hold from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Take the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Grasp the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 498, + "end_idx": 531 + }, + { + "text": "Put the white canned goods on top of the pink plate with the left hand.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Using the left hand, place the white canned goods on top of the pink plate right side up.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Have the left arm set the white canned goods atop the pink plate with the front as the reference point.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "With the left hand, position the white canned goods on the pink plate upright, front-referenced.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Place the white canned goods on top of the pink plate right side up.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Set the white canned goods atop the pink plate with the front as the reference point.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Position the white canned goods on the pink plate upright.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Put the white canned goods on top of the pink plate.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Arrange the white canned goods atop the pink plate.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "The white canned goods should go on the pink plate.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Place the white canned goods on top of the pink plate with the left hand.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Using the left hand, set the white canned goods atop the pink plate.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "With the left hand, put the white canned goods on the pink plate.", + "start_idx": 531, + "end_idx": 564 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup at the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Take the blue marker from the table diagonally, holding the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Using the left hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Have the left arm take the blue marker from the table at a diagonal angle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Grab the blue marker from the table by the middle.", + "start_idx": 564, + "end_idx": 585 + }, + { + "text": "Put the blue marker in front of the pink plate with the left hand with its tip facing top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Using the left hand, place the blue marker in front of the pink plate with its tip pointing to the top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Have the left arm set the blue marker in front of the pink plate, tip directed toward the top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "With the left hand, position the blue marker before the pink plate so its tip faces the top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Place the blue marker in front of the pink plate with its tip pointing to the top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Set the blue marker before the pink plate, with the tip directed toward the top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Position the blue marker in front of the pink plate so the tip faces top left.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Using the left hand, put the blue marker in front of the pink plate.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Have the left arm place the blue marker before the pink plate.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "With the left hand, position the blue marker in front of the pink plate.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Put the blue marker in front of the pink plate.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Place the blue marker before the pink plate.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Set the blue marker in front of the pink plate.", + "start_idx": 585, + "end_idx": 621 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal approach and a middle grasp.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal approach, holding its middle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Take the blue screwdriver from the table diagonally, grasping the middle section.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Retrieve the blue screwdriver from the table by the middle.", + "start_idx": 621, + "end_idx": 657 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Using the left hand, set the blue screwdriver to the right of the blue marker with its tip facing bottom left.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Have the left arm place the blue screwdriver to the right of the blue marker, oriented bottom-left from the tip.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "With the left hand, position the blue screwdriver right of the blue marker so the tip points toward the bottom left.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Set the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Position the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Put the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "With the left hand, set the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Have the left arm position the blue screwdriver to the right of the blue marker.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Place the blue screwdriver right of the blue marker with its tip facing bottom left.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Set the blue screwdriver to the right of the blue marker, tip oriented toward the bottom left.", + "start_idx": 657, + "end_idx": 693 + }, + { + "text": "Pick up the white canned goods from the pink plate with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Using the left hand, take the white canned goods from the pink plate with a side grasp at the top and a diagonal angle.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Have the left arm pick the white canned goods off the pink plate using a top side grip at a diagonal angle.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "With the left hand, grasp the white canned goods from the pink plate in a side hold at the top, angled diagonally.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Pick up the white canned goods from the pink plate using a side grip at the top with a diagonal angle.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Take the white canned goods off the pink plate with a side grasp at the top and a diagonal angle.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Grasp the white canned goods from the pink plate in a side hold at the top, angled diagonally.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Using the left hand, pick up the white canned goods from the pink plate with a side grip at the top.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "With the left hand, take the white canned goods off the pink plate using a side grasp at the top.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Have the left arm grasp the white canned goods from the pink plate with a top side hold.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Using the left hand, pick up the white canned goods from the pink plate with a diagonal angle.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Take the white canned goods off the pink plate with the left hand.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Pick up the white canned goods from the pink plate using a side grip at the top.", + "start_idx": 771, + "end_idx": 795 + }, + { + "text": "Put the white canned goods to the right of the blue soda can with the left hand.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Have the left arm set the white canned goods to the right of the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "With the left hand, position the white canned goods to the right of the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Place the white canned goods to the right of the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Set the white canned goods to the right of the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Position the white canned goods to the right of the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Move the white canned goods to the blue soda can's right side.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Arrange the white canned goods beside the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Put the white canned goods next to the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Place the white canned goods to the right of the blue soda can using the left hand.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Using the left hand, set the white canned goods beside the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Have the left arm place the white canned goods next to the blue soda can.", + "start_idx": 795, + "end_idx": 837 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With the left hand, collect the blue screwdriver from the table diagonally by the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table at a diagonal angle, holding it at the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "The blue screwdriver should be picked up from the table at a diagonal angle, held at the middle.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Using the left hand, take the blue screwdriver off the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Have the left arm collect the blue screwdriver from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "The blue screwdriver should be picked up from the table.", + "start_idx": 837, + "end_idx": 864 + }, + { + "text": "Place the blue screwdriver on top of the pink plate with the left hand with its tip facing bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Using the left hand, set the blue screwdriver on top of the pink plate with its tip pointed toward the bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Have the left arm place the blue screwdriver onto the pink plate, keeping the tip facing bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "With the left hand, position the blue screwdriver on the pink plate so its tip faces the bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Place the blue screwdriver on top of the pink plate with its tip facing bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Set the blue screwdriver onto the pink plate with the tip pointed bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Position the blue screwdriver on top of the pink plate so the tip faces bottom right.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Using the left hand, place the blue screwdriver on top of the pink plate.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "With the left hand, set the blue screwdriver onto the pink plate.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Have the left arm put the blue screwdriver on the pink plate.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Place the blue screwdriver on top of the pink plate.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Set the blue screwdriver onto the pink plate.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Position the blue screwdriver on the pink plate.", + "start_idx": 864, + "end_idx": 897 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Have the left arm pick the blue marker off the table diagonally by its middle.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "With the left hand, retrieve the blue marker from the table at a diagonal angle, holding the center.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Take the blue marker off the table diagonally by its middle.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Retrieve the blue marker from the table, contacting the middle at a diagonal angle.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "With the left hand, pick up the blue marker from the table.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Using the left hand, retrieve the blue marker from the table.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 897, + "end_idx": 936 + }, + { + "text": "Put the blue marker on top of the pink plate with the left hand with its tip facing top right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Using the left hand, place the blue marker on top of the pink plate with its tip pointing to the top right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Have the left arm set the blue marker atop the pink plate, tip oriented toward the upper right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "With the left hand, position the blue marker on the pink plate so its tip faces top right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Place the blue marker on top of the pink plate with its tip facing top right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Set the blue marker atop the pink plate, keeping its tip pointed to the upper right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Position the blue marker on the pink plate so the tip points top right.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Using the left hand, put the blue marker on top of the pink plate.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Have the left arm place the blue marker atop the pink plate.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "With the left hand, set the blue marker on the pink plate.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Put the blue marker on top of the pink plate.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Set the blue marker atop the pink plate.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Position the blue marker on the pink plate.", + "start_idx": 936, + "end_idx": 963 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top at a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Have the left arm pick the blue soda can off the table using a side grip on the top with a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top using a side hold at a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Take the blue soda can off the table with a side grasp on the top at a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side hold at a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "With the left hand, take the blue soda can off the table.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Have the left arm grasp the blue soda can from the table.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top with a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "With the left hand, take the blue soda can off the table at a diagonal angle.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Grasp the blue soda can from the table with the left hand at the top.", + "start_idx": 963, + "end_idx": 999 + }, + { + "text": "Put the blue soda can in front of the pink plate with the left hand.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Have the left arm set the blue soda can down in front of the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "With the left hand, position the blue soda can before the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Place the blue soda can in front of the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Set the blue soda can down in front of the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "The blue soda can should go in front of the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Put the blue soda can by the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Set the blue soda can near the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Place the blue soda can beside the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Position the blue soda can before the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Set the blue soda can down by the pink plate with the left hand.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Using the left hand, place the blue soda can near the pink plate.", + "start_idx": 998, + "end_idx": 1044 + }, + { + "text": "Pick up the blue marker from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Have the left arm pick the blue marker off the pink plate with a diagonal approach at its middle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "With the left hand, grasp the middle of the blue marker from the pink plate at a diagonal angle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Remove the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Take the blue marker off the pink plate with a diagonal approach, holding its middle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Grasp the middle of the blue marker from the pink plate at a diagonal angle.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Using the left hand, pick up the blue marker from the pink plate.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "With the left hand, take the blue marker off the pink plate.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Have the left arm remove the blue marker from the pink plate.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Pick up the blue marker from the pink plate.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Take the blue marker from the pink plate.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Remove the blue marker off the pink plate.", + "start_idx": 1113, + "end_idx": 1143 + }, + { + "text": "Place the blue marker to the right of the white canned goods with the left hand facing top left by the tip.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Using the left hand, position the blue marker to the right of the white canned goods with its tip facing the top left.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Have the left arm place the blue marker to the right of the white canned goods, oriented top-left at the tip.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "With the left hand, set the blue marker to the right of the white canned goods so the tip points toward the top left.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Place the blue marker to the right of the white canned goods with its tip facing the top left.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Set the blue marker to the right of the white canned goods, with the tip oriented toward the top left.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Position the blue marker to the right of the white canned goods so its tip faces top left.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Using the left hand, place the blue marker to the right of the white canned goods.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Have the left arm set the blue marker to the right of the white canned goods.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "With the left hand, position the blue marker to the right of the white canned goods.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Place the blue marker to the right of the white canned goods.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Set the blue marker to the right of the white canned goods.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Have the left arm place the blue marker to the right of the white canned goods with its tip facing the top left.", + "start_idx": 1143, + "end_idx": 1188 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table diagonally by its middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Retrieve the blue screwdriver from the table, angled diagonally and held at its middle.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Using the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Have the blue screwdriver picked up from the table.", + "start_idx": 1188, + "end_idx": 1230 + }, + { + "text": "Place the blue screwdriver behind the blue marker with the left hand with its tip facing left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Using the left hand, set the blue screwdriver behind the blue marker with its tip pointing left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Have the left arm place the blue screwdriver behind the blue marker so the tip faces left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "With the left hand, position the blue screwdriver behind the blue marker, tip directed left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Place the blue screwdriver behind the blue marker with its tip facing left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Set the blue screwdriver behind the blue marker with the tip pointing left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Position the blue screwdriver behind the blue marker so its tip faces left.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the blue marker.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "With the left hand, set the blue screwdriver behind the blue marker.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Have the left arm position the blue screwdriver behind the blue marker.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Put the blue screwdriver behind the blue marker.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Using the left hand, put the blue screwdriver behind the blue marker.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Place the blue screwdriver behind the blue marker.", + "start_idx": 1230, + "end_idx": 1263 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "With the left hand, retrieve the pink plate from the table using a lip grasp at the bottom left in a diagonal orientation.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the bottom left in a diagonal orientation.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Retrieve the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grasp.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Have the left arm retrieve the pink plate from the table with a lip hold.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Take the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "With the left hand, get the pink plate from the table.", + "start_idx": 1263, + "end_idx": 1314 + }, + { + "text": "Place the pink plate on the top side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Using the left hand, set the pink plate on the top side of the table right side up, with the front as the reference point.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Have the left arm place the pink plate on the top side of the table, keeping it right side up relative to the front.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "With the left hand, position the pink plate on the top side of the table so it is right side up using the front as the reference point.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Place the pink plate on the top side of the table right side up, with the front as the reference point.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Set the pink plate on the top side of the table, keeping it right side up relative to the front.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Position the pink plate on the top side of the table so it remains right side up using the front as the reference point.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Using the left hand, place the pink plate on the top side of the table.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Have the left arm set the pink plate on the top side of the table.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "With the left hand, position the pink plate on the top side of the table.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Put the pink plate on the top side of the table.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Using the left hand, put the pink plate on the top side of the table.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Set the pink plate on the top side of the table with the left hand.", + "start_idx": 1314, + "end_idx": 1353 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Retrieve the blue soda can from the table using a side hold on the top from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Retrieve the blue soda can from the table.", + "start_idx": 1353, + "end_idx": 1383 + }, + { + "text": "Put the blue soda can on the bottom side of the table with the left hand.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Using the left hand, place the blue soda can on the bottom side of the table upright.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Have the left arm set the blue soda can on the bottom side of the table with its front facing forward.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "With the left hand, position the blue soda can on the bottom side of the table right side up.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Place the blue soda can on the bottom side of the table upright.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Set the blue soda can on the bottom side of the table with its front facing forward.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Position the blue soda can on the bottom side of the table right side up.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Using the left hand, put the blue soda can on the bottom side of the table.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "With the left hand, place the blue soda can on the bottom side of the table.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Have the left arm set the blue soda can on the bottom side of the table.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Put the blue soda can on the bottom side of the table.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Set the blue soda can on the bottom side of the table.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Place the blue soda can on the bottom side of the table.", + "start_idx": 1383, + "end_idx": 1416 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a top side grip at a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "With the left hand, grasp the white canned goods from the table using a side hold at the top from a diagonal approach.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Take the white canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Grasp the white canned goods from the table with a top side hold from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Have the left arm take the white canned goods off the table using a side grasp.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "With the left hand, grasp the white canned goods from the table using a side hold.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Have the left arm take the white canned goods off the table at the top from a diagonal angle.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Grasp the white canned goods from the table.", + "start_idx": 1479, + "end_idx": 1512 + }, + { + "text": "Put the white canned goods to the left of the blue marker with the left hand.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "With the left hand, position the white canned goods to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Place the white canned goods to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Set the white canned goods down to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "The white canned goods go to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Position the white canned goods left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Move the white canned goods to the left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Arrange the white canned goods beside the blue marker on its left side.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "The white canned goods should be placed to the marker's left.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Set the white canned goods left of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Place the white canned goods on the left side of the blue marker.", + "start_idx": 1512, + "end_idx": 1551 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "From a diagonal angle, have the left hand grasp the top of the blue soda can from the table with a side hold.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "With the left hand, seize the blue soda can from the table by its top using a side grasp at a diagonal approach.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "From a diagonal angle, grasp the top of the blue soda can from the table with a side hold.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Take the blue soda can from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "With the left hand, pick up the blue soda can from the table using a side grip.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Have the left hand take the blue soda can from the table by the top.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 1551, + "end_idx": 1578 + }, + { + "text": "Put the blue soda can in front of the blue marker with the left hand.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Using the left hand, place the blue soda can in front of the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Have the left arm set the blue soda can down in front of the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "With the left hand, position the blue soda can before the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Place the blue soda can in front of the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Set the blue soda can down in front of the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Position the blue soda can before the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Have the blue soda can placed in front of the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Using the left hand, put the blue soda can by the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "With the left hand, set the blue soda can near the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Place the blue soda can by the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Set the blue soda can near the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Have the left arm place the blue soda can by the blue marker.", + "start_idx": 1578, + "end_idx": 1611 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "With the left hand, secure the pink plate from the table by the bottom-left edge using a diagonal lip grasp.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Take the pink plate from the table with a lip hold at the bottom left on a diagonal approach.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Grasp the pink plate from the table by the bottom-left area using a diagonal lip grasp.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip hold.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Using the left hand, secure the pink plate from the table with a lip grasp.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "From the table, grasp the pink plate at the bottom-left area on a diagonal approach.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Take the pink plate from the table using a lip grip.", + "start_idx": 1611, + "end_idx": 1635 + }, + { + "text": "Put the pink plate in front of the white canned goods with the left hand right side up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Using the left hand, place the pink plate in front of the white canned goods right side up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Have the left arm set the pink plate in front of the white canned goods with its right side up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "With the left hand, position the pink plate right side up in front of the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Place the pink plate in front of the white canned goods right side up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Set the pink plate right side up before the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Position the pink plate in front of the white canned goods with its top facing up.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Using the left hand, put the pink plate in front of the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "With the left hand, set the pink plate before the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Have the left arm place the pink plate in front of the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Put the pink plate in front of the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Set the pink plate before the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Position the pink plate in front of the white canned goods.", + "start_idx": 1635, + "end_idx": 1671 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top diagonally.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Have the left arm pick the white canned goods up from the table using a diagonal side hold at the top.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "With the left hand, collect the white canned goods from the table in a side grip at the top on a diagonal.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top diagonally.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top diagonally.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "From the table, collect the white canned goods in a diagonal top side grip.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Have the left arm take the white canned goods from the table using a side grasp.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "With the left hand, collect the white canned goods from the table using a side hold.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at the top diagonally.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Take the white canned goods from the table with the left hand diagonally at the top.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "From the table, grasp the white canned goods at the top diagonally.", + "start_idx": 1671, + "end_idx": 1695 + }, + { + "text": "Put the white canned goods in front of the blue screwdriver with the left hand right side up.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Using the left hand, place the white canned goods in front of the blue screwdriver right side up.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Have the left arm set the white canned goods down in front of the blue screwdriver, keeping it right side up.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "With the left hand, position the white canned goods before the blue screwdriver in an upright orientation.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Place the white canned goods in front of the blue screwdriver right side up.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Set the white canned goods down in front of the blue screwdriver right side up.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Position the white canned goods before the blue screwdriver right side up.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Using the left hand, put the white canned goods in front of the blue screwdriver.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Have the left arm place the white canned goods before the blue screwdriver.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "With the left hand, set the white canned goods down in front of the blue screwdriver.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Put the white canned goods in front of the blue screwdriver.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Place the white canned goods before the blue screwdriver.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Set the white canned goods down in front of the blue screwdriver.", + "start_idx": 1695, + "end_idx": 1737 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "With the left arm, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Have the left hand grasp the middle of the blue marker from the table at a diagonal angle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Take the blue marker from the table diagonally by its middle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Grasp the middle of the blue marker from the table at a diagonal angle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "With the left arm, take the blue marker from the table.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Have the left hand retrieve the blue marker from the table.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Grasp the middle of the blue marker from the table with the left hand.", + "start_idx": 1737, + "end_idx": 1767 + }, + { + "text": "Put the blue marker behind the pink plate with the left hand with its tip facing backwards.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Using the left hand, place the blue marker behind the pink plate with its tip pointing backward.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Have the left arm set the blue marker behind the pink plate so the tip faces backward.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "With the left hand, position the blue marker behind the pink plate, tip facing backwards.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Place the blue marker behind the pink plate with its tip facing backwards.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Set the blue marker behind the pink plate so its tip points backward.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Position the blue marker behind the pink plate with the tip facing backward.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Put the blue marker behind the pink plate with the left hand.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Using the left hand, place the blue marker behind the pink plate.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Have the left arm set the blue marker behind the pink plate.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Put the blue marker behind the pink plate.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Behind the pink plate, place the blue marker.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "The blue marker goes behind the pink plate.", + "start_idx": 1767, + "end_idx": 1809 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from the top with a side hold at a diagonal angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp on its top at a diagonal angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side hold at a diagonal pick angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a diagonal pick angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Take the blue soda can from the table with the left hand at the top and a diagonal angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Pick up the blue soda can from the table from the top with a diagonal pick angle.", + "start_idx": 1887, + "end_idx": 1917 + }, + { + "text": "Put the blue soda can in front of the pink plate with the left hand.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Have the left arm set the blue soda can down in front of the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "With the left hand, position the blue soda can before the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Place the blue soda can in front of the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Set the blue soda can down in front of the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Position the blue soda can before the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Put the blue soda can by the pink plate with the left hand.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Using the left hand, place the blue soda can near the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Have the left arm set the blue soda can beside the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Place the blue soda can by the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Set the blue soda can near the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Position the blue soda can beside the pink plate.", + "start_idx": 1917, + "end_idx": 1953 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold on the bottom-left edge, diagonally.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "With the left hand, retrieve the pink plate from the table using a lip grasp at the bottom left in a diagonal orientation.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Retrieve the pink plate from the table with a lip hold at the bottom left diagonally.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip grasp.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "With the left hand, grasp the pink plate from the table using the lip hold.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Take the pink plate from the table at the bottom left diagonally.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 1952, + "end_idx": 1973 + }, + { + "text": "Put the pink plate to the left of the white canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Using the left hand, place the pink plate to the left of the white canned goods, right side up with the front as the reference point.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Have the left arm set the pink plate to the left of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "With the left hand, position the pink plate to the left of the white canned goods so it is right side up using the front as the reference point.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Place the pink plate to the left of the white canned goods, right side up with the front as the reference point.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Set the pink plate to the left of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Position the pink plate to the left of the white canned goods so it stays right side up using the front as reference.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Using the left hand, place the pink plate to the left of the white canned goods.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "With the left hand, set the pink plate to the left of the white canned goods.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Have the left arm position the pink plate to the left of the white canned goods.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Place the pink plate to the left of the white canned goods.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Set the pink plate to the left of the white canned goods.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Position the pink plate to the left of the white canned goods.", + "start_idx": 1974, + "end_idx": 2010 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp at the top with a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Using the left arm, collect the blue soda can from the table in a side grip at the top with a diagonal approach.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Have the left hand grasp the blue soda can from the table with a side hold at the top and a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Take the blue soda can from the table in a side grasp at the top with a diagonal approach.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Get the blue soda can from the table with a side hold at the top and a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp at the top.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "With the left hand, grasp the blue soda can from the table in a side hold at the top.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Using the left hand, take the blue soda can from the table from the top with a diagonal approach.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Have the left arm get the blue soda can from the table at the top with a diagonal pick angle.", + "start_idx": 2010, + "end_idx": 2043 + }, + { + "text": "Put the blue soda can behind the pink plate with the left hand.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Using the left hand, place the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Have the left arm set the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "With the left hand, position the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "The blue soda can goes behind the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Using the left hand, place the blue soda can by the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "With the left hand, set the blue soda can near the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Place the blue soda can by the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Set the blue soda can near the pink plate.", + "start_idx": 2042, + "end_idx": 2079 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by gripping its middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Take the blue marker from the table diagonally by its middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Using the left hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "With the left hand, take the blue marker from the table at a diagonal angle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Have the left arm retrieve the blue marker from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Take the blue marker from the table with the left hand.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Get the blue marker from the table at a diagonal angle.", + "start_idx": 2145, + "end_idx": 2178 + }, + { + "text": "Put the blue marker to the left of the pink plate with the left hand with its tip facing top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Using the left hand, place the blue marker to the left of the pink plate with its tip pointing to the top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Have the left arm set the blue marker left of the pink plate, tip oriented toward the top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "With the left hand, position the blue marker to the pink plate's left, keeping its tip directed top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Place the blue marker to the left of the pink plate with its tip facing top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Set the blue marker left of the pink plate, with the tip pointing top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Position the blue marker to the left of the pink plate, tip aimed toward the top left.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Put the blue marker to the left of the pink plate.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Set the blue marker down left of the pink plate.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Position the blue marker on the left side of the pink plate.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Using the left hand, place the blue marker to the left of the pink plate.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "With the left hand, set the blue marker down on the left side of the pink plate.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Have the left arm position the blue marker left of the pink plate.", + "start_idx": 2178, + "end_idx": 2217 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grip at the bottom left.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a diagonal lip hold at the bottom left.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "With the left hand, secure the pink plate from the table using a bottom-left diagonal lip grasp.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grip at the bottom left.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Grasp the pink plate from the table with a diagonal lip hold at the bottom left.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "The pink plate from the table should be taken with a diagonal lip grasp at the bottom left.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "The pink plate from the table should be grasped.", + "start_idx": 2286, + "end_idx": 2313 + }, + { + "text": "Place the pink plate to the left of the blue marker with the left hand right side up with the front as the reference point.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Using the left hand, set the pink plate to the left of the blue marker, right side up with the front as the reference point.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Have the left arm place the pink plate left of the blue marker, keeping it right side up relative to the front.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "With the left hand, position the pink plate to the blue marker's left, oriented right side up using the front as the reference point.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Place the pink plate to the left of the blue marker.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Set the pink plate left of the blue marker.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Position the pink plate to the blue marker's left.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue marker.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Have the left arm set the pink plate left of the blue marker.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "With the left hand, position the pink plate to the blue marker's left.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Place the pink plate left of the blue marker, keeping it right side up.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Set the pink plate to the left of the blue marker, with the front as the reference point.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Have the pink plate placed to the left of the blue marker.", + "start_idx": 2313, + "end_idx": 2355 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top diagonally.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a diagonal side hold near the top.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Take the blue soda can from the table with a side grasp near the top diagonally.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Grasp the blue soda can from the table with a diagonal side hold at the top.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Pick up the blue soda can from the table diagonally at the top.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "From the table, take the blue soda can with the left hand diagonally at the top.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Get the blue soda can from the table with a side grip.", + "start_idx": 2355, + "end_idx": 2385 + }, + { + "text": "Put the blue soda can between the blue marker and the blue screwdriver with the left hand.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Using the left hand, place the blue soda can between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Have the left arm set the blue soda can between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "With the left hand, position the blue soda can between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Place the blue soda can between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Set the blue soda can between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Position the blue soda can between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "The blue soda can goes between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Put the blue soda can between the blue marker and the blue screwdriver, right side up.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Set the blue soda can right side up between the blue marker and the blue screwdriver.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Position the blue soda can between the blue marker and the blue screwdriver with the front as the reference point.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Place the blue soda can between the blue marker and the blue screwdriver with the left hand, right side up.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Using the left hand, set the blue soda can between the blue marker and the blue screwdriver with the front as the reference point.", + "start_idx": 2385, + "end_idx": 2424 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Have the left arm pick the blue soda can off the table using a top side grip and a diagonal approach.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "With the left hand, grasp the blue soda can from the table by its top using a side hold at a diagonal angle.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Take the blue soda can off the table with a side grasp at the top and a diagonal approach.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold and a diagonal pick angle.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Have the left arm take the blue soda can off the table using a side grasp at the top.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "With the left hand, secure the blue soda can from the table by its top using a side hold.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal pick angle.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Using the left hand, take the blue soda can off the table.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Grasp the blue soda can from the table by the top with a diagonal approach.", + "start_idx": 2487, + "end_idx": 2511 + }, + { + "text": "Place the blue soda can on top of the pink plate with the left hand.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Using the left hand, set the blue soda can on top of the pink plate right side up.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Have the left arm place the blue soda can onto the pink plate with its front facing forward and upright.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "With the left hand, position the blue soda can on the pink plate in an upright orientation.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Place the blue soda can on top of the pink plate.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Set the blue soda can onto the pink plate.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Position the blue soda can on the pink plate.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Using the left hand, place the blue soda can on top of the pink plate.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Have the left arm set the blue soda can onto the pink plate.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "With the left hand, put the blue soda can on the pink plate.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Place the blue soda can on top of the pink plate right side up.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Set the blue soda can onto the pink plate upright.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Position the blue soda can on the pink plate with its front facing forward.", + "start_idx": 2511, + "end_idx": 2547 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Take the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 2547, + "end_idx": 2568 + }, + { + "text": "Put the blue marker in front of the pink plate with the left hand with its tip facing right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Using the left hand, place the blue marker in front of the pink plate with its tip pointing right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Have the left arm set the blue marker in front of the pink plate, tip oriented to the right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "With the left hand, position the blue marker before the pink plate so the tip faces right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Set the blue marker in front of the pink plate with its tip pointing right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Place the blue marker before the pink plate so the tip faces right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Position the blue marker in front of the pink plate, with the tip oriented right.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Using the left hand, put the blue marker in front of the pink plate.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "With the left hand, place the blue marker before the pink plate.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Have the left arm position the blue marker in front of the pink plate.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Place the blue marker in front of the pink plate.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Set the blue marker before the pink plate.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Position the blue marker in front of the pink plate.", + "start_idx": 2568, + "end_idx": 2604 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table with a side grip at the bottom diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the table, grasping its bottom from the side at a diagonal angle.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the table at the bottom using a side hold diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the bottom diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Grasp the blue screwdriver from the table at the bottom with a side hold diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "The blue screwdriver from the table should be picked up with a side grip at the bottom diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "With the left hand, take the blue screwdriver from the table using a side grasp.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the table diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Pick up the blue screwdriver from the table at the bottom diagonally.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 2604, + "end_idx": 2634 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate with the left hand with its tip facing top left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the pink plate with its tip pointing to the top left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Have the left arm set the blue screwdriver to the right of the pink plate, tip oriented toward the top left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the pink plate so its tip faces the upper left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate with its tip pointing to the top left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate so its tip faces the upper left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate, with the tip directed toward the top left.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the pink plate.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Have the left arm set the blue screwdriver to the right of the pink plate.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the pink plate.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate.", + "start_idx": 2634, + "end_idx": 2670 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "With the left hand, collect the blue marker from the table on a diagonal approach, gripping the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Take the blue marker from the table on a diagonal approach, holding the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Grab the blue marker from the table at a diagonal angle by the middle.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "With the left hand, collect the blue marker from the table.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Take the blue marker from the table with the left arm.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 2670, + "end_idx": 2697 + }, + { + "text": "Place the blue marker to the right of the blue screwdriver with the left hand with the tip facing right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Using the left hand, set the blue marker to the right of the blue screwdriver with its tip pointing right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Have the left arm place the blue marker to the right of the blue screwdriver, tip oriented to the right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "With the left hand, position the blue marker right of the blue screwdriver so the tip faces right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Place the blue marker to the right of the blue screwdriver with its tip facing right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Set the blue marker to the right of the blue screwdriver, with the tip pointing right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Position the blue marker right of the blue screwdriver so its tip is directed right.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Using the left hand, place the blue marker to the right of the blue screwdriver.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "With the left hand, set the blue marker right of the blue screwdriver.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Have the left arm position the blue marker to the right of the blue screwdriver.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Put the blue marker to the right of the blue screwdriver.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Using the left hand, put the blue marker right of the blue screwdriver.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Place the blue marker right of the blue screwdriver with the left hand.", + "start_idx": 2697, + "end_idx": 2730 + }, + { + "text": "Pick up the blue soda can from the pink plate with the left hand using a side grasp at the top and a diagonal pick angle.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Using the left hand, take the blue soda can from the pink plate with a side grasp at the top and a diagonal pick angle.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Have the left arm grasp the blue soda can from the pink plate from the side at the top, using a diagonal approach.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "With the left hand, seize the blue soda can off the pink plate in a top side grip at a diagonal angle.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Pick up the blue soda can from the pink plate with a side grasp at the top and a diagonal pick angle.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Take the blue soda can off the pink plate from the side at the top using a diagonal approach.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Grasp the blue soda can from the pink plate with a top side hold and a diagonal pick angle.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Using the left hand, pick up the blue soda can from the pink plate with a side grasp at the top.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Have the left arm take the blue soda can off the pink plate with a side grip at the top.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "With the left hand, grasp the blue soda can from the pink plate using a side hold at the top.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Using the left hand, pick up the blue soda can from the pink plate at a diagonal angle.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Take the blue soda can off the pink plate with the left hand.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Pick up the blue soda can from the pink plate.", + "start_idx": 2790, + "end_idx": 2820 + }, + { + "text": "Put the blue soda can behind the blue marker with the left hand.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Using the left hand, place the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Have the left arm set the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "With the left hand, position the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Place the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Set the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Position the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Put the blue soda can behind the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Using the left hand, place the blue soda can by the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Have the left arm set the blue soda can near the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "With the left hand, position the blue soda can next to the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Place the blue soda can by the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Set the blue soda can next to the blue marker.", + "start_idx": 2820, + "end_idx": 2862 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "With the left hand, grasp the pink plate off the table using a lip grasp on the bottom-left area at a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Have the left arm pick the pink plate up from the table with a lip hold at the bottom left and a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Grab the pink plate off the table with a lip grasp on the bottom-left side at a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Take the pink plate from the table with a lip hold at the bottom left and a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip at the bottom left.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "With the left hand, take the pink plate off the table using a lip grasp on the bottom-left area.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold at the bottom left.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "With the left hand, grasp the pink plate off the table at the bottom left with a diagonal angle.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 2862, + "end_idx": 2895 + }, + { + "text": "Put the pink plate behind the blue screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Using the left hand, place the pink plate behind the blue screwdriver right side up, using the front as the reference point.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Have the left arm set the pink plate behind the blue screwdriver in a right-side-up orientation relative to the front.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "With the left hand, position the pink plate behind the blue screwdriver so it is right side up with the front as the reference point.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Place the pink plate behind the blue screwdriver right side up, using the front as the reference point.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Set the pink plate behind the blue screwdriver in a right-side-up orientation relative to the front.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Position the pink plate behind the blue screwdriver so it is right side up with the front as the reference point.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Using the left hand, put the pink plate behind the blue screwdriver.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "With the left hand, place the pink plate behind the blue screwdriver.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Have the left arm position the pink plate behind the blue screwdriver.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Put the pink plate behind the blue screwdriver.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Set the pink plate behind the blue screwdriver.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Position the pink plate behind the blue screwdriver.", + "start_idx": 2895, + "end_idx": 2937 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table on a diagonal, gripping the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Retrieve the blue screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table, grasping the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "With the left hand, take the blue screwdriver from the table by the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table, holding the middle.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Take the blue screwdriver from the table with the left hand.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Get the blue screwdriver from the table.", + "start_idx": 3000, + "end_idx": 3027 + }, + { + "text": "Put the blue screwdriver on the left side of the table with the left hand with its tip facing top right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Using the left hand, place the blue screwdriver on the left side of the table with its tip pointing to the top right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Have the left arm set the blue screwdriver on the table's left side, tip oriented toward the top right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "With the left hand, position the blue screwdriver on the left side of the table so its tip faces the upper right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Place the blue screwdriver on the left side of the table with its tip pointing to the top right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Set the blue screwdriver on the table's left side, with the tip directed toward the upper right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Position the blue screwdriver on the left side of the table so the tip faces top right.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Using the left hand, put the blue screwdriver on the left side of the table.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "With the left hand, set the blue screwdriver on the table's left side.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Have the left arm place the blue screwdriver on the left side of the table.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Place the blue screwdriver on the left side of the table.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Set the blue screwdriver on the table's left side.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Position the blue screwdriver on the left side of the table.", + "start_idx": 3027, + "end_idx": 3060 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grip at the bottom.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Have the left arm grasp the pink plate from the table with the lip diagonally at its bottom edge.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "With the left hand, secure the pink plate from the table using a bottom diagonal lip grasp.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grip at the bottom.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Take the pink plate from the table with a diagonal lip grasp at the bottom.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Grasp the pink plate from the table with the lip diagonally at its bottom.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 3210, + "end_idx": 3231 + }, + { + "text": "Put the pink plate in front of the blue soda can with the left hand right side up.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Using the left hand, place the pink plate in front of the blue soda can right side up.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Have the left arm set the pink plate in front of the blue soda can with its right side up.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "With the left hand, position the pink plate in front of the blue soda can so it is right side up.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Place the pink plate in front of the blue soda can right side up.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Set the pink plate in front of the blue soda can with its top facing up.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Position the pink plate in front of the blue soda can upright.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Using the left hand, put the pink plate in front of the blue soda can.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "With the left hand, place the pink plate before the blue soda can.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Have the left arm set the pink plate in front of the blue soda can.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Put the pink plate in front of the blue soda can.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Set the pink plate before the blue soda can.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Position the pink plate in front of the blue soda can.", + "start_idx": 3231, + "end_idx": 3264 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Have the left hand take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "With the left hand, collect the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "From the table, collect the blue screwdriver at a diagonal angle, holding the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Have the left hand take the blue screwdriver from the table.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Using the left hand, collect the blue screwdriver from the table.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Take the blue screwdriver from the table, grasping the middle.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "From the table, collect the blue screwdriver.", + "start_idx": 3264, + "end_idx": 3300 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate with the left hand facing top right by the tip.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the pink plate with the tip facing the top right.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Have the left arm set the blue screwdriver to the left of the pink plate, tip oriented toward the top right.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "With the left hand, position the blue screwdriver left of the pink plate so its tip points to the top right.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate with the tip facing the top right.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Set the blue screwdriver left of the pink plate, with the tip oriented toward the top right.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate so the tip points top right.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the pink plate.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "With the left hand, set the blue screwdriver left of the pink plate.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Have the left arm position the blue screwdriver to the left of the pink plate.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Set the blue screwdriver left of the pink plate.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Position the blue screwdriver beside the pink plate on its left side.", + "start_idx": 3300, + "end_idx": 3342 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Using the left arm, grasp the pink plate from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Have the left hand pick the pink plate off the table with a bottom-left lip grip and a diagonal approach.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Using a lip grip at the bottom left with a diagonal pick angle, take the pink plate from the table.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "The pink plate should be picked up from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Using the left arm, take the pink plate from the table with a lip hold.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a lip grip.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Using the left hand, take the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "The pink plate should be grasped from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 3414, + "end_idx": 3447 + }, + { + "text": "Put the pink plate behind the blue screwdriver right side up with the front as the reference point using the left hand.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Using the left hand, place the pink plate behind the blue screwdriver right side up with the front as the reference point.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Have the left arm set the pink plate behind the blue screwdriver in a right-side-up orientation, using the front as the reference point.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "With the left hand, position the pink plate behind the blue screwdriver so it is right side up relative to the front.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Place the pink plate behind the blue screwdriver right side up with the front as the reference point.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Set the pink plate behind the blue screwdriver in a right-side-up orientation, using the front as the reference point.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Position the pink plate behind the blue screwdriver so it is right side up relative to the front.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Using the left hand, put the pink plate behind the blue screwdriver.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "With the left hand, place the pink plate behind the blue screwdriver.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Have the left arm position the pink plate behind the blue screwdriver.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Put the pink plate behind the blue screwdriver.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Set the pink plate behind the blue screwdriver right side up with the front as the reference point.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Place the pink plate behind the blue screwdriver.", + "start_idx": 3447, + "end_idx": 3483 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the table diagonally by its middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Take the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 3609, + "end_idx": 3636 + }, + { + "text": "Put the blue screwdriver to the left of the blue soda can with the left hand with its tip facing top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the blue soda can with its tip pointing top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Have the left arm set the blue screwdriver left of the blue soda can, tip oriented toward the top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "With the left hand, position the blue screwdriver to the left of the blue soda can so its tip faces top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Place the blue screwdriver to the left of the blue soda can with its tip pointing top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Set the blue screwdriver left of the blue soda can, with the tip directed toward the top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Position the blue screwdriver to the left of the blue soda can so the tip faces top left.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Using the left hand, put the blue screwdriver to the left of the blue soda can.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Have the left arm place the blue screwdriver left of the blue soda can.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "With the left hand, set the blue screwdriver to the left of the blue soda can.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Place the blue screwdriver to the left of the blue soda can.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Set the blue screwdriver left of the blue soda can.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Position the blue screwdriver to the left of the blue soda can.", + "start_idx": 3636, + "end_idx": 3672 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a diagonal lip grip at the bottom.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Have the left arm take the pink plate off the table using a diagonal lip grasp at the bottom.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "With the left hand, grasp the pink plate from the table by the bottom in a diagonal lip hold.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grip at the bottom.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Take the pink plate off the table with a diagonal lip grasp at the bottom.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Grasp the pink plate from the table by the bottom with a diagonal lip hold.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Have the left arm take the pink plate off the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Take the pink plate off the table using the left hand.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Have the left arm grasp the pink plate from the table.", + "start_idx": 3804, + "end_idx": 3831 + }, + { + "text": "Put the pink plate to the left of the white canned goods with the left hand right side up front.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Using the left hand, place the pink plate to the left of the white canned goods, right side up with the front facing forward.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Have the left arm set the pink plate to the left of the white canned goods in an upright orientation, front forward.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "With the left hand, position the pink plate left of the white canned goods, keeping it right side up and the front outward.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Place the pink plate to the left of the white canned goods right side up with the front facing forward.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Set the pink plate left of the white canned goods in an upright position with the front outward.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Position the pink plate to the left of the white canned goods with its front facing forward and right side up.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Using the left hand, place the pink plate to the left of the white canned goods.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "With the left hand, set the pink plate left of the white canned goods.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Have the left arm position the pink plate to the left of the white canned goods.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Place the pink plate to the left of the white canned goods.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Set the pink plate left of the white canned goods.", + "start_idx": 3831, + "end_idx": 3864 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Have the left hand grasp the blue screwdriver from the table at its bottom with a side hold from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "From a diagonal angle, take the blue screwdriver from the table with the left hand using a side grip on the bottom.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Pick up the blue screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "From a diagonal angle, grasp the blue screwdriver from the table with a side hold at the bottom.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Take the blue screwdriver from the table at its bottom using a side grip from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table using a side grip at the bottom.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Have the left hand take the blue screwdriver from the table from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Using the left hand, grasp the blue screwdriver from the table at the bottom.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "From the table, take the blue screwdriver with the left hand using a side hold.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Have the left hand pick up the blue screwdriver from the table.", + "start_idx": 3864, + "end_idx": 3903 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate with the left hand with its tip facing top right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Using the left hand, position the blue screwdriver to the left of the pink plate with its tip pointing to the top right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "With the left arm, set the blue screwdriver left of the pink plate so the tip faces the upper right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Have the left hand place the blue screwdriver to the pink plate's left, tip oriented toward the top right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate with its tip facing the top right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Set the blue screwdriver left of the pink plate, keeping the tip pointed upper right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate so its tip points to the top right.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the pink plate.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "With the left arm, set the blue screwdriver left of the pink plate.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Have the left hand position the blue screwdriver to the pink plate's left.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Place the blue screwdriver left of the pink plate.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Set the blue screwdriver down to the left of the pink plate.", + "start_idx": 3903, + "end_idx": 3936 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "With the left hand, secure the pink plate from the table using the lip at the bottom left in a diagonal orientation.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Take the pink plate from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Grasp the pink plate from the table with the lip at the bottom left in a diagonal orientation.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Have the left arm take the pink plate from the table using a lip hold.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "With the left hand, grasp the pink plate from the table using the lip.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Pick up the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Take the pink plate from the table with a lip grip.", + "start_idx": 4008, + "end_idx": 4041 + }, + { + "text": "Put the pink plate to the left of the blue screwdriver with the left hand right side up front.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue screwdriver, right side up with the front facing forward.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Have the left arm set the pink plate left of the blue screwdriver, keeping it right side up and front-facing.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue screwdriver in a right-side-up orientation, front forward.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Place the pink plate to the left of the blue screwdriver, keeping it right side up with the front facing forward.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Set the pink plate left of the blue screwdriver, oriented right side up with the front forward.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Position the pink plate to the left of the blue screwdriver right side up, front-facing.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Using the left hand, put the pink plate to the left of the blue screwdriver.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Have the left arm place the pink plate left of the blue screwdriver.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "With the left hand, set the pink plate to the left of the blue screwdriver.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Put the pink plate to the left of the blue screwdriver.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Set the pink plate left of the blue screwdriver.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Position the pink plate to the left of the blue screwdriver.", + "start_idx": 4040, + "end_idx": 4076 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Retrieve the blue screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Using the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 4137, + "end_idx": 4167 + }, + { + "text": "Put the blue screwdriver to the right of the white canned goods with the left hand with its tip facing top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the white canned goods with its tip pointing top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Have the left arm set the blue screwdriver down to the right of the white canned goods, tip aimed toward the top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the white canned goods so its tip faces the top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Place the blue screwdriver to the right of the white canned goods with its tip facing top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Set the blue screwdriver to the right of the white canned goods, with the tip pointing top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Position the blue screwdriver to the right of the white canned goods so the tip points top left.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the white canned goods.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "With the left hand, set the blue screwdriver down to the right of the white canned goods.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Have the left arm position the blue screwdriver to the right of the white canned goods.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Put the blue screwdriver to the right of the white canned goods.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Set the blue screwdriver down to the right of the white canned goods.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Position the blue screwdriver to the right of the white canned goods.", + "start_idx": 4167, + "end_idx": 4206 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Have the left arm pick up the blue soda can from the table using a top side grip at a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "With the left hand, grasp the blue soda can from the table by the top in a side hold at a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold at a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "The blue soda can from the table should be picked up with a top side grasp at a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp at the top.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at the top with a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top with a diagonal angle.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Grasp the blue soda can from the table with the left hand.", + "start_idx": 4281, + "end_idx": 4311 + }, + { + "text": "Put the blue soda can to the right of the pink plate with the left hand.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Place the blue soda can to the right of the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Set the blue soda can on the right side of the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Position the blue soda can to the right of the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Put the blue soda can beside the pink plate on its right.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Place the blue soda can on the pink plate's right side.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Set the blue soda can next to the pink plate on the right.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Put the blue soda can by the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Place the blue soda can beside the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Set the blue soda can next to the pink plate.", + "start_idx": 4311, + "end_idx": 4347 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Have the left arm pick the pink plate off the table with a bottom-left lip grasp at a diagonal angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip hold on the bottom left at a diagonal approach.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Take the pink plate off the table with a lip grasp at the bottom left and a diagonal approach.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "With the left hand, take the pink plate off the table using a lip grasp.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Using the left hand, take the pink plate from the table at the bottom left with a diagonal approach.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Pick up the pink plate from the table at the bottom left with a diagonal pick angle.", + "start_idx": 4347, + "end_idx": 4371 + }, + { + "text": "Put the pink plate between the blue soda can and the blue screwdriver with the left hand right side up front.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Using the left hand, place the pink plate between the blue soda can and the blue screwdriver right side up with the front as reference.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Have the left arm set the pink plate between the blue soda can and the blue screwdriver, keeping it right side up at the front.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "With the left hand, position the pink plate between the blue soda can and the blue screwdriver so it is right side up facing front.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Place the pink plate between the blue soda can and the blue screwdriver right side up with the front as reference.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Set the pink plate between the blue soda can and the blue screwdriver, keeping it right side up at the front.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Position the pink plate between the blue soda can and the blue screwdriver so it is right side up facing front.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Using the left hand, put the pink plate between the blue soda can and the blue screwdriver.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "With the left arm, place the pink plate between the blue soda can and the blue screwdriver.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Have the left hand set the pink plate between the blue soda can and the blue screwdriver.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Put the pink plate between the blue soda can and the blue screwdriver.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Place the pink plate between the blue soda can and the blue screwdriver.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Set the pink plate between the blue soda can and the blue screwdriver.", + "start_idx": 4371, + "end_idx": 4419 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "From a diagonal angle, have the left hand grasp the blue soda can on the table with a side hold at the top.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "From a diagonal angle, grasp the blue soda can on the table with a side hold at the top.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Have the left hand take the blue soda can from the table.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Using the left hand, collect the blue soda can from the table from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Have the left hand retrieve the blue soda can from the table.", + "start_idx": 4479, + "end_idx": 4509 + }, + { + "text": "Put the blue soda can behind the pink plate with the left hand.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Using the left hand, place the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Have the left arm set the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "With the left hand, position the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Move the blue soda can behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "The blue soda can goes behind the pink plate.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Put the blue soda can with the left hand.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Using the left hand, set the blue soda can down.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Place the blue soda can.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Set down the blue soda can.", + "start_idx": 4509, + "end_idx": 4548 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a top side hold at a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "With the left hand, secure the blue soda can from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp at the top.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "With the left hand, grasp the blue soda can from the table by the top using a diagonal approach.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Grasp the blue soda can from the table by the top.", + "start_idx": 4614, + "end_idx": 4653 + }, + { + "text": "Put the blue soda can in front of the blue screwdriver with the left hand.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Using the left hand, place the blue soda can in front of the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Have the left arm set the blue soda can down in front of the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "With the left hand, position the blue soda can before the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Place the blue soda can in front of the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Set the blue soda can down in front of the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Position the blue soda can before the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Using the left hand, put the blue soda can by the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "With the left hand, place the blue soda can near the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Have the left arm set the blue soda can next to the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Put the blue soda can by the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Set the blue soda can near the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Place the blue soda can next to the blue screwdriver.", + "start_idx": 4653, + "end_idx": 4695 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Have the left hand pick the blue screwdriver off the table diagonally by its middle.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table, holding it at a diagonal angle around the center.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Retrieve the blue screwdriver from the table while keeping it angled diagonally at the center.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "With the left hand, pick up the blue screwdriver from the table.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Have the left hand take the blue screwdriver off the table.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Using the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Have the left hand pick up the blue screwdriver from the table at a diagonal angle.", + "start_idx": 4764, + "end_idx": 4797 + }, + { + "text": "Put the blue screwdriver in front of the pink plate with the left hand facing right with the tip as the reference point.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink plate with the tip facing right.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Have the left arm set the blue screwdriver in front of the pink plate, oriented rightward from the tip.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "With the left hand, position the blue screwdriver before the pink plate so its tip points right.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Place the blue screwdriver in front of the pink plate with the tip facing right.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Set the blue screwdriver before the pink plate, with the tip oriented to the right.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Position the blue screwdriver in front of the pink plate so the tip points right.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Using the left hand, put the blue screwdriver in front of the pink plate.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Have the left arm place the blue screwdriver before the pink plate.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "With the left hand, set the blue screwdriver in front of the pink plate.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Put the blue screwdriver in front of the pink plate.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Place the blue screwdriver before the pink plate.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Set the blue screwdriver in front of the pink plate.", + "start_idx": 4797, + "end_idx": 4836 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grasp at the bottom left.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "With the left hand, take the pink plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Using the left arm, collect the pink plate from the table with a diagonal lip grip at the bottom-left edge.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a diagonal lip hold at the bottom left.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Take the pink plate from the table with a diagonal lip grip at the bottom-left edge.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Grasp the pink plate from the table using a diagonal lip hold at the bottom left.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "With the left hand, pick up the pink plate from the table.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Using the left arm, take the pink plate from the table.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Have the left hand collect the pink plate from the table.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "With the left hand, grasp the pink plate from the table at the bottom left.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 4902, + "end_idx": 4932 + }, + { + "text": "Put the pink plate to the left of the white canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Using the left hand, place the pink plate to the left of the white canned goods right side up, using the front as the reference point.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Have the left arm set the pink plate left of the white canned goods, right side up with the front as the reference point.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "With the left hand, position the pink plate to the left of the white canned goods, keeping it right side up and using the front as the reference point.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Place the pink plate to the left of the white canned goods right side up, using the front as the reference point.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Set the pink plate left of the white canned goods right side up with the front as the reference point.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Position the pink plate to the left of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Using the left hand, place the pink plate to the left of the white canned goods.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Have the left arm set the pink plate left of the white canned goods.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "With the left hand, position the pink plate to the left of the white canned goods.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Place the pink plate to the left of the white canned goods.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Set the pink plate left of the white canned goods.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "The pink plate goes to the left of the white canned goods.", + "start_idx": 4932, + "end_idx": 4968 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Have the left arm pick the blue soda can up from the table with a top side grip at a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold on the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Grasp the blue soda can from the table with a side hold on the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 5031, + "end_idx": 5055 + }, + { + "text": "Put the blue soda can to the left of the blue marker with the left hand.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "With the left hand, position the blue soda can to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Place the blue soda can to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Set the blue soda can down to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Position the blue soda can to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Move the blue soda can to the left of the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Using the left hand, place the blue soda can by the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "With the left hand, set the blue soda can next to the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Have the left arm position the blue soda can beside the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Place the blue soda can by the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Set the blue soda can next to the blue marker.", + "start_idx": 5055, + "end_idx": 5091 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grip at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Have the left arm grasp the pink plate from the table in a diagonal lip hold at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "With the left hand, secure the pink plate from the table using a bottom-left diagonal lip grasp.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grip at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Take the pink plate from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Grasp the pink plate from the table in a diagonal lip grip at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Retrieve the pink plate from the table at the bottom left.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 5091, + "end_idx": 5115 + }, + { + "text": "Place the pink plate to the left of the blue soda can with the left hand right side up front.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Using the left hand, set the pink plate to the left of the blue soda can right side up with the front facing forward.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Have the left arm place the pink plate left of the blue soda can, keeping it right side up and front-facing.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue soda can in a right-side-up orientation with the front at the front.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Place the pink plate to the left of the blue soda can right side up with the front facing forward.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Set the pink plate left of the blue soda can in a right-side-up, front-facing position.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Position the pink plate to the left of the blue soda can, keeping it right side up and front-facing.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue soda can.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "With the left hand, set the pink plate left of the blue soda can.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Have the left arm position the pink plate to the left of the blue soda can.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Place the pink plate to the left of the blue soda can.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Set the pink plate left of the blue soda can.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Position the pink plate to the left of the blue soda can.", + "start_idx": 5115, + "end_idx": 5148 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Have the left arm take the blue screwdriver off the table at a diagonal angle, grasping its middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table diagonally, holding it at the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Take the blue screwdriver off the table diagonally, grasping the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Retrieve the blue screwdriver from the table at a diagonal angle, holding its middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table by the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Have the left arm take the blue screwdriver off the table, grasping its middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table while holding the middle.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the table.", + "start_idx": 5148, + "end_idx": 5172 + }, + { + "text": "Put the blue screwdriver on top of the pink plate with the left hand with its tip facing top right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Using the left hand, place the blue screwdriver on top of the pink plate with its tip pointing to the top right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Have the left arm set the blue screwdriver atop the pink plate, tip oriented toward the top right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "With the left hand, position the blue screwdriver on the pink plate so its tip faces the upper right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Place the blue screwdriver on top of the pink plate with its tip facing the top right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Set the blue screwdriver atop the pink plate, keeping its tip pointed upper right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Position the blue screwdriver on the pink plate so the tip points to the top right.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Using the left hand, put the blue screwdriver on top of the pink plate.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "With the left hand, place the blue screwdriver atop the pink plate.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Have the left arm set the blue screwdriver on the pink plate.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Put the blue screwdriver on top of the pink plate.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Place the blue screwdriver atop the pink plate.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Set the blue screwdriver on the pink plate.", + "start_idx": 5172, + "end_idx": 5199 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top, held diagonally.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Have the left arm pick the blue soda can up from the table using a top side grip at a diagonal angle.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table in a diagonal orientation using a side hold at the top.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal angle.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top in a diagonal orientation.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Retrieve the blue soda can from the table using a top side hold at a diagonal angle.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 5259, + "end_idx": 5295 + }, + { + "text": "Put the blue soda can to the left of the pink plate with the left hand.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Have the left arm set the blue soda can to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "With the left hand, position the blue soda can to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Place the blue soda can to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Set the blue soda can to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Position the blue soda can to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "The blue soda can goes to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Put the blue soda can by the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Set the blue soda can next to the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Place the blue soda can beside the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "To the left of the pink plate, place the blue soda can.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Have the blue soda can placed to the left of the pink plate.", + "start_idx": 5295, + "end_idx": 5331 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Using the left hand, take the blue screwdriver from the pink plate at a diagonal angle by the middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the pink plate diagonally at its middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "With the left hand, collect the blue screwdriver off the pink plate, approaching diagonally and holding the middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Pick up the blue screwdriver from the pink plate at a diagonal angle by the middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Take the blue screwdriver off the pink plate diagonally, grasping its middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Grasp the blue screwdriver from the pink plate at a diagonal angle in the middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "From the pink plate, pick up the blue screwdriver by the middle.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Take the blue screwdriver from the pink plate with the left hand.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Using the left hand, grasp the blue screwdriver off the pink plate.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the pink plate.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Pick up the blue screwdriver from the pink plate.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Retrieve the blue screwdriver from the pink plate.", + "start_idx": 5394, + "end_idx": 5427 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate with the left hand facing forwards with the tip as the reference point.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the pink plate with the tip facing forwards.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Have the left arm set the blue screwdriver to the right of the pink plate, oriented forward from its tip.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the pink plate so the tip points forwards.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Place the blue screwdriver to the right of the pink plate with the tip facing forwards.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate, keeping the tip oriented forwards.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate so its tip points forward.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Using the left hand, put the blue screwdriver to the right of the pink plate.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "With the left hand, set the blue screwdriver to the right of the pink plate.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Have the left arm place the blue screwdriver to the right of the pink plate.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Put the blue screwdriver to the right of the pink plate.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Set the blue screwdriver to the right of the pink plate.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Position the blue screwdriver to the right of the pink plate.", + "start_idx": 5427, + "end_idx": 5460 + }, + { + "text": "Pick up the blue marker from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Using the left hand, take the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Have the left arm pick the blue marker off the pink plate diagonally, holding it at the middle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "With the left hand, retrieve the blue marker from the pink plate in a diagonal orientation, gripping the center.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Pick up the blue marker from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Take the blue marker off the pink plate diagonally, holding the middle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Retrieve the blue marker from the pink plate with a diagonal pickup at the center.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Using the left hand, pick up the blue marker from the pink plate.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Have the left arm take the blue marker off the pink plate.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "With the left hand, retrieve the blue marker from the pink plate.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Pick up the blue marker from the pink plate with the left hand.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Take the blue marker from the pink plate at a diagonal angle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Grab the blue marker off the pink plate, grasping the middle.", + "start_idx": 5460, + "end_idx": 5496 + }, + { + "text": "Put the blue marker in front of the pink plate with the left hand with its tip facing left.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Using the left hand, place the blue marker in front of the pink plate with its tip pointing left.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Have the left arm set the blue marker before the pink plate, tip facing left.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "With the left hand, position the blue marker in front of the pink plate so its tip faces left.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Place the blue marker in front of the pink plate.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Set the blue marker before the pink plate.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Position the blue marker in front of the pink plate.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Using the left hand, put the blue marker in front of the pink plate.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Have the left arm place the blue marker before the pink plate.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "With the left hand, set the blue marker in front of the pink plate.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Put the blue marker in front of the pink plate with its tip facing left.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Arrange the blue marker before the pink plate, tip pointing left.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Position the blue marker in front of the pink plate using the left hand.", + "start_idx": 5496, + "end_idx": 5529 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grip at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "With the left arm, grasp the pink plate from the table using a diagonal lip hold at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Have the left hand pick the pink plate up from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grip at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Take the pink plate from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Grasp the pink plate from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "With the left arm, take the pink plate from the table.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Grab the pink plate from the table.", + "start_idx": 5529, + "end_idx": 5547 + }, + { + "text": "Put the pink plate to the right of the blue screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Using the left hand, place the pink plate to the right of the blue screwdriver, right side up relative to the front.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Have the left arm set the pink plate to the right of the blue screwdriver with its right side up, using the front as reference.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "With the left hand, position the pink plate to the right of the blue screwdriver so it is right side up from the front.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Place the pink plate to the right of the blue screwdriver, right side up relative to the front.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Set the pink plate to the right of the blue screwdriver with its right side up, using the front as the reference point.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Position the pink plate to the right of the blue screwdriver so it is right side up from the front.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Using the left hand, put the pink plate to the right of the blue screwdriver.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Have the left arm place the pink plate to the right of the blue screwdriver.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "With the left hand, set the pink plate to the right of the blue screwdriver.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Put the pink plate to the right of the blue screwdriver.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Place the pink plate to the right of the blue screwdriver from the front reference.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Using the left hand, position the pink plate to the right of the blue screwdriver.", + "start_idx": 5547, + "end_idx": 5586 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top on a diagonal angle.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from the top with a side hold at a diagonal angle.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp at the top in a diagonal orientation.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal angle.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top on a diagonal.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side grasp in a diagonal orientation.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Have the left arm take the blue soda can from the table from the top using a side hold.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top on the side.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at the top with a diagonal angle.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Have the left arm take the blue soda can from the table in a diagonal orientation.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Pick up the blue soda can from the table at the top with a diagonal angle.", + "start_idx": 5586, + "end_idx": 5613 + }, + { + "text": "Put the blue soda can on top of the pink plate with the left hand.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Using the left hand, place the blue soda can on top of the pink plate upright.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Have the left arm set the blue soda can onto the pink plate with the can right side up.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "With the left hand, position the blue soda can atop the pink plate so it stays upright.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Place the blue soda can on top of the pink plate upright.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Set the blue soda can onto the pink plate with the can right side up.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Position the blue soda can atop the pink plate so it remains upright.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Using the left hand, put the blue soda can on top of the pink plate.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "With the left hand, set the blue soda can onto the pink plate.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Have the left arm place the blue soda can atop the pink plate.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Put the blue soda can on top of the pink plate.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Set the blue soda can onto the pink plate.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Position the blue soda can atop the pink plate.", + "start_idx": 5613, + "end_idx": 5652 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle gripping the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Have the left hand pick up the blue marker from the table diagonally by the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "With the left arm, collect the blue marker from the table at a diagonal angle, holding the center.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, gripping the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "The blue marker from the table should be picked up at a diagonal angle, holding its middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Using the left hand, pick up the blue marker from the table gripping the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "With the left hand, take the blue marker from the table by the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Have the left arm collect the blue marker from the table at a diagonal angle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Take the blue marker from the table diagonally.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "The blue marker from the table should be picked up by the middle.", + "start_idx": 5721, + "end_idx": 5751 + }, + { + "text": "Put the blue marker to the left of the pink plate with the left hand with its tip facing top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Using the left hand, place the blue marker to the left of the pink plate with its tip pointing to the top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Have the left arm set the blue marker left of the pink plate, tip directed toward the top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "With the left hand, position the blue marker on the left side of the pink plate, its tip aimed top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Place the blue marker to the left of the pink plate with its tip facing top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Set the blue marker left of the pink plate with its tip pointing top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Position the blue marker on the left side of the pink plate with the tip directed toward the top left.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Using the left hand, put the blue marker to the left of the pink plate.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "With the left hand, place the blue marker on the left side of the pink plate.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Have the left arm set the blue marker left of the pink plate.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Put the blue marker to the left of the pink plate.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Place the blue marker on the left side of the pink plate.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Set the blue marker left of the pink plate.", + "start_idx": 5751, + "end_idx": 5781 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "With the left hand, secure the blue soda can from the table by its top with a side grasp from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "From the table, collect the blue soda can by its top with a side hold at a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "The left hand should take the blue soda can from the table.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "From the table, grasp the blue soda can with the left hand.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grip.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Grab the blue soda can from the table from a diagonal angle.", + "start_idx": 5970, + "end_idx": 5997 + }, + { + "text": "Put the blue soda can in front of the blue marker with the left hand.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Using the left hand, place the blue soda can in front of the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Have the left arm set the blue soda can down in front of the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "With the left hand, position the blue soda can before the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Place the blue soda can in front of the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Set the blue soda can down in front of the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "The blue soda can goes in front of the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Position the blue soda can before the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Using the left hand, put the blue soda can by the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Have the left arm place the blue soda can near the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "With the left hand, set the blue soda can next to the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Put the blue soda can by the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Place the blue soda can next to the blue marker.", + "start_idx": 5997, + "end_idx": 6030 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Have the left arm pick the blue marker off the table diagonally by its middle.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "With the left hand, retrieve the blue marker from the table in a diagonal orientation, holding the center.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Take the blue marker off the table diagonally by the middle.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup at its center.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "With the left hand, pick up the blue marker from the table.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Using the left hand, retrieve the blue marker from the table.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 6030, + "end_idx": 6057 + }, + { + "text": "Put the blue marker to the left of the blue soda can with the left hand with its tip facing top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Using the left hand, place the blue marker to the left of the blue soda can with its tip facing top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Have the left arm set the blue marker left of the blue soda can, tip oriented toward the top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "With the left hand, position the blue marker to the left of the blue soda can so its tip points top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Place the blue marker to the left of the blue soda can with its tip facing top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Set the blue marker left of the blue soda can with its tip pointing top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Position the blue marker to the left of the blue soda can, with the tip aimed at the top right.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Using the left hand, place the blue marker to the left of the blue soda can.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "With the left hand, set the blue marker left of the blue soda can.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Have the left arm position the blue marker to the left of the blue soda can.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Put the blue marker to the left of the blue soda can.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Arrange the blue marker left of the blue soda can.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Using the left hand, put the blue marker to the left of the blue soda can.", + "start_idx": 6057, + "end_idx": 6087 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Have the left arm pick up the blue soda can from the table in a diagonal top side grip.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold at the top on a diagonal.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Grasp the blue soda can from the table in a diagonal side hold at the top.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table diagonally at the top.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top on a diagonal.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 6204, + "end_idx": 6231 + }, + { + "text": "Put the blue soda can behind the white canned goods with the left hand.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Using the left hand, place the blue soda can behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Have the left arm set the blue soda can behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "With the left hand, position the blue soda can behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Place the blue soda can behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Set the blue soda can behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Position the blue soda can behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "The blue soda can goes behind the white canned goods.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Behind the white canned goods, put the blue soda can.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Using the left hand, place the blue soda can.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "With the left hand, set down the blue soda can.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Place the blue soda can.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Set down the blue soda can.", + "start_idx": 6231, + "end_idx": 6264 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "With the left hand, grasp the white canned goods on the table by the top using a side hold from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Have the left arm pick the white canned goods off the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Grasp the white canned goods on the table with a side hold at the top from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "The white canned goods should be taken from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "With the left hand, take the white canned goods off the table using a side grasp at the top.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Have the left arm grasp the white canned goods from the table with a side hold.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Using the left hand, take the white canned goods from the table from a diagonal angle.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Grasp the white canned goods on the table by the top.", + "start_idx": 6264, + "end_idx": 6288 + }, + { + "text": "Put the white canned goods behind the blue screwdriver with the left hand.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Using the left hand, place the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Have the left arm set the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "With the left hand, position the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Place the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Set the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Position the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "The white canned goods go behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Move the white canned goods behind the blue screwdriver.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Put the white canned goods with the left hand.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Using the left hand, set the white canned goods down.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Place the white canned goods.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "The white canned goods should be placed behind the blue screwdriver with the left hand.", + "start_idx": 6288, + "end_idx": 6324 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle from the middle.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Have the left arm take the blue marker from the table, grasping it at the middle on a diagonal.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "With the left hand, grasp the blue marker from the table diagonally at its middle.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle from the middle.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Take the blue marker from the table diagonally from the middle.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Grasp the blue marker from the table at the middle on a diagonal.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Grasp the blue marker from the table.", + "start_idx": 6324, + "end_idx": 6354 + }, + { + "text": "Place the blue marker to the left of the blue screwdriver with the left hand with its tip facing left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Using the left hand, set the blue marker to the left of the blue screwdriver with its tip pointing left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Have the left arm place the blue marker left of the blue screwdriver, tip facing left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "With the left hand, position the blue marker on the screwdriver's left side, with the tip oriented left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Place the blue marker to the left of the blue screwdriver with its tip facing left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Set the blue marker left of the blue screwdriver, with the tip pointing left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Position the blue marker on the left side of the blue screwdriver, tip facing left.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Using the left hand, place the blue marker to the left of the blue screwdriver.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "With the left hand, set the blue marker left of the blue screwdriver.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Have the left arm position the blue marker on the screwdriver's left side.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Place the blue marker to the left of the blue screwdriver.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Set the blue marker on the left side of the blue screwdriver.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Position the blue marker by the blue screwdriver's left side.", + "start_idx": 6354, + "end_idx": 6393 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Have the left arm grasp the blue soda can from the table by the top with a side hold at a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "With the left hand, collect the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold at a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp on the top.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Have the left arm collect the blue soda can from the table with a side hold by the top.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Take the blue soda can from the table by the top from a diagonal angle.", + "start_idx": 6393, + "end_idx": 6420 + }, + { + "text": "Put the blue soda can to the bottom side of the table with the left hand.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Using the left hand, place the blue soda can at the bottom side of the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Have the left arm set the blue soda can down on the table's bottom side.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "With the left hand, position the blue soda can on the bottom side of the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Place the blue soda can at the bottom side of the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Set the blue soda can on the table's bottom side.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Position the blue soda can at the bottom side of the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Leave the blue soda can on the bottom side of the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Using the left hand, place the blue soda can on the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Have the left arm set the blue soda can down.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "With the left hand, position the blue soda can.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Place the blue soda can on the table.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Set the blue soda can down.", + "start_idx": 6420, + "end_idx": 6456 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Have the left arm pick the blue marker off the table with a diagonal approach, holding it at the center.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Take the blue marker off the table diagonally, holding the middle.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal approach at the center.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 6513, + "end_idx": 6540 + }, + { + "text": "Put the blue marker on top of the pink plate with the left hand facing bottom left with the tip as reference.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Using the left hand, place the blue marker on top of the pink plate with the tip facing bottom left.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Have the left arm set the blue marker atop the pink plate, oriented bottom left by the tip.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "With the left hand, position the blue marker on the pink plate so the tip points toward the bottom left.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Place the blue marker on top of the pink plate with the tip facing bottom left.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Set the blue marker atop the pink plate, with the tip oriented toward the bottom left.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Position the blue marker on the pink plate so its tip points to the bottom left.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Using the left hand, put the blue marker on top of the pink plate.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "With the left hand, set the blue marker atop the pink plate.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Have the left arm place the blue marker on the pink plate.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Place the blue marker on top of the pink plate.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Set the blue marker atop the pink plate.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Position the blue marker on the pink plate.", + "start_idx": 6540, + "end_idx": 6570 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Have the left arm pick the blue screwdriver off the table, keeping it diagonal and grasping its middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table in a diagonal orientation, holding the middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Retrieve the blue screwdriver from the table while holding its middle at a diagonal angle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Take the blue screwdriver off the table at a diagonal angle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Grab the blue screwdriver from the table by the middle.", + "start_idx": 6570, + "end_idx": 6603 + }, + { + "text": "Put the blue screwdriver on top of the pink plate with the left hand with its tip facing bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Using the left hand, place the blue screwdriver on top of the pink plate with its tip pointing to the bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Have the left arm set the blue screwdriver onto the pink plate, tip oriented toward the bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "With the left hand, position the blue screwdriver atop the pink plate so its tip faces bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Place the blue screwdriver on top of the pink plate with its tip facing bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Set the blue screwdriver atop the pink plate, keeping its tip pointed to the bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Position the blue screwdriver on the pink plate with the tip directed bottom left.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Using the left hand, put the blue screwdriver on top of the pink plate.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "With the left hand, set the blue screwdriver atop the pink plate.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Have the left arm place the blue screwdriver on the pink plate.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Put the blue screwdriver on top of the pink plate.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Set the blue screwdriver atop the pink plate.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Position the blue screwdriver on the pink plate.", + "start_idx": 6603, + "end_idx": 6627 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Have the left hand take the white canned goods from the table, grasping the top from the side at a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "With the left hand, collect the white canned goods from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Take the white canned goods from the table, grasping the top from the side at a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "The white canned goods from the table should be picked up with a side grasp on top at a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Have the left hand take the white canned goods from the table with a side grasp on top.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "With the left hand, collect the white canned goods from the table using a side hold at the top.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "With the left hand, take the white canned goods from the table from the side at a diagonal angle.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 6684, + "end_idx": 6717 + }, + { + "text": "Put the white canned goods in the center of the table with the left hand.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Using the left hand, place the white canned goods in the center of the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Have the left arm set the white canned goods at the table's center.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "With the left hand, position the white canned goods in the middle of the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Place the white canned goods in the center of the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Set the white canned goods at the table's center.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "The white canned goods go in the middle of the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Position the white canned goods at the center of the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Arrange the white canned goods in the center of the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "At the table's center, place the white canned goods.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Using the left hand, place the white canned goods on the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "With the left hand, set the white canned goods down on the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Put the white canned goods on the table.", + "start_idx": 6717, + "end_idx": 6750 + }, + { + "text": "Pick up the blue screwdriver from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Using the left hand, take the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Have the left arm pick the blue screwdriver off the pink plate with a diagonal approach at its middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "With the left hand, seize the blue screwdriver from the pink plate diagonally by the middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Pick up the blue screwdriver from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Take the blue screwdriver off the pink plate diagonally by the middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Grasp the blue screwdriver from the pink plate at a diagonal angle at the middle.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the pink plate.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Have the left arm take the blue screwdriver off the pink plate.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the pink plate.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Pick up the blue screwdriver from the pink plate.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Remove the blue screwdriver from the pink plate.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Take the blue screwdriver from the pink plate.", + "start_idx": 6750, + "end_idx": 6777 + }, + { + "text": "Put the blue screwdriver behind the white canned goods with the left hand with its tip facing left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the white canned goods with its tip pointing left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Have the left arm set the blue screwdriver behind the white canned goods, tip facing left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "With the left hand, position the blue screwdriver behind the white canned goods so its tip faces left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Place the blue screwdriver behind the white canned goods with its tip facing left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Set the blue screwdriver behind the white canned goods, with the tip pointed left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Position the blue screwdriver behind the white canned goods so the tip faces left.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Using the left hand, put the blue screwdriver behind the white canned goods.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "With the left hand, place the blue screwdriver behind the white canned goods.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Have the left arm position the blue screwdriver behind the white canned goods.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Put the blue screwdriver behind the white canned goods.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Set the blue screwdriver behind the white canned goods.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Position the blue screwdriver behind the white canned goods.", + "start_idx": 6777, + "end_idx": 6813 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Have the left hand grasp the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "With the left hand, seize the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Take the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Grasp the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "With the left hand, take the white canned goods from the table using a side grasp on the top.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Have the left hand collect the white canned goods from the table from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Using the left hand, grasp the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Take the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 6903, + "end_idx": 6927 + }, + { + "text": "Put the white canned goods on the bottom right side of the table with the left hand.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Using the left hand, place the white canned goods on the bottom right side of the table, right side up.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Have the left arm set the white canned goods at the table's bottom right area with the front facing forward.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "With the left hand, position the white canned goods on the bottom right side of the table in an upright orientation.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Place the white canned goods on the bottom right side of the table.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Set the white canned goods at the bottom right of the table.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "The white canned goods go on the table's bottom right side.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Using the left hand, place the white canned goods on the bottom right side of the table.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "With the left hand, set the white canned goods at the table's bottom right area.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Place the white canned goods on the bottom right side of the table, right side up.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Set the white canned goods at the bottom right of the table upright.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "The white canned goods should be placed on the table's bottom right side in an upright position.", + "start_idx": 6927, + "end_idx": 6975 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left diagonal.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom-left diagonal.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "With a lip grasp at the bottom-left diagonal, have the left hand pick up the pink plate from the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "The left hand should retrieve the pink plate from the table using a lip grip at the bottom-left diagonal.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom-left diagonal.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the bottom-left diagonal.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "The pink plate should be picked up from the table with a lip grip at the bottom-left diagonal.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Have the left hand take the pink plate from the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "The left hand should grasp the pink plate from the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 6975, + "end_idx": 7008 + }, + { + "text": "Put the pink plate to the left of the blue marker with the left hand right side up with the front as the reference point.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue marker, right side up with the front as the reference point.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Have the left arm set the pink plate left of the blue marker, keeping it right side up relative to the front.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue marker so it is right side up using the front as the reference point.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Place the pink plate to the left of the blue marker, keeping it right side up with the front as the reference point.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Set the pink plate left of the blue marker, right side up relative to the front.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Position the pink plate to the left of the blue marker with the front as the reference point, right side up.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue marker.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Have the left arm set the pink plate left of the blue marker.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue marker.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Place the pink plate to the left of the blue marker.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Set the pink plate left of the blue marker.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Position the pink plate to the left of the blue marker.", + "start_idx": 7008, + "end_idx": 7050 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal from the middle.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal from the middle.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Have the left arm take the blue screwdriver from the table, grasping it diagonally at the middle.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table with a diagonal middle grasp.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal from the middle.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal grasp at the middle.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Retrieve the blue screwdriver from the table, grasping it diagonally at the middle.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 7104, + "end_idx": 7131 + }, + { + "text": "Put the blue screwdriver in front of the white canned goods with the left hand facing backwards.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the white canned goods with its tip facing backwards.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Have the left arm set the blue screwdriver in front of the white canned goods, tip oriented backward.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "With the left hand, position the blue screwdriver in front of the white canned goods so the tip points backward.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Place the blue screwdriver in front of the white canned goods with its tip facing backwards.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Set the blue screwdriver in front of the white canned goods, tip pointing backward.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Position the blue screwdriver in front of the white canned goods with the tip oriented backward.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Using the left hand, put the blue screwdriver in front of the white canned goods.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Have the left arm place the blue screwdriver in front of the white canned goods.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "With the left hand, set the blue screwdriver in front of the white canned goods.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Put the blue screwdriver in front of the white canned goods.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Arrange the blue screwdriver in front of the white canned goods.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Place the blue screwdriver in front of the white canned goods.", + "start_idx": 7131, + "end_idx": 7170 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal angle.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Have the left hand grasp the white canned goods from the table from the top with a diagonal side hold.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp at the top on a diagonal.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Grasp the white canned goods from the table from the top with a diagonal side hold.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Have the left hand take the white canned goods from the table.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Take the white canned goods from the table at the top with a diagonal angle.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Grasp the white canned goods from the table with the left hand at the top with a diagonal angle.", + "start_idx": 7170, + "end_idx": 7194 + }, + { + "text": "Put the white canned goods in front of the pink plate with the left hand.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Using the left hand, place the white canned goods in front of the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Have the left arm set the white canned goods before the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "With the left hand, position the white canned goods in front of the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Place the white canned goods in front of the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Set the white canned goods before the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Position the white canned goods in front of the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Place the white canned goods with the left hand.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Using the left hand, set down the white canned goods.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Have the left arm place the white canned goods.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Put the white canned goods before the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Set the white canned goods in front of the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Position the white canned goods by the pink plate.", + "start_idx": 7194, + "end_idx": 7227 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip at the bottom left using a diagonal angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a lip hold at the bottom left on a diagonal pick angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "With the left hand, take the pink plate off the table using a lip grip at the bottom left at a diagonal angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Take the pink plate from the table with a lip grip at the bottom left on a diagonal angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left using a diagonal pick angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Remove the pink plate from the table with a lip grip.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "With the left hand, take the pink plate off the table.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Pick up the pink plate from the table at the bottom left with a diagonal angle.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Take the pink plate from the table with the left hand.", + "start_idx": 7296, + "end_idx": 7320 + }, + { + "text": "Put the pink plate on the left side of the table with the left hand right side up with the front as the reference point.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Using the left hand, place the pink plate on the left side of the table right side up, using the front as the reference point.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Have the left arm set the pink plate on the table's left side, right side up relative to the front.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "With the left hand, position the pink plate on the left side of the table, keeping it right side up with the front as reference.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Place the pink plate on the left side of the table right side up, using the front as the reference point.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Set the pink plate on the table's left side, right side up relative to the front.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Position the pink plate on the left side of the table, keeping it right side up with the front as reference.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Using the left hand, put the pink plate on the left side of the table.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Have the left arm place the pink plate on the table's left side.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "With the left hand, set the pink plate on the left side of the table.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Put the pink plate on the left side of the table.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Set the pink plate on the table's left side.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Position the pink plate on the left side of the table.", + "start_idx": 7320, + "end_idx": 7356 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Have the left arm take the blue screwdriver off the table, grasping it at the middle on a diagonal.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table by the middle at a diagonal angle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle from the middle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Take the blue screwdriver off the table, grasping it diagonally at the middle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Retrieve the blue screwdriver from the table from the middle at a diagonal angle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Remove the blue screwdriver from the table with the left hand.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Take the blue screwdriver off the table at a diagonal angle from the middle.", + "start_idx": 7356, + "end_idx": 7380 + }, + { + "text": "Put the blue screwdriver in front of the pink plate with the left hand with the tip facing top right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink plate with the tip pointing to the top right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Have the left arm set the blue screwdriver in front of the pink plate, tip oriented toward the upper right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "With the left hand, position the blue screwdriver before the pink plate so its tip faces the top right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Place the blue screwdriver in front of the pink plate with the tip pointing to the top right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Set the blue screwdriver before the pink plate, with its tip facing the upper right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Position the blue screwdriver in front of the pink plate so the tip points top right.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Using the left hand, put the blue screwdriver in front of the pink plate.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "With the left hand, place the blue screwdriver before the pink plate.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Have the left arm position the blue screwdriver in front of the pink plate.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Put the blue screwdriver in front of the pink plate.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Set the blue screwdriver before the pink plate.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Position the blue screwdriver in front of the pink plate.", + "start_idx": 7380, + "end_idx": 7413 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "From the table, have the left hand grasp the blue soda can with a side hold at the top on a diagonal approach.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "The left hand should seize the blue soda can from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top on a diagonal approach.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Have the left hand take the blue soda can from the table.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "The left hand should grasp the blue soda can from the table.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "From the table, take the blue soda can with the left hand using a side grip at the top.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 7479, + "end_idx": 7509 + }, + { + "text": "Put the blue soda can to the right of the blue screwdriver with the left hand.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Place the blue soda can to the right of the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Set the blue soda can on the right side of the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "The blue soda can goes to the right of the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Put the blue soda can next to the blue screwdriver with the left hand.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Using the left hand, place the blue soda can by the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Have the left arm set the blue soda can beside the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Place the blue soda can next to the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Set the blue soda can beside the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "The blue soda can should be placed by the blue screwdriver.", + "start_idx": 7509, + "end_idx": 7548 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Have the left arm pick the pink plate off the table with a bottom lip grasp from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "With the left hand, remove the pink plate from the table by its bottom lip from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "From the table, take the pink plate with a bottom lip grasp at a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Remove the pink plate from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip at the bottom.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Have the left arm take the pink plate off the table with a lip grasp at the bottom.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Using the left hand, get the pink plate from the table from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Take the pink plate from the table with the left hand from a diagonal angle.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "From the table, remove the pink plate with a lip grip at the bottom.", + "start_idx": 7602, + "end_idx": 7623 + }, + { + "text": "Place the pink plate to the right of the white canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Using the left hand, set the pink plate to the right of the white canned goods right side up, with the front as the reference point.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Have the left arm place the pink plate to the right of the white canned goods, keeping it right side up relative to the front.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "With the left hand, position the pink plate to the right of the white canned goods so it stays right side up using the front as reference.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Place the pink plate to the right of the white canned goods right side up with the front as the reference point.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Set the pink plate to the right of the white canned goods right side up relative to the front.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Position the pink plate to the right of the white canned goods with its front as the reference point.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Using the left hand, place the pink plate to the right of the white canned goods.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "With the left hand, set the pink plate to the right of the white canned goods.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Have the left arm position the pink plate to the right of the white canned goods.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Put the pink plate to the right of the white canned goods.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Arrange the pink plate to the right of the white canned goods.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Place the pink plate to the right of the white canned goods with the left hand.", + "start_idx": 7623, + "end_idx": 7668 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Have the left arm pick the blue screwdriver up from the table, holding it at a diagonal angle from the middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table in a diagonal orientation, grasping its middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Take the blue screwdriver from the table in a diagonal orientation by the middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Retrieve the blue screwdriver from the table, keeping it diagonal and holding the middle.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "With the left hand, take the blue screwdriver from the table.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Get the blue screwdriver from the table.", + "start_idx": 7668, + "end_idx": 7698 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker with the left hand facing forwards with the tip forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Using the left hand, set the blue screwdriver to the right of the blue marker with its tip facing forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Have the left arm place the blue screwdriver to the right of the blue marker, tip oriented forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the blue marker so the tip points forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker with its tip facing forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Set the blue screwdriver to the right of the blue marker, with the tip oriented forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Position the blue screwdriver to the right of the blue marker so the tip faces forwards.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Using the left hand, place the blue screwdriver to the right of the blue marker.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Have the left arm set the blue screwdriver to the right of the blue marker.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "With the left hand, position the blue screwdriver to the right of the blue marker.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Place the blue screwdriver to the right of the blue marker.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Set the blue screwdriver to the right of the blue marker.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Have the blue screwdriver placed to the right of the blue marker.", + "start_idx": 7698, + "end_idx": 7740 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "From a diagonal angle, have the left hand grasp the blue soda can off the table with a side hold at the top.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "With the left hand, seize the blue soda can from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Take the blue soda can off the table by the top using a side grasp from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "From a diagonal angle, grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Have the left hand take the blue soda can off the table using a side grasp.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Using the left hand, take the blue soda can off the table by the top from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Grasp the blue soda can from the table by the top from a diagonal angle.", + "start_idx": 7815, + "end_idx": 7830 + }, + { + "text": "Put the blue soda can behind the pink plate with the left hand.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Using the left hand, place the blue soda can behind the pink plate, right side up with its front facing forward.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "With the left arm, set the blue soda can behind the pink plate in an upright position, front forward.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Have the left hand position the blue soda can behind the pink plate so it stays upright with the front facing forward.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Place the blue soda can behind the pink plate, right side up with its front facing forward.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Set the blue soda can behind the pink plate in an upright orientation, front facing forward.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Position the blue soda can behind the pink plate so it is right side up and facing forward.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Using the left hand, put the blue soda can behind the pink plate.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "With the left arm, place the blue soda can behind the pink plate.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Have the left hand set the blue soda can behind the pink plate.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 7830, + "end_idx": 7866 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Using the left hand, take the blue marker from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Have the left arm pick the blue marker off the table with a side grip on its top at a diagonal angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "With the left hand, grasp the blue marker from the table by its top using a side hold at a diagonal angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Take the blue marker off the table with a side grasp at the top and a diagonal angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Grasp the blue marker from the table by the top using a side hold at a diagonal pick angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at the top with a diagonal angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Take the blue marker from the table by the top with a diagonal pick angle.", + "start_idx": 7866, + "end_idx": 7896 + }, + { + "text": "Put the blue marker to the left of the pink plate with the left hand with its tip facing right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Using the left hand, place the blue marker to the left of the pink plate with its tip pointing right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Have the left arm set the blue marker left of the pink plate, tip facing right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "With the left hand, position the blue marker on the pink plate's left side, with the tip oriented right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Place the blue marker to the left of the pink plate with its tip facing right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Set the blue marker on the left side of the pink plate, with the tip pointing right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Position the blue marker left of the pink plate, tip directed to the right.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "With the left hand, place the blue marker to the left of the pink plate.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Using the left hand, set the blue marker on the left side of the pink plate.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Have the left arm position the blue marker left of the pink plate.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Put the blue marker to the left of the pink plate.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Place the blue marker on the left side of the pink plate.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Set the blue marker left of the pink plate.", + "start_idx": 7896, + "end_idx": 7929 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Have the left arm pick the white canned goods up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "With the left hand, grasp the white canned goods from the table by the top with a side hold from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Grasp the white canned goods from the table with a side hold on the top from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Have the left arm take the white canned goods from the table using a side grasp on the top.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "With the left hand, grasp the white canned goods from the table from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Pick up the white canned goods from the table at the top from a diagonal angle.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Take the white canned goods from the table with the left hand.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Grasp the white canned goods from the table.", + "start_idx": 8130, + "end_idx": 8154 + }, + { + "text": "Put the white canned goods behind the blue marker with the left hand.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Using the left hand, place the white canned goods behind the blue marker upright.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Have the left arm set the white canned goods behind the blue marker, right side up.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "With the left hand, position the white canned goods behind the blue marker so the front faces forward.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Place the white canned goods behind the blue marker upright.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Set the white canned goods behind the blue marker with the front facing forward.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Position the white canned goods behind the blue marker right side up.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "The white canned goods go behind the blue marker.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Move the white canned goods behind the blue marker.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Put the white canned goods behind the blue marker.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Place the white canned goods behind the blue marker with the left hand.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Using the left hand, set the white canned goods behind the blue marker.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Have the left arm put the white canned goods behind the blue marker.", + "start_idx": 8154, + "end_idx": 8187 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a top side hold at a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "With the left hand, seize the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Take the blue soda can from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side hold from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "With the left hand, grasp the blue soda can from the table with a top side hold.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "With the left hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Pick up the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 8186, + "end_idx": 8208 + }, + { + "text": "Put the blue soda can on the bottom side of the table with the left hand.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Using the left hand, place the blue soda can on the bottom side of the table upright from the front reference.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Have the left arm set the blue soda can on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "With the left hand, position the blue soda can on the bottom side of the table in an upright orientation referenced to the front.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Place the blue soda can on the bottom side of the table upright from the front reference.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Set the blue soda can on the bottom side of the table, keeping it right side up relative to the front.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Position the blue soda can on the bottom side of the table in an upright orientation referenced to the front.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Using the left hand, put the blue soda can on the bottom side of the table.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Have the left arm place the blue soda can on the bottom side of the table.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "With the left hand, set the blue soda can on the bottom side of the table.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Put the blue soda can on the bottom side of the table.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Set the blue soda can on the bottom side of the table.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Position the blue soda can on the bottom side of the table.", + "start_idx": 8208, + "end_idx": 8241 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Have the left hand take the blue marker from the table on a diagonal, holding it at the center.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "With the left hand, collect the blue marker from the table diagonally by its middle.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Take the blue marker from the table on a diagonal, holding the center.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Collect the blue marker from the table diagonally by its middle.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Have the left hand take the blue marker from the table.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "With the left hand, collect the blue marker from the table.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Remove the blue marker from the table.", + "start_idx": 8241, + "end_idx": 8268 + }, + { + "text": "Put the blue marker on top of the pink plate with the left hand facing top left with the tip as the reference point.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Using the left hand, place the blue marker on top of the pink plate with the tip facing top left.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Have the left arm set the blue marker onto the pink plate, oriented top left by its tip.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "With the left hand, position the blue marker on the pink plate so its tip points toward the top left.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Place the blue marker on top of the pink plate with the tip facing top left.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Set the blue marker onto the pink plate so the tip points to the top left.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Position the blue marker on the pink plate with its tip oriented top left.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Using the left hand, put the blue marker on top of the pink plate.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "With the left hand, set the blue marker onto the pink plate.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Have the left arm place the blue marker on the pink plate.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Put the blue marker on top of the pink plate.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Set the blue marker onto the pink plate.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Place the blue marker on the pink plate.", + "start_idx": 8268, + "end_idx": 8298 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from the top using a side hold at a diagonal angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "With the left hand, secure the blue soda can from the table by its top using a side grasp at a diagonal pick angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "From the table, grasp the blue soda can at the top with a side hold on a diagonal.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Have the left arm take the blue soda can from the table by the top using a side grasp.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold at the top.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at the top with a diagonal pick angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Take the blue soda can from the table with the left hand using a side grip.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Grasp the blue soda can from the table at the top with a diagonal pick angle.", + "start_idx": 8298, + "end_idx": 8337 + }, + { + "text": "Put the blue soda can in front of the pink plate with the left hand.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink plate upright.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "With the left arm, set the blue soda can right side up in front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Have the left hand position the blue soda can upright at the front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Place the blue soda can upright in front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Set the blue soda can right side up at the front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Position the blue soda can in front of the pink plate, keeping it upright.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "With the left hand, put the blue soda can by the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Using the left hand, place the blue soda can at the front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Have the left hand set the blue soda can down in front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Put the blue soda can in front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Set the blue soda can at the front of the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Position the blue soda can by the pink plate.", + "start_idx": 8337, + "end_idx": 8361 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "With the left arm, collect the white canned goods from the table using a side grip on the top at a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Have the left hand grasp the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Collect the white canned goods from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Grasp the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "With the left arm, take the white canned goods from the table using a side grasp.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Have the left hand collect the white canned goods from the table with a side hold.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Pick up the white canned goods from the table with the left hand.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Take the white canned goods from the table with the left arm.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Have the left hand collect the white canned goods from the table.", + "start_idx": 8361, + "end_idx": 8400 + }, + { + "text": "Put the white canned goods to the left of the pink plate with the left hand.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "With the left hand, position the white canned goods left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Place the white canned goods to the left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Set the white canned goods down to the left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Position the white canned goods left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Leave the white canned goods to the left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Arrange the white canned goods to the left of the pink plate.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Using the left hand, place the white canned goods.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "With the left hand, set down the white canned goods.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Have the left arm position the white canned goods.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Place the white canned goods.", + "start_idx": 8400, + "end_idx": 8442 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Have the left arm pick the blue soda can up from the table using a side hold on the top at a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "With the left hand, grasp the blue soda can from the table by the top with a side grip from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Grasp the blue soda can from the table with a side hold on the top from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "The blue soda can should be picked up from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Have the left arm grab the blue soda can from the table with a side hold.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 8490, + "end_idx": 8520 + }, + { + "text": "Put the blue soda can in front of the white canned goods with the left hand.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Using the left hand, place the blue soda can in front of the white canned goods, right side up.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Have the left arm set the blue soda can down in front of the white canned goods with its top upright.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "With the left hand, position the blue soda can before the white canned goods, keeping it upright.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Place the blue soda can in front of the white canned goods.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Set the blue soda can down in front of the white canned goods.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Position the blue soda can before the white canned goods.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Put the blue soda can in front of the white canned goods with its top upright.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Keep the blue soda can upright and place it in front of the white canned goods.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Set the blue soda can down with the left hand.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Using the left hand, place the blue soda can before the white canned goods.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Have the left arm put the blue soda can down upright.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Position the blue soda can in front of the white canned goods, upright.", + "start_idx": 8520, + "end_idx": 8553 + }, + { + "text": "Pick up the blue marker from the pink plate with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Using the left hand, take the blue marker from the pink plate with a side grip at the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Have the left arm grasp the blue marker from the pink plate with a side hold at its top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "With the left hand, retrieve the blue marker from the pink plate using a side grasp on the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Pick up the blue marker from the pink plate using a side grip at the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Take the blue marker from the pink plate with a side grasp on the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Retrieve the blue marker from the pink plate, maintaining a side hold at the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Using the left hand, pick up the blue marker from the pink plate with a side grip.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "With the left hand, take the blue marker from the pink plate using a side grasp.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Have the left arm retrieve the blue marker from the pink plate with a side hold.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Pick up the blue marker from the pink plate at the top from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Take the blue marker from the pink plate from a diagonal angle.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Get the blue marker from the pink plate at the top.", + "start_idx": 8553, + "end_idx": 8583 + }, + { + "text": "Put the blue marker in front of the pink plate with the left hand facing left with the tip as the reference point.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Using the left hand, place the blue marker in front of the pink plate with the tip facing left.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Have the left arm set the blue marker in front of the pink plate, oriented left from the tip.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "With the left hand, position the blue marker before the pink plate so its tip points left.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Place the blue marker in front of the pink plate with the tip facing left.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Set the blue marker before the pink plate, oriented left from the tip.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Position the blue marker in front of the pink plate so the tip points left.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Using the left hand, put the blue marker in front of the pink plate.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "With the left hand, place the blue marker before the pink plate.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Have the left arm position the blue marker in front of the pink plate.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Put the blue marker in front of the pink plate.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Set the blue marker before the pink plate.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Position the blue marker in front of the pink plate.", + "start_idx": 8583, + "end_idx": 8619 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "With the left arm, retrieve the white canned goods from the table using a top side grip at a diagonal angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Have the left hand grasp the white canned goods from the table with a side hold on the top at a diagonal angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Retrieve the white canned goods from the table with a top side hold at a diagonal pick angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "With the left hand, pick up the white canned goods from the table using a side grip at the top.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grasp at the top.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Have the left arm grasp the white canned goods from the table with a side hold on the top.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "With the left hand, pick up the white canned goods from the table at the top with a diagonal pick angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Take the white canned goods from the table with the left hand at the top and a diagonal angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Pick up the white canned goods from the table at the top with a diagonal pick angle.", + "start_idx": 8619, + "end_idx": 8640 + }, + { + "text": "Put the white canned goods on the top side of the table with the left hand.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Using the left hand, place the white canned goods on the top side of the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Have the left arm set the white canned goods onto the table's top side.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "With the left hand, position the white canned goods on the upper side of the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Place the white canned goods on the top side of the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Set the white canned goods onto the top side of the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "The white canned goods should go on the top side of the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Position the white canned goods on the upper side of the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Put the white canned goods on the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Set the white canned goods down on the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Place the white canned goods on the tabletop.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Put the white canned goods on the table with the left hand.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Have the left arm place the white canned goods on the table.", + "start_idx": 8640, + "end_idx": 8670 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table on a diagonal approach, gripping the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Retrieve the blue screwdriver from the table on a diagonal approach, holding the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 8670, + "end_idx": 8703 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate with the left hand facing backwards by the tip.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the pink plate with the tip facing backwards.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Have the left arm set the blue screwdriver left of the pink plate, oriented backwards at the tip.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "With the left hand, position the blue screwdriver to the left of the pink plate so the tip faces backwards.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate with the tip facing backwards.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Set the blue screwdriver left of the pink plate, with the tip oriented backwards.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate so its tip faces backwards.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Using the left hand, put the blue screwdriver to the left of the pink plate.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "With the left hand, set the blue screwdriver left of the pink plate.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Have the left arm place the blue screwdriver to the left of the pink plate.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Set the blue screwdriver left of the pink plate.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate.", + "start_idx": 8703, + "end_idx": 8742 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Have the left arm grasp the blue soda can from the table, contacting the top with a side hold at a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Take the blue soda can from the table with a side hold on the top from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side grip from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Have the left arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "The blue soda can from the table should be taken with the left hand from a diagonal angle.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Using the left hand, retrieve the blue soda can from the table.", + "start_idx": 8742, + "end_idx": 8769 + }, + { + "text": "Put the blue soda can to the left of the blue screwdriver with the left hand.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "With the left hand, position the blue soda can to the left of the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Place the blue soda can to the left of the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Set the blue soda can down to the left of the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Position the blue soda can to the left of the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Move the blue soda can beside the blue screwdriver.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Put the blue soda can down with the left hand.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Using the left hand, set down the blue soda can.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Have the left arm place the blue soda can.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Place the blue soda can.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Set down the blue soda can.", + "start_idx": 8769, + "end_idx": 8799 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table on a diagonal, gripping the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Retrieve the blue screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup, gripping its middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table, grasping the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Have the left arm take the blue screwdriver from the table, holding the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table by the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Take the blue screwdriver from the table at a diagonal angle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Get the blue screwdriver from the table, grasping the middle.", + "start_idx": 8859, + "end_idx": 8880 + }, + { + "text": "Put the blue screwdriver in front of the pink plate with the left hand with its tip facing left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink plate with its tip pointing left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Have the left arm set the blue screwdriver before the pink plate, tip oriented to the left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "With the left hand, position the blue screwdriver in front of the pink plate so its tip faces left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Place the blue screwdriver in front of the pink plate with its tip pointing left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Set the blue screwdriver before the pink plate, with the tip oriented left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Position the blue screwdriver in front of the pink plate so the tip faces left.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Using the left hand, place the blue screwdriver in front of the pink plate.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "With the left hand, set the blue screwdriver before the pink plate.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Have the left arm position the blue screwdriver in front of the pink plate.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Put the blue screwdriver in front of the pink plate.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Place the blue screwdriver before the pink plate.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Set the blue screwdriver in front of the pink plate.", + "start_idx": 8880, + "end_idx": 8910 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Have the left arm pick up the blue soda can from the table with a diagonal side grip at the top.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side hold on the top at a diagonal angle.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Grasp the blue soda can from the table with a side hold on the top diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Have the left arm pick up the blue soda can from the table with a side hold.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Pick up the blue soda can from the table diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "From the table, take the blue soda can with the left hand diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table at the top diagonally.", + "start_idx": 8910, + "end_idx": 8940 + }, + { + "text": "Put the blue soda can behind the pink plate with the left hand.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Using the left hand, place the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Have the left arm set the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "With the left hand, position the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Move the blue soda can behind the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Put the blue soda can by the pink plate with the left hand.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Using the left hand, set the blue soda can by the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Have the left arm place the blue soda can by the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Put the blue soda can by the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Position the blue soda can by the pink plate.", + "start_idx": 8940, + "end_idx": 8967 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "From a diagonal angle, have the left hand grasp the pink plate from the table with a lip hold at the bottom left.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "With the left hand, secure the pink plate from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "From a diagonal angle, grasp the pink plate from the table with a lip hold at the bottom left.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Have the left hand take the pink plate from the table with a lip hold.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip grasp.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Using the left hand, pick up the pink plate from the table from a diagonal angle.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Take the pink plate from the table with a lip grip.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 9030, + "end_idx": 9063 + }, + { + "text": "Put the pink plate in front of the white canned goods with the left hand right side up with the front as the reference point.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Using the left hand, place the pink plate in front of the white canned goods right side up, with the front as the reference point.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Have the left arm set the pink plate before the white canned goods, keeping it right side up relative to the front.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "With the left hand, position the pink plate in front of the white canned goods so it is right side up using the front as the reference point.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Place the pink plate in front of the white canned goods right side up, with the front as the reference point.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Set the pink plate before the white canned goods, keeping it right side up relative to the front.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Position the pink plate in front of the white canned goods so the plate is right side up using the front as reference.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Using the left hand, place the pink plate in front of the white canned goods.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Have the left arm set the pink plate before the white canned goods.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "With the left hand, position the pink plate in front of the white canned goods.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Put the pink plate in front of the white canned goods.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Place the pink plate before the white canned goods.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Set the pink plate in front of the white canned goods.", + "start_idx": 9063, + "end_idx": 9096 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Have the left arm grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "With the left hand, secure the white canned goods from the table by the top in a side grasp at a diagonal angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Take the white canned goods from the table by the top with a side grasp at a diagonal angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at the top with a diagonal pick angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Using the left hand, take the white canned goods from the table from the top at a diagonal angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "With the left hand, grasp the white canned goods from the table at a diagonal pick angle.", + "start_idx": 9096, + "end_idx": 9120 + }, + { + "text": "Put the white canned goods between the blue marker and the blue screwdriver with the left hand.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Using the left hand, place the white canned goods between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Have the left arm set the white canned goods down between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "With the left hand, position the white canned goods between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Place the white canned goods between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Set the white canned goods between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Position the white canned goods between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "The white canned goods should go between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Put the white canned goods down with the left hand.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Using the left hand, set the white canned goods in place.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Have the left arm place the white canned goods.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Put the white canned goods between the blue marker and the blue screwdriver.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Set the white canned goods down.", + "start_idx": 9120, + "end_idx": 9147 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the table diagonally by the middle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table, holding it at a diagonal angle around the middle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Retrieve the blue screwdriver from the table while holding the middle at a diagonal angle.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "With the left hand, take the blue screwdriver from the table.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Have the left arm retrieve the blue screwdriver from the table.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 9147, + "end_idx": 9171 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate with the left hand with its tip facing backwards.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the pink plate with its tip pointing backward.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Have the left arm set the blue screwdriver left of the pink plate, tip facing backwards.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "With the left hand, position the blue screwdriver to the left of the pink plate so its tip faces backward.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Place the blue screwdriver to the left of the pink plate with its tip pointing backward.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Set the blue screwdriver left of the pink plate with the tip facing backwards.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate, keeping its tip directed backward.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Using the left hand, put the blue screwdriver to the left of the pink plate.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "With the left hand, set the blue screwdriver left of the pink plate.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Have the left arm place the blue screwdriver to the left of the pink plate.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Put the blue screwdriver to the left of the pink plate.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Set the blue screwdriver left of the pink plate.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Position the blue screwdriver to the left of the pink plate.", + "start_idx": 9171, + "end_idx": 9198 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Have the left arm pick the blue soda can off the table with a top side hold and a diagonal approach.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "With the left hand, grasp the blue soda can from the table at the top using a side grip and a diagonal angle.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Take the blue soda can off the table at the top with a side grasp and a diagonal approach.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "The blue soda can should be picked up from the table using a side hold at the top and a diagonal angle.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "With the left arm, take the blue soda can off the table.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Have the left hand grasp the blue soda can from the table.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Using the left hand, take the blue soda can from the table at the top with a diagonal pick angle.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Grasp the blue soda can from the table using a side grip at the top.", + "start_idx": 9252, + "end_idx": 9276 + }, + { + "text": "Put the blue soda can in front of the blue marker with the left hand right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Using the left hand, place the blue soda can in front of the blue marker right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Have the left arm set the blue soda can down in front of the blue marker, keeping it right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "With the left hand, position the blue soda can in front of the blue marker so it remains right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Place the blue soda can in front of the blue marker right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Set the blue soda can in front of the blue marker right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Position the blue soda can in front of the blue marker right side up.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Using the left hand, put the blue soda can in front of the blue marker.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "With the left hand, set the blue soda can down in front of the blue marker.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Have the left arm place the blue soda can in front of the blue marker.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Put the blue soda can in front of the blue marker.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Set the blue soda can down in front of the blue marker.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Position the blue soda can in front of the blue marker.", + "start_idx": 9276, + "end_idx": 9306 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Have the left arm pick the blue marker up from the table diagonally by its middle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "With the left hand, retrieve the blue marker from the table, holding it at a diagonal angle at the middle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Retrieve the blue marker from the table while holding its middle at a diagonal angle.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "With the left hand, pick up the blue marker from the table.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Using the left hand, take the blue marker from the table.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Have the left arm retrieve the blue marker from the table.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 9306, + "end_idx": 9321 + }, + { + "text": "Put the blue marker in front of the pink plate with the left hand with its tip facing right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Using the left hand, place the blue marker in front of the pink plate with its tip pointing right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Have the left arm set the blue marker in front of the pink plate, tip facing to the right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "With the left hand, position the blue marker before the pink plate so its tip faces right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Place the blue marker in front of the pink plate with its tip pointing right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Set the blue marker before the pink plate, with the tip facing right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Position the blue marker in front of the pink plate so the tip points right.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Using the left hand, put the blue marker in front of the pink plate.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "With the left hand, place the blue marker before the pink plate.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Have the left arm position the blue marker in front of the pink plate.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Put the blue marker in front of the pink plate.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Set the blue marker before the pink plate.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Position the blue marker in front of the pink plate.", + "start_idx": 9321, + "end_idx": 9357 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Have the left hand grasp the blue screwdriver from the table at the bottom with a side hold and a diagonal approach.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "With the left hand, seize the blue screwdriver from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Grab the blue screwdriver from the table at the bottom using a side hold with a diagonal angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "With the left hand, take the blue screwdriver from the table using a side grasp on the bottom.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Have the left hand collect the blue screwdriver from the table with a side hold at the bottom.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at the bottom with a diagonal pick angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Using the left hand, grasp the blue screwdriver from the table with a diagonal approach.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Take the blue screwdriver from the table at the bottom with a diagonal pick angle.", + "start_idx": 9357, + "end_idx": 9384 + }, + { + "text": "Put the blue screwdriver on top of the pink plate with the left hand with its tip facing bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Using the left hand, place the blue screwdriver on top of the pink plate with its tip pointing to the bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Have the left arm set the blue screwdriver atop the pink plate, tip directed bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "With the left hand, position the blue screwdriver on the pink plate so its tip faces the bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Place the blue screwdriver on top of the pink plate with its tip facing bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Set the blue screwdriver atop the pink plate with its tip pointed toward the bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Position the blue screwdriver on the pink plate so the tip points to the bottom left.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Using the left hand, put the blue screwdriver on top of the pink plate.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "With the left hand, set the blue screwdriver atop the pink plate.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Have the left arm place the blue screwdriver on the pink plate.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Put the blue screwdriver on top of the pink plate.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Set the blue screwdriver atop the pink plate.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Position the blue screwdriver on the pink plate.", + "start_idx": 9384, + "end_idx": 9408 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Have the left arm pick the blue soda can off the table with a top side grip and a diagonal approach.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "With the left hand, grasp the blue soda can from the table using a side hold at the top with a diagonal pick angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Take the blue soda can off the table with a top side grasp and a diagonal approach.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top and a diagonal pick angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "With the left hand, take the blue soda can off the table using a side grasp at the top.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a top side hold.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "With the left hand, take the blue soda can off the table from the top at a diagonal pick angle.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 9408, + "end_idx": 9429 + }, + { + "text": "Put the blue soda can behind the pink plate with the left hand.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Using the left hand, place the blue soda can behind the pink plate upright with its front forward.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "With the left arm, set the blue soda can behind the pink plate, right side up and front-facing.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Have the left hand position the blue soda can behind the pink plate in an upright, front-forward orientation.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Using the left hand, put the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "With the left arm, place the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Have the left hand set the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Place the blue soda can behind the pink plate upright.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Set the blue soda can behind the pink plate with its front forward.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 9429, + "end_idx": 9468 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "At a diagonal angle, have the left hand take the blue marker from the table by its middle.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "The blue marker from the table should be picked up with the left hand, contacting its middle at a diagonal angle.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Take the blue marker from the table by the middle at a diagonal angle.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "The blue marker from the table should be picked up at a diagonal angle, with the middle grasped.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "With the left hand, take the blue marker from the table.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Have the left hand grasp the blue marker from the table.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "The blue marker from the table should be grasped.", + "start_idx": 9597, + "end_idx": 9624 + }, + { + "text": "Put the blue marker in front of the white canned goods with the left hand facing top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Using the left hand, place the blue marker in front of the white canned goods with its tip facing top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Have the left arm set the blue marker in front of the white canned goods, tip oriented toward the top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "With the left hand, position the blue marker before the white canned goods so the tip points top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Place the blue marker in front of the white canned goods with its tip facing top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Set the blue marker before the white canned goods, with the tip directed toward the top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Position the blue marker in front of the white canned goods so its tip points to the top left.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Using the left hand, put the blue marker in front of the white canned goods.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "With the left hand, place the blue marker before the white canned goods.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Have the left arm position the blue marker in front of the white canned goods.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Put the blue marker in front of the white canned goods.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Set the blue marker before the white canned goods.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Position the blue marker in front of the white canned goods.", + "start_idx": 9624, + "end_idx": 9663 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "From a diagonal angle, have the left hand take the pink plate from the table with a lip grasp at the bottom left.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "The left hand should grasp the pink plate from the table with a lip hold at the bottom left from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom left from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Take the pink plate from the table using a lip grasp at the bottom left from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "The pink plate should be picked up from the table with a lip hold at the bottom left from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Use the left hand to take the pink plate from the table with a lip grasp.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Have the left hand grasp the pink plate from the table with a lip hold.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Pick up the pink plate from the table with the left hand from a diagonal angle.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "From a diagonal angle, take the pink plate from the table with the left hand.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 9663, + "end_idx": 9687 + }, + { + "text": "Put the pink plate behind the white canned goods with the left hand right side up.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Using the left hand, place the pink plate behind the white canned goods right side up.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Have the left arm set the pink plate behind the white canned goods with its right side up.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "With the left hand, position the pink plate behind the white canned goods so it stays right side up.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Place the pink plate behind the white canned goods right side up.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Set the pink plate behind the white canned goods with its right side up.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Position the pink plate behind the white canned goods upright.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Using the left hand, place the pink plate behind the white canned goods.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "With the left hand, set the pink plate behind the white canned goods.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Have the left arm position the pink plate behind the white canned goods.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Put the pink plate behind the white canned goods.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Set the pink plate behind the white canned goods.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Position the pink plate behind the white canned goods.", + "start_idx": 9687, + "end_idx": 9732 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Have the left arm take the white canned goods from the table, grasping the top with a side hold at a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "With the left hand, grasp the white canned goods on the table by the top using a side grip from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Take the white canned goods from the table, using a side hold on the top from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Grasp the white canned goods on the table by the top with a side grip from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Have the left arm take the white canned goods from the table using a side grasp on the top.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "With the left hand, grasp the white canned goods from the table from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Take the white canned goods from the table with the left hand.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Grasp the white canned goods from the table by the top.", + "start_idx": 9732, + "end_idx": 9762 + }, + { + "text": "Put the white canned goods in front of the blue soda can with the left hand.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Using the left hand, place the white canned goods in front of the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Have the left arm set the white canned goods down in front of the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "With the left hand, position the white canned goods before the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Place the white canned goods in front of the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Set the white canned goods down in front of the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Position the white canned goods before the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Move the white canned goods to a spot in front of the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "With the left hand, put the white canned goods by the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Using the left hand, place the white canned goods near the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Have the left arm set the white canned goods next to the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Put the white canned goods in front of the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Set the white canned goods by the blue soda can.", + "start_idx": 9762, + "end_idx": 9807 + }, + { + "text": "Return both arms to home.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Have both arms return to home position.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Bring both arms to their home pose.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Return the arms to home.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Move the arms back to home position.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Bring the arms to their home pose.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Have the arms go to the home position.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Send the arms back home.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "The arms should return to home.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Move both manipulators to home.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Set both arms to the home position.", + "start_idx": 9807, + "end_idx": 9825 + }, + { + "text": "Bring both manipulators back to home.", + "start_idx": 9807, + "end_idx": 9825 + } + ] + }, + "2026-04-09-18-59-29-349000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "day 4 of data collection (recollect)", + "total_frames": 3000, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-10-18-51-28-744000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "day 4 of data collection (recollect)", + "total_frames": 3000, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-10-18-55-18-412000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "day 4 of data collection (recollect)", + "total_frames": 3000, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-14-03-33-23-804000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 1", + "total_frames": 293, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the right arm take the blue marker from the table with a diagonal pickup, holding it at the center.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the right hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the blue marker from the table with a diagonal pickup, holding the center.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the right arm take the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the blue marker from the table by its middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Put the blue marker in front of the yellow stuffed toy with the tip facing forwards using the right hand.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Using the right hand, place the blue marker in front of the yellow stuffed toy with its tip facing forwards.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Have the right hand set the blue marker in front of the yellow stuffed toy, tip pointed forwards.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "With the right hand, position the blue marker before the yellow stuffed toy so the tip faces forwards.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Place the blue marker in front of the yellow stuffed toy with its tip facing forwards.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Set the blue marker before the yellow stuffed toy, with the tip pointed forwards.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Position the blue marker in front of the yellow stuffed toy so its tip faces forwards.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Put the blue marker in front of the yellow stuffed toy.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Place the blue marker before the yellow stuffed toy.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Set the blue marker in front of the yellow stuffed toy.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Position the blue marker in front of the yellow stuffed toy.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Using the right hand, place the blue marker in front of the yellow stuffed toy.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Have the right hand put the blue marker before the yellow stuffed toy.", + "start_idx": 138, + "end_idx": 246 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Using the right hand, return to home.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Have the right arm move back to the home position.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Return to home.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Move back to the home position.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Go to the home pose.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Bring the arm to home.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Resume the home position.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Head back to home.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Move to the home position.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Return the arm to home.", + "start_idx": 245, + "end_idx": 294 + }, + { + "text": "Go back to home.", + "start_idx": 245, + "end_idx": 294 + } + ] + }, + "2026-04-14-03-36-19-145000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 1", + "total_frames": 287, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the corn from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, grasp the middle of the corn on the table and pick it up at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the middle of the corn on the table and remove it at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, pick up the corn from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm take the corn from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, grasp the corn from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the middle of the corn from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Put the corn to the left of the blue marker with the left hand with its tip facing right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Using the left hand, place the corn to the left of the blue marker with its tip facing right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Have the left arm set the corn left of the blue marker, tip pointed to the right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "With the left hand, position the corn to the left of the blue marker so its tip faces right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Place the corn to the left of the blue marker with its tip facing right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Set the corn left of the blue marker, with the tip pointed right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Position the corn to the left of the blue marker so the tip faces right.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Using the left hand, place the corn to the left of the blue marker.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Have the left arm set the corn left of the blue marker.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "With the left hand, position the corn to the left of the blue marker.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Place the corn to the left of the blue marker.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Set the corn left of the blue marker.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Position the corn to the left of the blue marker.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Return to the home position.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Move back to home.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Go to the home position.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Head back to home.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Resume the home position.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Return home.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Move to home.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Go back.", + "start_idx": 204, + "end_idx": 288 + }, + { + "text": "Head to the home position.", + "start_idx": 204, + "end_idx": 288 + } + ] + }, + "2026-04-14-03-46-38-679000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 1", + "total_frames": 332, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left hand take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the left arm, grasp the middle of the blue screwdriver on the table and pick it up diagonally.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Grasp the middle of the blue screwdriver from the table and pick it up at a diagonal angle.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left hand take the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the left arm, grasp the blue screwdriver on the table and pick it up.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left hand pick up the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Put the blue screwdriver behind the brown stuffed toy with the left hand with its tip facing right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the brown stuffed toy with its tip facing right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Have the left arm set the blue screwdriver behind the brown stuffed toy, tip oriented to the right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "With the left hand, position the blue screwdriver behind the brown stuffed toy so its tip points right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Place the blue screwdriver behind the brown stuffed toy with its tip facing right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Set the blue screwdriver behind the brown stuffed toy with the tip pointed right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Position the blue screwdriver behind the brown stuffed toy so the tip faces right.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Using the left hand, put the blue screwdriver behind the brown stuffed toy.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "With the left hand, place the blue screwdriver behind the brown stuffed toy.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Have the left arm set the blue screwdriver behind the brown stuffed toy.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Put the blue screwdriver behind the brown stuffed toy.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Using the left hand, position the blue screwdriver behind the brown stuffed toy.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Set the blue screwdriver behind the brown stuffed toy.", + "start_idx": 135, + "end_idx": 273 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "With the left hand, reset to the home pose.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Return to the home position.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Move back to home position.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Go to the home pose.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Reset to home.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Return home.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Move to the home position.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Head back to home.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Go to home position.", + "start_idx": 273, + "end_idx": 333 + }, + { + "text": "Reset to the home pose.", + "start_idx": 273, + "end_idx": 333 + } + ] + }, + "2026-04-14-04-01-06-517000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 1", + "total_frames": 259, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table diagonally with a full-object grasp.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Retrieve the brown stuffed toy from the table diagonally while holding the whole object.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the brown stuffed toy from the table with a diagonal pickup and a full-object grasp.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "At a diagonal angle, take the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Put the brown stuffed toy to the left of the corn with the left hand facing forwards.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn facing forwards.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Have the left arm set the brown stuffed toy to the left of the corn with its front facing forward.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "With the left hand, position the brown stuffed toy left of the corn, front facing forwards.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Place the brown stuffed toy to the left of the corn facing forwards.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Set the brown stuffed toy left of the corn with its front facing forward.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Position the brown stuffed toy to the left of the corn facing forwards.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Using the left hand, place the brown stuffed toy to the left of the corn.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Have the left arm set the brown stuffed toy left of the corn.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "With the left hand, position the brown stuffed toy to the left of the corn.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Put the brown stuffed toy to the left of the corn.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Place the brown stuffed toy left of the corn.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Set the brown stuffed toy to the left of the corn.", + "start_idx": 105, + "end_idx": 222 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Have the left arm move back to its home pose.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "With the left hand, go back to home.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Return to the home position.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Move back to home.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Go to the home pose.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Reset to home.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Have the arm return home.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Move to home position.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Go back to the home position.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Return home.", + "start_idx": 222, + "end_idx": 261 + }, + { + "text": "Reset the arm to home.", + "start_idx": 222, + "end_idx": 261 + } + ] + }, + "2026-04-14-04-04-24-675000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 1", + "total_frames": 240, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the right hand, take the yellow stuffed animal from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the right hand pick the yellow stuffed animal up from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the right hand, grasp the middle of the yellow stuffed animal on the table and pick it up diagonally.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the yellow stuffed animal from the table with a diagonal approach, holding its middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Grasp the middle of the yellow stuffed animal on the table and pick it up at a diagonal angle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the right hand, take the yellow stuffed animal from the table by its middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the right hand grasp the middle of the yellow stuffed animal and pick it up from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the yellow stuffed animal from the table with the right hand.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Grasp the middle of the yellow stuffed animal on the table and pick it up.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Put the yellow stuffed animal to the right side of the blue screwdriver with the right hand facing forwards.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Using the right hand, place the yellow stuffed animal to the right of the blue screwdriver, facing forwards.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Have the right arm set the yellow stuffed animal on the blue screwdriver's right side with its front facing forward.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "With the right hand, position the yellow stuffed animal to the right side of the blue screwdriver so it faces forwards.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Place the yellow stuffed animal to the right of the blue screwdriver, facing forwards.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Set the yellow stuffed animal on the right side of the blue screwdriver with its front forward.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Position the yellow stuffed animal to the blue screwdriver's right, facing forward.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Using the right hand, put the yellow stuffed animal to the right of the blue screwdriver.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "With the right hand, set the yellow stuffed animal on the blue screwdriver's right side.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Have the right arm position the yellow stuffed animal to the right of the blue screwdriver.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Put the yellow stuffed animal to the right of the blue screwdriver.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Arrange the yellow stuffed animal on the right side of the blue screwdriver.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Using the right hand, place the yellow stuffed animal to the blue screwdriver's right.", + "start_idx": 114, + "end_idx": 195 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Have the right arm return to home position.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Return to the home position.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Move back to home position.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Go to the home pose.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Reposition to the home position.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Have the arm return home.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Back to the home position.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Move to home.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Return home.", + "start_idx": 195, + "end_idx": 240 + }, + { + "text": "Go back to the home position.", + "start_idx": 195, + "end_idx": 240 + } + ] + }, + "2026-04-14-04-04-45-909000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 1", + "total_frames": 234, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table by approaching diagonally and grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the brown stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Retrieve the brown stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Take the brown stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the left hand, take the brown stuffed toy from the table by the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the left arm collect the brown stuffed toy from the table, holding the middle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table using a diagonal approach.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Put the brown stuffed toy in front of the blue screwdriver with the left hand facing forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Using the left hand, place the brown stuffed toy in front of the blue screwdriver facing forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the blue screwdriver, oriented forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "With the left hand, position the brown stuffed toy before the blue screwdriver so it faces forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Place the brown stuffed toy in front of the blue screwdriver facing forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Set the brown stuffed toy before the blue screwdriver with its front facing forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Position the brown stuffed toy in front of the blue screwdriver, facing forwards.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Using the left hand, put the brown stuffed toy in front of the blue screwdriver.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "With the left hand, place the brown stuffed toy before the blue screwdriver.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Have the left arm set the brown stuffed toy in front of the blue screwdriver.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Put the brown stuffed toy in front of the blue screwdriver.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Set the brown stuffed toy before the blue screwdriver.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Position the brown stuffed toy in front of the blue screwdriver.", + "start_idx": 108, + "end_idx": 177 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Return to the home position.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Move back to home.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Go to the home pose.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Bring the arm to home.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Head to the home position.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Return home.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Move to home.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Go back to the home position.", + "start_idx": 177, + "end_idx": 234 + }, + { + "text": "Reach the home pose.", + "start_idx": 177, + "end_idx": 234 + } + ] + }, + "2026-04-14-04-22-46-247000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 249, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm pick the blue stuffed toy up from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table by grasping its middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach, holding the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Retrieve the blue stuffed toy from the table by grasping the middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm take the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm pick up the blue stuffed toy from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Place the blue stuffed toy inside the beige bowl with the left hand facing top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Using the left hand, place the blue stuffed toy in the beige bowl with its front facing the top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Have the left arm put the blue stuffed toy inside the beige bowl, front oriented toward the top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "With the left hand, set the blue stuffed toy into the beige bowl so its front points top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Place the blue stuffed toy inside the beige bowl with its front facing the top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Put the blue stuffed toy in the beige bowl, front pointing toward the top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Set the blue stuffed toy into the beige bowl with the front directed to the top right.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Using the left hand, place the blue stuffed toy inside the beige bowl.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "With the left hand, put the blue stuffed toy into the beige bowl.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Have the left arm set the blue stuffed toy in the beige bowl.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Place the blue stuffed toy in the beige bowl.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Put the blue stuffed toy into the beige bowl.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Set the blue stuffed toy inside the beige bowl.", + "start_idx": 120, + "end_idx": 189 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Have the left arm return to its home pose.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Return to the home position.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Move back to home.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Go to the home pose.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Resume the home position.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Back to home.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Reach the home position.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Head to home.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Return home now.", + "start_idx": 189, + "end_idx": 249 + }, + { + "text": "Move to the home configuration.", + "start_idx": 189, + "end_idx": 249 + } + ] + }, + "2026-04-14-04-23-48-546000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 291, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Have the right arm take the blue soda can from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Take the blue soda can from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Retrieve the blue soda can from the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Have the right arm take the blue soda can from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Take the blue soda can from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Get the blue soda can from the table by its middle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Put the blue soda can to the right of the cabbage with the right hand.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Have the right arm set the blue soda can down to the cabbage's right side.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Place the blue soda can to the right of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Set the blue soda can on the cabbage's right side.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Position the blue soda can right of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Put the blue soda can beside the cabbage on its right side.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "The blue soda can goes to the right of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Move the blue soda can to the cabbage's right.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Arrange the blue soda can to the right of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Set the blue soda can down right of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Place the blue soda can on the right-hand side of the cabbage.", + "start_idx": 159, + "end_idx": 255 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Return to the home position.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Move back to home.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Go to the home pose.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Reset to home.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Move to the home position.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Head back to home.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Return home.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Go back to the home position.", + "start_idx": 255, + "end_idx": 291 + }, + { + "text": "Reset to the home pose.", + "start_idx": 255, + "end_idx": 291 + } + ] + }, + "2026-04-14-04-25-12-763000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 327, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Have the right arm take the beige bowl from the table using a diagonal lip grasp on its right side.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "With the right hand, grasp the beige bowl from the table by the right side using a diagonal lip hold.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Pick up the beige bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grasp on its right side.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Grasp the beige bowl from the table by the right side with a diagonal lip hold.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Have the right arm take the beige bowl from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "With the right hand, grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Pick up the beige bowl from the table at the right side.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Take the beige bowl from the table with the right hand.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Put the beige bowl to the right of the blue soda can with the right hand.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Have the right arm set the beige bowl on the right side of the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "With the right hand, position the beige bowl to the blue soda can's right.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Place the beige bowl to the right of the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Set the beige bowl on the right side of the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Position the beige bowl to the blue soda can's right.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Using the right hand, put the beige bowl by the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "With the right hand, place the beige bowl next to the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Have the right arm move the beige bowl beside the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Put the beige bowl by the blue soda can with the right hand.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Set the beige bowl beside the blue soda can with the right hand.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Position the beige bowl next to the blue soda can.", + "start_idx": 162, + "end_idx": 285 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "With the right hand, go back to home.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Return to the home position.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Move back to home.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Go to the home position.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Reset to home.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Head back to home position.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Bring the arm to home.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Return home.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Move to home.", + "start_idx": 285, + "end_idx": 327 + }, + { + "text": "Go back to the home position.", + "start_idx": 285, + "end_idx": 327 + } + ] + }, + "2026-04-14-04-28-18-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 134, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-14-04-29-46-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 183, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-14-04-33-34-590000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 299, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal grasp at the handle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm pick up the white mug from the table by the handle with a diagonal grasp.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, grasp the white mug from the table at the handle in a diagonal hold.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the white mug from the table with a diagonal grasp at the handle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the white mug from the table by the handle with a diagonal hold.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Grasp the white mug from the table at the handle diagonally.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the white mug from the table using the left hand.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the white mug behind the cabbage with handle facing bottom left right side up with the left hand.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Using the left hand, place the white mug behind the cabbage, handle facing bottom left and right side up.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Have the left arm set the white mug behind the cabbage with its handle toward the bottom left, upright.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "With the left hand, position the white mug behind the cabbage so the handle points bottom left, right side up.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Place the white mug behind the cabbage with the handle facing bottom left and right side up.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Set the white mug behind the cabbage, with its handle toward the bottom left and upright.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Position the white mug behind the cabbage so its handle points to the bottom left, right side up.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Using the left hand, put the white mug behind the cabbage.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Have the left arm place the white mug behind the cabbage.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "With the left hand, set the white mug behind the cabbage.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Put the white mug behind the cabbage.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Place the white mug behind the cabbage with the handle facing bottom left.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Set the white mug behind the cabbage right side up.", + "start_idx": 132, + "end_idx": 225 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Using the left hand, return to home.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Have the left arm move back to home position.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "With the left gripper, go to the home pose.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Return to home.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Move back to home position.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Go to the home pose.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Head to the home position.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "The task is to return home.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Move to home position now.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Transition back to home.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Reset to the home pose.", + "start_idx": 225, + "end_idx": 300 + }, + { + "text": "Navigate to the home position.", + "start_idx": 225, + "end_idx": 300 + } + ] + }, + "2026-04-14-04-34-24-990000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 362, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Using the right hand, take the green cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Have the right arm pick the green cabbage off the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "With the right hand, retrieve the green cabbage from the table diagonally by holding its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Pick up the green cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Take the green cabbage off the table with a diagonal approach, holding the middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Retrieve the green cabbage from the table diagonally by grasping its middle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Using the right hand, pick up the green cabbage from the table.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "With the right hand, take the green cabbage off the table.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Have the right arm retrieve the green cabbage from the table.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Pick up the green cabbage from the table.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Take the green cabbage off the table.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Have the right arm pick up the green cabbage from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 156 + }, + { + "text": "Put the green cabbage behind the blue soda can with the right hand facing forwards with the tip as the reference point.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Using the right hand, place the green cabbage behind the blue soda can, facing forwards with the tip as the reference point.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Have the right arm set the green cabbage behind the blue soda can with its tip as the reference point, facing forwards.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "With the right hand, position the green cabbage behind the blue soda can so it faces forwards, using the tip as the reference point.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Place the green cabbage behind the blue soda can, facing forwards with the tip as the reference point.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Set the green cabbage behind the blue soda can with its tip as the reference point facing forwards.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Position the green cabbage behind the blue soda can so it faces forwards, using the tip as the reference point.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Using the right hand, put the green cabbage behind the blue soda can.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "With the right hand, place the green cabbage behind the blue soda can.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Have the right arm set the green cabbage behind the blue soda can.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Put the green cabbage behind the blue soda can.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Place the green cabbage behind the blue soda can.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Set the green cabbage behind the blue soda can.", + "start_idx": 156, + "end_idx": 279 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Have the right arm return to home.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Return to home.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Move back to the home position.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Go to the home pose.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Resume the home position.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Back to home.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Reach the home position.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Home position.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Move to home.", + "start_idx": 279, + "end_idx": 363 + }, + { + "text": "Return home.", + "start_idx": 279, + "end_idx": 363 + } + ] + }, + "2026-04-14-04-35-45-301000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 343, + "num_annotations": 39, + "annotations": [ + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the right hand, take the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the right hand pick the blue soda can off the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the right hand, secure the middle of the blue soda can from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the blue soda can off the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Grasp the blue soda can from the table at a diagonal angle by the middle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the right hand, take the blue soda can off the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the right hand collect the blue soda can from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With a diagonal approach, pick up the blue soda can from the table.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Put the blue soda can to the left of the white mug with the right hand.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Using the right hand, place the blue soda can to the left of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Have the right arm set the blue soda can down left of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "With the right hand, position the blue soda can on the left side of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Place the blue soda can to the left of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Set the blue soda can down left of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Position the blue soda can on the left side of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "The blue soda can goes to the left of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Move the blue soda can to a spot left of the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Using the right hand, place the blue soda can by the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "With the right hand, set the blue soda can next to the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Have the right arm position the blue soda can beside the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Put the blue soda can beside the white mug.", + "start_idx": 138, + "end_idx": 285 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Bring the right hand back to home.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Move to the home position.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Return to home.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Go back to the home pose.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Resume the home position.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Reset to home.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Move back.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Return to the default pose.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Go to home position.", + "start_idx": 285, + "end_idx": 345 + }, + { + "text": "Back to home.", + "start_idx": 285, + "end_idx": 345 + } + ] + }, + "2026-04-14-04-38-04-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "alignment data set 2", + "total_frames": 162, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-21-03-32-03-298000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 272, + "annotations": [ + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Have the right hand pick up the pink bowl from the table by the right side of its lip at a diagonal angle.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using a right-side diagonal lip hold.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Take the pink bowl from the table with a right-side diagonal lip hold.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Grasp the pink bowl from the table by the right lip diagonally.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "With the right hand, take the pink bowl from the table.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Have the right hand grasp the pink bowl from the table.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "With the right hand, pick up the pink bowl from the table.", + "start_idx": 0, + "end_idx": 126 + }, + { + "text": "Place the pink bowl to the right of the red bag of chips with the right hand.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Using the right hand, set the pink bowl to the right of the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Have the right arm place the pink bowl on the right side of the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "With the right hand, position the pink bowl to the red bag of chips's right.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Place the pink bowl to the right of the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Set the pink bowl on the right side of the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Position the pink bowl to the red bag of chips's right.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "The pink bowl goes to the right of the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Put the pink bowl beside the red bag of chips on its right side.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Using the right hand, place the pink bowl beside the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Have the right arm set the pink bowl on the red bag of chips's right side.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Place the pink bowl next to the red bag of chips on its right.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Set the pink bowl beside the red bag of chips.", + "start_idx": 126, + "end_idx": 225 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table at a diagonal angle, grasping the middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Have the right arm take the red bag of chips from the table with a diagonal pickup, holding its middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "With the right hand, retrieve the red bag of chips from the table diagonally by the middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Pick up the red bag of chips from the table at a diagonal angle, grasping the middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Retrieve the red bag of chips from the table diagonally by the middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Take the red bag of chips from the table with a diagonal pickup at the middle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Have the right arm take the red bag of chips from the table.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "With the right hand, retrieve the red bag of chips from the table.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Pick up the red bag of chips from the table at a diagonal angle.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "From the table, take the red bag of chips with the right hand.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Get the red bag of chips from the table.", + "start_idx": 1020, + "end_idx": 1158 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Have the right arm pick up the pink bowl from the table, gripping the right side lip at a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by the right-side lip at a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Take the pink bowl from the table by the right-side lip at a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Grasp the pink bowl from the table at the right side with a diagonal angle using a lip hold.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Have the right arm take the pink bowl from the table using a lip hold.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by its lip.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Pick up the pink bowl from the table with the right hand at the right side and a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Take the pink bowl from the table with the right hand using a lip grip.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Grasp the pink bowl from the table at the right side with a diagonal angle.", + "start_idx": 1257, + "end_idx": 1398 + }, + { + "text": "Place the pink bowl to the right of the green bowl with the right hand.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Using the right hand, set the pink bowl to the right of the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Have the right arm place the pink bowl on the right side of the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "With the right hand, position the pink bowl just right of the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Place the pink bowl to the right of the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Set the pink bowl on the right side of the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Position the pink bowl just to the right of the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Using the right hand, place the pink bowl by the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Have the right arm set the pink bowl beside the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "With the right hand, position the pink bowl next to the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Place the pink bowl beside the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Set the pink bowl next to the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Position the pink bowl by the green bowl.", + "start_idx": 1398, + "end_idx": 1548 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a diagonal lip grasp at the right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Have the right hand take the white cup from the table using a diagonal lip grasp on its right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "With the right hand, grasp the white cup from the table via a diagonal lip grip at the right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip on its right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip hold at the right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Retrieve the white cup from the table at the right side.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Have the right hand grasp the white cup from the table.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 1857, + "end_idx": 2064 + }, + { + "text": "Put the white cup to the right of the pink bowl with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Using the right hand, place the white cup to the right of the pink bowl, right side up with the front as the reference point.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Have the right arm set the white cup to the right of the pink bowl, keeping it right side up relative to the front.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "With the right hand, position the white cup to the right of the pink bowl so it is right side up using the front as the orientation reference.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Place the white cup to the right of the pink bowl, right side up with the front as the reference point.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Set the white cup to the right of the pink bowl, keeping it right side up relative to the front.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Position the white cup to the right of the pink bowl so the front serves as the orientation reference and it stays right side up.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Using the right hand, place the white cup to the right of the pink bowl.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Have the right arm set the white cup to the right of the pink bowl.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "With the right hand, position the white cup to the right of the pink bowl.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Place the white cup to the right of the pink bowl.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Set the white cup to the right of the pink bowl.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Position the white cup to the right of the pink bowl.", + "start_idx": 2214, + "end_idx": 2298 + }, + { + "text": "Pick up the red bag of chips from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table at a diagonal angle, grasping the middle.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Have the right hand take the red bag of chips from the table with a diagonal approach at the center.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "With the right hand, grasp the middle of the red bag of chips on the table and retrieve it at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Pick up the red bag of chips from the table at a diagonal angle, grasping the middle.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Take the red bag of chips from the table with a diagonal approach, holding the middle.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Grasp the middle of the red bag of chips on the table and pick it up at a diagonal angle.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Using the right hand, pick up the red bag of chips from the table.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Have the right hand take the red bag of chips from the table.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "With the right hand, grasp the red bag of chips on the table and retrieve it.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Pick up the red bag of chips from the table.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Take the red bag of chips from the table.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Grasp the red bag of chips on the table and retrieve it.", + "start_idx": 2526, + "end_idx": 2670 + }, + { + "text": "Put the red bag of chips in front of the pink bowl with the right hand facing left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Using the right hand, place the red bag of chips in front of the pink bowl, facing left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Have the right arm set the red bag of chips before the pink bowl with its front facing left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "With the right hand, position the red bag of chips in front of the pink bowl so it faces left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Place the red bag of chips in front of the pink bowl, facing left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Set the red bag of chips before the pink bowl with its front to the left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Position the red bag of chips in front of the pink bowl so it points left.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Using the right hand, put the red bag of chips in front of the pink bowl.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Have the right arm place the red bag of chips before the pink bowl.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "With the right hand, set the red bag of chips in front of the pink bowl.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Put the red bag of chips in front of the pink bowl.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Place the red bag of chips before the pink bowl.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Set the red bag of chips in front of the pink bowl.", + "start_idx": 2670, + "end_idx": 2742 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Using the left hand, take the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Have the left arm pick the green bowl up from the table using a diagonal lip hold at the bowl's right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "With the left hand, grasp the green bowl from the table via a diagonal lip grip on the right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Take the green bowl from the table with a diagonal lip hold on the right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Grasp the green bowl from the table with a diagonal lip grip at its right side.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Pick up the green bowl from the table with the left hand.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 225, + "end_idx": 351 + }, + { + "text": "Put the green bowl to the right of the white cup with the left hand.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Using the left hand, place the green bowl to the right of the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Have the left arm set the green bowl down to the right of the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "With the left hand, position the green bowl on the right side of the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Place the green bowl to the right of the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Set the green bowl on the right side of the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Position the green bowl to the white cup's right.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Using the left hand, put the green bowl by the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "With the left hand, place the green bowl next to the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Have the left arm set the green bowl beside the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Put the green bowl beside the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Set the green bowl next to the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Position the green bowl beside the white cup.", + "start_idx": 351, + "end_idx": 474 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Have the left arm pick up the white cup from the table with a diagonal approach at its middle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "With the left hand, retrieve the white cup from the table by holding its middle at a diagonal angle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle, grasping the middle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Take the white cup from the table with a diagonal approach, holding the middle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Retrieve the white cup from the table by grasping its middle at a diagonal angle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Use the left hand to take the white cup from the table.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Have the left arm retrieve the white cup from the table.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Retrieve the white cup from the table at a diagonal angle.", + "start_idx": 474, + "end_idx": 660 + }, + { + "text": "Put the white cup in front of the green bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Using the left hand, place the white cup in front of the green bowl right side up, using the front as the reference point.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Have the left arm set the white cup before the green bowl, right side up with the front as the orientation reference.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "With the left hand, position the white cup in front of the green bowl so it is right side up, referenced to the front.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Place the white cup in front of the green bowl right side up, using the front as the reference point.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Set the white cup before the green bowl right side up with the front as the orientation reference.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Position the white cup in front of the green bowl, keeping it right side up relative to the front.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Using the left hand, put the white cup in front of the green bowl.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "With the left hand, place the white cup before the green bowl.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Have the left arm position the white cup in front of the green bowl.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Put the white cup in front of the green bowl.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Set the white cup before the green bowl.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Position the white cup in front of the green bowl.", + "start_idx": 660, + "end_idx": 774 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand using a lip grip at the right side and a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Using the left hand, take the pink coffee cup from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Have the left hand grasp the pink coffee cup from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "With the left hand, retrieve the pink coffee cup from the table using a lip grasp on the cup's right side at a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Pick up the pink coffee cup from the table using a lip grip at the right side and a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Retrieve the pink coffee cup from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Take the pink coffee cup from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Using the left hand, pick up the pink coffee cup from the table with a lip grip.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Have the left hand take the pink coffee cup from the table using a lip hold.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "With the left hand, grasp the pink coffee cup from the table with a lip grasp.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Using the left hand, pick up the pink coffee cup from the table at the right side and a diagonal angle.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "At the right side and a diagonal angle, take the pink coffee cup from the table with the left hand.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand.", + "start_idx": 774, + "end_idx": 912 + }, + { + "text": "Put the pink coffee cup to the left of the green bowl with the handle facing top left with the left hand.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Using the left hand, place the pink coffee cup to the left of the green bowl, with its handle facing the top left.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Have the left hand set the pink coffee cup left of the green bowl so the handle points to the top left.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "With the left hand, position the pink coffee cup on the left side of the green bowl, handle facing top left.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Place the pink coffee cup to the left of the green bowl with the handle facing top left.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Set the pink coffee cup on the left of the green bowl, with its handle pointing top left.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Position the pink coffee cup left of the green bowl, keeping the handle oriented top left.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Using the left hand, put the pink coffee cup to the left of the green bowl.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "With the left hand, place the pink coffee cup on the left side of the green bowl.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Have the left hand set the pink coffee cup left of the green bowl.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Put the pink coffee cup to the left of the green bowl.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Place the pink coffee cup on the left side of the green bowl.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Set the pink coffee cup left of the green bowl.", + "start_idx": 912, + "end_idx": 1020 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Using the left hand, take the pink coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Have the left arm pick up the pink coffee cup from the table using a right-side diagonal lip grasp.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "With the left hand, grasp the pink coffee cup from the table by the lip at a diagonal on the right side.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Pick up the pink coffee cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Take the pink coffee cup from the table with a right-side diagonal lip grasp.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Grasp the pink coffee cup from the table by the lip on the right side at a diagonal.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Using the left hand, pick up the pink coffee cup from the table.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Have the left arm take the pink coffee cup from the table.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "With the left hand, grasp the pink coffee cup from the table.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Take the pink coffee cup from the table using a diagonal grasp on the right side.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Grasp the pink coffee cup from the table.", + "start_idx": 1548, + "end_idx": 1743 + }, + { + "text": "Put the pink coffee cup to the left of the white cup with the handle facing top right right side up using the left hand.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Using the left hand, place the pink coffee cup to the left of the white cup, right side up with the handle facing the top right.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Have the left arm set the pink coffee cup left of the white cup, keeping it upright and the handle pointed top right.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "With the left hand, position the pink coffee cup to the left of the white cup so the handle faces top right and it stays right side up.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Place the pink coffee cup to the left of the white cup, right side up with the handle facing the top right.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Set the pink coffee cup left of the white cup, keeping the handle pointed top right and the cup upright.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Position the pink coffee cup to the left of the white cup with the handle toward the top right, right side up.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Using the left hand, place the pink coffee cup to the left of the white cup.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Have the left arm set the pink coffee cup left of the white cup.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "With the left hand, position the pink coffee cup to the left of the white cup.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Place the pink coffee cup to the left of the white cup.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Set the pink coffee cup left of the white cup.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Have the pink coffee cup placed to the left of the white cup.", + "start_idx": 1743, + "end_idx": 1857 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Using the left hand, pick up the pink coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Have the left arm take the pink coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "With the left hand, grasp the pink coffee cup from the table in a diagonal lip hold on the left.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Pick up the pink coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Take the pink coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "The pink coffee cup should be picked up from the table using a diagonal lip grasp on the left.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Using the left hand, pick up the pink coffee cup from the table.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "With the left hand, take the pink coffee cup from the table.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Have the left arm grasp the pink coffee cup from the table.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "The pink coffee cup should be taken from the table.", + "start_idx": 2298, + "end_idx": 2445 + }, + { + "text": "Put the pink coffee cup in front of the green bowl with the left hand right side up with the front facing forwards.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Using the left hand, place the pink coffee cup in front of the green bowl right side up with the front facing forwards.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Have the left arm set the pink coffee cup in front of the green bowl, keeping it upright and the front pointed forwards.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "With the left hand, position the pink coffee cup in front of the green bowl so it stays right side up and faces forwards.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Place the pink coffee cup in front of the green bowl right side up with the front facing forwards.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Set the pink coffee cup in front of the green bowl, keeping it upright with the front toward the front.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Position the pink coffee cup in front of the green bowl right side up, front facing forwards.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Using the left hand, put the pink coffee cup in front of the green bowl.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "With the left hand, place the pink coffee cup in front of the green bowl.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Have the left arm set the pink coffee cup in front of the green bowl.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Put the pink coffee cup in front of the green bowl.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Place the pink coffee cup in front of the green bowl.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Set the pink coffee cup in front of the green bowl.", + "start_idx": 2445, + "end_idx": 2526 + }, + { + "text": "Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Using the left hand, take the pink coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Have the left arm pick up the pink coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "With the left hand, grasp the pink coffee cup from the table by the left lip at a diagonal angle.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Pick up the pink coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Take the pink coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Grasp the pink coffee cup from the table by the left lip diagonally.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Using the left hand, pick up the pink coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Have the left arm take the pink coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "With the left hand, grasp the pink coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Pick up the pink coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Take the pink coffee cup from the table.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Have the cup picked up from the table.", + "start_idx": 2742, + "end_idx": 2907 + }, + { + "text": "Put the pink coffee cup to the left of the green bowl with the left hand right side up with the front facing forwards.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the pink coffee cup to the left of the green bowl, right side up, with the front facing forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the pink coffee cup left of the green bowl, upright, with its front pointing forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the pink coffee cup to the green bowl's left, keeping it right side up and facing forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Place the pink coffee cup to the left of the green bowl, right side up, with the front facing forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Set the pink coffee cup left of the green bowl, upright, with its front pointed forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Position the pink coffee cup to the left of the green bowl, keeping it right side up and facing forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Using the left hand, put the pink coffee cup to the left of the green bowl.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the pink coffee cup left of the green bowl.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the pink coffee cup to the green bowl's left.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Put the pink coffee cup to the left of the green bowl.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Place the pink coffee cup left of the green bowl, right side up, with the front facing forward.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Set the pink coffee cup to the left of the green bowl, upright and facing forward.", + "start_idx": 2907, + "end_idx": 3000 + } + ] + }, + "2026-04-21-03-35-01-274000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 285, + "annotations": [ + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom right with a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the bottom right and a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Have the right arm pick up the doritos from the table by the bottom-right side using a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "With the right hand, grasp the doritos from the table from the bottom right in a side hold at a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom right and a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Take the doritos from the table by the bottom-right side at a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Grasp the doritos from the table at the bottom right with a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Using the right hand, take the doritos from the table in a side hold.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Have the right arm grasp the doritos from the table with a side grip.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Pick up the doritos from the table with the right hand at the bottom right with a diagonal angle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "With the right hand, take the doritos from the table.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Grasp the doritos from the table at the bottom right.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Put the doritos in front of the green bowl with the front facing left using the right hand.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Using the right hand, place the doritos in front of the green bowl with the front facing left.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Have the right arm set the doritos in front of the green bowl, front pointed left.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "With the right hand, position the doritos in front of the green bowl so the front faces left.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Place the doritos in front of the green bowl with the front facing left.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Set the doritos in front of the green bowl, front facing left.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Position the doritos in front of the green bowl so the front points left.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Using the right hand, put the doritos in front of the green bowl.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "With the right hand, place the doritos in front of the green bowl.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Have the right arm set the doritos in front of the green bowl.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Put the doritos in front of the green bowl.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Place the doritos in front of the green bowl.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Set the doritos in front of the green bowl.", + "start_idx": 93, + "end_idx": 186 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip from the top at the right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip from the top at the right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Have the right arm take the white cup from the table, grasping the right side from above with a lip grasp.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "With the right hand, collect the white cup from the table by lip-grasping it from the top right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Pick up the white cup from the table with a lip grip from the top at the right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Take the white cup from the table by lip-grasping it from above on the right side.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Grasp the white cup from the table with a lip hold at the top right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Pick up the white cup from the table from the top at the right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Take the white cup from the table at the top right.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Using the right hand, pick up the white cup from the table from above.", + "start_idx": 543, + "end_idx": 765 + }, + { + "text": "Put the white cup to the right of the pink coffee cup with the right hand right side up front.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Using the right hand, place the white cup to the right of the pink coffee cup, right side up with the front facing forward.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Have the right arm set the white cup to the right of the pink coffee cup in an upright position, front forward.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "With the right hand, position the white cup just right of the pink coffee cup, keeping it right side up and front-facing.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Place the white cup to the right of the pink coffee cup, right side up with the front facing forward.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Set the white cup just to the right of the pink coffee cup in an upright, front-facing orientation.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Position the white cup to the right of the pink coffee cup with its front facing forward and right side up.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Using the right hand, place the white cup to the right of the pink coffee cup.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Have the right arm set the white cup just right of the pink coffee cup.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "With the right hand, position the white cup beside the pink coffee cup on its right.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Put the white cup to the right of the pink coffee cup.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Set the white cup on the right side of the pink coffee cup.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Position the white cup beside the pink coffee cup on its right.", + "start_idx": 765, + "end_idx": 876 + }, + { + "text": "Pick up the pink mug from the table with the right hand using a diagonal lip grip at the top right.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Using the right hand, take the pink mug from the table with a diagonal lip grip at the top right.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Have the right hand grasp the pink mug from the table with a diagonal lip hold on the top-right edge.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "With the right hand, secure the pink mug from the table using a diagonal grip on the top-right lip.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Pick up the pink mug from the table using a diagonal lip grip at the top right.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Take the pink mug from the table with a diagonal lip hold on the top-right edge.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Grasp the pink mug from the table using a diagonal top-right lip grip.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Using the right hand, pick up the pink mug from the table.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Have the right hand take the pink mug from the table.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "With the right hand, grasp the pink mug from the table.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Pick up the pink mug from the table with the right hand.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Take the pink mug from the table.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Grasp the pink mug from the table.", + "start_idx": 1416, + "end_idx": 1626 + }, + { + "text": "Put the pink mug behind the white cup with the handle facing top right right side up using the right arm.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Using the right arm, place the pink mug behind the white cup with the handle pointing to the top right, right side up.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Have the right arm set the pink mug behind the white cup, keeping it upright with the handle aimed toward the top right.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "With the right arm, position the pink mug behind the white cup so the handle faces the top right and the mug stays right side up.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Place the pink mug behind the white cup with the handle pointing to the top right, right side up.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Set the pink mug behind the white cup, keeping it upright and with the handle aimed toward the top right.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Position the pink mug behind the white cup so it is right side up and the handle faces the top right.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Using the right arm, put the pink mug behind the white cup.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Have the right arm place the pink mug behind the white cup.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "With the right arm, set the pink mug behind the white cup.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Put the pink mug behind the white cup.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Place the pink mug behind the white cup.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Set the pink mug behind the white cup.", + "start_idx": 1626, + "end_idx": 1740 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top at the right side using a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Using the right hand, take the white cup from the table from the top at the right side with a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Have the right arm grasp the white cup from the table at its right side from above using a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "With a lip grip, the right hand should pick the white cup from the table from the top on the right side.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Pick up the white cup from the table from the top at the right side using a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Grasp the white cup from the table at the right side from above using a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Take the white cup from the table on its right side from the top with a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Have the right arm take the white cup from the table using a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "With the right hand, grasp the white cup from the table using a lip grip.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Using the right hand, pick up the white cup from the table from the top at the right side.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Have the right arm take the white cup from the table from above on its right side.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1740, + "end_idx": 1914 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "With the right hand, take the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Using the right hand, grasp the white cup from the table with a diagonal lip grip on its right side.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Have the right arm pick up the white cup from the table with a diagonal grasp on the cup's right lip.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip on the right side.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Grasp the white cup from the table with a diagonal hold on the right lip.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Using the right hand, take the white cup from the table.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Take the white cup from the table with the right hand.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Using a diagonal lip grasp on the right side, grasp the white cup from the table.", + "start_idx": 2022, + "end_idx": 2046 + }, + { + "text": "Put the white cup in front of the pink bowl with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Using the right hand, place the white cup in front of the pink bowl right side up, with the front as the orientation reference point.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Have the right arm set the white cup in front of the pink bowl, keeping it right side up relative to its front.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "With the right hand, position the white cup in front of the pink bowl so it is right side up, using the front as the reference point.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Place the white cup in front of the pink bowl right side up, with the front as the orientation reference point.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Set the white cup in front of the pink bowl, keeping it right side up relative to the front.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Position the white cup in front of the pink bowl so it remains right side up, using the front as reference.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Using the right hand, put the white cup in front of the pink bowl.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Have the right arm place the white cup in front of the pink bowl.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "With the right hand, set the white cup in front of the pink bowl.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Put the white cup in front of the pink bowl.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Place the white cup in front of the pink bowl.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Set the white cup in front of the pink bowl.", + "start_idx": 2046, + "end_idx": 2103 + }, + { + "text": "Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the left side.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Using the right hand, take the pink mug from the table with a diagonal lip grasp on the left side.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Have the right arm pick up the pink mug from the table using a diagonal grasp on the mug's left lip.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "With the right hand, grasp the pink mug from the table at the left side of its lip in a diagonal hold.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Pick up the pink mug from the table using a diagonal lip grasp on the left side.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Take the pink mug from the table with a diagonal grasp on the left lip.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Grasp the pink mug from the table at the left side of the lip diagonally.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Using a diagonal lip grasp on the left side, pick up the pink mug from the table.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "With the right hand, pick up the pink mug from the table.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Have the right arm take the pink mug from the table.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Using the right hand, grasp the pink mug from the table.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Get the pink mug from the table.", + "start_idx": 2442, + "end_idx": 2652 + }, + { + "text": "Put the pink mug in front of the pink bowl with the handle facing right right side up from the front using the right hand.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Using the right hand, place the pink mug in front of the pink bowl with the handle facing right and the mug right side up from the front.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Have the right arm set the pink mug before the pink bowl, keeping it right side up from the front with the handle pointing right.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "With the right hand, position the pink mug in front of the pink bowl so the handle faces right, right side up from the front.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Place the pink mug in front of the pink bowl with the handle facing right and right side up from the front.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Set the pink mug before the pink bowl, with the handle pointing right and the mug right side up from the front.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Position the pink mug in front of the pink bowl, keeping the handle to the right and the mug right side up from the front.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Using the right hand, put the pink mug in front of the pink bowl.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Have the right arm place the pink mug before the pink bowl.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "With the right hand, position the pink mug in front of the pink bowl.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Put the pink mug in front of the pink bowl.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Set the pink mug before the pink bowl.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Place the pink mug in front of the pink bowl.", + "start_idx": 2652, + "end_idx": 2772 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Have the right arm take the pink bowl from the table using a diagonal lip grasp on its right side.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by its right side in a diagonal lip grip.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grip on the right side.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Grasp the pink bowl from the table at the right side with a diagonal lip hold.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Take the pink bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 2772, + "end_idx": 2913 + }, + { + "text": "Put the pink bowl to the right of the pink mug with the right hand.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Have the right arm set the pink bowl on the mug's right side.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "With the right hand, position the pink bowl to the right of the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Place the pink bowl to the right of the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Set the pink bowl on the right side of the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "The pink bowl goes to the right of the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Position the pink bowl beside the pink mug on its right side.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Move the pink bowl next to the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Set the pink bowl by the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Place the pink bowl beside the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Have the right arm place the pink bowl next to the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Using the right hand, set the pink bowl by the pink mug.", + "start_idx": 2913, + "end_idx": 2979 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "With the right hand, go to home pose.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Move back to home pose.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Reset to home.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Head back to the home pose.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Have the arm return home.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Move to the home position now.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator back home.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2979, + "end_idx": 3000 + }, + { + "text": "Pick up the pink mug from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Using the left hand, pick up the pink mug from the table with a diagonal lip grasp on the right side.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Have the left arm take the pink mug from the table using a diagonal grasp on the mug's right lip.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "With the left hand, grasp the pink mug from the table at the right-side lip with a diagonal hold.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Pick up the pink mug from the table with a diagonal lip grasp on the right side.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Take the pink mug from the table using a diagonal lip grasp on the right side.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Grasp the pink mug from the table at the right-side lip with a diagonal grip.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Using the left hand, pick up the pink mug from the table.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "With the left hand, take the pink mug from the table.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Have the left arm grasp the pink mug from the table.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Pick up the pink mug from the table with the left hand.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Using the left hand, take the pink mug from the table.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Grasp the pink mug from the table.", + "start_idx": 186, + "end_idx": 357 + }, + { + "text": "Put the pink mug in front of the pink bowl right side up with the front facing forwards using the left hand.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Using the left hand, place the pink mug in front of the pink bowl upright with its front facing forward.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Have the left arm set the pink mug before the pink bowl, right side up and facing forward at the front.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "With the left hand, position the pink mug in front of the pink bowl so it stays upright and its front faces forward.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Place the pink mug in front of the pink bowl upright with its front facing forward.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Set the pink mug before the pink bowl, right side up with the front toward the front.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Position the pink mug in front of the pink bowl so it is upright and front-facing.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Using the left hand, put the pink mug in front of the pink bowl.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Have the left arm place the pink mug before the pink bowl.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "With the left hand, set the pink mug in front of the pink bowl.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Put the pink mug in front of the pink bowl.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Place the pink mug before the pink bowl, right side up.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Set the pink mug in front of the pink bowl with its front facing forward.", + "start_idx": 357, + "end_idx": 543 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "With the left arm, grasp the doritos from the table from a diagonal angle using a side grasp at the bottom.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Have the left hand collect the doritos from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "From a diagonal angle, take the doritos from the table with a side grasp at the bottom.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "The doritos from the table should be grasped at the bottom with a side hold from a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "With the left arm, take the doritos from the table using a side grasp.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Have the left hand collect the doritos from the table with a side hold.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Pick up the doritos from the table with the left hand from a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Using the left hand, grasp the doritos from the table at the bottom from a diagonal angle.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "From a diagonal angle, pick up the doritos from the table.", + "start_idx": 876, + "end_idx": 1017 + }, + { + "text": "Put the doritos inside the green bowl with the left hand facing bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Using the left hand, place the doritos in the green bowl with the front facing bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Have the left arm set the doritos inside the green bowl, front pointed toward the bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "With the left hand, deposit the doritos into the green bowl so the front faces bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Place the doritos in the green bowl with the front facing bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Set the doritos inside the green bowl so the front points to the bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Put the doritos into the green bowl, oriented with the front toward the bottom left.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Using the left hand, place the doritos in the green bowl.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Have the left arm put the doritos inside the green bowl.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "With the left hand, set the doritos into the green bowl.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Put the doritos in the green bowl.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Set the doritos inside the green bowl.", + "start_idx": 1017, + "end_idx": 1095 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a diagonal lip grasp on the left.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Have the left arm take the green bowl from the table using a left-side diagonal lip grasp.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the left lip at a diagonal angle.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the left.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Take the green bowl from the table with a left-side diagonal lip grasp.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Grasp the green bowl from the table by the left lip diagonally.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "With the left hand, pick up the green bowl from the table.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Use the left hand to take the green bowl from the table.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Take the green bowl from the table.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 1191, + "end_idx": 1335 + }, + { + "text": "Put the green bowl to the left of the pink mug with the left hand.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Using the left hand, place the green bowl to the left of the pink mug, right side up.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Have the left arm set the green bowl to the left of the pink mug with its front facing forward.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "With the left hand, position the green bowl to the left of the pink mug in an upright orientation.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Place the green bowl to the left of the pink mug, right side up.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Set the green bowl to the left of the pink mug with its front facing forward.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Position the green bowl to the left of the pink mug in an upright orientation.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Using the left hand, put the green bowl by the pink mug.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "With the left hand, place the green bowl to the left of the pink mug.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Have the left arm set the green bowl beside the pink mug.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Put the green bowl to the left of the pink mug.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Set the green bowl beside the pink mug.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Position the green bowl by the pink mug.", + "start_idx": 1335, + "end_idx": 1416 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Have the left hand pick up the white cup from the table by gripping its left side with a diagonal lip grasp.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "With the left hand, grasp the white cup from the table using a diagonal lip hold on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Grasp the white cup from the table by its left side with a diagonal lip hold.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Have the left hand grasp the white cup from the table.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Pick up the white cup from the table on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Take the white cup from the table with the left hand on the left side.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Using a diagonal lip grasp, pick up the white cup from the table.", + "start_idx": 2280, + "end_idx": 2343 + }, + { + "text": "Place the white cup behind the green bowl and to the left of the pink bowl with the left hand right side up front.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Using the left hand, set the white cup behind the green bowl and left of the pink bowl, right side up with the front facing forward.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Have the left arm place the white cup behind the green bowl and to the left of the pink bowl, keeping it upright with its front forward.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "With the left hand, position the white cup behind the green bowl and to the left of the pink bowl, right side up and front-facing.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Place the white cup behind the green bowl and to the left of the pink bowl, right side up with the front facing forward.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Set the white cup behind the green bowl and left of the pink bowl, upright with its front forward.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Position the white cup behind the green bowl and to the left of the pink bowl, keeping it right side up and front-facing.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Using the left hand, place the white cup behind the green bowl and to the left of the pink bowl.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Have the left arm set the white cup behind the green bowl and left of the pink bowl.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "With the left hand, position the white cup behind the green bowl and to the left of the pink bowl.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Put the white cup behind the green bowl and to the left of the pink bowl.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Arrange the white cup behind the green bowl and left of the pink bowl.", + "start_idx": 2343, + "end_idx": 2442 + }, + { + "text": "Move the white cup behind the green bowl and to the left of the pink bowl.", + "start_idx": 2343, + "end_idx": 2442 + } + ] + }, + "2026-04-21-03-50-57-718000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, pick up the asparagus from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the right arm grasp the asparagus from the table from the side at the bottom on a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the asparagus from the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Grasp the asparagus from the table from the side at the bottom with a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, pick up the asparagus from the table using a side grip at the bottom.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grasp at the bottom.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the right arm grasp the asparagus from the table from the side at the bottom.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, pick up the asparagus from the table at the bottom with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, take the asparagus from the table at the bottom on a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the asparagus from the table with the right hand at the bottom with a diagonal approach.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the asparagus to the center of the table with the right hand facing forwards with the tip as the orientation reference point.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Using the right hand, place the asparagus at the table's center with the tip facing forwards.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Have the right arm set the asparagus in the center of the table, oriented forward by its tip.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "With the right hand, position the asparagus at the center of the table so the tip points forwards.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Place the asparagus at the center of the table with the tip facing forwards.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Set the asparagus in the middle of the table, with its tip oriented forwards.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Position the asparagus at the table's center so the tip points forward.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Put the asparagus in the center of the table with the right hand.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Using the right hand, place the asparagus at the center of the table.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Have the right arm set the asparagus in the middle of the table.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Move the asparagus to the center of the table.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Set the asparagus in the middle of the table.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Position the asparagus at the table's center.", + "start_idx": 132, + "end_idx": 228 + }, + { + "text": "Pick up the white cup from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Using the right hand, take hold of the white cup by its handle from the table at a diagonal angle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Have the right arm pick the white cup up from the table, grasping the handle diagonally.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "With the right hand, retrieve the white cup from the table by the handle at a diagonal angle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Grasp the white cup by the handle from the table at a diagonal angle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Take the white cup from the table by its handle at a diagonal angle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "The white cup should be picked up from the table by the handle at a diagonal angle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Have the right arm take the white cup from the table by its handle.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "With the right hand, grasp the white cup by the handle from the table.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle with the right hand.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "At a diagonal angle, take the white cup from the table with the right hand.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 228, + "end_idx": 414 + }, + { + "text": "Put the white cup behind the blue screwdriver with the right hand right side up with the front facing backwards.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Using the right hand, place the white cup behind the blue screwdriver, right side up with the front facing backwards.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Have the right arm set the white cup behind the blue screwdriver, keeping it upright and the front directed backward.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "With the right hand, position the white cup behind the blue screwdriver so it stays right side up and its front faces backwards.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Place the white cup behind the blue screwdriver, right side up with the front facing backwards.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Set the white cup behind the blue screwdriver, upright with the front facing backwards.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Position the white cup behind the blue screwdriver, keeping it right side up and the front facing backward.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Using the right hand, put the white cup behind the blue screwdriver.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Have the right arm place the white cup behind the blue screwdriver.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Set the white cup behind the blue screwdriver with the right hand.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Place the white cup behind the blue screwdriver.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Put the white cup behind the blue screwdriver, right side up.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Behind the blue screwdriver, position the white cup with its front facing backwards.", + "start_idx": 414, + "end_idx": 555 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "With the right hand, retrieve the asparagus from the table on a diagonal angle by grasping the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Take the asparagus from the table on a diagonal approach, holding the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Retrieve the asparagus from the table diagonally by the middle.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "With the right hand, retrieve the asparagus from the table.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Retrieve the asparagus from the table.", + "start_idx": 786, + "end_idx": 984 + }, + { + "text": "Put the asparagus in front of the juice pouch with the right hand with the tip facing top left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Using the right hand, place the asparagus in front of the juice pouch with the tip pointing to the top left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Have the right arm set the asparagus in front of the juice pouch, tip oriented toward the upper left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "With the right hand, position the asparagus before the juice pouch so its tip faces top left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Place the asparagus in front of the juice pouch with the tip facing top left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Set the asparagus in front of the juice pouch, keeping the tip pointed toward the upper left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Position the asparagus before the juice pouch with its tip directed to the top left.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Using the right hand, put the asparagus in front of the juice pouch.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Have the right arm place the asparagus before the juice pouch.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "With the right hand, position the asparagus in front of the juice pouch.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Place the asparagus in front of the juice pouch.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Set the asparagus before the juice pouch.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Position the asparagus in front of the juice pouch.", + "start_idx": 983, + "end_idx": 1143 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Have the right hand pick the juice pouch up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "With the right hand, grasp the juice pouch from the table by its top using a side hold and a diagonal approach.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Grasp the juice pouch from the table by the top using a side hold and a diagonal pick angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Have the right hand take the juice pouch from the table using a side grasp on the top.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "With the right hand, grasp the juice pouch from the table by the top using a side hold.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table at a diagonal angle.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Take the juice pouch from the table using a side grip at the top.", + "start_idx": 1413, + "end_idx": 1584 + }, + { + "text": "Put the juice pouch right side up with the front facing the top side of the table using the right hand.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Using the right hand, place the juice pouch right side up with its front toward the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Have the right hand set the juice pouch upright so the front faces the table's top side.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "With the right hand, position the juice pouch upright, front directed to the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Place the juice pouch right side up with its front facing the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Set the juice pouch upright so its front points toward the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Position the juice pouch right side up, front toward the table's top side.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Put the juice pouch on the top side of the table using the right hand.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Using the right hand, place the juice pouch on the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Have the right hand set the juice pouch on the table's top side.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Put the juice pouch on the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Place the juice pouch on the table's top side.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Set the juice pouch down on the top side of the table.", + "start_idx": 1584, + "end_idx": 1704 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Have the right arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "With the right hand, retrieve the asparagus from the table in a diagonal orientation, holding its middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Retrieve the asparagus from the table while holding the middle at a diagonal angle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Pick up the asparagus from the table with the right hand, grasping the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Using the right hand, collect the asparagus from the table at a diagonal angle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Pick up the asparagus from the table by the middle.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "From the table, grasp the asparagus with the right hand.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 1704, + "end_idx": 1857 + }, + { + "text": "Put the asparagus to the right of the white cup with the right hand with its tip facing top right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white cup with its tip pointing to the top right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Have the right arm set the asparagus to the right of the white cup, tip oriented toward the upper right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "With the right hand, position the asparagus to the right of the white cup so its tip faces the top-right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Place the asparagus to the right of the white cup with its tip facing the top right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Set the asparagus to the right of the white cup, with the tip pointing upper right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Position the asparagus to the right of the white cup so the tip faces the top right.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Using the right hand, put the asparagus to the right of the white cup.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "With the right hand, place the asparagus to the right of the white cup.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Have the right arm position the asparagus to the right of the white cup.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Place the asparagus to the right of the white cup.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Set the asparagus to the right of the white cup.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Position the asparagus to the right of the white cup.", + "start_idx": 1857, + "end_idx": 1935 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grip at the top and a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Have the right arm grasp the blue screwdriver off the table with a side hold at the top, angled diagonally.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "With the right hand, secure the blue screwdriver from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Take the blue screwdriver from the table with a side grip at the top and a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Grasp the blue screwdriver off the table using a side hold at the top with a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "The blue screwdriver should be picked up from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the top.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "With the right hand, collect the blue screwdriver from the table using a side grasp at the top.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Have the right arm take the blue screwdriver from the table at a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at the top with a diagonal angle.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Using the right hand, grasp the blue screwdriver from the table at the top.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 1935, + "end_idx": 2079 + }, + { + "text": "Put the blue screwdriver in front of the asparagus with the right hand facing forwards with the tip facing forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Using the right hand, place the blue screwdriver in front of the asparagus with the tip facing forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Have the right arm set the blue screwdriver in front of the asparagus, oriented with its tip facing forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "With the right hand, position the blue screwdriver in front of the asparagus so the tip points forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Place the blue screwdriver in front of the asparagus with the tip facing forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Set the blue screwdriver in front of the asparagus with its tip pointing forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Position the blue screwdriver in front of the asparagus so the tip faces forwards.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Using the right hand, put the blue screwdriver in front of the asparagus.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Have the right arm place the blue screwdriver in front of the asparagus.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "With the right hand, set the blue screwdriver in front of the asparagus.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Put the blue screwdriver in front of the asparagus.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Arrange the blue screwdriver in front of the asparagus.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "The blue screwdriver goes in front of the asparagus.", + "start_idx": 2079, + "end_idx": 2157 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Have the right hand take the red marker from the table diagonally at its middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "From the table, retrieve the red marker with the right hand using a diagonal approach at the middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "From the table, take the red marker diagonally by the middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Retrieve the red marker from the table with a diagonal pickup at its middle.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Using the right hand, take the red marker from the table.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Have the right hand retrieve the red marker from the table.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Have the red marker retrieved from the table.", + "start_idx": 2397, + "end_idx": 2571 + }, + { + "text": "Put the red marker in front of the white cup with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Using the right hand, place the red marker in front of the white cup with the tip facing bottom right.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Have the right arm set the red marker in front of the white cup, oriented bottom right from the tip.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "With the right hand, position the red marker before the white cup so the tip points bottom right.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Place the red marker in front of the white cup with the tip facing bottom right.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Set the red marker before the white cup, with the tip oriented toward the bottom right.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Position the red marker in front of the white cup so its tip points bottom right.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Using the right hand, put the red marker in front of the white cup.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Have the right arm place the red marker before the white cup.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "With the right hand, set the red marker in front of the white cup.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Put the red marker in front of the white cup.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Position the red marker before the white cup.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Set the red marker in front of the white cup.", + "start_idx": 2571, + "end_idx": 2667 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle by the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Have the left arm pick the red marker up from the table diagonally, grasping its middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "With the left hand, grasp the middle of the red marker on the table and raise it at a diagonal angle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Take the red marker from the table diagonally by its middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Grasp the red marker from the table at a diagonal angle by the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Pick up the red marker from the table with the left hand, grasping the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Using the left hand, take the red marker from the table by the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Have the left arm pick up the red marker from the table.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Pick up the red marker from the table diagonally.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Take the red marker from the table with the left hand.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Grasp the red marker from the table by the middle.", + "start_idx": 555, + "end_idx": 696 + }, + { + "text": "Place the red marker behind the blue marker with the left hand facing backwards with the tip as the reference point.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Using the left hand, position the red marker behind the blue marker with the tip facing backwards.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Have the left arm place the red marker behind the blue marker so its tip points backward.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "With the left hand, set the red marker behind the blue marker, oriented backward at the tip.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Put the red marker behind the blue marker with the tip facing backwards.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Set the red marker behind the blue marker so the tip points backward.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Position the red marker behind the blue marker, with its tip oriented backward.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Using the left hand, place the red marker behind the blue marker.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Have the left arm set the red marker behind the blue marker.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "With the left hand, position the red marker behind the blue marker.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Put the red marker behind the blue marker.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Set the red marker behind the blue marker.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Have the red marker placed behind the blue marker.", + "start_idx": 696, + "end_idx": 786 + }, + { + "text": "Pick up the red marker from the taable with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Using the left hand, pick up the red marker from the taable at a diagonal angle, grasping the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Have the left arm take the red marker from the taable at a diagonal angle by the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "With the left hand, retrieve the red marker from the taable diagonally, holding its middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Pick up the red marker from the taable at a diagonal angle, grasping the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Take the red marker from the taable diagonally by the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Retrieve the red marker from the taable at a diagonal angle, holding the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Using the left hand, pick up the red marker from the taable.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Have the left arm take the red marker from the taable.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "With the left hand, retrieve the red marker from the taable.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Pick up the red marker from the taable.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Using the left hand, pick up the red marker from the taable at a diagonal angle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Have the left arm take the red marker from the taable by the middle.", + "start_idx": 1143, + "end_idx": 1311 + }, + { + "text": "Put the red marker to the center of the table with the left hand with its tip facing bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Using the left hand, place the red marker at the center of the table with its tip pointing to the bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Have the left hand set the red marker in the table's center, tip directed toward the bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "With the left hand, position the red marker at the center of the table so its tip faces bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Place the red marker at the center of the table with its tip facing bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Set the red marker in the center of the table with its tip pointed bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Position the red marker at the center of the table so the tip points to the bottom right.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Using the left hand, put the red marker at the center of the table.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "With the left hand, place the red marker in the table's center.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Have the left hand position the red marker at the center of the table.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Put the red marker at the center of the table.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Set the red marker in the center of the table.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "The red marker goes to the center of the table.", + "start_idx": 1311, + "end_idx": 1413 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by its middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Retrieve the blue marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Take the blue marker from the table diagonally by its middle.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "With the left hand, pick up the blue marker from the table.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Using the left hand, retrieve the blue marker from the table.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 2157, + "end_idx": 2301 + }, + { + "text": "Place the blue marker to the left of the juice pouch with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Using the left hand, set the blue marker to the left of the juice pouch with the tip facing forwards.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Have the left arm place the blue marker left of the juice pouch, oriented forwards by its tip.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "With the left hand, position the blue marker to the juice pouch's left, tip pointing forwards.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Place the blue marker to the left of the juice pouch.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Set the blue marker left of the juice pouch.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Position the blue marker to the left of the juice pouch.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Put the blue marker on the left side of the juice pouch.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Using the left hand, place the blue marker to the left of the juice pouch.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Have the left arm set the blue marker left of the juice pouch.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "With the left hand, position the blue marker on the juice pouch's left side.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Place the blue marker left of the juice pouch with the tip facing forwards.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Set the blue marker to the left of the juice pouch, with its tip pointing forwards.", + "start_idx": 2301, + "end_idx": 2397 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Have the left arm pick the blue marker off the table at a diagonal angle by the middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally, holding its middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Take the blue marker off the table at a diagonal angle by the middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Retrieve the blue marker from the table diagonally, holding the middle.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "With the left hand, take the blue marker off the table.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Have the left arm retrieve the blue marker from the table.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 2667, + "end_idx": 2886 + }, + { + "text": "Put the blue marker to the left of the red marker with the left hand with the tip facing right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the blue marker to the left of the red marker with its tip pointing right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the left hand set the blue marker left of the red marker, tip oriented to the right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the blue marker on the left side of the red marker, keeping the tip facing right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Place the blue marker to the left of the red marker with its tip pointing right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Set the blue marker left of the red marker, with the tip facing right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Position the blue marker on the left side of the red marker, tip directed right.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Using the left hand, put the blue marker to the left of the red marker.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the left hand place the blue marker left of the red marker.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the blue marker on the left side of the red marker.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Place the blue marker to the left of the red marker.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Set the blue marker left of the red marker.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Position the blue marker on the left side of the red marker.", + "start_idx": 2886, + "end_idx": 3000 + } + ] + }, + "2026-04-21-04-17-23-858000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Have the left hand grasp the white cup from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "With the left hand, secure the white cup from the table using the lip at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Grasp the white cup from the table with a lip hold at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "The white cup from the table should be taken using a lip grip at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Have the left hand take the white cup from the table using a lip grasp.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Take the white cup from the table at the left side diagonally.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 0, + "end_idx": 180 + }, + { + "text": "Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Using the left hand, take the yogurt from the table with a side grip at the top from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "With the left hand, grasp the yogurt from the table from a diagonal angle using a side hold at the top.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Have the left arm pick the yogurt up from the table with a top side grasp from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Pick up the yogurt from the table using a side grip at the top from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Take the yogurt from the table with a side hold at the top from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Grasp the yogurt from the table at the top with a side grip from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Using the left hand, pick up the yogurt from the table with a side grip at the top.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "With the left hand, take the yogurt from the table using a side hold at the top.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Have the left arm grasp the yogurt from the table at the top with a side grip.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Using the left hand, pick up the yogurt from the table from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "With the left hand, take the yogurt from the table at the top from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Pick up the yogurt from the table with the left hand from a diagonal angle.", + "start_idx": 942, + "end_idx": 1116 + }, + { + "text": "Put the yogurt inside the beige bowl upside down with the front as the reference point using the left hand.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Using the left hand, place the yogurt in the beige bowl upside down with the front as the reference point.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Have the left arm set the yogurt inside the beige bowl in an upside-down orientation, referenced to the front.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "With the left hand, position the yogurt inside the beige bowl so it is upside down relative to the front.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Place the yogurt inside the beige bowl upside down with the front as the reference point.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Set the yogurt in the beige bowl upside down relative to the front.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Position the yogurt inside the beige bowl with an upside-down orientation using the front as the reference point.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Put the yogurt into the beige bowl.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Place the yogurt inside the beige bowl.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Set the yogurt in the beige bowl.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Put the yogurt in the beige bowl upside down.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Arrange the yogurt inside the beige bowl upside down.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Position the yogurt in the beige bowl with the front as the reference point.", + "start_idx": 1116, + "end_idx": 1200 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Have the left arm take the white cup from the table using a diagonal lip grasp on its left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "With the left hand, grasp the white cup from the table via a diagonal lip hold on the left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on the left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip grip on its left side.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "From the table, pick up the white cup.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 1200, + "end_idx": 1389 + }, + { + "text": "Put the white cup to the left of the beige bowl with the handle facing bottom left right side up with the left hand.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Using the left hand, place the white cup to the left of the beige bowl, handle facing bottom left and right side up.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Have the left arm set the white cup left of the beige bowl with its handle toward the bottom left, upright.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "With the left hand, position the white cup to the left of the beige bowl, keeping the handle pointed bottom left and the cup right side up.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Place the white cup to the left of the beige bowl with the handle facing bottom left and right side up.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Set the white cup left of the beige bowl, with its handle toward the bottom left and upright.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Position the white cup to the left of the beige bowl, handle directed bottom left and right side up.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Using the left hand, put the white cup to the left of the beige bowl.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Have the left arm place the white cup left of the beige bowl.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "With the left hand, set the white cup to the left of the beige bowl.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Put the white cup to the left of the beige bowl.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Place the white cup left of the beige bowl.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Set the white cup to the left of the beige bowl.", + "start_idx": 1389, + "end_idx": 1509 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Have the left arm take the beige bowl from the table using a diagonal grasp on its left lip.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "With the left hand, grasp the beige bowl from the table by its left lip at a diagonal angle.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Take the beige bowl from the table with a diagonal grasp on the left lip.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Grasp the beige bowl from the table by the left lip at a diagonal.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "With the left hand, pick up the beige bowl from the table.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Use the left arm to take the beige bowl from the table.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Have the left hand grasp the beige bowl from the table.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Take the beige bowl from the table using the left hand.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 2049, + "end_idx": 2202 + }, + { + "text": "Put the beige bowl behind the white cup right side up with the front as the reference using the left hand.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Using the left hand, place the beige bowl behind the white cup right side up, with the front as the reference.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Have the left arm set the beige bowl behind the white cup in an upright orientation, referencing the front.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "With the left hand, position the beige bowl behind the white cup right side up, using the front as the reference point.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Place the beige bowl behind the white cup right side up, with the front as the reference.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Set the beige bowl behind the white cup upright, referencing the front.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Position the beige bowl behind the white cup in a right-side-up orientation with the front as the reference point.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Using the left hand, put the beige bowl behind the white cup.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "With the left hand, place the beige bowl behind the white cup.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Have the left arm set the beige bowl behind the white cup.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Put the beige bowl behind the white cup.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Position the beige bowl behind the white cup.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Using the left hand, position the beige bowl behind the white cup.", + "start_idx": 2202, + "end_idx": 2313 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip at the right side with a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Have the left arm take the white cup from the table, gripping its right side with a lip grasp at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "With the left hand, grasp the white cup from the table by its right side using a lip grip at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Pick up the white cup from the table with a lip grip at the right side with a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Take the white cup from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Grasp the white cup from the table at the right side with a diagonal angle using a lip grip.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grasp.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip grip.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Pick up the white cup from the table with the left hand at the right side with a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Using the left hand, take the white cup from the table at the right side with a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "With the left hand, grasp the white cup from the table on its right side at a diagonal angle.", + "start_idx": 2703, + "end_idx": 2853 + }, + { + "text": "Put the white cup in front of the beige bowl with the left hand right side up with the front facing backwards.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Using the left hand, place the white cup in front of the beige bowl right side up with its front facing backward.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Have the left arm set the white cup in front of the beige bowl, keeping it upright and its front directed backward.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "With the left hand, position the white cup before the beige bowl so it stays right side up and the front faces backward.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Place the white cup in front of the beige bowl right side up with its front facing backward.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Set the white cup before the beige bowl, keeping it upright with the front toward the back.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Position the white cup in front of the beige bowl so it is right side up and front-facing backward.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Using the left hand, put the white cup in front of the beige bowl.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "With the left hand, place the white cup before the beige bowl.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Have the left arm set the white cup in front of the beige bowl.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Set the white cup in front of the beige bowl.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Using the left hand, position the white cup before the beige bowl.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Place the white cup in front of the beige bowl right side up.", + "start_idx": 2853, + "end_idx": 2922 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Using the left hand, return to home.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Have the left arm move back to the home position.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Move back to the home position.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Reset to home.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Move to the home position.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Back to the home position.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Go home.", + "start_idx": 2922, + "end_idx": 3000 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table on a diagonal approach, gripping the middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Take the brown stuffed animal from the table on a diagonal approach, holding the middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Retrieve the brown stuffed animal from the table with a diagonal pickup, gripping its middle.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Retrieve the brown stuffed animal from the table.", + "start_idx": 297, + "end_idx": 513 + }, + { + "text": "Put the brown stuffed animal inside the green mug with the right hand.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Using the right hand, place the brown stuffed animal inside the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Have the right arm put the brown stuffed animal into the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "With the right hand, insert the brown stuffed animal into the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Place the brown stuffed animal inside the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Put the brown stuffed animal into the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "The brown stuffed animal goes inside the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Set the brown stuffed animal in the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Move the brown stuffed animal into the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Position the brown stuffed animal inside the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Have the brown stuffed animal placed into the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Using the right hand, put the brown stuffed animal in the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "The right hand should place the brown stuffed animal into the green mug.", + "start_idx": 513, + "end_idx": 636 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Have the right hand grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "With the right hand, retrieve the green mug from the table by the handle on a diagonal.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Retrieve the green mug from the table by the handle on a diagonal.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "With the right hand, take the green mug from the table by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Have the right hand retrieve the green mug from the table by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Take the green mug from the table at a diagonal angle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Retrieve the green mug from the table by the handle.", + "start_idx": 636, + "end_idx": 774 + }, + { + "text": "Put the green mug behind the corn with the handle facing backwards right side up using the right hand.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Using the right hand, place the green mug behind the corn with the handle pointing backward and right side up.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Have the right hand set the green mug behind the corn, keeping it upright with the handle facing the back.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "With the right hand, position the green mug behind the corn so the handle faces backward and the mug stays right side up.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Place the green mug behind the corn with the handle facing backward and right side up.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Set the green mug behind the corn, keeping the handle pointed backward and the mug upright.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Position the green mug behind the corn with its handle to the back and upright.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Put the green mug behind the corn.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Set the green mug behind the corn.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Position the green mug behind the corn.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Using the right hand, place the green mug behind the corn.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Have the right hand set the green mug behind the corn.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "With the right hand, position the green mug behind the corn.", + "start_idx": 774, + "end_idx": 942 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Have the right arm pick the corn off the table with a diagonal approach at its middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "The corn should be picked from the table by the right hand at a diagonal angle, holding the middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Take the corn off the table at a diagonal angle while holding its middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "The corn from the table should be picked at a diagonal angle by the middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "With the right hand, pick up the corn from the table.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Have the right arm take the corn off the table.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "The corn should be picked from the table using the right hand.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Pick up the corn from the table with the right hand, grasping the middle.", + "start_idx": 1509, + "end_idx": 1680 + }, + { + "text": "Put the corn to the right of the beige bowl with the right hand facing backwards by the tip.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Using the right hand, place the corn to the right of the beige bowl with its tip facing backward.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Have the right arm set the corn to the right of the beige bowl, oriented backward at the tip.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "With the right hand, position the corn to the right of the beige bowl so the tip points backward.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Place the corn to the right of the beige bowl with its tip facing backward.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Set the corn to the right of the beige bowl so the tip faces backward.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Position the corn to the right of the beige bowl, oriented backward at the tip.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Using the right hand, place the corn to the right of the beige bowl.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Have the right arm set the corn to the right of the beige bowl.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "With the right hand, position the corn to the right of the beige bowl.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Place the corn to the right of the beige bowl.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Set the corn to the right of the beige bowl.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Have the corn placed to the right of the beige bowl.", + "start_idx": 1680, + "end_idx": 1779 + }, + { + "text": "Pick up the green mug from the table with the right hand from the side by the handle.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Using the right hand, take the green mug from the table from the side by the handle.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Have the right arm grasp the green mug from the table at the handle from the side.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "With the right hand, collect the green mug from the table by its handle from the side.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Pick up the green mug from the table from the side by the handle.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "From the side, grasp the green mug from the table by the handle.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Take the green mug from the table using the handle from the side.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Using the right hand, pick up the green mug from the table.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "With the right hand, take the green mug from the table.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Have the right arm collect the green mug from the table.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 1779, + "end_idx": 1950 + }, + { + "text": "Put the green mug to the right of the corn with the right hand right side up with the front facing backwards.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Using the right hand, place the green mug to the right of the corn, right side up, with the front facing backward.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Have the right arm set the green mug to the corn's right, keeping it upright and its front pointed backward.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "The green mug goes to the right of the corn with the right hand, positioned upright with the front facing backward.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Place the green mug to the right of the corn, right side up, with the front facing backward.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Set the green mug to the corn's right, upright with its front pointed backward.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Position the green mug to the right of the corn, keeping it right side up and the front facing backward.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "With the right hand, put the green mug to the right of the corn.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Using the right hand, set the green mug to the corn's right.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Have the right arm place the green mug to the right of the corn.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Place the green mug to the right of the corn.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Set the green mug to the corn's right.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "The green mug should go to the right of the corn.", + "start_idx": 1950, + "end_idx": 2049 + }, + { + "text": "Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Using the right hand, take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Have the right arm grasp the corn from the table from a diagonal angle, using a side hold at the bottom.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "With the right hand, secure the corn from the table at the bottom using a side grasp from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Take the corn from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Grasp the corn from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "The corn from the table should be picked up with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Using the right hand, pick up the corn from the table with a side grip at the bottom.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "With the right hand, grasp the corn from the table using a side hold at the bottom.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Have the right arm take the corn from the table with a side grasp at the bottom.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Pick up the corn from the table with the right hand from a diagonal angle.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "From a diagonal angle, take the corn from the table with the right hand.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2313, + "end_idx": 2529 + }, + { + "text": "Put the corn to the right of the green mug with the right hand facing bottom right from the tip.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Using the right hand, place the corn to the right of the green mug with its tip facing bottom right.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Have the right arm set the corn to the green mug's right, oriented bottom right from the tip.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "With the right hand, position the corn right of the green mug, tip directed toward the bottom right.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Place the corn to the right of the green mug.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Set the corn down to the right of the green mug.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Position the corn to the green mug's right side.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Arrange the corn to the right of the green mug with the tip facing bottom right.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Set the corn to the right of the green mug, oriented bottom right from the tip.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Place the corn by the green mug's right side, with its tip toward the bottom right.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Using the right hand, place the corn to the right of the green mug.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Have the right arm set the corn to the green mug's right side.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "With the right hand, position the corn beside the green mug on its right.", + "start_idx": 2529, + "end_idx": 2658 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Have the right arm return to home position.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Return to the home position.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Move back to home position.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Go to the home pose.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Resume the home position.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Back to the home position.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Return home.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Move to home.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Adopt the home pose.", + "start_idx": 2658, + "end_idx": 2703 + }, + { + "text": "Come back to the home position.", + "start_idx": 2658, + "end_idx": 2703 + } + ] + }, + "2026-04-21-04-19-41-976000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal lip grasp on the left side.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left arm pick the beige bowl up from the table using a left-side diagonal lip hold.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the left hand, grasp the beige bowl from the table via a diagonal lip grip on its left side.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp on the left side.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grip on the left side.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Grasp the beige bowl from the table with a left-side diagonal lip hold.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the left hand, take the beige bowl from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the left arm grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table on the left side.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Put the beige bowl to the right of the white coffee cup with the left hand.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Using the left hand, place the beige bowl to the right of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Have the left arm set the beige bowl down to the right of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "With the left hand, position the beige bowl on the right side of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Place the beige bowl to the right of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Set the beige bowl down to the right of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Position the beige bowl on the right side of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Arrange the beige bowl to the right of the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Place the beige bowl by the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Set the beige bowl next to the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Put the beige bowl beside the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Position the beige bowl next to the white coffee cup with the left hand.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Have the left arm place the beige bowl beside the white coffee cup.", + "start_idx": 135, + "end_idx": 237 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grasp at the left side with a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grasp at the left side and a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Have the left hand take the white coffee cup from the table with a lip grasp on its left side at a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a lip hold on the left side at a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Pick up the white coffee cup from the table with a lip grasp at the left side and a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Take the white coffee cup from the table using a lip grasp on the left side at a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold at the left side and a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grasp.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand at the left side and a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "With the left hand, take the white coffee cup from the table at the left side and a diagonal angle.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 237, + "end_idx": 390 + }, + { + "text": "Put the white coffee cup behind the beige bowl with handle facing backwards right side up with the left hand.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Using the left hand, place the white coffee cup behind the beige bowl with the handle facing backward, right side up.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Have the left hand set the white coffee cup behind the beige bowl, keeping it upright with the handle facing backward.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "With the left hand, position the white coffee cup behind the beige bowl so the handle points backward and it stays right side up.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Place the white coffee cup behind the beige bowl with the handle facing backward, right side up.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Set the white coffee cup behind the beige bowl, upright, with its handle facing backward.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Position the white coffee cup behind the beige bowl so it is right side up and the handle faces backward.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Put the white coffee cup behind the beige bowl.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Place the white coffee cup behind the beige bowl.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Set the white coffee cup behind the beige bowl.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Put the white coffee cup behind the beige bowl with the left hand.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Using the left hand, place the white coffee cup behind the beige bowl.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Have the left hand put the white coffee cup behind the beige bowl.", + "start_idx": 390, + "end_idx": 552 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a diagonal lip grasp at the left.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Have the left hand take the white coffee cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table by the left lip in a diagonal grip.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the left.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on the left side.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Grasp the white coffee cup from the table by the left lip with a diagonal hold.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Grasp the white coffee cup from the table using a diagonal lip grip.", + "start_idx": 1329, + "end_idx": 1698 + }, + { + "text": "Put the white coffee cup to the left of the beige bowl with the left hand right side up with the front facing backwards.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the beige bowl, right side up, with the front facing backward.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Have the left arm set the white coffee cup left of the beige bowl, upright, with its front toward the back.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "With the left hand, position the white coffee cup to the beige bowl's left, right side up and facing backward.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Place the white coffee cup to the left of the beige bowl.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Set the white coffee cup on the left side of the beige bowl.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Position the white coffee cup left of the beige bowl.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Move the white coffee cup to the left of the beige bowl.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Put the white coffee cup to the left of the beige bowl with the left hand.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Using the left hand, place the white coffee cup to the left of the beige bowl.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Have the left arm set the white coffee cup beside the beige bowl on its left.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Place the white coffee cup left of the beige bowl, right side up.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Set the white coffee cup to the left of the beige bowl with its front facing backward.", + "start_idx": 1698, + "end_idx": 1815 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a diagonal lip grasp on the left.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table using a left-side diagonal lip grasp.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table via a diagonal lip hold on the left.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the left.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Take the white coffee cup from the table with a left-side diagonal lip grasp.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Grasp the white coffee cup from the table using a diagonal lip hold on the left.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Have the left arm pick up the white coffee cup from the table.", + "start_idx": 2622, + "end_idx": 2805 + }, + { + "text": "Put the white coffee cup on the top side of the table with the left hand right side up with the front facing backwards.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the white coffee cup on the top side of the table right side up with the front facing backwards.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Have the left arm set the white coffee cup on the table's top side, upright and with the front pointed backward.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "With the left hand, position the white coffee cup on the top side of the table so it is right side up and the front faces backwards.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Place the white coffee cup on the top side of the table right side up with the front facing backwards.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Set the white coffee cup on the table's top side, upright with the front pointed backward.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "The white coffee cup goes on the top side of the table right side up with its front facing backwards.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Put the white coffee cup on the top side of the table with the left hand.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Using the left hand, place the white coffee cup on the top side of the table.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Have the left arm put the white coffee cup on the table's top side.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Place the white coffee cup on the top side of the table.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Set the white coffee cup on the table's top side.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "The white coffee cup should be placed on the top side of the table.", + "start_idx": 2805, + "end_idx": 2907 + }, + { + "text": "Pick up the green coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Using the right hand, take the green coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Have the right hand pick the green coffee cup up from the table by the handle with a diagonal grasp.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "The green coffee cup on the table should be grasped with the right hand at the handle using a diagonal grip.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Pick up the green coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Take the green coffee cup from the table by the handle using a diagonal grip.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Grasp the green coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "With the right hand, pick up the green coffee cup from the table.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Have the right hand take the green coffee cup from the table.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "The green coffee cup from the table should be picked up with the right hand.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Pick up the green coffee cup from the table.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Using the right hand, pick up the green coffee cup from the table.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Take the green coffee cup from the table by the handle.", + "start_idx": 552, + "end_idx": 774 + }, + { + "text": "Put the green coffee cup to the left of the beige bowl with the right hand right side up with the front as the reference point.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Using the right hand, place the green coffee cup to the left of the beige bowl, right side up with the front as the reference point.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Have the right arm set the green coffee cup to the left of the beige bowl in a right-side-up orientation, referenced to the front.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "With the right hand, position the green coffee cup left of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Place the green coffee cup to the left of the beige bowl, right side up with the front as the reference point.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Set the green coffee cup left of the beige bowl in a right-side-up orientation relative to the front.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Position the green coffee cup to the left of the beige bowl, with the front as the reference point and the cup right side up.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Using the right hand, place the green coffee cup to the left of the beige bowl.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Have the right arm set the green coffee cup left of the beige bowl.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "With the right hand, position the green coffee cup to the left of the beige bowl.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Place the green coffee cup to the left of the beige bowl.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Set the green coffee cup left of the beige bowl.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Have the green coffee cup placed to the left of the beige bowl.", + "start_idx": 774, + "end_idx": 882 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "With the right hand, retrieve the corn from the table on a diagonal angle, gripping the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Retrieve the corn from the table on a diagonal angle, holding the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Take the corn from the table with a diagonal pickup by the middle.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Remove the corn from the table.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Take the corn from the table.", + "start_idx": 882, + "end_idx": 1056 + }, + { + "text": "Put the corn behind the green coffee cup with the right hand facing bottom right from the tip.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Using the right hand, place the corn behind the green coffee cup with its tip facing bottom right.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Have the right arm set the corn behind the green coffee cup, tip oriented toward the bottom right.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "With the right hand, position the corn behind the green coffee cup so the tip points bottom right.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Place the corn behind the green coffee cup with its tip facing bottom right.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Set the corn behind the green coffee cup, with the tip oriented toward the bottom right.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Position the corn behind the green coffee cup so its tip points to the bottom right.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Using the right hand, put the corn behind the green coffee cup.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "With the right hand, place the corn behind the green coffee cup.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Have the right arm set the corn behind the green coffee cup.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Put the corn behind the green coffee cup.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Position the corn behind the green coffee cup.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Set the corn behind the green coffee cup.", + "start_idx": 1056, + "end_idx": 1329 + }, + { + "text": "Pick up the green coffee cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Using the right hand, take the green coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Have the right arm grasp the green coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "With the right hand, retrieve the green coffee cup from the table, gripping the handle at a diagonal angle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Pick up the green coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Take the green coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Retrieve the green coffee cup from the table, grasping the handle at a diagonal angle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Using the right hand, pick up the green coffee cup from the table by the handle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Have the right arm take the green coffee cup from the table using the handle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "With the right hand, grasp the green coffee cup from the table.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Pick up the green coffee cup from the table.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Take the green coffee cup from the table by the handle.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Using the right hand, retrieve the green coffee cup from the table.", + "start_idx": 1815, + "end_idx": 2088 + }, + { + "text": "Dump the brown stuffed animal from the green coffee cup to the bottom right of the beige bowl with the right hand.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Using the right hand, dump the brown stuffed animal out of the green coffee cup to the bottom right of the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Have the right arm empty the brown stuffed animal from the green coffee cup onto the bottom-right side of the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "With the right hand, tip the brown stuffed animal from the green coffee cup over to the lower right of the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Dump the brown stuffed animal from the green coffee cup to the bottom right of the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Empty the brown stuffed animal out of the green coffee cup onto the bottom-right area of the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Tip the brown stuffed animal from the green coffee cup to the lower right of the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Using the right hand, dump the brown stuffed animal from the green coffee cup to the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Have the right arm empty the brown stuffed animal from the green coffee cup into the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "With the right hand, tip the brown stuffed animal out of the green coffee cup into the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Dump the brown stuffed animal from the green coffee cup to the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Empty the brown stuffed animal from the green coffee cup into the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Tip the brown stuffed animal out of the green coffee cup into the beige bowl.", + "start_idx": 2088, + "end_idx": 2169 + }, + { + "text": "Put the green coffee cup to the right of the corn with the right hand right side up with the front facing backwards.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Using the right hand, place the green coffee cup to the right of the corn, right side up, with its front facing backward.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Have the right arm set the green coffee cup to the corn's right, upright, with the front pointed backward.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "With the right hand, position the green coffee cup right of the corn, keeping it right side up and the front facing backward.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Place the green coffee cup to the right of the corn.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Set the green coffee cup to the corn's right side.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Position the green coffee cup just right of the corn.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "The green coffee cup goes to the right of the corn.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Put the green coffee cup to the right of the corn with the right hand.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Using the right hand, place the green coffee cup to the right of the corn.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Have the right arm put the green coffee cup to the right of the corn.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Place the green coffee cup right of the corn, right side up.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Set the green coffee cup to the corn's right with the front facing backward.", + "start_idx": 2169, + "end_idx": 2352 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Using the right hand, take the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Have the right arm pick the brown stuffed animal up from the table diagonally with a full-object grasp.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "With a diagonal approach, the right hand should retrieve the brown stuffed animal from the table using an around-the-object hold.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Take the brown stuffed animal from the table diagonally with a full-object hold.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Retrieve the brown stuffed animal from the table at a diagonal angle using an around-the-object grasp.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table grasping the entire object.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "With the right hand, take the brown stuffed animal from the table using a full-object grasp.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Have the right arm retrieve the brown stuffed animal from the table with an around-the-object hold.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table at a diagonal angle.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "At a diagonal angle, take the brown stuffed animal from the table with the right hand.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2352, + "end_idx": 2496 + }, + { + "text": "Put the brown stuffed animal behind the beige bowl with the right hand facing bottom left from the front.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Using the right hand, place the brown stuffed animal behind the beige bowl, facing bottom left from the front.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Have the right hand set the brown stuffed animal behind the beige bowl with its front facing bottom left.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "With the right hand, position the brown stuffed animal behind the beige bowl so the front points bottom left.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Place the brown stuffed animal behind the beige bowl with its front facing bottom left.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Set the brown stuffed animal behind the beige bowl, oriented bottom left from the front.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Position the brown stuffed animal behind the beige bowl so the front faces bottom left.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Place the brown stuffed animal behind the beige bowl.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Set the brown stuffed animal behind the beige bowl.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Position the brown stuffed animal behind the beige bowl.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Using the right hand, place the brown stuffed animal behind the beige bowl.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Have the right hand set the brown stuffed animal behind the beige bowl.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "With the right hand, position the brown stuffed animal behind the beige bowl.", + "start_idx": 2496, + "end_idx": 2622 + }, + { + "text": "Return both arms to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Bring both arms back to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Move both arms to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Have both arms return to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Return the arms to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Move the arms back to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Bring the arms to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Send the arms home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Have the arms go back to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Return both manipulators to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Move both manipulators back to home.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Bring both limbs to the home position.", + "start_idx": 2907, + "end_idx": 3000 + }, + { + "text": "Set both arms back at home.", + "start_idx": 2907, + "end_idx": 3000 + } + ] + }, + "2026-04-21-04-23-29-156000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the croissant from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, pick up the croissant from the pink plate at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm take the croissant from the pink plate with a diagonal pickup, holding the center.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the left hand, retrieve the croissant from the pink plate on a diagonal, gripping the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the croissant from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "From the pink plate, pick up the croissant on a diagonal while holding its middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Grab the croissant from the pink plate at a diagonal angle by the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, pick up the croissant from the pink plate.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm take the croissant from the pink plate.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the left hand, retrieve the croissant from the pink plate.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the croissant from the pink plate.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "From the pink plate, take the croissant.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Grab the croissant from the pink plate.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Put the croissant to the left of the pink plate with the left hand.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Using the left hand, place the croissant to the left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Have the left arm set the croissant down to the left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "With your left hand, position the croissant left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Place the croissant to the left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Set the croissant down left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Position the croissant to the left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "The croissant goes to the left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Put the croissant beside the pink plate on its left side.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Set down the croissant on the left side of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Place the croissant left of the pink plate with the left hand.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Using the left hand, set the croissant beside the pink plate on its left side.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Have the croissant placed to the left of the pink plate.", + "start_idx": 114, + "end_idx": 231 + }, + { + "text": "Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Using the left hand, collect the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Have the left arm take the blue stuffed toy off the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally while holding the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Pick up the blue stuffed toy from the table at a diagonal angle, grasping the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Take the blue stuffed toy from the table with a diagonal approach, holding the whole object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Retrieve the blue stuffed toy off the table diagonally by grasping the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table, grasping the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "With the left hand, take the blue stuffed toy from the table while holding the whole object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Have the left arm collect the blue stuffed toy off the table by grasping the entire object.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the table at a diagonal angle.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the table diagonally.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Pick up the blue stuffed toy from the table.", + "start_idx": 231, + "end_idx": 360 + }, + { + "text": "Put the blue stuffed toy on top of the pink plate with the left hand facing top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Using the left hand, place the blue stuffed toy on top of the pink plate with its front facing the top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Have the left arm set the blue stuffed toy atop the pink plate, front oriented toward the top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "With the left hand, position the blue stuffed toy on the pink plate so the front points to the top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Place the blue stuffed toy on top of the pink plate with its front facing the top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Set the blue stuffed toy atop the pink plate, front toward the top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Put the blue stuffed toy on the pink plate with the front directed to the top right.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Using the left hand, place the blue stuffed toy on top of the pink plate.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "With the left hand, set the blue stuffed toy atop the pink plate.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Have the left arm put the blue stuffed toy on the pink plate.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Place the blue stuffed toy on top of the pink plate.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Set the blue stuffed toy atop the pink plate.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Put the blue stuffed toy on the pink plate.", + "start_idx": 360, + "end_idx": 435 + }, + { + "text": "Pick up the orange screwdriver from the white plate with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the white plate with a side grip at the top from a diagonal angle.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "From the white plate, have the left hand take the orange screwdriver with a side grasp at the top on a diagonal approach.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the white plate at the top using a side hold from a diagonal angle.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Pick up the orange screwdriver from the white plate using a side grip at the top from a diagonal angle.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Take the orange screwdriver from the white plate with a side grasp at the top from a diagonal approach.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Grasp the orange screwdriver from the white plate at the top with a side hold on a diagonal.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "With the left hand, pick up the orange screwdriver from the white plate using a side grip at the top.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "From the white plate, take the orange screwdriver with the left hand using a side grasp at the top.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Have the left hand grasp the orange screwdriver from the white plate at the top with a side hold.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Pick up the orange screwdriver from the white plate with the left hand from a diagonal angle.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Using the left hand, take the orange screwdriver from the white plate at the top on a diagonal.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "From the white plate, grasp the orange screwdriver with a side grip at the top.", + "start_idx": 435, + "end_idx": 609 + }, + { + "text": "Put the orange screwdriver to the left of the white plate with the left hand with its tip facing top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the white plate with its tip pointing to the top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Have the left arm set the orange screwdriver left of the white plate, tip aimed toward the top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "With the left hand, position the orange screwdriver on the left side of the white plate, keeping the tip directed top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Place the orange screwdriver to the left of the white plate with its tip pointing to the top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Set the orange screwdriver on the left side of the white plate, with the tip aimed top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Position the orange screwdriver left of the white plate, tip facing the top right.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Using the left hand, put the orange screwdriver to the left of the white plate.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Have the left arm place the orange screwdriver on the left side of the white plate.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "With the left hand, set the orange screwdriver left of the white plate.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Place the orange screwdriver to the left of the white plate.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Set the orange screwdriver on the left side of the white plate.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Position the orange screwdriver left of the white plate.", + "start_idx": 609, + "end_idx": 753 + }, + { + "text": "Pick up the blue stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Using the left hand, take the blue stuffed toy from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Have the left arm pick the blue stuffed toy off the pink plate with a diagonal approach and a whole-object grasp.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "With the left hand, retrieve the blue stuffed toy from the pink plate diagonally while holding the entire object.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Pick up the blue stuffed toy from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Take the blue stuffed toy off the pink plate with a diagonal approach and a whole-object hold.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Retrieve the blue stuffed toy from the pink plate diagonally, grasping the entire object.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Using the left hand, pick up the blue stuffed toy from the pink plate, grasping the entire object.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "With the left hand, remove the blue stuffed toy from the pink plate.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Have the left arm take the blue stuffed toy off the pink plate.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Pick up the blue stuffed toy from the pink plate with the left hand.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Take the blue stuffed toy from the pink plate.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Remove the blue stuffed toy from the pink plate.", + "start_idx": 753, + "end_idx": 924 + }, + { + "text": "Put the blue stuffed toy to the right of the pink plate with the left hand facing top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the pink plate with its front facing the top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "With the left arm, set the blue stuffed toy to the right of the pink plate, front oriented toward the top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Have the left hand position the blue stuffed toy to the right of the pink plate with the front facing top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Place the blue stuffed toy to the right of the pink plate with its front facing the top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Set the blue stuffed toy to the right of the pink plate, front pointed toward the top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Position the blue stuffed toy to the right of the pink plate with the front oriented top right.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Using the left hand, place the blue stuffed toy to the right of the pink plate.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "With the left arm, set the blue stuffed toy to the right of the pink plate.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Have the left hand position the blue stuffed toy to the right of the pink plate.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Place the blue stuffed toy to the right of the pink plate.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Set the blue stuffed toy to the right of the pink plate.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Position the blue stuffed toy to the right of the pink plate.", + "start_idx": 924, + "end_idx": 1077 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "With the left hand, retrieve the croissant from the table on a diagonal approach, gripping the center.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Retrieve the croissant from the table on a diagonal approach, holding the middle.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Take the croissant from the table at a diagonal angle by the center.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "With the left hand, take the croissant from the table.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Have the left arm retrieve the croissant from the table.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Using the left hand, collect the croissant from the table.", + "start_idx": 1077, + "end_idx": 1203 + }, + { + "text": "Put the croissant to the right of the blue stuffed toy with the left hand.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Using the left hand, place the croissant to the right of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Have the left arm set the croissant down to the right of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "With the left hand, position the croissant on the right side of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Place the croissant to the right of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Set the croissant on the right side of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "The croissant goes to the right of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Position the croissant to the right of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Move the croissant to the blue stuffed toy's right side.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Arrange the croissant on the right side of the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Put the croissant beside the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Set the croissant next to the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Place the croissant by the blue stuffed toy.", + "start_idx": 1203, + "end_idx": 1335 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a side grip at the left in a diagonal pick angle.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a side grip at the left in a diagonal pick angle.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Have the left arm take the pink plate from the table with a side grasp on the left at a diagonal angle.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a side hold at the left in a diagonal approach.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Pick up the pink plate from the table using a side grip at the left in a diagonal pick angle.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Grasp the pink plate from the table with a side hold on the left at a diagonal angle.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Take the pink plate from the table using a side grasp at the left in a diagonal approach.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a side grip.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Have the left arm take the pink plate from the table with a side grasp.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a side hold.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the left in a diagonal pick angle.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "From the table, take the pink plate with the left hand at the left in a diagonal approach.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 1335, + "end_idx": 1584 + }, + { + "text": "Put the pink plate to the right of the croissant with the left hand right side up with the front as the reference point.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Using the left hand, place the pink plate to the right of the croissant right side up, using the front as the reference point.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the pink plate to the croissant's right, right side up with the front as the reference point.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "With the left hand, position the pink plate on the right side of the croissant, keeping it right side up relative to the front.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Place the pink plate to the right of the croissant right side up with the front as the reference point.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Set the pink plate on the croissant's right side right side up, using the front as the reference point.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Position the pink plate to the right of the croissant, right side up relative to the front.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Using the left hand, place the pink plate to the right of the croissant.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the pink plate on the right side of the croissant.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "With the left hand, position the pink plate to the croissant's right.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Place the pink plate to the right of the croissant.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Set the pink plate on the croissant's right side.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Position the pink plate next to the croissant on its right side.", + "start_idx": 1584, + "end_idx": 1803 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Retrieve the orange screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Take the orange screwdriver from the table diagonally by the middle.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Take the orange screwdriver from the table with the left hand.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Retrieve the orange screwdriver from the table.", + "start_idx": 1803, + "end_idx": 1995 + }, + { + "text": "Put the orange screwdriver in front of the white plate with the left hand with its tip facing top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Using the left hand, place the orange screwdriver in front of the white plate with its tip pointing to the top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Have the left arm set the orange screwdriver in front of the white plate so the tip faces top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "With the left hand, position the orange screwdriver in front of the white plate, tip directed toward the top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Place the orange screwdriver in front of the white plate with its tip facing top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Set the orange screwdriver in front of the white plate so its tip points top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Position the orange screwdriver in front of the white plate, with the tip oriented to the top left.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Using the left hand, put the orange screwdriver in front of the white plate.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "With the left hand, place the orange screwdriver in front of the white plate.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Have the left arm position the orange screwdriver in front of the white plate.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Put the orange screwdriver in front of the white plate.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Set the orange screwdriver in front of the white plate.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "In front of the white plate, position the orange screwdriver.", + "start_idx": 1995, + "end_idx": 2100 + }, + { + "text": "Pick up the blue stuffed from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Using the left hand, pick up the blue stuffed from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Have the left arm take the blue stuffed from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "With the left hand, retrieve the blue stuffed from the table diagonally using a whole-object grasp.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Pick up the blue stuffed from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Take the blue stuffed from the table diagonally while holding the whole object.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Retrieve the blue stuffed from the table with a full-object grasp at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "With the left hand, pick up the blue stuffed from the table, grasping the entire object.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "The blue stuffed should be taken from the table with the left hand using a whole-object grasp.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Use the left hand to retrieve the blue stuffed from the table with the entire object grasped.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Pick up the blue stuffed from the table with the left hand at a diagonal angle.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Take the blue stuffed from the table diagonally with the left hand.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Get the blue stuffed from the table using the left hand.", + "start_idx": 2469, + "end_idx": 2640 + }, + { + "text": "Put the blue stuffed toy on top of the white plate with the left hand facing forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Using the left hand, place the blue stuffed toy on top of the white plate facing forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Have the left arm set the blue stuffed toy atop the white plate with its front facing forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "With the left hand, position the blue stuffed toy on the white plate so it faces forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Place the blue stuffed toy on top of the white plate facing forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Set the blue stuffed toy atop the white plate with its front facing forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Position the blue stuffed toy on the white plate facing forwards.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Using the left hand, put the blue stuffed toy on top of the white plate.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Have the left arm place the blue stuffed toy atop the white plate.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "With the left hand, set the blue stuffed toy on the white plate.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Put the blue stuffed toy on top of the white plate.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Place the blue stuffed toy atop the white plate.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Set the blue stuffed toy on the white plate.", + "start_idx": 2640, + "end_idx": 2742 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Have the left arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Retrieve the orange screwdriver from the table diagonally by the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "The orange screwdriver should be taken from the table at a diagonal angle, holding the middle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "With the left hand, take the orange screwdriver from the table.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Have the left arm retrieve the orange screwdriver from the table.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Take the orange screwdriver from the table with the left hand.", + "start_idx": 2742, + "end_idx": 2877 + }, + { + "text": "Put the orange screwdriver to the left of the white plate with the left hand facing forwards by the tip.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the white plate with the tip facing forwards.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the orange screwdriver left of the white plate, oriented forward by its tip.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the orange screwdriver to the left of the white plate so the tip faces forwards.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Place the orange screwdriver to the left of the white plate with the tip facing forwards.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Set the orange screwdriver left of the white plate with the tip oriented forwards.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Position the orange screwdriver to the left of the white plate so its tip points forwards.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the white plate.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the orange screwdriver left of the white plate.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the orange screwdriver next to the white plate on its left side.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Put the orange screwdriver to the left of the white plate.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Set the orange screwdriver left of the white plate.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Place the orange screwdriver beside the white plate on the left side.", + "start_idx": 2877, + "end_idx": 3000 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "With the right hand, retrieve the croissant from the table at a diagonal angle by grasping its middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Take the croissant from the table at a diagonal angle while holding the middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Retrieve the croissant from the table with a diagonal pickup, contacting the middle.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 2100, + "end_idx": 2316 + }, + { + "text": "Place the croissant on top of the pink plate with the right hand.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Using the right hand, set the croissant on the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Have the right arm place the croissant onto the top of the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "With the right hand, position the croissant on top of the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Place the croissant on top of the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Set the croissant onto the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Put the croissant on the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Position the croissant atop the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Transfer the croissant to the top of the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Have the croissant placed on the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Set the croissant down on top of the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Put the croissant atop the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + }, + { + "text": "Move the croissant onto the pink plate.", + "start_idx": 2316, + "end_idx": 2469 + } + ] + }, + "2026-04-21-04-28-28-519000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Using the left hand, take the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Have the left arm grasp the screwdriver from the table with a side hold at the bottom at a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "With the left hand, secure the screwdriver from the table using a side grasp on the bottom from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Pick up the screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "From the table, grasp the screwdriver with a side hold at the bottom from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Take the screwdriver from the table with a side grasp on the bottom at a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table with a side grip at the bottom.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "With the left hand, take the screwdriver from the table using a side grasp at the bottom.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Have the left arm grasp the screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Using the left hand, retrieve the screwdriver from the table from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Pick up the screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "From the table, take the screwdriver at the bottom.", + "start_idx": 210, + "end_idx": 375 + }, + { + "text": "Put the screwdriver to the left of the white plate with the left hand facing top right with the tip as the reference point.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the white plate with the tip facing top right.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Have the left arm set the screwdriver left of the white plate, oriented top right from the tip.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "With the left hand, position the screwdriver to the left of the white plate so its tip points top right.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Place the screwdriver to the left of the white plate with the tip facing top right.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Set the screwdriver left of the white plate, with the tip oriented top right.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Position the screwdriver to the left of the white plate so the tip points top right.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Using the left hand, put the screwdriver to the left of the white plate.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Have the left arm place the screwdriver left of the white plate.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "With the left hand, set the screwdriver to the left of the white plate.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Place the screwdriver to the left of the white plate.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Set the screwdriver left of the white plate.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Position the screwdriver to the left of the white plate.", + "start_idx": 375, + "end_idx": 459 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Using the left hand, take the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "From a diagonal angle, have the left hand grasp the screwdriver on the table with a side hold at the bottom.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "With the left hand, secure the screwdriver from the table using a side grasp at the bottom on a diagonal approach.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Pick up the screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "From a diagonal angle, grasp the screwdriver from the table with a side hold at the bottom.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Take the screwdriver from the table with a side grasp at the bottom on a diagonal approach.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Using the left hand, take the screwdriver from the table from a diagonal angle.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Pick up the screwdriver from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "From a diagonal angle, take the screwdriver from the table.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Pick up the screwdriver from the table at the bottom.", + "start_idx": 1029, + "end_idx": 1185 + }, + { + "text": "Put the screwdriver to the left of the pink plate with the left hand facing top right with the tip as the reference point.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the pink plate with its tip facing the top right.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Have the left hand set the screwdriver left of the pink plate, oriented top right by the tip.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "With the left hand, position the screwdriver to the left of the pink plate so the tip points toward the top right.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Place the screwdriver to the left of the pink plate with its tip facing the top right.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Set the screwdriver left of the pink plate, with the tip oriented toward the top right.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Position the screwdriver to the left of the pink plate so its tip faces the top right.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Put the screwdriver to the left of the pink plate.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Place the screwdriver left of the pink plate.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Set the screwdriver to the left of the pink plate.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Using the left hand, put the screwdriver to the left of the pink plate.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "With the left hand, place the screwdriver left of the pink plate.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Have the left hand set the screwdriver to the left of the pink plate.", + "start_idx": 1185, + "end_idx": 1290 + }, + { + "text": "Pick up the blue stuffed animal from the white plate with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the white plate at a diagonal angle, grasping the entire object.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Have the left arm take the blue stuffed animal from the white plate diagonally with a whole-object grasp.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the white plate at a diagonal angle using an all-over hold.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Pick up the blue stuffed animal from the white plate at a diagonal angle, grasping the entire object.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Take the blue stuffed animal from the white plate diagonally with a whole-object grasp.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Retrieve the blue stuffed animal from the white plate at a diagonal angle using an all-over hold.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the white plate, grasping the entire object.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "With the left hand, take the blue stuffed animal from the white plate using an all-over hold.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Have the left arm collect the blue stuffed animal from the white plate with a whole-object grasp.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the white plate at a diagonal angle.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the white plate diagonally.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Pick up the blue stuffed animal from the white plate.", + "start_idx": 1290, + "end_idx": 1497 + }, + { + "text": "Put the blue stuffed animal in front of the pink plate and to the left of the white bowl with the left hand facing top left from the front.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the pink plate and to the left of the white bowl, facing top left from the front.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Have the left arm set the blue stuffed animal in front of the pink plate and left of the white bowl with its front facing top left.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "With the left hand, position the blue stuffed animal before the pink plate and to the white bowl's left, front facing top left.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Place the blue stuffed animal in front of the pink plate and to the left of the white bowl, facing top left from the front.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Set the blue stuffed animal before the pink plate and left of the white bowl with its front facing top left.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Position the blue stuffed animal in front of the pink plate and on the left side of the white bowl, front facing top left.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the pink plate and to the left of the white bowl.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "With the left hand, set the blue stuffed animal before the pink plate and left of the white bowl.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Have the left arm position the blue stuffed animal in front of the pink plate and on the left side of the white bowl.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Put the blue stuffed animal in front of the pink plate and to the left of the white bowl.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Arrange the blue stuffed animal before the pink plate and left of the white bowl.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "The blue stuffed animal goes in front of the pink plate and to the left of the white bowl.", + "start_idx": 1497, + "end_idx": 1587 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "From the top at the middle, have the left hand take the blue stuffed animal from the table.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "The left hand should grasp the blue stuffed animal from the table from above at its middle.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Take the blue stuffed animal from the table from above at the middle.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Grasp the blue stuffed animal from the table at the middle from the top.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Retrieve the blue stuffed animal from the table from the top.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Pick up the blue stuffed animal from the table at the middle.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Take the blue stuffed animal from the table.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Have the left hand take the blue stuffed animal from the table.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "With the left hand, grasp the blue stuffed animal from the table.", + "start_idx": 1941, + "end_idx": 2145 + }, + { + "text": "Place the blue stuffed animal in front of the screwdriver with the left hand facing forwards with the front as the orientation reference point.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the screwdriver with the front facing forwards.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Have the left arm set the blue stuffed animal in front of the screwdriver, oriented forward using its front as reference.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "With the left hand, position the blue stuffed animal in front of the screwdriver so its front faces forwards.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Place the blue stuffed animal in front of the screwdriver with the front facing forwards.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Set the blue stuffed animal in front of the screwdriver with its front oriented forwards.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Position the blue stuffed animal in front of the screwdriver so the front faces forward.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the screwdriver.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "With the left arm, set the blue stuffed animal in front of the screwdriver.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Have the left hand position the blue stuffed animal in front of the screwdriver.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Place the blue stuffed animal in front of the screwdriver.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Set the blue stuffed animal in front of the screwdriver.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Position the blue stuffed animal in front of the screwdriver.", + "start_idx": 2145, + "end_idx": 2199 + }, + { + "text": "Pick up the screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table from the top at the middle.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "From the top at the middle, have the left hand take the screwdriver from the table.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at its middle from above.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Pick up the screwdriver from the table from the top at the middle.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "From above at the middle, take the screwdriver from the table.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Grasp the screwdriver from the table at the middle from the top.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Have the left hand take the screwdriver from the table.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Using the left hand, grasp the screwdriver from the table.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Pick up the screwdriver from the table from above.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Get the screwdriver from the table at the middle.", + "start_idx": 2199, + "end_idx": 2325 + }, + { + "text": "Put the screwdriver on the top of the white plate with the left hand facing forwards with the tip facing forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Using the left hand, place the screwdriver on top of the white plate with the tip facing forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Have the left arm set the screwdriver onto the top of the white plate, oriented with its tip pointing forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "With the left hand, position the screwdriver on the white plate's top, keeping the tip directed forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Place the screwdriver on top of the white plate with the tip facing forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Set the screwdriver onto the top of the white plate, with its tip pointing forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Position the screwdriver on the white plate's top so the tip faces forwards.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Using the left hand, put the screwdriver on top of the white plate.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "With the left hand, set the screwdriver onto the top of the white plate.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Have the left arm place the screwdriver on the white plate.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Put the screwdriver on top of the white plate.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Set the screwdriver onto the white plate.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Place the screwdriver on the white plate.", + "start_idx": 2325, + "end_idx": 2439 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table from the top at the middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Have the left arm grasp the blue stuffed animal from the table with a top approach at the middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "With the left hand, seize the blue stuffed animal from the table by the top at its middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Take the blue stuffed animal from the table by the top at the middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Get the blue stuffed animal from the table with a top grasp at the middle.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "With the left hand, get the blue stuffed animal from the table.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Take the blue stuffed animal from the table.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Have the blue stuffed animal taken from the table.", + "start_idx": 2796, + "end_idx": 2919 + }, + { + "text": "Pick up the blue stuffed animal from the top of the pink plate with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the top of the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the right hand take the blue stuffed animal off the top of the pink plate with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the right hand, grasp the middle of the blue stuffed animal on top of the pink plate and retrieve it diagonally.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the blue stuffed animal from the top of the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the blue stuffed animal off the top of the pink plate with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the middle of the blue stuffed animal from the top of the pink plate at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the top of the pink plate.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the right hand, take the blue stuffed animal off the top of the pink plate.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the right hand grasp the blue stuffed animal from the top of the pink plate.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the blue stuffed animal from the top of the pink plate.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the blue stuffed animal off the top of the pink plate.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Get the blue stuffed animal from the top of the pink plate.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Put the blue stuffed animal on top of the white plate with the right hand facing top left.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Using the right hand, place the blue stuffed animal on top of the white plate with its front facing the top left.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Have the right arm set the blue stuffed animal atop the white plate, front pointed toward the top left.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "With the right hand, position the blue stuffed animal on the white plate so the front faces top left.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Place the blue stuffed animal on top of the white plate.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Set the blue stuffed animal atop the white plate.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Put the blue stuffed animal on the white plate.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Using the right hand, place the blue stuffed animal on top of the white plate.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Have the right arm set the blue stuffed animal atop the white plate.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "With the right hand, put the blue stuffed animal on the white plate.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Put the blue stuffed animal on top of the white plate with its front facing the top left.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Set the blue stuffed animal atop the white plate, front pointed toward the top left.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Place the blue stuffed animal on the white plate using the right hand.", + "start_idx": 120, + "end_idx": 210 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the right side and a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip on the right side at a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a lip hold at the right edge and a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "With the right hand, secure the pink plate from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Pick up the pink plate from the table using a lip grip on the right side at a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Take the pink plate from the table with a lip hold at the right edge and a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Grasp the pink plate from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Retrieve the pink plate from the table with a lip grip.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Using the right hand, pick up the pink plate from the table.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Have the right arm take the pink plate from the table.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Pick up the pink plate from the table at a diagonal angle.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "With the right hand, grasp the pink plate from the table.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 459, + "end_idx": 615 + }, + { + "text": "Place the pink plate behind the screwdriver with the right hand right side up with the front as the orientation reference.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Using the right hand, set the pink plate behind the screwdriver right side up, with the front as the orientation reference.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Have the right arm place the pink plate behind the screwdriver upright, using the front as the reference point.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "With the right hand, position the pink plate behind the screwdriver so it is right side up relative to the front.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Place the pink plate behind the screwdriver right side up, with the front as the orientation reference.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Set the pink plate behind the screwdriver upright, using the front as the reference point.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Position the pink plate behind the screwdriver so it is right side up relative to the front.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Using the right hand, place the pink plate behind the screwdriver.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Have the right arm set the pink plate behind the screwdriver.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "With the right hand, position the pink plate behind the screwdriver.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Put the pink plate behind the screwdriver.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Set the pink plate behind the screwdriver with the right hand.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Have the right arm place the pink plate behind the screwdriver right side up.", + "start_idx": 615, + "end_idx": 783 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "With the right hand, retrieve the croissant from the table on a diagonal approach and grip its middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Take the croissant from the table on a diagonal approach, holding the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Retrieve the croissant from the table with a diagonal pickup at the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Retrieve the croissant from the table, grasping the middle.", + "start_idx": 783, + "end_idx": 942 + }, + { + "text": "Put the croissant to the right of the white plate with the right hand.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Using the right hand, place the croissant to the right of the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Have the right arm set the croissant down to the white plate's right side.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "With the right hand, position the croissant just right of the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Place the croissant to the right of the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Set the croissant on the right side of the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "The croissant goes to the right of the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Put the croissant down next to the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Using the right hand, place the croissant by the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "With the right hand, set the croissant down near the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Have the right arm put the croissant beside the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Place the croissant near the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Set the croissant down by the white plate.", + "start_idx": 942, + "end_idx": 1029 + }, + { + "text": "Pick up the croissant from the table with the right hand from the side at the middle.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Using the right hand, take the croissant from the table from the side at the middle.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Have the right arm grasp the croissant from the table with a side approach at the middle.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "From the side at the middle, pick the croissant from the table with the right hand.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Pick up the croissant from the table from the side at the middle.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "From the side at the middle, grasp the croissant from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Take the croissant from the table with a side approach at the middle.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Pick the croissant from the table with the right hand.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Using the right hand, take the croissant from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Have the right arm grasp the croissant from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "From the side, pick up the croissant from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "At the middle, take the croissant from the table.", + "start_idx": 1737, + "end_idx": 1761 + }, + { + "text": "Place the croissant on top of the pink plate with the right hand.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Using the right hand, set the croissant on the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Have the right arm place the croissant atop the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "With the right hand, position the croissant on top of the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Place the croissant on the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Set the croissant atop the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Put the croissant on top of the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "The croissant goes onto the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Position the croissant on the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Transfer the croissant onto the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "On top of the pink plate, place the croissant.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Have the croissant placed on the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Put the croissant atop the pink plate.", + "start_idx": 1761, + "end_idx": 1941 + }, + { + "text": "Pick up the white plate from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "With the right hand, take the white plate from the table using a diagonal grasp on the right lip.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Using the right hand, collect the white plate from the table with a diagonal right-side lip grip.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Have the right arm pick the white plate up from the table with a diagonal lip hold on the right.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Pick up the white plate from the table using a diagonal grasp on the right lip.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Using a diagonal right-side lip grip, take the white plate from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "The white plate should be picked up from the table with a diagonal lip grasp on the right.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "With the right hand, pick up the white plate from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Use the right hand to take the white plate from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Have the right arm collect the white plate from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Pick up the white plate from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Take the white plate from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Have the white plate picked up from the table.", + "start_idx": 2439, + "end_idx": 2610 + }, + { + "text": "Dump the screwdriver from the white plate to the center of the table with the right hand.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Using the right hand, dump the screwdriver from the white plate onto the center of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Have the right arm move the screwdriver off the white plate and deposit it at the table center.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "With the right hand, transfer the screwdriver from the white plate to the center of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Move the screwdriver from the white plate to the center of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Take the screwdriver off the white plate and place it in the middle of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "The screwdriver should go from the white plate to the center of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Remove the screwdriver from the white plate and set it at the table center.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "From the white plate, put the screwdriver in the center of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Place the screwdriver at the center of the table after taking it from the white plate.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Get the screwdriver off the white plate and move it to the table center.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Transfer the screwdriver from the white plate to the center of the table.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Set the screwdriver down in the middle of the table from the white plate.", + "start_idx": 2610, + "end_idx": 2706 + }, + { + "text": "Place the white plate right side up with the front to the right of the pink plate using the right hand.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Using the right hand, set the white plate right side up with its front toward the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Have the right hand place the white plate upright, with the front facing to the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "With the right hand, position the white plate right side up so its front is to the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Place the white plate right side up with its front to the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Set the white plate upright with the front toward the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Position the white plate right side up so the front is on the right side of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Put the white plate with the front to the right of the pink plate using the right hand.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Using the right hand, place the white plate to the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Have the right hand set the white plate beside the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Place the white plate to the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Set the white plate upright to the right of the pink plate.", + "start_idx": 2706, + "end_idx": 2796 + }, + { + "text": "Position the white plate beside the pink plate using the right hand.", + "start_idx": 2706, + "end_idx": 2796 + } + ] + }, + "2026-04-21-05-15-41-561000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 285, + "annotations": [ + { + "text": "Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the left hand, pick up the tomato from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the left arm take the tomato from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the left hand, retrieve the tomato from the table at a diagonal angle by grasping the center.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the tomato from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the tomato from the table at a diagonal angle, holding its middle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "From the table, collect the tomato at a diagonal angle by grasping the center.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the left hand, pick up the tomato from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the left arm take the tomato from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the left hand, retrieve the tomato from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "From the table, take the tomato.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the tomato picked up from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Put the tomato inside the silver bowl with the left hand right side up.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Using the left hand, place the tomato into the silver bowl right side up.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Have the left arm set the tomato inside the silver bowl with its right side up.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "With the left hand, deposit the tomato in the silver bowl, keeping it right side up.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Place the tomato into the silver bowl.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Set the tomato inside the silver bowl.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Put the tomato in the silver bowl.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Using the left hand, place the tomato into the silver bowl.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Have the left arm put the tomato inside the silver bowl.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "With the left hand, set the tomato in the silver bowl.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Place the tomato into the silver bowl right side up.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Set the tomato inside the silver bowl upright.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Put the tomato in the silver bowl with the left hand.", + "start_idx": 129, + "end_idx": 225 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "With the left hand, retrieve the cabbage from the table on a diagonal approach, gripping the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Take the cabbage from the table on a diagonal approach, holding the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup, gripping it at the middle.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 225, + "end_idx": 378 + }, + { + "text": "Put the cabbage in front of the silver bowl with the left hand facing forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Using the left hand, place the cabbage in front of the silver bowl with it facing forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Have the left arm set the cabbage before the silver bowl, oriented forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "With the left hand, position the cabbage in front of the silver bowl so it faces forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Place the cabbage in front of the silver bowl facing forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Set the cabbage before the silver bowl with its front facing forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Position the cabbage in front of the silver bowl, oriented forwards.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Using the left hand, put the cabbage in front of the silver bowl.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "With the left hand, set the cabbage before the silver bowl.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Have the left arm place the cabbage in front of the silver bowl.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Put the cabbage in front of the silver bowl.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Set the cabbage before the silver bowl.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Position the cabbage in front of the silver bowl.", + "start_idx": 378, + "end_idx": 468 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Have the left arm take the blue soda can from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table at a diagonal angle by gripping the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Retrieve the blue soda can from the table with a diagonal pickup, holding the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Take the blue soda can from the table at a diagonal angle by gripping its middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table, grasping the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "With the left hand, take the blue soda can from the table, holding its middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table by gripping the middle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "With the left hand, take the blue soda can from the table at a diagonal angle.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 468, + "end_idx": 639 + }, + { + "text": "Put the blue soda can in front of the green bag of chips with the left hand.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Using the left hand, place the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Have the left arm set the blue soda can down in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "With the left hand, position the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Place the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Set the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Position the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Put the blue soda can down in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Move the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Arrange the blue soda can in front of the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Using the left hand, place the blue soda can by the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Have the left arm set the blue soda can beside the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "With the left hand, move the blue soda can near the green bag of chips.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Have the left arm pick the cabbage off the table diagonally from the middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "With the left hand, retrieve the cabbage from the table in a diagonal pick at its middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Take the cabbage off the table diagonally by the middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pick on its middle.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Have the left arm take the cabbage off the table.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Take the cabbage off the table diagonally.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Using the left hand, pick up the cabbage from the table diagonally.", + "start_idx": 1380, + "end_idx": 1557 + }, + { + "text": "Put the cabbage to the right of the silver bowl with the left hand facing forwards with the front as the reference point.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Using the left hand, place the cabbage to the right of the silver bowl, facing forwards relative to the front.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Have the left arm set the cabbage to the right of the silver bowl with its front facing forward.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "With the left hand, position the cabbage to the right of the silver bowl so the front faces forwards.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Place the cabbage to the right of the silver bowl, facing forwards relative to the front.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Set the cabbage to the right of the silver bowl with its front facing forward.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Position the cabbage to the right of the silver bowl so it faces forwards from the front reference.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Using the left hand, place the cabbage to the right of the silver bowl.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Have the left arm set the cabbage to the right of the silver bowl.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "With the left hand, position the cabbage to the right of the silver bowl.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Put the cabbage to the right of the silver bowl.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Set the cabbage to the right of the silver bowl.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Position the cabbage to the right of the silver bowl.", + "start_idx": 1557, + "end_idx": 1626 + }, + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Have the left arm pick up the silver bowl from the table using a diagonal grasp on its right lip.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "With the left hand, grasp the silver bowl from the table at the right lip with a diagonal hold.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Grasp the silver bowl from the table at the right lip with a diagonal hold.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Take the silver bowl from the table with a diagonal grasp on its right lip.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "With the left hand, take the silver bowl from the table.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Have the left arm grasp the silver bowl from the table.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Using the left hand, take the silver bowl from the table.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 1845, + "end_idx": 2043 + }, + { + "text": "Put the silver bowl in front of the carrot with the left hand.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Using the left hand, place the silver bowl in front of the carrot, right side up.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Have the left arm set the silver bowl down in front of the carrot with its open side up.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "With the left hand, position the silver bowl in front of the carrot in an upright orientation.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Place the silver bowl in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Set the silver bowl down in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Position the silver bowl in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Using the left hand, place the silver bowl in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Have the left arm set the silver bowl down in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "With the left hand, position the silver bowl in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Place the silver bowl in front of the carrot, right side up.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Set the silver bowl down in front of the carrot in an upright position.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Position the silver bowl right side up in front of the carrot.", + "start_idx": 2042, + "end_idx": 2172 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "With the left hand, retrieve the carrot from the table on a diagonal approach and grasp its middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Retrieve the carrot from the table on a diagonal approach, holding the middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Take the carrot from the table at a diagonal angle with a grip at the middle.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "With the left hand, pick up the carrot from the table.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Using the left hand, retrieve the carrot from the table.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 2172, + "end_idx": 2334 + }, + { + "text": "Put the carrot to the left of the silver bowl with the left hand facing top left by the tip.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Using the left hand, place the carrot to the left of the silver bowl with its tip facing the top left.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Have the left arm set the carrot to the left of the silver bowl, tip oriented toward the top left.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "With the left hand, position the carrot left of the silver bowl so the tip points top left.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Place the carrot to the left of the silver bowl with its tip facing the top left.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Set the carrot to the left of the silver bowl with the tip oriented toward the top left.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Position the carrot left of the silver bowl so its tip points to the top left.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Using the left hand, place the carrot to the left of the silver bowl.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "With the left hand, set the carrot left of the silver bowl.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Have the left arm position the carrot to the left of the silver bowl.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Place the carrot to the left of the silver bowl.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Set the carrot left of the silver bowl.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Position the carrot to the left of the silver bowl.", + "start_idx": 2334, + "end_idx": 2412 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the right in a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip at the right in a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Have the right arm take the green bag of chips from the table, grasping its right side with a side hold at a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "With the right hand, retrieve the green bag of chips from the table using a side grasp on the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the right in a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Take the green bag of chips from the table with a side grasp on the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Retrieve the green bag of chips from the table, using a side hold on the right in a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table with a side grip.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "With the right hand, take the green bag of chips from the table using a side grasp.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Have the right arm pick up the green bag of chips from the table with a side hold.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at the right in a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "From the table, take the green bag of chips with the right hand at a diagonal angle on the right.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Pick up the green bag of chips from the table at the right in a diagonal angle.", + "start_idx": 768, + "end_idx": 1023 + }, + { + "text": "Put the green bag of chips to the right of the blue soda can with the right hand facing left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the blue soda can with its front facing left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the blue soda can, front pointed left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the blue soda can so the front faces left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Place the green bag of chips to the right of the blue soda can with its front facing left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Set the green bag of chips to the right of the blue soda can, front pointed left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Position the green bag of chips to the right of the blue soda can so the front faces left.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the blue soda can.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "With the right hand, set the green bag of chips to the right of the blue soda can.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Have the right arm position the green bag of chips to the right of the blue soda can.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Put the green bag of chips to the right of the blue soda can.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Set the green bag of chips to the right of the blue soda can.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Place the green bag of chips to the right of the blue soda can.", + "start_idx": 1023, + "end_idx": 1143 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "With the right hand, retrieve the carrot from the table at a diagonal angle by grasping its middle.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Take the carrot from the table diagonally, holding the middle.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup, grasping its center.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 1143, + "end_idx": 1287 + }, + { + "text": "Put the carrot behind the blue soda can with the right hand facing forwards with the tip as the reference point.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Using the right hand, place the carrot behind the blue soda can with its tip facing forwards.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Have the right arm set the carrot behind the blue soda can, oriented forward using the tip as the reference point.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "With the right hand, position the carrot behind the blue soda can so the tip faces forwards.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Place the carrot behind the blue soda can with its tip facing forwards.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Set the carrot behind the blue soda can, oriented forward from the tip.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Position the carrot behind the blue soda can so the tip points forwards.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Using the right hand, put the carrot behind the blue soda can.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "With the right hand, place the carrot behind the blue soda can.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Have the right arm set the carrot behind the blue soda can.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Put the carrot behind the blue soda can.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Set the carrot behind the blue soda can.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Position the carrot behind the blue soda can.", + "start_idx": 1287, + "end_idx": 1380 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Have the right arm grasp the carrot from the table from the middle at a diagonal angle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "With the right hand, take the carrot from the table using a diagonal approach at its middle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Take the carrot from the table from the middle at a diagonal angle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Grasp the carrot from the table diagonally at the middle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Pick up the carrot from the table with the right hand.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Use the right hand to take the carrot from the table.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Have the right arm grasp the carrot from the table.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Take the carrot from the table from the middle.", + "start_idx": 1626, + "end_idx": 1770 + }, + { + "text": "Put the carrot to the right of the cabbage with the right hand facing forwards with the tip facing forwards.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Using the right hand, place the carrot to the right of the cabbage with its tip facing forwards.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Have the right arm set the carrot to the right of the cabbage, oriented forward with the tip facing forwards.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "With the right hand, position the carrot to the right of the cabbage so it faces forwards at the tip.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Place the carrot to the right of the cabbage with its tip facing forwards.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Set the carrot to the right of the cabbage, with the tip pointed forwards.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Position the carrot to the right of the cabbage so the tip faces forwards.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Using the right hand, put the carrot to the right of the cabbage.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "With the right hand, place the carrot to the right of the cabbage.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Have the right arm set the carrot to the right of the cabbage.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Put the carrot to the right of the cabbage.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Set the carrot to the right of the cabbage.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Position the carrot to the right of the cabbage.", + "start_idx": 1770, + "end_idx": 1845 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Have the right arm pick the blue soda can off the table using a side grip on the top at a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "With the right hand, grasp the blue soda can from the table from a diagonal angle using a side hold at the top.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Take the blue soda can off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Have the right arm take the blue soda can off the table.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Pick up the blue soda can from the table with the right hand from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Using the right hand, take the blue soda can off the table at the top from a diagonal angle.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 2412, + "end_idx": 2592 + }, + { + "text": "Put the blue soda can behind the silver bowl with the right hand.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Using the right hand, place the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Have the right arm set the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "With the right hand, position the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Place the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Set the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Position the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Move the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "The blue soda can goes behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Put the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Behind the silver bowl, place the blue soda can.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Arrange the blue soda can behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Set the blue soda can in place behind the silver bowl.", + "start_idx": 2592, + "end_idx": 2694 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grasp at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Have the right arm pick up the green bag of chips from the table using a side grip at the bag's top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "With the right hand, seize the green bag of chips from the table in a side hold at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Take the green bag of chips from the table using a side grasp at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "The green bag of chips should be picked up from the table in a side hold at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "With the right hand, take the green bag of chips from the table.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Pick up the green bag of chips from the table at the top right diagonal.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "From the table, retrieve the green bag of chips with the right hand.", + "start_idx": 2694, + "end_idx": 2844 + }, + { + "text": "Put the green bag of chips to the right of the blue soda can with the right hand facing left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the blue soda can with its front facing left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the blue soda can, front facing left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the blue soda can so the front faces left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Place the green bag of chips to the right of the blue soda can with its front facing left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Set the green bag of chips to the right of the blue soda can with the front oriented left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Position the green bag of chips to the right of the blue soda can, front facing left.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the blue soda can.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "With the right hand, set the green bag of chips to the right of the blue soda can.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Have the right arm position the green bag of chips to the right of the blue soda can.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Place the green bag of chips to the right of the blue soda can.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Set the green bag of chips to the right of the blue soda can.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Move the green bag of chips to the right of the blue soda can.", + "start_idx": 2844, + "end_idx": 3000 + } + ] + }, + "2026-04-21-05-34-03-612000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 298, + "annotations": [ + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm pick the eggplant off the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, retrieve the eggplant from the table and hold it at a diagonal angle around the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the eggplant off the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Retrieve the eggplant from the table while holding its middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the left hand, take the eggplant off the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the left arm retrieve the eggplant from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the eggplant off the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the eggplant picked up from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the eggplant to the right of the canned goods with the left hand with the tip facing top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Using the left hand, place the eggplant to the right of the canned goods with the tip facing top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Have the left arm set the eggplant to the right of the canned goods, tip oriented toward the top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "With the left hand, position the eggplant to the right of the canned goods so its tip points top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Place the eggplant to the right of the canned goods with the tip facing top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Set the eggplant to the right of the canned goods, with its tip directed toward the top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Position the eggplant to the right of the canned goods so the tip points to the top left.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Using the left hand, put the eggplant to the right of the canned goods.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "With the left hand, place the eggplant to the right of the canned goods.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Have the left arm position the eggplant to the right of the canned goods.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Put the eggplant to the right of the canned goods.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Set the eggplant to the right of the canned goods.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Position the eggplant to the right of the canned goods.", + "start_idx": 132, + "end_idx": 204 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Have the left arm take the canned goods off the table by grasping the top with a side hold from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "With the left hand, grasp the canned goods from the table at the top using a side grip from a diagonal approach.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Pick up the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Take the canned goods off the table by grasping the top with a side hold from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Grasp the canned goods from the table at the top from a diagonal angle using a side grip.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Have the left arm take the canned goods off the table.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "With the left hand, grasp the canned goods from the table.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Pick up the canned goods from the table from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Take the canned goods off the table at the top.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 204, + "end_idx": 309 + }, + { + "text": "Put the canned goods on the center of the table with the left hand.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Using the left hand, place the canned goods at the center of the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Have the left arm set the canned goods down in the middle of the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "With the left hand, position the canned goods on the table's center.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Place the canned goods at the center of the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Set the canned goods in the middle of the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "The canned goods go on the center of the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Put the canned goods on the table's center.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Place the canned goods with the left hand.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Set the canned goods down using the left hand.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "With the left hand, put down the canned goods.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Have the canned goods placed on the center of the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Using the left hand, set the canned goods on the table.", + "start_idx": 309, + "end_idx": 375 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "With the left hand, retrieve the eggplant from the table on a diagonal, taking hold of its middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Retrieve the eggplant from the table on a diagonal, holding the middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Take the eggplant from the table with a diagonal pickup at its middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Get the eggplant from the table, grasping the middle.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 894, + "end_idx": 1026 + }, + { + "text": "Put the eggplant to the left of the canned goods with the left hand with its tip facing top left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Using the left hand, place the eggplant left of the canned goods with its tip pointing to the top left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Have the left arm set the eggplant to the left of the canned goods, tip oriented toward the top left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "With the left hand, position the eggplant left of the canned goods so its tip faces the upper left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Place the eggplant to the left of the canned goods with its tip facing the top left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Set the eggplant left of the canned goods, with the tip pointing upper left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Position the eggplant to the left of the canned goods so its tip faces top left.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Using the left hand, put the eggplant to the left of the canned goods.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Have the left arm place the eggplant left of the canned goods.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "With the left hand, set the eggplant to the left of the canned goods.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Place the eggplant to the left of the canned goods.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Set the eggplant left of the canned goods.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Position the eggplant to the left of the canned goods.", + "start_idx": 1026, + "end_idx": 1098 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "With the left arm, collect the canned goods from the table using a side hold on the top at a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Have the left hand pick the canned goods from the table with a side grip at the top from a diagonal approach.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "From the table, collect the canned goods with a side hold on the top at a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "With the left arm, take the canned goods from the table using a side grasp on the top.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Have the left hand collect the canned goods from the table with a side hold at the top.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "With the left arm, take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Pick up the canned goods from the table with the left hand.", + "start_idx": 1098, + "end_idx": 1248 + }, + { + "text": "Put the canned goods behind the eggplant with the left hand.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Using the left hand, place the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Have the left arm set the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "With the left hand, position the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Place the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Set the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Position the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Move the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "The canned goods go behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Put the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Arrange the canned goods behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Behind the eggplant, place the canned goods.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Have the canned goods placed behind the eggplant.", + "start_idx": 1248, + "end_idx": 1329 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a diagonal lip grasp on the left.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Have the left arm take the white cup from the table using a left-side diagonal lip grasp.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "With the left hand, retrieve the white cup from the table via a diagonal grasp on the left lip.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on the left.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Retrieve the white cup from the table using the left-side diagonal lip grasp.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Use the left hand to pick up the white cup from the table.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "With the left hand, retrieve the white cup from the table.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Take the white cup from the table using the left hand.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Grab the white cup from the table with a diagonal lip grasp on the left.", + "start_idx": 1554, + "end_idx": 1782 + }, + { + "text": "Put the white cup to the right of the eggplant with the handle facing backwards right side up with the front as the reference using the left hand.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Using the left hand, place the white cup to the right of the eggplant, right side up, with the handle facing backward relative to the front.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Have the left arm set the white cup to the eggplant's right, keeping it upright and the handle pointing backward from the front.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "With the left hand, position the white cup on the right side of the eggplant, oriented right side up and with the handle facing backward using the front as reference.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Place the white cup to the right of the eggplant, right side up, with the handle facing backward relative to the front.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Set the white cup on the eggplant's right side, upright, with the handle pointing backward from the front.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Position the white cup to the right of the eggplant, keeping it right side up and the handle facing backward using the front as reference.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Using the left hand, place the white cup to the right of the eggplant.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Have the left arm set the white cup on the right side of the eggplant.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "With the left hand, position the white cup beside the eggplant on its right.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Place the white cup to the right of the eggplant.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Set the white cup on the eggplant's right side.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Position the white cup beside the eggplant on its right.", + "start_idx": 1782, + "end_idx": 1899 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "With the left hand, collect the eggplant from the table by gripping the middle at a diagonal angle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding its middle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "From the table, collect the eggplant by grasping the middle at a diagonal angle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Have the left arm collect the eggplant from the table.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "With the left hand, pick up the eggplant from the table.", + "start_idx": 2301, + "end_idx": 2409 + }, + { + "text": "Put the eggplant to the bottom left of the white cup with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Using the left hand, place the eggplant at the bottom left of the white cup, facing forwards with the tip as the reference point.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Have the left arm set the eggplant to the white cup's bottom left, with the tip defining a forward-facing orientation.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "With the left hand, position the eggplant bottom-left of the white cup so it faces forwards, using the tip as the reference point.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Place the eggplant at the bottom left of the white cup, facing forwards with the tip as the reference point.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Set the eggplant to the white cup's bottom left, with a forward-facing orientation referenced by the tip.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Position the eggplant bottom-left of the white cup so it faces forwards, using the tip as the reference point.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Using the left hand, put the eggplant at the bottom left of the white cup.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "With the left hand, place the eggplant to the white cup's bottom left.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Have the left arm position the eggplant at the bottom left of the white cup.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Put the eggplant at the bottom left of the white cup.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Set the eggplant to the bottom left of the white cup.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Position the eggplant at the white cup's bottom left.", + "start_idx": 2409, + "end_idx": 2505 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Have the left arm pick the canned goods up from the table with a side hold at the top on a diagonal.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "With the left hand, retrieve the canned goods from the table using a side grip at the top from a diagonal approach.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Retrieve the canned goods from the table using a side grasp at the top from a diagonal approach.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Pick up the canned goods from the table with a side hold at the top on a diagonal.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "With the left hand, retrieve the canned goods from the table.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "From a diagonal approach, take the canned goods from the table with the left hand.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "With the left hand, grasp the canned goods from the table at the top from a diagonal angle.", + "start_idx": 2652, + "end_idx": 2763 + }, + { + "text": "Put the canned goods in the middle of the eggplant and pink stuffed animal with the left hand.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the canned goods between the eggplant and the pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the canned goods in the middle of the eggplant and pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the canned goods between the eggplant and the pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Place the canned goods in the middle of the eggplant and pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Set the canned goods between the eggplant and the pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "The canned goods go in the middle of the eggplant and pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Position the canned goods in the middle of the eggplant and pink stuffed animal.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the canned goods there.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the canned goods down there.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Have the left arm put the canned goods there.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Place the canned goods there.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Set the canned goods down there.", + "start_idx": 2763, + "end_idx": 3000 + }, + { + "text": "Pick up the white cup from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Using the right hand, take the white cup from the table at a diagonal angle by the handle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Have the right arm grasp the white cup from the table by the handle at a diagonal slant.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "With the right hand, seize the white cup from the table via the handle at a diagonal angle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Take the white cup from the table by the handle at a diagonal angle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Grasp the white cup from the table via the handle at a diagonal slant.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "The white cup from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Using the right hand, pick up the white cup from the table by the handle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "With the right hand, take the white cup from the table by its handle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Have the right arm collect the white cup from the table by the handle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Grasp the white cup from the table at a diagonal slant.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "The white cup from the table should be taken with the right hand.", + "start_idx": 375, + "end_idx": 564 + }, + { + "text": "Put the white cup to the right of the canned goods with the right hand right side up with the front facing bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods, right side up, with the front facing bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods, upright, with its front oriented toward the bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "With the right hand, position the white cup to the right of the canned goods so it stays right side up and the front points bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Place the white cup to the right of the canned goods, right side up, with the front facing bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Set the white cup to the right of the canned goods, upright, with its front toward the bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Position the white cup to the right of the canned goods so it is right side up and facing bottom left at the front.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Using the right hand, place the white cup to the right of the canned goods.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Have the right arm set the white cup to the right of the canned goods.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "With the right hand, position the white cup to the right of the canned goods.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Place the white cup to the right of the canned goods.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Set the white cup right side up to the right of the canned goods.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Position the white cup to the right of the canned goods with the front facing bottom left.", + "start_idx": 564, + "end_idx": 708 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Have the right arm take the pink stuffed animal from the table with a diagonal middle grasp.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal grasp at the middle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Retrieve the pink stuffed animal from the table by holding its middle at a diagonal angle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "With the right hand, pick up the pink stuffed animal from the table, grasping the middle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Use the right hand to take the pink stuffed animal from the table.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Have the right arm retrieve the pink stuffed animal from the table.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Take the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Grasp the middle of the pink stuffed animal from the table and pick it up.", + "start_idx": 708, + "end_idx": 813 + }, + { + "text": "Put the pink stuffed animal in front of the white cup with the right hand facing top left with the front as the reference point.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Using the right hand, place the pink stuffed animal in front of the white cup, oriented top left relative to its front.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Have the right arm set the pink stuffed animal in front of the white cup with its front facing top left.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "With the right hand, position the pink stuffed animal before the white cup so the front points top left.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Place the pink stuffed animal in front of the white cup.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Set the pink stuffed animal before the white cup.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Position the pink stuffed animal in front of the white cup.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Using the right hand, put the pink stuffed animal in front of the white cup.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Have the right arm place the pink stuffed animal before the white cup.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Put the pink stuffed animal in front of the white cup with its front facing top left.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Arrange the pink stuffed animal before the white cup with the front oriented top left.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "In front of the white cup, place the pink stuffed animal.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Before the white cup, set the pink stuffed animal.", + "start_idx": 813, + "end_idx": 894 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Using the right hand, take the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Have the right arm pick the pink stuffed animal off the table with a diagonal approach at its middle.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "The pink stuffed animal should be picked up from the table with the right hand, contacting the middle diagonally.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Take the pink stuffed animal off the table with a diagonal approach, holding the middle.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "The pink stuffed animal should be picked up from the table diagonally by the middle.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "With the right hand, take the pink stuffed animal off the table.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Have the right arm retrieve the pink stuffed animal from the table.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Take the pink stuffed animal off the table.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "The pink stuffed animal should be picked up from the table.", + "start_idx": 1329, + "end_idx": 1470 + }, + { + "text": "Put the pink stuffed animal to the right of the white cup with the right hand facing top left from the front.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the white cup, facing top left from the front.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Have the right arm set the pink stuffed animal to the right of the white cup with its front facing top left.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "With the right hand, position the pink stuffed animal to the right of the white cup so the front points top left.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Place the pink stuffed animal to the right of the white cup.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Set the pink stuffed animal to the right of the white cup.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Position the pink stuffed animal to the right of the white cup.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Put the pink stuffed animal to the right of the white cup with its front facing top left.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Arrange the pink stuffed animal to the right of the white cup, facing top left from the front.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the white cup.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "With the right hand, set the pink stuffed animal to the right of the white cup.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Put the pink stuffed animal to the right of the white cup with the right hand.", + "start_idx": 1470, + "end_idx": 1554 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Have the right hand take the pink stuffed animal from the table with a diagonal approach at the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "With the right hand, grasp the pink stuffed animal from the table at the middle using a diagonal pick angle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal approach, holding its middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Grasp the middle of the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table, grasping the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Have the right hand grasp the pink stuffed animal from the table at the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Take the pink stuffed animal from the table at the middle.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Get the pink stuffed animal from the table.", + "start_idx": 1899, + "end_idx": 2064 + }, + { + "text": "Put the pink stuffed animal on the center of the table with the right hand facing top left with the front as reference.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Using the right hand, place the pink stuffed animal at the center of the table with its front facing the top left.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Have the right arm set the pink stuffed animal in the middle of the table, front oriented toward the top left.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "With the right hand, position the pink stuffed animal on the table center so the front points top left.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Place the pink stuffed animal at the center of the table with its front facing the top left.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Set the pink stuffed animal in the middle of the table, with the front directed toward the top left.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Position the pink stuffed animal on the center of the table so its front faces the top left.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Using the right hand, put the pink stuffed animal at the center of the table.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "With the right hand, set the pink stuffed animal in the middle of the table.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Have the right arm place the pink stuffed animal on the center of the table.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Place the pink stuffed animal at the center of the table.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Set the pink stuffed animal in the middle of the table.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Put the pink stuffed animal on the table center.", + "start_idx": 2064, + "end_idx": 2232 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "With the right hand, go back to home.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Return to the home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Move back to home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Go to the home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Head back to home.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Resume the home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Return home.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Move to home.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Go back to the home position.", + "start_idx": 2232, + "end_idx": 2301 + }, + { + "text": "Head to home.", + "start_idx": 2232, + "end_idx": 2301 + } + ] + }, + "2026-04-21-05-36-12-002000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 325, + "annotations": [ + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the left arm grasp the white mug from the table by its handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the left hand, retrieve the white mug from the table, approaching diagonally at the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Retrieve the white mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Have the left arm take the white mug from the table by its handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "With the left hand, grasp the white mug from the table by the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 0, + "end_idx": 138 + }, + { + "text": "Put the white mug to the left of the eggplant with the left hand right side up with the front facing bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Using the left hand, place the white mug to the left of the eggplant, right side up, with the front facing bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Have the left arm set the white mug left of the eggplant, keeping it upright and the front pointed bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "With the left hand, position the white mug to the eggplant's left, right side up, front facing bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Place the white mug to the left of the eggplant, right side up, with the front facing bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Set the white mug left of the eggplant, upright, with its front toward bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Position the white mug to the eggplant's left, keeping it right side up and the front pointed bottom left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Using the left hand, place the white mug to the left of the eggplant.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Have the left arm set the white mug left of the eggplant.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "With the left hand, position the white mug to the eggplant's left.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Put the white mug to the left of the eggplant.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Set the white mug left of the eggplant.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Have the left arm place the white mug to the left of the eggplant, right side up.", + "start_idx": 138, + "end_idx": 255 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Using the left hand, collect the canned goods from the table with a side grip at the top.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Have the left arm take the canned goods from the table by grasping the top from the side.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "With the left hand, secure the canned goods from the table using a side hold at the top.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "The canned goods from the table should be picked up with a side hold at the top.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "With the left hand, collect the canned goods from the table.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Using the left hand, grasp the canned goods from the table.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "The canned goods from the table should be taken with the left hand.", + "start_idx": 255, + "end_idx": 387 + }, + { + "text": "Put the canned goods behind the white mug with the left hand.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Using the left hand, place the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Have the left arm set the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "With the left hand, position the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Put the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Place the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Set the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Position the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Move the canned goods behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "The canned goods should go behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Using the left hand, put the canned goods in place behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Have the canned goods placed behind the white mug.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Behind the white mug, place the canned goods.", + "start_idx": 387, + "end_idx": 483 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup, holding the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Take the eggplant from the table diagonally by the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Using the left hand, pick up the eggplant from the table, grasping the middle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Have the left arm collect the eggplant from the table at a diagonal angle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "With the left hand, take the eggplant from the table.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Get the eggplant from the table at a diagonal angle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle.", + "start_idx": 483, + "end_idx": 582 + }, + { + "text": "Put the eggplant to the right of the canned goods with the left hand facing forwards with the tip forwards.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Using the left hand, place the eggplant to the right of the canned goods with its tip pointing forward.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Have the left arm set the eggplant to the right of the canned goods, oriented forward at the tip.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "With the left hand, position the eggplant to the right of the canned goods so the tip faces forward.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Place the eggplant to the right of the canned goods with its tip pointing forward.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Set the eggplant to the right of the canned goods, keeping the tip facing forward.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Position the eggplant to the right of the canned goods so that its tip points forward.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Using the left hand, put the eggplant to the right of the canned goods.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "With the left hand, place the eggplant to the right of the canned goods.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Have the left arm set the eggplant to the right of the canned goods.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Put the eggplant to the right of the canned goods.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Place the eggplant to the right of the canned goods.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Set the eggplant to the right of the canned goods.", + "start_idx": 582, + "end_idx": 675 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Have the left arm pick the pink stuffed animal off the table on a diagonal, enclosing the whole object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "With the left hand, retrieve the pink stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Take the pink stuffed animal off the table on a diagonal while holding the whole object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Retrieve the pink stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table, grasping the entire object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "With the left hand, collect the pink stuffed animal from the table, holding the whole object.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Have the left arm take the pink stuffed animal off the table with an all-over grasp.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand at a diagonal angle.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Using the left hand, remove the pink stuffed animal from the table on a diagonal.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Take the pink stuffed animal from the table diagonally.", + "start_idx": 675, + "end_idx": 777 + }, + { + "text": "Put the pink stuffed animal to the right of eggplant with the left hand facing forwards.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the right of eggplant with its front facing forwards.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Have the left arm set the pink stuffed animal to the right of eggplant, front facing forward.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "With the left hand, position the pink stuffed animal to the right of eggplant so the front faces forwards.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Place the pink stuffed animal to the right of eggplant with its front facing forwards.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Set the pink stuffed animal to the right of eggplant, front facing forward.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Position the pink stuffed animal to the right of eggplant with the front facing forwards.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Using the left hand, put the pink stuffed animal to the right of eggplant.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Have the left arm place the pink stuffed animal to the right of eggplant.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "With the left hand, set the pink stuffed animal to the right of eggplant.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Place the pink stuffed animal to the right of eggplant.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Set the pink stuffed animal to the right of eggplant.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Position the pink stuffed animal to the right of eggplant.", + "start_idx": 777, + "end_idx": 846 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal lip grasp on the right side.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Have the left arm grasp the white mug from the table with a diagonal hold on its right lip.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "With the left hand, secure the white mug from the table by the right side using a diagonal lip grip.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Pick up the white mug from the table using a diagonal lip grasp on the right side.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Take the white mug from the table with a diagonal grasp on the right side.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Grasp the white mug from the table on its right side with a diagonal lip hold.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Using the left hand, take the white mug from the table.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Grasp the white mug from the table on its right side.", + "start_idx": 846, + "end_idx": 978 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Have the left arm take the pink stuffed animal from the table with a diagonal pickup, holding its middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "The pink stuffed animal should be picked up from the table with the left hand at a diagonal angle by the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal pickup at the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "The pink stuffed animal from the table should be picked up diagonally by the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Have the left arm take the pink stuffed animal from the table.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "The pink stuffed animal from the table should be picked up with the left hand.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Take the pink stuffed animal from the table by the middle.", + "start_idx": 1260, + "end_idx": 1383 + }, + { + "text": "Put the pink stuffed animal in front of the canned goods with the left hand facing forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Using the left hand, place the pink stuffed animal in front of the canned goods facing forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Have the left arm set the pink stuffed animal in front of the canned goods with its front facing forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "With the left hand, position the pink stuffed animal before the canned goods so it faces forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Place the pink stuffed animal in front of the canned goods facing forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Set the pink stuffed animal before the canned goods facing forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Position the pink stuffed animal in front of the canned goods with its front facing forwards.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Using the left hand, put the pink stuffed animal in front of the canned goods.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "With the left hand, place the pink stuffed animal before the canned goods.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Have the left arm set the pink stuffed animal in front of the canned goods.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Put the pink stuffed animal in front of the canned goods.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Using the left hand, position the pink stuffed animal before the canned goods.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Set the pink stuffed animal before the canned goods.", + "start_idx": 1383, + "end_idx": 1482 + }, + { + "text": "Pick up the white mug from the table with the left hand from the top right side using a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Using the left hand, take the white mug from the table from the top right side with a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Have the left arm grasp the white mug from the table at the top-right side using a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "With a lip grip, the left hand should pick up the white mug from the table from the top right side.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Pick up the white mug from the table from the top right side using a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Take the white mug from the table at the top-right side with a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Grasp the white mug from the table from the top right side using a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "With the left hand, take the white mug from the table using a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Have the left arm grasp the white mug from the table with a lip grip.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Using the left hand, pick up the white mug from the table from the top right side.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "From the top right side, take the white mug from the table with the left hand.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Pick up the white mug from the table from the top right side.", + "start_idx": 1482, + "end_idx": 1659 + }, + { + "text": "Put the white mug in front of the eggplant with the left hand right side up with the front facing backwards.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Using the left hand, place the white mug in front of the eggplant, right side up, with its front facing backward.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Have the left arm set the white mug in front of the eggplant, upright, with the front oriented backward.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "With the left hand, position the white mug before the eggplant, right side up and front facing backward.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Place the white mug in front of the eggplant, right side up, with the front facing backward.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Set the white mug before the eggplant, upright, with its front oriented backward.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Position the white mug in front of the eggplant, right side up and facing backward.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Using the left hand, put the white mug in front of the eggplant.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "With the left hand, place the white mug before the eggplant.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Have the left arm set the white mug in front of the eggplant.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Put the white mug in front of the eggplant.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Place the white mug before the eggplant.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Set the white mug in front of the eggplant.", + "start_idx": 1659, + "end_idx": 1782 + }, + { + "text": "Pick up the eggplant from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Using the left hand, take the eggplant from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Have the left arm grasp the eggplant from the table at its top with a side hold from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "With the left hand, secure the eggplant from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Pick up the eggplant from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "From the table, grasp the eggplant at the top with a side hold from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Take the eggplant from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Using the left hand, pick up the eggplant from the table with a side grip.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "With the left hand, take the eggplant from the table using a side grasp at the top.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Have the left arm grasp the eggplant from the table with a side hold.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Pick up the eggplant from the table with the left hand at the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Using the left hand, take the eggplant from the table from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Grasp the eggplant from the table at the top from a diagonal angle.", + "start_idx": 1782, + "end_idx": 1980 + }, + { + "text": "Put the eggplant to the right of the white mug with the left hand facing forwards with the tip as the reference point.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Using the left hand, place the eggplant to the right of the white mug with its tip facing forwards.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Have the left arm set the eggplant to the right of the white mug, oriented forward from the tip.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "With the left hand, position the eggplant right of the white mug so the tip points forwards.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Place the eggplant to the right of the white mug with its tip facing forwards.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Set the eggplant right of the white mug with the tip oriented forwards.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Position the eggplant to the right of the white mug so its tip faces forwards.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Using the left hand, place the eggplant to the right of the white mug.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Have the left arm set the eggplant right of the white mug.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "With the left hand, position the eggplant to the right of the white mug.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Put the eggplant to the right of the white mug.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Set the eggplant right of the white mug.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Position the eggplant to the right of the white mug.", + "start_idx": 1980, + "end_idx": 2073 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Have the left arm grasp the canned goods from the table from a diagonal angle, using a side hold at the top.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "With the left hand, secure the canned goods from the table by the top using a side grasp from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "From a diagonal angle, pick up the canned goods from the table with a side grasp at the top.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "With the left hand, take the canned goods from the table using a side grasp.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Have the left arm collect the canned goods from the table with a side hold.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Using the left hand, pick up the canned goods from the table from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2073, + "end_idx": 2175 + }, + { + "text": "Put the canned goods to the right of the eggplant with the left hand.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Using the left hand, place the canned goods to the right of the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Have the left arm set the canned goods down to the eggplant's right.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "With your left hand, position the canned goods on the right side of the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Place the canned goods to the right of the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Set the canned goods down to the eggplant's right side.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Position the canned goods on the right of the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Move the canned goods beside the eggplant on its right side.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "The canned goods go to the right of the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Set the canned goods next to the eggplant on the right.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Using the left hand, place the canned goods by the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "With the left hand, set the canned goods beside the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Have the left arm place the canned goods next to the eggplant.", + "start_idx": 2175, + "end_idx": 2259 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Have the left arm take the pink stuffed animal from the table with a diagonal approach, holding it at the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "With the left hand, grasp the middle of the pink stuffed animal on the table and pick it up diagonally.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal approach, holding the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Grasp the middle of the pink stuffed animal on the table and pick it up at a diagonal angle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table, grasping the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "With the left hand, take the pink stuffed animal from the table by the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Have the left arm pick up the pink stuffed animal from the table, holding its middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Get the pink stuffed animal off the table, grasping the middle.", + "start_idx": 2370, + "end_idx": 2439 + }, + { + "text": "Put the pink stuffed animal behind the canned goods with the left hand facing forwards.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Using the left hand, place the pink stuffed animal behind the canned goods with it facing forwards.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Have the left arm set the pink stuffed animal behind the canned goods so it faces forward.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "With the left hand, position the pink stuffed animal behind the canned goods, facing the front.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Place the pink stuffed animal behind the canned goods with it facing forwards.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Set the pink stuffed animal behind the canned goods so it faces forward.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Position the pink stuffed animal behind the canned goods facing the front.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Using the left hand, put the pink stuffed animal behind the canned goods.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Have the left arm place the pink stuffed animal behind the canned goods.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "With the left hand, set the pink stuffed animal behind the canned goods.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Put the pink stuffed animal behind the canned goods.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Place the pink stuffed animal behind the canned goods.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Set the pink stuffed animal behind the canned goods.", + "start_idx": 2439, + "end_idx": 2538 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Return to the home position.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Move back to home.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Go to the home pose.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Head to the home position.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Have the arm return home.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Back to the home position.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Move to home.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Return home.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Go back to the home position.", + "start_idx": 2538, + "end_idx": 2601 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Have the right arm take the pink stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table at a diagonal angle by grasping its middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal pickup, holding the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Retrieve the pink stuffed animal from the table at a diagonal angle by grasping its middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table, grasping the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table by the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Have the right arm retrieve the pink stuffed animal from the table, holding its middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Take the pink stuffed animal from the table with the right hand at a diagonal angle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Retrieve the pink stuffed animal from the table by the middle.", + "start_idx": 2601, + "end_idx": 2721 + }, + { + "text": "Place the pink stuffed animal on the center of the table with the right hand facing forwards.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Using the right hand, set the pink stuffed animal at the center of the table facing forwards.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Have the right arm place the pink stuffed animal in the table center with its front facing forward.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "With the right hand, position the pink stuffed animal on the center of the table so it faces forwards.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Place the pink stuffed animal on the center of the table facing forwards.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Set the pink stuffed animal at the center of the table with its front facing forward.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Position the pink stuffed animal in the center of the table facing forwards.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Using the right hand, place the pink stuffed animal on the center of the table.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Have the right arm set the pink stuffed animal at the center of the table.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "With the right hand, position the pink stuffed animal in the table center.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Put the pink stuffed animal on the center of the table.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Set the pink stuffed animal at the center of the table.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Place the pink stuffed animal in the center of the table.", + "start_idx": 2721, + "end_idx": 2799 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Using the right hand, take the canned goods from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Have the right hand grasp the canned goods from the table from the top with a side hold at a diagonal angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "With the right hand, retrieve the canned goods from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top with a diagonal pick angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Take the canned goods from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Retrieve the canned goods from the table with a side hold at the top and a diagonal approach.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Using the right hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Have the right hand take the canned goods from the table using a side grasp on the top.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "With the right hand, grasp the canned goods from the table from the top using a side hold.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Pick up the canned goods from the table with the right hand at the top with a diagonal pick angle.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Using the right hand, take the canned goods from the table at the top and diagonally.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Get the canned goods from the table with the right hand.", + "start_idx": 2799, + "end_idx": 2895 + }, + { + "text": "Put the canned goods to the right of the pink stuffed animal with the right hand.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Using the right hand, place the canned goods to the right of the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Have the right arm put the canned goods on the pink stuffed animal's right side.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "With the right hand, set the canned goods just right of the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Place the canned goods to the right of the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Set the canned goods on the right side of the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "The canned goods go to the right of the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Put the canned goods beside the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Position the canned goods next to the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Move the canned goods to the pink stuffed animal's right side.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Using the right hand, place the canned goods beside the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Have the right arm set the canned goods next to the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "With the right hand, put the canned goods by the pink stuffed animal.", + "start_idx": 2895, + "end_idx": 2961 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Using the right hand, return to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Have the right arm move back to the home position.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "With the right hand, go back to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Head back to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Come back to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Go back home.", + "start_idx": 2961, + "end_idx": 3000 + }, + { + "text": "Back to the home position.", + "start_idx": 2961, + "end_idx": 3000 + } + ] + }, + "2026-04-21-05-40-09-356000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the white mug from the table with the left hand at the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, take the white mug from the table by the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Have the left arm grasp the white mug off the table at the handle with a side approach.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "With the left hand, secure the white mug from the table on the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Pick up the white mug from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Take the white mug off the table by the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Grasp the white mug from the table on the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Retrieve the white mug from the table via the handle from the side.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Have the left arm take the white mug off the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Take the white mug off the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Put the white mug to the right of the white canned goods with the handle facing backwards right side up using the left hand.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Using the left hand, place the white mug to the right of the white canned goods, upright with its handle facing backward.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Have the left arm set the white mug to the right of the white canned goods, keeping it right side up and the handle turned backward.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "With the left hand, position the white mug to the right of the white canned goods so the handle points backward and the mug stays upright.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Place the white mug to the right of the white canned goods, upright with its handle facing backward.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Set the white mug to the right of the white canned goods with the handle turned backward and right side up.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Position the white mug to the right of the white canned goods so it is upright and the handle faces backward.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Using the left hand, put the white mug to the right of the white canned goods.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "With the left hand, place the white mug to the right of the white canned goods.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Have the left arm set the white mug to the right of the white canned goods.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Put the white mug to the right of the white canned goods.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Set the white mug upright to the right of the white canned goods.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Place the white mug to the right of the white canned goods with the handle facing backward.", + "start_idx": 81, + "end_idx": 216 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand from the side at the middle.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table from the side at the middle.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "From the side at the middle, have the left hand grasp the pink stuffed animal from the table.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "The pink stuffed animal from the table should be picked up with the left hand from the side at the middle.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Pick up the pink stuffed animal from the table from the side at the middle.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Grasp the pink stuffed animal from the table from the side at the middle.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Take the pink stuffed animal from the table from the side at the middle.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Have the left hand take the pink stuffed animal from the table.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "The pink stuffed animal from the table should be grasped with the left hand.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "The pink stuffed animal from the table should be picked up.", + "start_idx": 216, + "end_idx": 396 + }, + { + "text": "Put the pink stuffed toy in front of the white canned goods with the left hand facing forwards.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Using the left hand, place the pink stuffed toy in front of the white canned goods facing forwards.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the white canned goods with its front facing forward.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "With the left hand, position the pink stuffed toy in front of the white canned goods so it faces forwards.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Place the pink stuffed toy in front of the white canned goods facing forwards.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Set the pink stuffed toy in front of the white canned goods with its front facing forward.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Position the pink stuffed toy in front of the white canned goods so it faces forwards.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Using the left hand, put the pink stuffed toy in front of the white canned goods.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "With the left hand, place the pink stuffed toy in front of the white canned goods.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Have the left arm set the pink stuffed toy in front of the white canned goods.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Put the pink stuffed toy in front of the white canned goods.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Set the pink stuffed toy in front of the white canned goods.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Position the pink stuffed toy in front of the white canned goods.", + "start_idx": 396, + "end_idx": 453 + }, + { + "text": "Pick up the eggplant from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Using the left hand, take the eggplant from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Have the left arm pick the eggplant off the table using a side grip on the top at a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "With the left hand, grasp the eggplant from the table in a side hold at the top from a diagonal approach.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Pick up the eggplant from the table using a side grip at the top from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Take the eggplant off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "From the table, grasp the eggplant with a side hold at the top from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Have the left arm take the eggplant off the table.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "With the left hand, grasp the eggplant from the table.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Pick up the eggplant from the table with the left hand from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Using the left hand, take the eggplant off the table at the top.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "From the table, grasp the eggplant at the top from a diagonal angle.", + "start_idx": 453, + "end_idx": 639 + }, + { + "text": "Put the eggplant to the right of the canned goods with the left hand with its tip facing bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Using the left hand, place the eggplant to the right of the canned goods with its tip pointing toward the bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Have the left arm set the eggplant to the right of the canned goods, tip oriented bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "With the left hand, position the eggplant to the right of the canned goods so its tip faces the bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Place the eggplant to the right of the canned goods with its tip facing bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Set the eggplant to the right of the canned goods, with the tip pointed bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Position the eggplant to the right of the canned goods so the tip is directed toward the bottom left.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Using the left hand, put the eggplant to the right of the canned goods.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "With the left hand, place the eggplant to the right of the canned goods.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Have the left arm position the eggplant to the right of the canned goods.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Put the eggplant to the right of the canned goods.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Set the eggplant to the right of the canned goods.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Position the eggplant to the right of the canned goods.", + "start_idx": 639, + "end_idx": 738 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand using a side grip at the bottom diagonally.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table with a side grip at the bottom diagonally.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Have the left arm grasp the pink stuffed animal from the table diagonally at the bottom with a side grip.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "With the left hand, secure the pink stuffed animal from the table using a diagonal side grasp at the bottom.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Pick up the pink stuffed animal from the table with a side grip at the bottom diagonally.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Take the pink stuffed animal from the table using a side grip at the bottom diagonally.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Grasp the pink stuffed animal from the table diagonally at the bottom with a side hold.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table using a side grip.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table with a side grasp.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Have the left arm grasp the pink stuffed animal from the table with a side hold.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table diagonally at the bottom.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Take the pink stuffed animal from the table with the left hand diagonally at the bottom.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Grasp the pink stuffed animal from the table at the bottom diagonally.", + "start_idx": 738, + "end_idx": 849 + }, + { + "text": "Put the pink stuffed animal to the left of the eggplant with the left hand facing forwards from the front.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the eggplant, facing forwards from the front.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Have the left arm set the pink stuffed animal to the eggplant's left side with its front facing forward.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "With the left hand, position the pink stuffed animal left of the eggplant so the front faces forwards.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Place the pink stuffed animal to the left of the eggplant, facing forwards from the front.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Set the pink stuffed animal on the left side of the eggplant with its front facing forward.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Position the pink stuffed animal left of the eggplant so it faces forwards from the front.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Using the left hand, put the pink stuffed animal to the left of the eggplant.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "With the left hand, set the pink stuffed animal on the eggplant's left side.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Have the left arm place the pink stuffed animal left of the eggplant.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Put the pink stuffed animal to the left of the eggplant.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Place the pink stuffed animal on the eggplant's left side.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Position the pink stuffed animal left of the eggplant.", + "start_idx": 849, + "end_idx": 939 + }, + { + "text": "Pick up the eggplant from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Using the left hand, take the eggplant from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Have the left arm pick the eggplant up from the table with a side grip on the bottom at a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "With the left hand, grasp the eggplant from the table using a side hold at the bottom from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Take the eggplant from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Grasp the eggplant from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "The eggplant from the table should be picked up with a side grip at the bottom from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Using the left hand, pick up the eggplant from the table with a side grip.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "With the left hand, take the eggplant from the table using a side grasp.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Have the left arm grasp the eggplant from the table with a side hold.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Using the left hand, pick up the eggplant from the table from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Take the eggplant from the table with the left hand from a diagonal angle.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 939, + "end_idx": 1119 + }, + { + "text": "Put the eggplant in front of the white canned goods with the left hand with its tip facing left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the eggplant in front of the white canned goods with its tip pointing left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Have the left arm set the eggplant before the white canned goods, tip oriented to the left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "With the left hand, position the eggplant in front of the white canned goods so its tip faces left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Place the eggplant in front of the white canned goods with its tip pointing left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Set the eggplant before the white canned goods, with the tip directed left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Position the eggplant in front of the white canned goods so the tip faces left.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Using the left hand, place the eggplant in front of the white canned goods.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "With the left hand, set the eggplant before the white canned goods.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Have the left arm position the eggplant in front of the white canned goods.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Put the eggplant in front of the white canned goods.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Place the eggplant before the white canned goods.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Set the eggplant in front of the white canned goods.", + "start_idx": 1119, + "end_idx": 1245 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "With the left hand, take the pink stuffed animal from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Using the left arm, retrieve the pink stuffed animal from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Have the left hand pick the pink stuffed animal off the table in a side grip at the bottom from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Pick up the pink stuffed animal from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Take the pink stuffed animal off the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Retrieve the pink stuffed animal from the table in a side hold at the bottom from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table using a side grip at the bottom.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table with a side grasp on the bottom.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Have the left arm retrieve the pink stuffed animal from the table with a side hold at the bottom.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table from a diagonal angle.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "From a diagonal angle, take the pink stuffed animal off the table with the left hand.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand.", + "start_idx": 1245, + "end_idx": 1419 + }, + { + "text": "Put the pink stuffed animal to the left of the white canned goods with the left hand facing forwards from the front.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the white canned goods, facing forwards from the front.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Have the left arm set the pink stuffed animal to the left of the white canned goods with its front facing forward.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "With the left hand, position the pink stuffed animal left of the white canned goods so the front faces forwards.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Place the pink stuffed animal to the left of the white canned goods with its front facing forward.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Set the pink stuffed animal to the left of the white canned goods, facing forwards from the front.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Position the pink stuffed animal left of the white canned goods with the front facing forwards.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the white canned goods.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Have the left arm set the pink stuffed animal left of the white canned goods.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "With the left hand, position the pink stuffed animal to the left of the white canned goods.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Place the pink stuffed animal to the left of the white canned goods.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Set the pink stuffed animal left of the white canned goods.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Position the pink stuffed animal to the left of the white canned goods.", + "start_idx": 1419, + "end_idx": 1524 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Have the left arm pick up the pink stuffed animal from the table with a top grasp at the middle.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "With the left hand, grasp the pink stuffed animal from the table at the middle from above.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Take the pink stuffed animal from the table with a top grasp at the middle.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Grasp the pink stuffed animal from the table at the middle from above.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Have the left arm take the pink stuffed animal from the table.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "With the left hand, grasp the pink stuffed animal from the table.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Grasp the pink stuffed animal from the table.", + "start_idx": 2235, + "end_idx": 2370 + }, + { + "text": "Put the pink stuffed animal to the left of the white mug with the left hand facing top right relative to the front.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the white mug, facing the top right relative to the front.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Have the left arm set the pink stuffed animal left of the white mug with its front oriented toward the top right.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "With the left hand, position the pink stuffed animal to the white mug's left, front facing top right.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Place the pink stuffed animal to the left of the white mug, facing the top right relative to the front.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Set the pink stuffed animal left of the white mug with its front toward the top right.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Position the pink stuffed animal to the white mug's left, front facing top right.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the white mug.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Have the left arm set the pink stuffed animal left of the white mug.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "With the left hand, position the pink stuffed animal to the white mug's left.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Place the pink stuffed animal to the left of the white mug.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Set the pink stuffed animal left of the white mug.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Position the pink stuffed animal to the white mug's left.", + "start_idx": 2370, + "end_idx": 2487 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Have the left arm move back to home.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Return to the home position.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Move back to home.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Go to the home pose.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Resume the home position.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Be at home position.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Move to home.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Return home.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Go back to the home position.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Reposition to home.", + "start_idx": 2487, + "end_idx": 2538 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal pick angle.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top and a diagonal pick angle.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Have the right hand pick the white canned goods off the table using a top side grip with a diagonal approach.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table in a side hold at the top and on a diagonal angle.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top and a diagonal pick angle.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Take the white canned goods off the table with a top side grasp and a diagonal approach.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Retrieve the white canned goods from the table with a side hold at the top and a diagonal angle.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Have the right hand take the white canned goods off the table.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "With the right hand, retrieve the white canned goods from the table.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Pick up the white canned goods from the table with the right hand.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Take the white canned goods off the table using a side grip at the top.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Retrieve the white canned goods from the table with a diagonal pick angle.", + "start_idx": 1524, + "end_idx": 1770 + }, + { + "text": "Put the white canned goods to the right of the white mug with the right hand.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Using the right hand, place the white canned goods to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Have the right arm set the white canned goods down to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "With the right hand, position the white canned goods on the right side of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Place the white canned goods to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Set the white canned goods on the right side of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Have the white canned goods placed to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Position the white canned goods to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Move the white canned goods to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "The white canned goods should go to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Put the white canned goods on the right side of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Arrange the white canned goods to the right of the white mug.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Set the white canned goods beside the white mug on its right side.", + "start_idx": 1770, + "end_idx": 1941 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Using the right hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Have the right arm pick the eggplant up from the table on a diagonal, holding it at the middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "With the right hand, retrieve the eggplant from the table diagonally by grasping its middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Take the eggplant from the table on a diagonal while holding the middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Retrieve the eggplant from the table diagonally, with the grasp at the middle.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "With the right hand, retrieve the eggplant from the table.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 1941, + "end_idx": 2094 + }, + { + "text": "Put the eggplant to the right of the white canned goods with the tip facing forwards using the right hand.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Using the right hand, place the eggplant to the right of the white canned goods with the tip facing forwards.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Have the right hand set the eggplant to the right of the white canned goods, tip pointed forward.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "With the right hand, position the eggplant to the right of the white canned goods so its tip faces forwards.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Place the eggplant to the right of the white canned goods with the tip facing forwards.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Set the eggplant to the right of the white canned goods, tip facing forward.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Position the eggplant to the right of the white canned goods so the tip points forwards.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Put the eggplant to the right of the white canned goods.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Set the eggplant to the right of the white canned goods.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Position the eggplant to the right of the white canned goods.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Using the right hand, place the eggplant to the right of the white canned goods.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "With the right hand, set the eggplant to the right of the white canned goods.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Have the right hand position the eggplant to the right of the white canned goods.", + "start_idx": 2094, + "end_idx": 2235 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Have the right arm grasp the white canned goods from the table with a side hold at the top on a diagonal.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "With the right hand, secure the white canned goods from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Grasp the white canned goods from the table using a side hold at the top on a diagonal.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "The white canned goods should be picked up from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Have the right arm take the white canned goods from the table using a side hold.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a side grasp.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "With the right hand, take the white canned goods from the table at the top from a diagonal approach.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 2538, + "end_idx": 2700 + }, + { + "text": "Put the white canned goods in front of the white mug with the right hand.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Using the right hand, place the white canned goods in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Have the right arm set the white canned goods down in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "With the right hand, position the white canned goods before the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Place the white canned goods in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Set the white canned goods down in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Position the white canned goods before the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "The white canned goods go in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Move the white canned goods to a spot in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "In front of the white mug, place the white canned goods.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Set the white canned goods before the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Have the white canned goods placed in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "The white canned goods should be positioned in front of the white mug.", + "start_idx": 2700, + "end_idx": 2823 + }, + { + "text": "Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Using the right hand, take the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Have the right arm pick up the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "With the right hand, collect the eggplant from the table diagonally, holding it at the middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Take the eggplant from the table with a diagonal approach, holding the middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "The eggplant from the table should be picked up diagonally at its middle.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Using the right hand, pick up the eggplant from the table.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Have the right arm take the eggplant from the table.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "With the right hand, collect the eggplant from the table.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 2823, + "end_idx": 2946 + }, + { + "text": "The eggplant from the table should be picked up.", + "start_idx": 2823, + "end_idx": 2946 + } + ] + }, + "2026-04-21-19-05-51-882000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 272, + "annotations": [ + { + "text": "Pick up the gray stuffed animal from the table with the left hand using a side grip from the top.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table with a side grip from the top.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Have the left arm take the gray stuffed animal off the table using a side grasp from above.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table by grasping it from the top with a side hold.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Pick up the gray stuffed animal from the table using a side grip from the top.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Take the gray stuffed animal off the table with a side grasp from above.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Retrieve the gray stuffed animal from the table by gripping it from the top with a side hold.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Have the left arm take the gray stuffed animal off the table.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Take the gray stuffed animal off the table with the left hand.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Retrieve the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 141 + }, + { + "text": "Put the gray stuffed animal to the right of the coffee pod with the front facing forwards using the left hand.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the right of the coffee pod with its front facing forwards.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Have the left arm set the gray stuffed animal to the right of the coffee pod, front facing forwards.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "With the left hand, position the gray stuffed animal to the right of the coffee pod so the front faces forwards.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Place the gray stuffed animal to the right of the coffee pod with its front facing forwards.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Set the gray stuffed animal to the right of the coffee pod, front facing forwards.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Position the gray stuffed animal to the right of the coffee pod so its front faces forwards.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Using the left hand, put the gray stuffed animal to the right of the coffee pod.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "With the left hand, place the gray stuffed animal to the right of the coffee pod.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Have the left arm position the gray stuffed animal to the right of the coffee pod.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Put the gray stuffed animal to the right of the coffee pod.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Set the gray stuffed animal to the right of the coffee pod.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Position the gray stuffed animal to the right of the coffee pod.", + "start_idx": 141, + "end_idx": 249 + }, + { + "text": "Pick up the coffee pod from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Using the left hand, take the coffee pod from the table with a side grip at the top from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Have the left arm grasp the coffee pod from the table with a side hold at the top on a diagonal approach.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "With the left hand, seize the coffee pod from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Pick up the coffee pod from the table using a side grip at the top from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Grasp the coffee pod from the table with a side hold at the top on a diagonal approach.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "The coffee pod from the table should be taken using a side grasp at the top from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table with a side grip at the top.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "With the left hand, grasp the coffee pod from the table using a side hold at the top.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Have the left arm take the coffee pod from the table with a side grasp at the top.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "With the left hand, take the coffee pod from the table on a diagonal approach.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Pick up the coffee pod from the table at the top from a diagonal angle.", + "start_idx": 249, + "end_idx": 411 + }, + { + "text": "Put the coffee pod in front of the beige bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Using the left hand, place the coffee pod in front of the beige bowl, right side up relative to the front.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "With the left arm, set the coffee pod in front of the beige bowl with its right side up, using the front as reference.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Have the left hand position the coffee pod in front of the beige bowl, right side up with the front as the orientation reference point.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Place the coffee pod in front of the beige bowl, right side up relative to the front.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Set the coffee pod in front of the beige bowl with its right side up, using the front as the reference point.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Position the coffee pod in front of the beige bowl right side up with the front as reference.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Using the left hand, put the coffee pod in front of the beige bowl.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "With the left arm, place the coffee pod in front of the beige bowl.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Have the left hand set the coffee pod in front of the beige bowl.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Put the coffee pod in front of the beige bowl.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Place the coffee pod in front of the beige bowl.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Set the coffee pod in front of the beige bowl.", + "start_idx": 411, + "end_idx": 522 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side with the left hand.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Using the left hand, take hold of the white coffee cup by its handle from the side.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Have the left arm grasp the white coffee cup at the handle with a side approach.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "With the left hand, secure the white coffee cup by the handle using a side grasp.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Pick up the white coffee cup by the handle from the side.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Grasp the white coffee cup at the handle from the side.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Take the white coffee cup by its handle from the side.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Using the left hand, pick up the white coffee cup by the handle.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "With the left hand, grasp the white coffee cup at the handle.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Have the left arm take the white coffee cup by its handle.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "From the table, grasp the white coffee cup by the handle.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 522, + "end_idx": 735 + }, + { + "text": "Put the white coffee cup on top of the white plate with the left hand right side up with the front facing backwards.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Using the left hand, place the white coffee cup on top of the white plate, right side up, with the front facing backward.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Have the left arm set the white coffee cup atop the white plate, keeping it upright and with the front pointed backward.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "With the left hand, position the white coffee cup on the white plate top-side up, with its front toward the back.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Place the white coffee cup on top of the white plate, right side up, with the front facing backward.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Set the white coffee cup atop the white plate, upright, with its front toward the back.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Position the white coffee cup on the white plate right side up, front facing backward.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Using the left hand, place the white coffee cup on top of the white plate.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "With the left hand, set the white coffee cup atop the white plate.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Have the left arm put the white coffee cup on the white plate.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Place the white coffee cup on top of the white plate.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Set the white coffee cup atop the white plate, right side up.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Position the white coffee cup on the white plate with the front facing backward.", + "start_idx": 735, + "end_idx": 834 + }, + { + "text": "Pick up the green coffee cup from the table with the left hand by the handle from the side.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Using the left hand, take the green coffee cup from the table by its handle from the side.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Have the left arm grasp the green coffee cup from the table at the handle with a side approach.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "With the left hand, collect the green coffee cup from the table by gripping the handle from the side.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Take the green coffee cup from the table at the handle from the side.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Grasp the green coffee cup from the table by its handle from the side.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Pick up the green coffee cup from the table with the left hand.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Using the left hand, take the green coffee cup from the table.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Have the left arm grasp the green coffee cup from the table.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Pick up the green coffee cup from the table by the handle.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "From the table, take the green coffee cup with the left hand.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Using the left hand, pick up the green coffee cup from the table by the handle.", + "start_idx": 834, + "end_idx": 984 + }, + { + "text": "Put the green coffee cup to the left of the white plate with the handle facing backwards right side up with the front as reference using the left hand.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Using the left hand, place the green coffee cup to the left of the white plate, right side up, with the handle facing backward relative to the front.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Have the left hand set the green coffee cup left of the white plate, keeping it upright and the handle pointed backward using the front as reference.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "With the left hand, position the green coffee cup to the left of the white plate, right side up, handle facing backward from the front.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Place the green coffee cup to the left of the white plate, right side up, with the handle facing backward relative to the front.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Set the green coffee cup left of the white plate, keeping it upright and the handle pointed backward using the front as reference.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Position the green coffee cup to the left of the white plate with the handle facing backward, right side up from the front reference.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Put the green coffee cup to the left of the white plate.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Set the green coffee cup left of the white plate.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Position the green coffee cup to the left of the white plate.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Using the left hand, put the green coffee cup to the left of the white plate.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Have the left hand place the green coffee cup left of the white plate.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "With the left hand, set the green coffee cup to the left of the white plate.", + "start_idx": 983, + "end_idx": 1110 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table at a diagonal angle from the middle.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table, grasping it at the middle on a diagonal.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table using a diagonal middle grasp.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle from the middle.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal grasp from the middle.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Collect the gray stuffed animal from the table at the middle with a diagonal approach.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Get the gray stuffed animal from the table.", + "start_idx": 1110, + "end_idx": 1230 + }, + { + "text": "Put the gray stuffed animal between the white plate and the beige bowl with the left hand facing forwards from the front.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Using the left hand, place the gray stuffed animal between the white plate and the beige bowl, facing forwards from the front.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Have the left arm set the gray stuffed animal between the white plate and the beige bowl with its front facing forward.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "With the left hand, position the gray stuffed animal between the white plate and the beige bowl so it faces forward from the front.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Place the gray stuffed animal between the white plate and the beige bowl, facing forwards from the front.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Set the gray stuffed animal between the white plate and the beige bowl with its front facing forward.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Position the gray stuffed animal between the white plate and the beige bowl so it faces forward from the front.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Using the left hand, place the gray stuffed animal between the white plate and the beige bowl.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Have the left arm set the gray stuffed animal between the white plate and the beige bowl.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "With the left hand, position the gray stuffed animal between the white plate and the beige bowl.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Put the gray stuffed animal between the white plate and the beige bowl.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Arrange the gray stuffed animal between the white plate and the beige bowl.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Place the gray stuffed animal between the white plate and the beige bowl.", + "start_idx": 1230, + "end_idx": 1281 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a diagonal pickup, holding its middle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table by its middle at a diagonal angle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal pickup at its middle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Retrieve the gray stuffed animal from the table by the middle at a diagonal angle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Take the gray stuffed animal from the table at a diagonal angle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table at a diagonal angle.", + "start_idx": 1584, + "end_idx": 1725 + }, + { + "text": "Put the gray stuffed animal in front of the green coffee cup with the left hand facing forwards from the front.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Using the left hand, place the gray stuffed animal in front of the green coffee cup facing forwards from the front.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Have the left arm set the gray stuffed animal in front of the green coffee cup with its front facing forwards.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "With the left hand, position the gray stuffed animal in front of the green coffee cup, oriented forwards from the front.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Place the gray stuffed animal in front of the green coffee cup facing forwards from the front.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Set the gray stuffed animal in front of the green coffee cup with its front facing forwards.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Position the gray stuffed animal in front of the green coffee cup oriented forwards from the front.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Using the left hand, place the gray stuffed animal in front of the green coffee cup.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Have the left arm set the gray stuffed animal in front of the green coffee cup.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "With the left hand, position the gray stuffed animal in front of the green coffee cup.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Place the gray stuffed animal in front of the green coffee cup.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Set the gray stuffed animal in front of the green coffee cup.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Position the gray stuffed animal in front of the green coffee cup.", + "start_idx": 1725, + "end_idx": 1863 + }, + { + "text": "Pick up the white coffee cup from the white plate with the left hand using a lip grip from the top at the right side.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Using the left hand, take the white coffee cup from the white plate with a lip grip from the top at the right side.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Have the left arm grasp the white coffee cup from the white plate with a lip hold from above on its right side.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "With the left hand, retrieve the white coffee cup from the white plate using a lip grasp from the top at the right side.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Pick up the white coffee cup from the white plate.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Take the white coffee cup from the white plate.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Retrieve the white coffee cup from the white plate.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the white plate.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Have the left arm take the white coffee cup from the white plate.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "With the left hand, grasp the white coffee cup from the white plate.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the white plate from the top at the right side.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "With the left hand, take the white coffee cup from the white plate using a lip grip.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Grasp the white coffee cup from the white plate from the top at the right side.", + "start_idx": 1863, + "end_idx": 2070 + }, + { + "text": "Put the white coffee cup in front of the white plate with the handle facing backwards right side up using the left hand.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the white plate with the handle facing backward, right side up.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Have the left arm set the white coffee cup in front of the white plate, handle pointed backward and upright.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "With the left hand, position the white coffee cup before the white plate, keeping it upright with the handle facing backward.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Place the white coffee cup in front of the white plate with the handle facing backward, right side up.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Set the white coffee cup before the white plate, with the handle pointed backward and upright.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Position the white coffee cup in front of the white plate, keeping it upright and the handle to the back.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Using the left hand, put the white coffee cup in front of the white plate.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "With the left hand, place the white coffee cup before the white plate.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Have the left arm set the white coffee cup in front of the white plate.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Put the white coffee cup in front of the white plate.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Set the white coffee cup before the white plate.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Position the white coffee cup in front of the white plate.", + "start_idx": 2070, + "end_idx": 2160 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand from the top at the right side using a lip grip.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Using the left hand, take the white coffee cup from the table from the top at the right side with a lip grip.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table from above on its right side using a lip grasp.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "With the left hand, secure the white coffee cup from the table by the top-right side using a lip hold.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Pick up the white coffee cup from the table from the top at the right side using a lip grip.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Take the white coffee cup from the table from above on its right side with a lip grasp.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Grasp the white coffee cup from the table by the top-right side using a lip hold.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Have the left arm take the white coffee cup from the table using a lip grasp.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table using a lip hold.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table from the top at the right side.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Have the left arm take the white coffee cup from the table from above on its right side.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "From the top-right side, grasp the white coffee cup from the table.", + "start_idx": 2439, + "end_idx": 2598 + }, + { + "text": "Place the white coffee cup between the white plate and the beige bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Using the left hand, set the white coffee cup between the white plate and the beige bowl, handle facing backward and right side up.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Have the left arm place the white coffee cup between the white plate and the beige bowl with its handle pointing backward, upright.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "With the left hand, position the white coffee cup between the white plate and the beige bowl so the handle faces back and the cup stays right side up.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Place the white coffee cup between the white plate and the beige bowl with the handle facing backward and right side up.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Set the white coffee cup between the white plate and the beige bowl, keeping the handle to the back and the cup upright.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Position the white coffee cup between the white plate and the beige bowl with its handle pointing backward, right side up.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Using the left hand, place the white coffee cup between the white plate and the beige bowl.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "With the left hand, set the white coffee cup between the white plate and the beige bowl.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Have the left arm position the white coffee cup between the white plate and the beige bowl.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Place the white coffee cup between the white plate and the beige bowl.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Set the white coffee cup between the white plate and the beige bowl.", + "start_idx": 2598, + "end_idx": 2718 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side with the left hand.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Using the left hand, take the green coffee cup from the table by its handle from the side.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Have the left arm grasp the green coffee cup from the table at the handle from the side.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "With the left hand, retrieve the green coffee cup from the table, holding the handle from the side.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Take the green coffee cup from the table by its handle from the side.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Grasp the green coffee cup from the table at the handle from the side.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Pick up the green coffee cup from the table by the handle.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "From the table, take the green coffee cup by its handle.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Grasp the green coffee cup from the table at the handle.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Using the left hand, pick up the green coffee cup from the table.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "With the left hand, take the green coffee cup from the table.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Have the left arm grasp the green coffee cup from the table.", + "start_idx": 2718, + "end_idx": 2880 + }, + { + "text": "Put the green coffee cup on top of the white plate with the handle facing backwards using the left hand.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the green coffee cup on the white plate with its handle pointing backward.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the green coffee cup atop the white plate, handle facing the back.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the green coffee cup on top of the white plate so the handle faces backward.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Place the green coffee cup on top of the white plate with the handle facing backward.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Set the green coffee cup atop the white plate, with its handle pointing to the back.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Position the green coffee cup on the white plate so the handle is at the back.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Using the left hand, put the green coffee cup on top of the white plate.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the green coffee cup atop the white plate.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the green coffee cup on the white plate.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Put the green coffee cup on top of the white plate.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Set the green coffee cup atop the white plate.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Position the green coffee cup on the white plate.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Pick up the coffee pod from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table at a diagonal angle from the middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Have the right hand take the coffee pod from the table with a diagonal pickup from the middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "With the right hand, grasp the coffee pod from the table diagonally at its middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Pick up the coffee pod from the table at a diagonal angle from the middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Grasp the coffee pod from the table diagonally from the middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Take the coffee pod from the table with a diagonal approach at the middle.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Have the right hand take the coffee pod from the table.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "With the right hand, grasp the coffee pod from the table.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Take the coffee pod from the table diagonally.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Grasp the coffee pod from the table with the right hand.", + "start_idx": 1281, + "end_idx": 1500 + }, + { + "text": "Put the coffee pod on the right side of the table with the right hand right side up with the front as the orientation reference point.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Using the right hand, place the coffee pod on the right side of the table, right side up with the front as the reference point.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Have the right arm set the coffee pod on the table's right side, keeping it right side up relative to the front.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "With the right hand, position the coffee pod on the right side of the table, oriented right side up using the front as the reference point.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Place the coffee pod on the right side of the table, right side up with the front as the reference point.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Set the coffee pod on the table's right side, keeping it right side up relative to the front.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Position the coffee pod on the right side of the table with its right side up and the front as the reference point.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Using the right hand, place the coffee pod on the right side of the table.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Have the right arm set the coffee pod on the table's right side.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "With the right hand, position the coffee pod on the right side of the table.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Put the coffee pod on the right side of the table.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Set the coffee pod on the table's right side.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Position the coffee pod on the table's right side.", + "start_idx": 1500, + "end_idx": 1584 + }, + { + "text": "Put the coffee pod in front of the beige bowl right side up with the front as the orientation reference point using the right hand.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Using the right hand, place the coffee pod in front of the beige bowl right side up, with the front as the reference point.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Have the right hand set the coffee pod in front of the beige bowl, right side up relative to its front.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "With the right hand, position the coffee pod before the beige bowl, keeping it right side up using the front as the reference point.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Place the coffee pod in front of the beige bowl right side up, with the front as the orientation reference point.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Set the coffee pod in front of the beige bowl right side up, using the front as the reference point.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "The coffee pod goes in front of the beige bowl, right side up with the front as the reference point.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Using the right hand, put the coffee pod in front of the beige bowl.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "With the right hand, place the coffee pod before the beige bowl.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Have the right hand position the coffee pod in front of the beige bowl.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Put the coffee pod in front of the beige bowl.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "Set the coffee pod before the beige bowl.", + "start_idx": 2334, + "end_idx": 2439 + }, + { + "text": "The coffee pod should be placed in front of the beige bowl.", + "start_idx": 2334, + "end_idx": 2439 + } + ] + }, + "2026-04-21-19-15-16-930000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 208, + "annotations": [ + { + "text": "Pick up the coffee pod from the table with the left hand using a side grip at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Using the left hand, take the coffee pod from the table with a side grasp at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Have the left arm pick up the coffee pod from the table with a side hold at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "With the left hand, grasp the coffee pod from the table from the side at its top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Pick up the coffee pod from the table using a side grip at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Take the coffee pod from the table with a side grasp at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "From the table, grasp the coffee pod from the side at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Have the left arm take the coffee pod from the table.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "With the left hand, grasp the coffee pod from the table.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "From the table, take the coffee pod.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Have the left arm pick up the coffee pod from the table at the top.", + "start_idx": 0, + "end_idx": 192 + }, + { + "text": "Place the coffee pod to the left of the beige bowl with the left hand right side up with the front as the orientation reference.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Using the left hand, set the coffee pod to the left of the beige bowl, right side up with the front as the orientation reference.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Have the left arm place the coffee pod left of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "With the left hand, position the coffee pod to the beige bowl's left, right side up using the front as the reference.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Place the coffee pod to the left of the beige bowl, right side up with the front as the orientation reference.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Set the coffee pod left of the beige bowl, right side up relative to the front.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Position the coffee pod to the left of the beige bowl, keeping it right side up based on the front.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Arrange the coffee pod left of the beige bowl with the front as the orientation reference, right side up.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Using the left hand, place the coffee pod to the left of the beige bowl.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Have the left arm set the coffee pod left of the beige bowl.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "With the left hand, position the coffee pod to the beige bowl's left.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Place the coffee pod to the left of the beige bowl.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Set the coffee pod left of the beige bowl.", + "start_idx": 192, + "end_idx": 294 + }, + { + "text": "Pick up the white mug from the white plate with the left hand from the top by the handle.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Using the left hand, pick up the white mug from the white plate from the top by the handle.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "From above, have the left hand grasp the white mug on the white plate by its handle.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "With the left arm, take the white mug off the white plate by the handle from the top.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Pick up the white mug from the white plate from the top by the handle.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "From above, grasp the white mug on the white plate by its handle.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Take the white mug off the white plate by the handle from the top.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Pick up the white mug from the white plate with the left hand.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Using the left hand, take the white mug off the white plate.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Have the left arm grasp the white mug on the white plate.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Pick up the white mug from the white plate.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Take the white mug off the white plate.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Grasp the white mug on the white plate.", + "start_idx": 294, + "end_idx": 639 + }, + { + "text": "Put the white mug to the right of the beige bowl with the handle facing bottom left using the left hand.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Using the left hand, place the white mug to the right of the beige bowl with its handle pointing bottom left.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Have the left arm set the white mug to the right of the beige bowl, handle aimed toward the bottom left.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "With the left hand, position the white mug to the right of the beige bowl so the handle faces bottom left.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Place the white mug to the right of the beige bowl with its handle pointing bottom left.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Set the white mug to the right of the beige bowl, with the handle oriented bottom left.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Position the white mug to the right of the beige bowl so its handle faces bottom left.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Using the left hand, put the white mug to the right of the beige bowl.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "With the left hand, place the white mug to the right of the beige bowl.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Have the left arm position the white mug to the right of the beige bowl.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Put the white mug to the right of the beige bowl.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Set the white mug beside the beige bowl on its right side.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Position the white mug on the right side of the beige bowl.", + "start_idx": 639, + "end_idx": 768 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip at the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Have the left arm pick the beige bowl up from the table with a diagonal lip grasp on its left side.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "With the left hand, grasp the beige bowl from the table using a lip hold at the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Take the beige bowl from the table using a lip grasp on the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Grasp the beige bowl from the table at the left side diagonally with a lip hold.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Have the left arm take the beige bowl from the table.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "With the left hand, grasp the beige bowl from the table.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Pick up the beige bowl from the table with the left hand at the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a lip grip.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Grasp the beige bowl from the table at the left side diagonally.", + "start_idx": 1284, + "end_idx": 1530 + }, + { + "text": "Put the beige bowl to the left of the green mug with the left hand.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Using the left hand, place the beige bowl to the left of the green mug, right side up from the front.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Have the left arm set the beige bowl to the left of the green mug, keeping it upright relative to the front.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "With the left hand, position the beige bowl left of the green mug, upright from the front.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Place the beige bowl to the left of the green mug, right side up from the front.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Set the beige bowl left of the green mug, keeping it upright relative to the front.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Arrange the beige bowl to the left of the green mug, with its right side up from the front.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Using the left hand, put the beige bowl to the left of the green mug.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "With the left hand, position the beige bowl left of the green mug.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Have the left arm place the beige bowl to the left of the green mug.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Put the beige bowl to the left of the green mug.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Set the beige bowl left of the green mug.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Place the beige bowl to the left of the green mug.", + "start_idx": 1530, + "end_idx": 1689 + }, + { + "text": "Pick up the coffee pod from the table with the left hand using a side grip from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table with a side grip from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Have the left arm take the coffee pod from the table using a side grasp from above.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "With the left hand, grasp the coffee pod from the table in a side hold from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Pick up the coffee pod from the table using a side grip from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Take the coffee pod from the table with a side grasp from above.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Grasp the coffee pod from the table with a side hold from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Have the left arm take the coffee pod from the table.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "With the left hand, grasp the coffee pod from the table.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Take the coffee pod from the table from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table from the top.", + "start_idx": 1689, + "end_idx": 1839 + }, + { + "text": "Put the coffee pod to the right of the white plate with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Using the left hand, place the coffee pod to the right of the white plate, right side up with the front as the reference point.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the coffee pod to the right of the white plate, keeping it right side up relative to the front.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "With the left hand, position the coffee pod to the right of the white plate so it is right side up using the front as the orientation reference.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Place the coffee pod to the right of the white plate, right side up with the front as the reference point.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Set the coffee pod to the right of the white plate, keeping it right side up relative to the front.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Position the coffee pod to the right of the white plate so it stays right side up using the front as the orientation reference.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Using the left hand, place the coffee pod to the right of the white plate.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the coffee pod to the right of the white plate.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "With the left hand, position the coffee pod to the right of the white plate.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Put the coffee pod to the right of the white plate.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Arrange the coffee pod to the right of the white plate.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Move the coffee pod to the right of the white plate.", + "start_idx": 1839, + "end_idx": 1941 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip from the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Have the right hand grasp the white mug from the table using a lip hold on its right side at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "With the right hand, take hold of the white mug from the table via a lip grip from the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Pick up the white mug from the table using a lip grip from the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Take the white mug from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Grasp the white mug from the table via the lip from the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Have the right hand take the white mug from the table using a lip hold on the right side.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "With the right hand, grasp the white mug from the table by the lip.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Pick up the white mug from the table from the right at a diagonal angle.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "From the table, take hold of the white mug at a diagonal angle from the right.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 768, + "end_idx": 1113 + }, + { + "text": "Put the white mug to the right of the green mug with the handle facing bottom left right side up using the right arm.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Using the right arm, place the white mug to the right of the green mug, handle pointing bottom left and upright.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Have the right arm set the white mug to the green mug's right, with the handle facing bottom left and the mug right side up.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "With the right arm, position the white mug right of the green mug, keeping it upright and the handle directed bottom left.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Place the white mug to the right of the green mug.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Set the white mug down to the right of the green mug.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Position the white mug to the green mug's right.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Using the right arm, put the white mug to the right of the green mug.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Have the right arm place the white mug to the green mug's right.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "With the right arm, set the white mug right of the green mug.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Place the white mug to the right of the green mug, with the handle facing bottom left and right side up.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Set the white mug to the green mug's right, upright with the handle pointing bottom left.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Position the white mug right of the green mug, keeping the handle toward bottom left and the mug right side up.", + "start_idx": 1113, + "end_idx": 1284 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Have the right hand take the beige bowl from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "With a diagonal angle at the bowl's left side, the right hand should grasp the beige bowl from the table using a lip grip.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Pick up the beige bowl from the table using a lip grip at the left side with a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Take the beige bowl from the table with a lip grasp on the left side at a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "The beige bowl should be picked up from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "With the right hand, take the beige bowl from the table using a lip grasp.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Have the right hand grasp the beige bowl from the table with a lip grip.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table at the left side with a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Take the beige bowl from the table at the left side with a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "The beige bowl should be grasped from the table by the right hand at the left side with a diagonal angle.", + "start_idx": 1941, + "end_idx": 2166 + }, + { + "text": "Put the beige bowl to the right of the coffee pod with the right hand.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Have the right arm set the beige bowl to the coffee pod's right side.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "With the right hand, position the beige bowl just right of the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Place the beige bowl to the right of the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Set the beige bowl on the right side of the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Position the beige bowl just to the coffee pod's right.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Move the beige bowl to the right of the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Using the right hand, place the beige bowl by the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "With the right hand, set the beige bowl next to the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Have the right arm position the beige bowl beside the coffee pod.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Place the beige bowl beside the coffee pod with the right hand.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Set the beige bowl by the coffee pod with the right hand.", + "start_idx": 2166, + "end_idx": 2295 + }, + { + "text": "Pick up the green mug from the table with the right hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a lip grip at the left side with a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Have the right hand grasp the green mug from the table with a lip grip on the left side at a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "The green mug from the table should be taken with the right hand using a lip grasp on its left side at a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Pick up the green mug from the table with a lip grip at the left side with a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Grasp the green mug from the table using a lip grip on the left side at a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "The green mug from the table should be picked up with a lip grasp at the left side and a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Using the right hand, pick up the green mug from the table with a lip grip.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Take the green mug from the table with the right hand using a lip grip.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "With the right hand, grasp the green mug from the table using a lip grasp.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Pick up the green mug from the table with the right hand at the left side with a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Using the right hand, take the green mug from the table on the left side at a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Grasp the green mug from the table at the left side with a diagonal angle.", + "start_idx": 2295, + "end_idx": 2466 + }, + { + "text": "Place the green mug to the right of the beige bowl with the handle facing backwards right side up using the right arm.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Using the right arm, set the green mug to the right of the beige bowl with the handle facing backward, right side up.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Have the right arm place the green mug to the right of the beige bowl, keeping it upright and the handle facing backward.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "With the right arm, position the green mug to the right of the beige bowl so the handle points backward and it stays right side up.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Place the green mug to the right of the beige bowl with the handle facing backward, right side up.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Set the green mug to the right of the beige bowl, with the handle pointing backward and the mug upright.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Position the green mug to the right of the beige bowl, keeping the handle backward and the mug right side up.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Using the right arm, place the green mug to the right of the beige bowl.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Have the right arm set the green mug to the right of the beige bowl.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "With the right arm, position the green mug to the right of the beige bowl.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Place the green mug to the right of the beige bowl.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Set the green mug to the right of the beige bowl.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Position the green mug to the right of the beige bowl.", + "start_idx": 2466, + "end_idx": 2610 + }, + { + "text": "Pick up the white mug from the table with the right hand at the handle from the side.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Using the right hand, take the white mug from the table by its handle from the side.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "From the side, have the right hand grasp the white mug on the table at the handle.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "With the right hand, pick the white mug up from the table, gripping the handle from the side.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Grasp the white mug from the table at the handle from the side.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Take the white mug off the table by its handle from the side.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "From the side, seize the white mug on the table by the handle.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Using the right hand, pick up the white mug from the table at the handle.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Have the right hand take the white mug from the table by its handle.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "With the right hand, grasp the white mug off the table at the handle.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Pick up the white mug from the table with the right hand.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Using the right hand, take the white mug from the table.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 2610, + "end_idx": 2841 + }, + { + "text": "Place the white mug to the right of the green mug with the right hand right side up with the front facing backwards.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Using the right hand, set the white mug to the right of the green mug, right side up, with its front facing backward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Have the right hand place the white mug to the right of the green mug, keeping it upright and the front pointed backward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "The white mug goes to the right of the green mug with the right hand, positioned right side up and facing backward at the front.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Place the white mug to the right of the green mug, right side up, with the front facing backward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Set the white mug to the right of the green mug, upright, with its front pointed backward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "The white mug should be placed to the right of the green mug, keeping it right side up and its front facing backward.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Position the white mug to the right of the green mug.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Set the white mug to the right of the green mug.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "The white mug belongs to the right of the green mug.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white mug to the right of the green mug.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Have the right hand set the white mug to the right of the green mug.", + "start_idx": 2841, + "end_idx": 3000 + }, + { + "text": "Put the white mug to the right of the green mug with its front facing backward.", + "start_idx": 2841, + "end_idx": 3000 + } + ] + }, + "2026-04-21-19-26-39-915000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 195, + "annotations": [ + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm take the red marker from the table on a diagonal, holding it at the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Using the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Have the left arm take the red marker from the table by the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "With the left hand, retrieve the red marker from the table, holding the middle.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Retrieve the red marker from the table with the left hand.", + "start_idx": 0, + "end_idx": 117 + }, + { + "text": "Put the red marker to the right of the pink mug with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the red marker to the right of the pink mug with the tip facing forwards.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Have the left arm set the red marker to the right of the pink mug, oriented forward by its tip.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "With the left hand, position the red marker to the right of the pink mug so the tip points forwards.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Place the red marker to the right of the pink mug with the tip facing forwards.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Set the red marker to the right of the pink mug, with its tip oriented forwards.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Position the red marker to the right of the pink mug so the tip points forward.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the red marker to the right of the pink mug.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Have the left arm set the red marker to the right of the pink mug.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "With the left hand, position the red marker to the right of the pink mug.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Place the red marker to the right of the pink mug.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Set the red marker beside the pink mug on its right side.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Position the red marker on the right side of the pink mug.", + "start_idx": 117, + "end_idx": 273 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grip at the handle.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal grip on the handle.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Have the left arm grasp the white mug from the table by the handle in a diagonal hold.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "With the left hand, collect the white mug from the table using a diagonal handle grasp.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Take the white mug from the table with a diagonal grip at the handle.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Grasp the white mug from the table by the handle in a diagonal hold.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "The white mug from the table should be picked up with a diagonal handle grasp.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Using the left hand, grasp the white mug from the table.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "The white mug from the table should be grasped.", + "start_idx": 273, + "end_idx": 498 + }, + { + "text": "Put the white mug behind the pink mug with the handle facing backwards right side up using the left hand.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Using the left hand, place the white mug behind the pink mug with its handle facing backward and keep it right side up.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Have the left hand set the white mug behind the pink mug, handle pointing backward, upright.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "With the left hand, position the white mug behind the pink mug so the handle faces backward and the mug stays upright.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Place the white mug behind the pink mug with the handle facing backward and right side up.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Set the white mug behind the pink mug, with its handle pointing backward and upright.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Position the white mug behind the pink mug so the handle faces backward, keeping it upright.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Put the white mug behind the pink mug.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Set the white mug behind the pink mug.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Position the white mug behind the pink mug.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Using the left hand, place the white mug behind the pink mug.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Have the left hand put the white mug behind the pink mug.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Place the white mug behind the pink mug with the left hand.", + "start_idx": 498, + "end_idx": 639 + }, + { + "text": "Pick up the corn from the table with the left hand from the top at the middle.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Using the left hand, take the corn from the table from the top at the middle.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "From the top at the middle, have the left hand grasp the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "With the left hand, collect the corn from the table by approaching from the top at the middle.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Pick up the corn from the table from the top at the middle.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "From the top at the middle, grasp the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Take the corn from the table at the middle from the top.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Retrieve the corn from the table from the top at the middle.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Use the left hand to pick up the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Have the left hand grasp the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "With the left hand, take the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 639, + "end_idx": 780 + }, + { + "text": "Put the corn to the right of the red marker with the left hand facing backwards by the tip.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Using the left hand, place the corn to the right of the red marker with the tip facing backwards.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Have the left arm set the corn to the right of the red marker, oriented backwards at the tip.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "With the left hand, position the corn to the right of the red marker so the tip faces backwards.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Place the corn to the right of the red marker with the tip facing backwards.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Set the corn to the right of the red marker so the tip points backwards.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Position the corn to the right of the red marker, keeping the tip oriented backwards.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Using the left hand, put the corn to the right of the red marker.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Have the left arm place the corn to the right of the red marker.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "With the left hand, set the corn to the right of the red marker.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Place the corn to the right of the red marker.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Set the corn to the right of the red marker.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Position the corn to the right of the red marker.", + "start_idx": 780, + "end_idx": 942 + }, + { + "text": "Pick up the tomato from the table with the left hand using a side grip at the top.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Using the left hand, take the tomato from the table with a side grasp at the top.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "With the left arm, grasp the tomato from the table using a side hold at the top.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Have the left hand pick the tomato up from the table with a top side grip.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Pick up the tomato from the table using a side grip at the top.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Take the tomato from the table with a side grasp at the top.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "The tomato from the table should be grasped using a side hold at the top.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Using the left hand, pick up the tomato from the table.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "With the left arm, take the tomato from the table.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Have the left hand grasp the tomato from the table.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Pick up the tomato from the table with the left hand.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Using the left hand, take the tomato from the table.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "The tomato from the table should be picked up.", + "start_idx": 1440, + "end_idx": 1710 + }, + { + "text": "Put the tomato behind the pink mug with the left hand right side up.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Using the left hand, place the tomato behind the pink mug right side up.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the tomato behind the pink mug with its right side up.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "With the left hand, position the tomato behind the pink mug in a right-side-up orientation.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Place the tomato behind the pink mug right side up.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Set the tomato behind the pink mug with its right side up.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Position the tomato behind the pink mug in an upright orientation.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Using the left hand, put the tomato behind the pink mug.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "With the left hand, place the tomato behind the pink mug.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Have the left arm set the tomato behind the pink mug.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Put the tomato behind the pink mug.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Set the tomato behind the pink mug.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Position the tomato behind the pink mug.", + "start_idx": 1710, + "end_idx": 1803 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip at the right side diagonally.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Using the right hand, take the white mug from the table with a lip grip at the right side diagonally.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Have the right arm grasp the white mug from the table with a lip hold on the diagonal right side.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "With the right hand, secure the white mug from the table using a lip grasp at the mug's right side diagonally.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Pick up the white mug from the table using a lip grip at the right side diagonally.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Take the white mug from the table with a lip grasp on the diagonal right side.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Grasp the white mug from the table at the right side diagonally using a lip hold.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "With the right hand, take the white mug from the table using a lip grasp.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Have the right hand grasp the white mug from the table with a lip hold.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Using the right hand, pick up the white mug from the table at the right side diagonally.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "With the right hand, take the white mug from the table on the diagonal right side.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 942, + "end_idx": 1257 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Using the right hand, take the white mug from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Have the right hand grasp the white mug from the table with a lip grip on its right side at a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "With the right hand, secure the white mug from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Pick up the white mug from the table using a lip grip at the right side with a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Take the white mug from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Grasp the white mug from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Using the right hand, take the white mug from the table with a lip grasp.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Have the right hand grasp the white mug from the table with a lip hold.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "With the right hand, pick up the white mug from the table at the right side with a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Take the white mug from the table on its right side at a diagonal angle.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 1803, + "end_idx": 1950 + }, + { + "text": "Put the white mug on the top right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Using the right hand, place the white mug on the table's top-right area, right side up with its front facing backward.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Have the right arm set the white mug on the top right side of the table, keeping it upright and the front facing backwards.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "With the right hand, position the white mug on the top-right part of the table, right side up and front facing backward.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Place the white mug on the top right side of the table, right side up with the front facing backwards.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Set the white mug on the table's top-right area, right side up with its front facing backward.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "The white mug goes on the top right side of the table, right side up and front facing backwards.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Put the white mug on the top right side of the table with the right hand.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Using the right hand, place the white mug on the table's top-right area.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Have the right arm set the white mug on the top right side of the table.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Place the white mug on the top right side of the table.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Set the white mug on the table's top-right area.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "The white mug goes on the top right side of the table.", + "start_idx": 1950, + "end_idx": 2058 + }, + { + "text": "Pick up the corn from the table with the right hand from the top at the middle.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Using the right hand, take the corn from the table from the top at the middle.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Have the right arm pick the corn up from the table with a top grasp at the middle.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "With the right hand, grasp the corn from the table at the middle from above.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Pick up the corn from the table from the top at the middle.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Take the corn from the table with a top-middle grasp.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Grasp the corn from the table from above at its middle.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Using the right hand, take the corn from the table.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Have the right arm grasp the corn from the table.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Take the corn from the table from above.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "With the right hand, pick up the corn from the table from the top.", + "start_idx": 2058, + "end_idx": 2217 + }, + { + "text": "Put the corn to the bottom right of the white mug with the right hand with its tip facing bottom right.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Using the right hand, place the corn at the bottom right of the white mug, with its tip pointing bottom right.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Have the right arm set the corn down at the white mug's bottom-right side, tip facing bottom right.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "With the right hand, position the corn to the lower right of the white mug so its tip faces bottom right.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Place the corn at the bottom right of the white mug.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Set the corn down to the lower right of the white mug.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Position the corn at the white mug's bottom-right side.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Move the corn to the bottom right of the white mug.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Put the corn to the bottom right of the white mug with the right hand.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Using the right hand, place the corn at the bottom right of the white mug.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Have the right arm set the corn down at the white mug's lower-right side.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Place the corn beside the white mug with its tip facing bottom right.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Set the corn down by the white mug with the tip pointing bottom right.", + "start_idx": 2217, + "end_idx": 2334 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by its middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 2334, + "end_idx": 2562 + }, + { + "text": "Put the red marker to the left of the corn with the right hand facing forwards with the tip as the reference point.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Using the right hand, place the red marker to the left of the corn with the tip facing forwards.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Have the right hand set the red marker left of the corn, oriented forward by its tip.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "With the right hand, position the red marker to the corn's left, tip pointing forwards.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Place the red marker to the left of the corn.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Set the red marker left of the corn.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Position the red marker to the corn's left.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Put the red marker to the left of the corn.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Using the right hand, place the red marker to the left of the corn.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Have the right hand set the red marker left of the corn.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "With the right hand, position the red marker to the corn's left.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Put the red marker left of the corn with the tip facing forwards.", + "start_idx": 2562, + "end_idx": 2793 + }, + { + "text": "Set the red marker to the left of the corn, tip pointing forwards.", + "start_idx": 2562, + "end_idx": 2793 + } + ] + }, + "2026-04-21-19-46-01-388000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, grasp the middle of the blue marker on the table and retrieve it at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the middle of the blue marker from the table at a diagonal angle and take it.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "The blue marker from the table should be picked up diagonally by the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the blue marker from the table by the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Put the blue marker to the top right of the cabbage with the left hand facing forwards with the tip as the reference point.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Using the left hand, place the blue marker at the cabbage's top right, facing forwards with the tip as the reference point.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Have the left arm set the blue marker to the top right of the cabbage, oriented forward using the tip as the reference point.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "With the left hand, position the blue marker top-right of the cabbage, with its tip as the reference point and facing forwards.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Place the blue marker to the top right of the cabbage.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Set the blue marker at the cabbage's top right.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Position the blue marker top-right of the cabbage.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Put the blue marker to the top right of the cabbage.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Using the left hand, place the blue marker to the top right of the cabbage.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Have the left arm put the blue marker at the cabbage's top right.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "With the left hand, set the blue marker top-right of the cabbage.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Place the blue marker to the top right of the cabbage, facing forwards with the tip as the reference point.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Position the blue marker at the cabbage's top right, with the tip as the reference point and facing forwards.", + "start_idx": 120, + "end_idx": 240 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at the right side using a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Using the left hand, take the white cup from the table from the top at the right side with a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Have the left arm grasp the white cup from the table at the right side from above using a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "With a lip grip, the left hand should seize the white cup from the table from the top on its right side.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Pick up the white cup from the table from the top at the right side using a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "From above, grasp the white cup from the table at the right side with a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Take the white cup from the table on its right side from the top using a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grip.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Have the left arm collect the white cup from the table with a lip grasp.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at the right side.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "From above at the right side, take the white cup from the table with the left hand.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Using the left hand, grasp the white cup from the table.", + "start_idx": 240, + "end_idx": 369 + }, + { + "text": "Put the white cup to the left of the blue marker with the left hand right side up front.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue marker, right side up with the front facing forward.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Have the left arm set the white cup left of the blue marker, keeping it upright with its front forward.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "With the left hand, position the white cup to the left of the blue marker so it is right side up and front-facing.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Place the white cup to the left of the blue marker, keeping it right side up with the front forward.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Set the white cup left of the blue marker in an upright, front-facing orientation.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Position the white cup to the left of the blue marker with its front facing forward.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue marker.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Have the left arm set the white cup left of the blue marker.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "With the left hand, position the white cup to the left of the blue marker.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Put the white cup to the left of the blue marker.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Set the white cup left of the blue marker.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Position the white cup to the left of the blue marker.", + "start_idx": 369, + "end_idx": 486 + }, + { + "text": "Pick up the blue marker from the table with the left hand from the top at the middle.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Using the left hand, take the blue marker from the table from the top at the middle.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Have the left arm grasp the blue marker from the table at the middle from above.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "With the left hand, retrieve the blue marker from the table by grasping its middle from the top.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Pick up the blue marker from the table from the top at the middle.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Take the blue marker from the table by approaching from above at the middle.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Retrieve the blue marker from the table with a top grasp at the middle.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 486, + "end_idx": 615 + }, + { + "text": "Put the blue marker between the cabbage and the asparagus with the left hand with its tip facing top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Using the left hand, place the blue marker between the cabbage and the asparagus with its tip pointing to the top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Have the left arm set the blue marker between the cabbage and the asparagus, tip oriented toward the top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "With the left hand, position the blue marker between the cabbage and the asparagus so its tip faces the top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Place the blue marker between the cabbage and the asparagus with its tip facing the top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Set the blue marker between the cabbage and the asparagus, with the tip pointing top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Position the blue marker between the cabbage and the asparagus, tip directed toward the top right.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Using the left hand, put the blue marker between the cabbage and the asparagus.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "With the left hand, place the blue marker between the cabbage and the asparagus.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Have the left arm position the blue marker between the cabbage and the asparagus.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Put the blue marker between the cabbage and the asparagus.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Set the blue marker between the cabbage and the asparagus.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Position the blue marker between the cabbage and the asparagus.", + "start_idx": 615, + "end_idx": 741 + }, + { + "text": "Pick up the blue marker from the table with the left hand from the top at the middle.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Using the left hand, take the blue marker from the table from the top at the middle.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Have the left arm grasp the blue marker on the table from above at its middle.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "With the left hand, collect the blue marker from the table by approaching the top at the midpoint.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Pick up the blue marker from the table from the top at the middle.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Take the blue marker off the table from above at its middle.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "From the table, grasp the blue marker at the top and middle.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "With the left hand, take the blue marker off the table.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Have the left arm collect the blue marker from the table.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "From the table, grasp the blue marker.", + "start_idx": 1401, + "end_idx": 1578 + }, + { + "text": "Put the blue marker behind the asparagus with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Using the left hand, place the blue marker behind the asparagus with the tip facing forwards.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Have the left arm set the blue marker behind the asparagus, oriented forwards by its tip.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "With the left hand, position the blue marker behind the asparagus so the tip points forwards.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Place the blue marker behind the asparagus with the tip facing forwards.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Set the blue marker behind the asparagus, keeping the tip pointed forwards.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Position the blue marker behind the asparagus so its tip faces forwards.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Using the left hand, put the blue marker behind the asparagus.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "With the left hand, place the blue marker behind the asparagus.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Have the left arm position the blue marker behind the asparagus.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Put the blue marker behind the asparagus.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Set the blue marker behind the asparagus.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Position the blue marker behind the asparagus.", + "start_idx": 1578, + "end_idx": 1758 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip from the top at the right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip from the top at the right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Have the left arm grasp the white cup from the table from the top at its right side using a lip grip.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "With the left hand, secure the white cup from the table by the top-right side with a lip grasp.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Pick up the white cup from the table using a lip grip from the top at the right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "From the table, grasp the white cup with a lip grip at the top-right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Take the white cup from the table with a lip grasp from the top at the right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Pick up the white cup from the table from the top at the right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "From the table, take the white cup at the top-right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Using the left hand, pick up the white cup from the table from the top at the right side.", + "start_idx": 1758, + "end_idx": 1938 + }, + { + "text": "Put the white cup to the left of the blue marker with the left hand right side up with the front as the reference point.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue marker, right side up with the front as the reference point.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Have the left arm set the white cup left of the blue marker, keeping it right side up relative to the front.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "With the left hand, position the white cup on the left side of the blue marker, right side up using the front as the reference point.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Place the white cup to the left of the blue marker.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Set the white cup on the left side of the blue marker.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "The white cup goes to the left of the blue marker.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Using the left hand, put the white cup to the left of the blue marker.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "With the left hand, place the white cup on the left side of the blue marker.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Have the left arm set the white cup to the left of the blue marker.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Position the white cup left of the blue marker, right side up.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Set the white cup on the left of the blue marker with it right side up.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Put the white cup left of the blue marker, keeping it right side up.", + "start_idx": 1937, + "end_idx": 2060 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Have the right hand take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "With the right hand, collect the blue screwdriver from the table at a diagonal angle by grasping its middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "The blue screwdriver should be picked up from the table at a diagonal angle by its middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table, grasping the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "With the right hand, take the blue screwdriver from the table by the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Have the right hand collect the blue screwdriver from the table at a diagonal angle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Take the blue screwdriver from the table with the right hand.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "The blue screwdriver should be picked up from the table by the middle.", + "start_idx": 741, + "end_idx": 945 + }, + { + "text": "Place the blue screwdriver to the right of asparagus with the right hand facing top right by the tip.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Using the right hand, set the blue screwdriver to the right of asparagus with the tip facing top right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Have the right hand place the blue screwdriver right of asparagus, oriented top right at the tip.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "With the right hand, position the blue screwdriver to the asparagus's right so the tip points top right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Place the blue screwdriver to the right of asparagus with the tip facing top right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Set the blue screwdriver right of asparagus, with the tip oriented toward the top right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Position the blue screwdriver to the asparagus's right so its tip points top right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of asparagus.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Have the right hand set the blue screwdriver right of asparagus.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "With the right hand, position the blue screwdriver to the asparagus's right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Place the blue screwdriver to the right of asparagus.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Set the blue screwdriver right of asparagus.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Position the blue screwdriver to the asparagus's right.", + "start_idx": 945, + "end_idx": 1080 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Using the right hand, take the green bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Have the right arm pick up the green bowl from the table using a diagonal grasp on the bowl's right lip.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "The green bowl should be grasped from the table with the right hand in a diagonal lip hold on the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Pick up the green bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Grasp the green bowl from the table using a diagonal lip hold on the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "The green bowl should be picked up from the table in a diagonal lip grasp at the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Have the right arm pick up the green bowl from the table.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Using the right hand, grasp the green bowl from the table.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Take the green bowl from the table with a diagonal grasp at the right side.", + "start_idx": 1080, + "end_idx": 1215 + }, + { + "text": "Put the green bowl to the top right of the table with the right hand.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Using the right hand, place the green bowl at the table's top right, right side up with the front oriented forward.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Have the right arm set the green bowl in the table's upper-right area, keeping it upright with the front facing front.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "With the right hand, position the green bowl at the top right of the table, upright and front-facing.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Place the green bowl at the top right of the table.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Set the green bowl in the table's upper-right area.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "The green bowl goes to the top right of the table.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Put the green bowl at the top right of the table with the right hand.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Using the right hand, place the green bowl at the table's top right.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Have the right arm set the green bowl in the upper-right part of the table.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Position the green bowl at the top right of the table, right side up with the front facing front.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "At the table's top right, place the green bowl upright with the front oriented forward.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "The green bowl should be set in the upper-right area of the table, keeping it upright and front-facing.", + "start_idx": 1215, + "end_idx": 1401 + }, + { + "text": "Pick up the asparagus from the table with the right hand from the top at the middle.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Using the right hand, pick up the asparagus from the table from the top at the middle.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Have the right hand grasp the asparagus from the table at its middle from above.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "With the right hand, take the asparagus from the table, approaching from the top and holding the middle.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Pick up the asparagus from the table from the top at the middle.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Take the asparagus from the table at the middle from above.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Grasp the asparagus from the table from the top at its middle.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "From above, pick up the asparagus from the table at the middle.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Seize the asparagus from the table with the right hand.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Using the right hand, take the asparagus from the table.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Have the right hand pick up the asparagus from the table.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "From the table, grasp the asparagus.", + "start_idx": 2061, + "end_idx": 2241 + }, + { + "text": "Place the asparagus to the right of the green bowl with the right hand facing backwards at the tip.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Using the right hand, set the asparagus to the right of the green bowl with the tip facing backwards.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Have the right arm place the asparagus to the right of the green bowl, oriented backward at the tip.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "With the right hand, position the asparagus to the right of the green bowl so the tip faces backwards.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Put the asparagus to the right of the green bowl with the tip facing backwards.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Place the asparagus to the right of the green bowl, keeping the tip pointed backwards.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Set the asparagus to the right of the green bowl so its tip faces backward.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Using the right hand, place the asparagus to the right of the green bowl.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "With the right hand, put the asparagus to the right of the green bowl.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Have the right arm set the asparagus to the right of the green bowl.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Position the asparagus to the right of the green bowl.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Arrange the asparagus to the right of the green bowl.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "To the right of the green bowl, place the asparagus.", + "start_idx": 2241, + "end_idx": 2388 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Have the right arm pick the blue screwdriver off the table diagonally by its middle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "With the right hand, seize the blue screwdriver from the table, contacting the middle at a diagonal angle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Take the blue screwdriver off the table diagonally by the middle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Grasp the blue screwdriver from the table at a diagonal angle by its middle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "The blue screwdriver should be taken from the table with the right hand.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Have the right arm collect the blue screwdriver from the table.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Take the blue screwdriver from the table with the right hand.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Using the right hand, grasp the blue screwdriver from the table.", + "start_idx": 2388, + "end_idx": 2499 + }, + { + "text": "Put the blue screwdriver in front of asparagus with the right hand facing forwards with the tip as the reference point.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Using the right hand, place the blue screwdriver in front of asparagus, facing forwards with the tip as the reference point.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Have the right arm set the blue screwdriver in front of asparagus with its tip as the reference point, facing forwards.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "With the right hand, position the blue screwdriver in front of asparagus so it faces forwards, using the tip as the reference point.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Place the blue screwdriver in front of asparagus so it faces forwards with the tip as the reference point.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Set the blue screwdriver in front of asparagus, facing forwards with the tip as the reference point.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Position the blue screwdriver in front of asparagus with the tip as the reference point, oriented forwards.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Using the right hand, put the blue screwdriver in front of asparagus.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Have the right arm place the blue screwdriver in front of asparagus.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "With the right hand, set the blue screwdriver in front of asparagus.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Place the blue screwdriver in front of asparagus.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Set the blue screwdriver in front of asparagus.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Position the blue screwdriver in front of asparagus.", + "start_idx": 2499, + "end_idx": 2622 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Have the right arm take the green bowl from the table using a lip grasp, keeping it at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "With the right hand, grasp the green bowl from the table in a lip hold at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Take the green bowl from the table using a lip grasp at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Grasp the green bowl from the table with a lip hold at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Have the right arm take the green bowl from the table with a lip grasp.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "With the right hand, grasp the green bowl from the table using a lip hold.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Using the right hand, pick up the green bowl from the table at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Take the green bowl from the table with the right hand at a diagonal angle on the right side.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 2622, + "end_idx": 2760 + }, + { + "text": "Put the green bowl to the left of the blue screwdriver with the right hand.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Using the right hand, place the green bowl to the left of the blue screwdriver, right side up from the front.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Have the right arm set the green bowl left of the blue screwdriver with its front-oriented right-side-up placement.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "The right hand should position the green bowl to the left of the blue screwdriver, upright relative to the front.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Place the green bowl to the left of the blue screwdriver, right side up from the front.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Set the green bowl left of the blue screwdriver with its front-oriented upright placement.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Position the green bowl to the left of the blue screwdriver in a right-side-up orientation.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "With the right hand, put the green bowl to the left of the blue screwdriver.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Using the right hand, set the green bowl left of the blue screwdriver.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Have the right arm place the green bowl to the left of the blue screwdriver.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Put the green bowl to the left of the blue screwdriver.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Set the green bowl left of the blue screwdriver.", + "start_idx": 2760, + "end_idx": 2886 + }, + { + "text": "Position the green bowl to the left of the blue screwdriver.", + "start_idx": 2760, + "end_idx": 2886 + } + ] + }, + "2026-04-21-19-48-12-404000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the right hand take the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, retrieve the blue marker from the table, contacting it at the middle on a diagonal.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the blue marker from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Retrieve the blue marker from the table, contacting the middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Have the right hand take the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 132 + }, + { + "text": "Put the blue marker behind the green bowl with the right hand with its tip facing top left.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Using the right hand, place the blue marker behind the green bowl with its tip pointing to the top left.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Have the right arm set the blue marker behind the green bowl, tip oriented toward the upper left.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "With the right hand, position the blue marker behind the green bowl so its tip faces top left.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Place the blue marker behind the green bowl.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Set the blue marker behind the green bowl.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Position the blue marker behind the green bowl.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Put the blue marker behind the green bowl with the right hand.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Using the right hand, place the blue marker behind the green bowl.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Have the right arm set the blue marker behind the green bowl.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Move the blue marker behind the green bowl with its tip facing top left.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Arrange the blue marker behind the green bowl, with its tip directed to the upper left.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Put the blue marker behind the green bowl.", + "start_idx": 132, + "end_idx": 255 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grasp at the top, held diagonally.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Have the right hand pick the blue marker up from the table with a top side grip at a diagonal angle.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "With the right hand, retrieve the blue marker from the table using a side hold at the top in a diagonal orientation.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the top with a diagonal angle.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Take the blue marker from the table with a side grasp at the top, keeping it diagonal.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Retrieve the blue marker from the table with a side hold at the top in a diagonal orientation.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip at the top.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Have the right hand take the blue marker from the table using a side grasp at the top.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "With the right hand, retrieve the blue marker from the table by the top with a side hold.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a diagonal angle.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "With the right hand, take the blue marker from the table diagonally.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 504, + "end_idx": 687 + }, + { + "text": "Put the blue marker between the cabbage and the green bowl with the right hand facing forwards with the tip as the reference point.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Using the right hand, place the blue marker between the cabbage and the green bowl with the tip facing forwards.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Have the right arm set the blue marker between the cabbage and the green bowl, oriented forward by its tip.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "With the right hand, position the blue marker between the cabbage and the green bowl so the tip points forwards.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Place the blue marker between the cabbage and the green bowl with the tip facing forwards.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Set the blue marker between the cabbage and the green bowl, oriented forwards from the tip.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Position the blue marker between the cabbage and the green bowl so its tip faces forwards.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Using the right hand, place the blue marker between the cabbage and the green bowl.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "With the right hand, set the blue marker between the cabbage and the green bowl.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Have the right arm position the blue marker between the cabbage and the green bowl.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Put the blue marker between the cabbage and the green bowl.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Place the blue marker between the cabbage and the green bowl.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Set the blue marker between the cabbage and the green bowl.", + "start_idx": 687, + "end_idx": 852 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Have the right arm pick the asparagus off the table with a diagonal approach at its middle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "With the right hand, retrieve the asparagus from the table by grasping the middle at a diagonal angle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Take the asparagus off the table with a diagonal approach, holding the middle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "The asparagus from the table should be picked up at a diagonal angle by the middle.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "With the right hand, take the asparagus off the table.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Take the asparagus off the table.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "The asparagus from the table should be grasped and picked up.", + "start_idx": 852, + "end_idx": 990 + }, + { + "text": "Put the asparagus inside the green bowl with the right hand upside down.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Using the right hand, place the asparagus in the green bowl with the tip upside down.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Have the right arm put the asparagus into the green bowl so the tip is upside down.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "With the right hand, set the asparagus inside the green bowl upside down at the tip.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Place the asparagus into the green bowl with the tip upside down.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Put the asparagus inside the green bowl upside down.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Set the asparagus in the green bowl with its tip inverted.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Using the right hand, place the asparagus in the green bowl.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Have the right arm put the asparagus into the green bowl.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "With the right hand, set the asparagus inside the green bowl.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Place the asparagus into the green bowl.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Put the asparagus in the green bowl.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Set the asparagus inside the green bowl.", + "start_idx": 990, + "end_idx": 1080 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Have the right arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "With the right hand, collect the blue screwdriver from the table at a diagonal angle by gripping the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "The blue screwdriver should be picked up from the table at a diagonal angle from the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "With the right hand, collect the blue screwdriver from the table.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Pick up the blue screwdriver from the table grasping the middle.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Take the blue screwdriver from the table with the right hand.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "The blue screwdriver should be picked up from the table.", + "start_idx": 1080, + "end_idx": 1176 + }, + { + "text": "Place the blue screwdriver behind the blue marker with the right hand with its tip facing top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Using the right hand, place the blue screwdriver behind the blue marker with its tip pointing to the top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Have the right hand set the blue screwdriver behind the blue marker, tip oriented top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "With the right hand, position the blue screwdriver behind the blue marker so its tip faces the top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Place the blue screwdriver behind the blue marker with its tip facing the top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Set the blue screwdriver behind the blue marker with the tip pointing top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Position the blue screwdriver behind the blue marker so the tip is directed to the top left.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Using the right hand, place the blue screwdriver behind the blue marker.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "With the right hand, set the blue screwdriver behind the blue marker.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Have the right hand position the blue screwdriver behind the blue marker.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Place the blue screwdriver behind the blue marker.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Set the blue screwdriver behind the blue marker.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Position the blue screwdriver behind the blue marker.", + "start_idx": 1176, + "end_idx": 1341 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "With the right hand, secure the green bowl from the table using a lip grasp on the bowl's right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Take the green bowl from the table with a lip grasp on the right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Grasp the green bowl from the table with a lip hold at the right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "With the right hand, take the green bowl from the table using a lip grasp.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Have the right hand grasp the green bowl from the table with a lip hold.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the right side diagonally.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Using the right hand, take the green bowl from the table diagonally at the right side.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1341, + "end_idx": 1560 + }, + { + "text": "Put the green bowl to the right of the blue screwdriver with the right hand.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Using the right hand, place the green bowl to the right of the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Have the right arm set the green bowl on the blue screwdriver's right side.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "With the right hand, position the green bowl just right of the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Place the green bowl to the right of the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Set the green bowl on the right side of the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Position the green bowl just to the right of the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "The green bowl goes to the right of the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Put the green bowl by the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Set the green bowl next to the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Place the green bowl beside the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Have the green bowl placed beside the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "The green bowl should be set next to the blue screwdriver.", + "start_idx": 1560, + "end_idx": 1641 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Have the right arm pick the green bowl up from the table using a lip grasp at the bottom-right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "With the right hand, grasp the green bowl from the table using the lip at the bottom right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Take the green bowl from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Grasp the green bowl from the table at the bottom right diagonal using a lip grip.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grasp.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Have the right arm grasp the green bowl from the table using a lip grip.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the bottom right diagonal.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 2589, + "end_idx": 2757 + }, + { + "text": "Put the green bowl in front of the blue screwdriver with the right hand.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Using the right hand, place the green bowl in front of the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Have the right arm set the green bowl down in front of the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "With the right hand, position the green bowl before the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Place the green bowl in front of the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Set the green bowl down before the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Position the green bowl ahead of the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Using the right hand, put the green bowl by the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "With the right hand, place the green bowl next to the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Have the right arm set the green bowl near the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Put the green bowl by the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Set the green bowl near the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Place the green bowl beside the blue screwdriver.", + "start_idx": 2757, + "end_idx": 2856 + }, + { + "text": "Pick up the cabbage from the table with the left hand from the top at the middle.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Using the left hand, take the cabbage from the table from the top at the middle.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Have the left arm grasp the cabbage on the table from above at its middle.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "With the left hand, seize the cabbage from the table by approaching from the top at the center.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Pick up the cabbage from the table from the top at the middle.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "From above at the middle, grasp the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Take the cabbage from the table by the middle from the top.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 255, + "end_idx": 414 + }, + { + "text": "Put the cabbage in front of the white cup with the left hand facing backwards with the front as the reference point.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Using the left hand, place the cabbage in front of the white cup with its front facing backward.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Have the left arm set the cabbage in front of the white cup, oriented backward relative to its front.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "With the left hand, position the cabbage before the white cup so the front points backward.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Place the cabbage in front of the white cup with its front facing backward.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Set the cabbage before the white cup, with the front oriented backward.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Position the cabbage in front of the white cup so its front faces backward.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Put the cabbage in front of the white cup.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Place the cabbage before the white cup.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Set the cabbage in front of the white cup.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Using the left hand, place the cabbage in front of the white cup.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Have the left arm set the cabbage before the white cup.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "With the left hand, position the cabbage in front of the white cup.", + "start_idx": 414, + "end_idx": 504 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the top from the top.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Using the left hand, take the blue marker from the table with a side grip at the top from above.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Have the left arm grasp the blue marker from the table at its top using a side hold from the top.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "With the left hand, seize the blue marker from the table using a side grasp on the top from above.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the top from the top.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Take the blue marker from the table with a side hold at the top from above.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Grasp the blue marker from the table at its top using a side grasp from the top.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "With the left hand, pick up the blue marker from the table using a side grip.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Using the left hand, take the blue marker from the table at the top.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Have the left arm grasp the blue marker from the table from above.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Take the blue marker from the table from the top.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Grasp the blue marker from the table.", + "start_idx": 1641, + "end_idx": 1818 + }, + { + "text": "Put the blue marker to the left of the cabbage with the left hand facing top right with the tip as the reference point.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Using the left hand, place the blue marker to the left of the cabbage with the tip facing the top right.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Have the left arm set the blue marker left of the cabbage, oriented top right using the tip as the reference point.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "With the left hand, position the blue marker to the cabbage's left so the tip points toward the top right.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Place the blue marker to the left of the cabbage with the tip facing the top right.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Set the blue marker left of the cabbage, using the tip as the reference point for a top-right orientation.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Position the blue marker to the cabbage's left so its tip points to the top right.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Using the left hand, place the blue marker to the left of the cabbage.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Have the left arm set the blue marker left of the cabbage.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "With the left hand, position the blue marker to the cabbage's left.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Place the blue marker to the left of the cabbage.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Set the blue marker left of the cabbage.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Position the blue marker to the cabbage's left.", + "start_idx": 1818, + "end_idx": 1953 + }, + { + "text": "Pick up the cabbage from the table with the left hand from the top at the middle.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Using the left hand, take the cabbage from the table from the top at the middle.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "From the table, have the left hand grasp the cabbage at the middle from above.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "With the left arm, pick the cabbage up from the table by approaching its middle from the top.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Pick up the cabbage from the table from the top at the middle.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Take the cabbage from the table from above at the middle.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "From the table, grasp the cabbage at the middle from the top.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Use the left hand to pick up the cabbage from the table.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "With the left arm, take the cabbage from the table.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Have the left hand grasp the cabbage from the table.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 1952, + "end_idx": 2055 + }, + { + "text": "Place the cabbage to the left of the blue marker with the left hand facing backwards from the front.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Using the left hand, set the cabbage to the left of the blue marker facing backward from the front.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Have the left arm place the cabbage left of the blue marker with its front pointing backward.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "With the left hand, position the cabbage to the blue marker's left, oriented backward relative to the front.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Place the cabbage to the left of the blue marker facing backward from the front.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Set the cabbage left of the blue marker with its front pointing backward.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Position the cabbage to the blue marker's left, facing backward from the front.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Using the left hand, place the cabbage to the left of the blue marker.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "With the left hand, set the cabbage left of the blue marker.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Have the left arm position the cabbage to the blue marker's left.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Place the cabbage to the left of the blue marker.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Set the cabbage left of the blue marker.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Have the cabbage placed to the blue marker's left.", + "start_idx": 2055, + "end_idx": 2145 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Have the left hand grasp the blue marker from the table with a side hold at the top using a diagonal approach.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "With the left hand, take the blue marker from the table by its top using a side grasp at a diagonal angle.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Pick up the blue marker from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Take the blue marker from the table by its top with a side grasp and a diagonal approach.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Grasp the blue marker from the table at the top using a side hold and a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the top.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "With the left hand, take the blue marker from the table by its top using a side grasp.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Have the left hand grasp the blue marker from the table with a side hold at the top.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at the top with a diagonal pick angle.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Pick up the blue marker from the table with the left hand at the top using a diagonal approach.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "With the left hand, take the blue marker from the table.", + "start_idx": 2145, + "end_idx": 2241 + }, + { + "text": "Put the blue marker to the center of the table with the left hand with its tip facing top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Using the left hand, place the blue marker at the center of the table with its tip pointing to the top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Have the left arm set the blue marker in the table center, tip oriented toward the top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "With the left hand, position the blue marker at the center of the table so its tip faces the top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Place the blue marker at the center of the table with its tip pointing to the top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Set the blue marker in the center of the table so the tip faces top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Position the blue marker at the center of the table with the tip oriented toward the top left.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Using the left hand, put the blue marker at the center of the table.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "With the left hand, place the blue marker in the table center.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Have the left arm set the blue marker at the center of the table.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Put the blue marker at the center of the table.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Place the blue marker in the center of the table.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Set the blue marker down at the table center.", + "start_idx": 2241, + "end_idx": 2340 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip from the top left.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip from the top left.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold at the top-left side.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp from the top left.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Pick up the white cup from the table using a lip grip from the top left.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Take the white cup from the table with a lip hold at the top-left side.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Grasp the white cup from the table from the top left using a lip grasp.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 2340, + "end_idx": 2508 + }, + { + "text": "Put the white cup to the right of the cabbage with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Using the left hand, place the white cup to the right of the cabbage, right side up with the front as the reference point.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Have the left arm set the white cup to the cabbage's right, keeping it right side up relative to the front.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "With the left hand, position the white cup on the right side of the cabbage, oriented right side up using the front as the reference.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Place the white cup to the right of the cabbage.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Set the white cup on the right side of the cabbage.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Position the white cup to the cabbage's right.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Leave the white cup to the right of the cabbage.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Using the left hand, place the white cup to the right of the cabbage.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Have the left arm set the white cup to the cabbage's right.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "With the left hand, position the white cup on the right side of the cabbage.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Place the white cup to the right of the cabbage, right side up.", + "start_idx": 2508, + "end_idx": 2589 + }, + { + "text": "Set the white cup to the cabbage's right, with the front as the reference point.", + "start_idx": 2508, + "end_idx": 2589 + } + ] + }, + "2026-04-21-19-50-19-707000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm take the blue marker from the table, angled diagonally with a middle grasp.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, retrieve the blue marker from the table in a diagonal orientation, holding it at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the blue marker from the table in a diagonal orientation, grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Retrieve the blue marker from the table with a middle hold at a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Retrieve the blue marker from the table by grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the blue marker to the left of the cabbage with the left hand facing forwards with the tip as the reference point.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Using the left hand, place the blue marker to the left of the cabbage with its tip facing forwards.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Have the left arm set the blue marker left of the cabbage, tip oriented forward.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "With the left hand, position the blue marker to the cabbage's left, keeping the tip pointed forwards.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Place the blue marker to the left of the cabbage with its tip facing forwards.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Set the blue marker left of the cabbage, with the tip oriented forward.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Position the blue marker to the cabbage's left, tip facing forwards.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Using the left hand, place the blue marker to the left of the cabbage.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Have the left arm set the blue marker left of the cabbage.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "With the left hand, position the blue marker to the cabbage's left.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Put the blue marker to the left of the cabbage.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Set the blue marker down left of the cabbage.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Position the blue marker next to the cabbage on its left side.", + "start_idx": 99, + "end_idx": 264 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle from the right side using a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Using the left hand, pick up the white cup from the table at a diagonal angle from the right side with a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Have the left arm grasp the white cup from the table diagonally from the right side using a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "With a lip grip, the left hand should take the white cup from the table at a diagonal angle from the right side.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Pick up the white cup from the table at a diagonal angle from the right side using a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Take the white cup from the table diagonally from the right side with a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Grasp the white cup from the table at a diagonal angle from the right side using a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Have the left arm take the white cup from the table using a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "With the left hand, grasp the white cup from the table using a lip grip.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Pick up the white cup from the table with the left hand at a diagonal angle from the right side.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Using the left hand, take the white cup from the table at a diagonal angle from the right side.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1020, + "end_idx": 1182 + }, + { + "text": "Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue screwdriver, right side up with the front as the reference point.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Have the left arm set the white cup left of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "With the left hand, position the white cup to the left of the blue screwdriver so it is right side up from the front reference point.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Place the white cup to the left of the blue screwdriver, right side up with the front as the reference point.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Set the white cup left of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Position the white cup to the left of the blue screwdriver so it is right side up from the front reference point.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Using the left hand, put the white cup to the left of the blue screwdriver.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "With the left hand, place the white cup left of the blue screwdriver.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Have the left arm position the white cup to the left of the blue screwdriver.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Put the white cup to the left of the blue screwdriver.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Set the white cup left of the blue screwdriver.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Position the white cup to the left of the blue screwdriver.", + "start_idx": 1182, + "end_idx": 1320 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Have the left arm grasp the cabbage from the table at the top with a side hold from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "With the left hand, secure the cabbage from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Take the cabbage from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Grasp the cabbage from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Using the left hand, collect the cabbage from the table.", + "start_idx": 1320, + "end_idx": 1443 + }, + { + "text": "Put the cabbage to the left of the white cup with the left hand facing bottom left from the front.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white cup, facing bottom left from the front.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Have the left arm set the cabbage to the white cup's left side with its front facing bottom left.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "With the left hand, position the cabbage left of the white cup so the front points bottom left.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Place the cabbage to the left of the white cup, facing bottom left from the front.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Set the cabbage on the left side of the white cup with its front toward bottom left.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Position the cabbage left of the white cup so the front faces bottom left.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Put the cabbage to the left of the white cup.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Have the cabbage placed on the left side of the white cup.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Set the cabbage beside the white cup on its left.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Using the left hand, place the cabbage to the left of the white cup.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "With the left hand, set the cabbage on the left side of the white cup.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Have the left arm put the cabbage beside the white cup on its left side.", + "start_idx": 1443, + "end_idx": 1494 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Have the left arm pick the blue marker off the table at a diagonal angle, holding the center.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Take the blue marker off the table diagonally by its middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Retrieve the blue marker from the table while grasping the center at a diagonal angle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Using the left hand, pick up the blue marker from the table, grasping the middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "With the left hand, take the blue marker off the table by its middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Have the left arm retrieve the blue marker from the table from its center.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Using the left hand, take the blue marker from the table.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Get the blue marker from the table by its middle.", + "start_idx": 1494, + "end_idx": 1593 + }, + { + "text": "Put the blue marker to the left of the cabbage with the left hand with its tip facing top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Using the left hand, place the blue marker to the left of the cabbage with its tip pointing to the top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Have the left arm set the blue marker left of the cabbage, keeping the tip directed toward the top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "With the left hand, position the blue marker on the cabbage's left side, tip oriented top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Place the blue marker to the left of the cabbage.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Set the blue marker on the left side of the cabbage.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Position the blue marker left of the cabbage.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Using the left hand, put the blue marker to the left of the cabbage.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Have the left arm place the blue marker on the cabbage's left side.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "With the left hand, set the blue marker beside the cabbage on its left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Put the blue marker to the left of the cabbage with its tip facing top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Position the blue marker on the left side of the cabbage, tip pointing top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Set the blue marker beside the cabbage on its left, with the tip directed top left.", + "start_idx": 1593, + "end_idx": 1707 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grasp from the top at the left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grasp from the top at the left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Have the left arm grasp the white cup from the table using a lip hold from above on its left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "With the left hand, seize the white cup from the table by the lip from the top at the left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Pick up the white cup from the table using a lip grasp from the top at the left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Take the white cup from the table with a lip hold from above on the left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Grasp the white cup from the table by the lip from the top at its left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Take the white cup from the table from the top at the left side.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Using a lip grasp, pick up the white cup from the table.", + "start_idx": 1707, + "end_idx": 1845 + }, + { + "text": "Place the white cup to the top right of the blue marker with the left hand right side up with the front as the reference point.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Using the left hand, set the white cup at the blue marker's top right, right side up with the front as reference.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Have the left arm place the white cup to the upper right of the blue marker, keeping it right side up relative to the front.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "With the left hand, position the white cup at the top right of the blue marker, oriented right side up using the front as the reference point.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Place the white cup to the top right of the blue marker.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Set the white cup at the blue marker's upper-right side.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Position the white cup to the upper right of the blue marker.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Using the left hand, place the white cup to the top right of the blue marker.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Have the left arm set the white cup at the blue marker's upper right.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "With the left hand, position the white cup to the upper right of the blue marker.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Place the white cup right side up to the top right of the blue marker.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Set the white cup at the blue marker's upper right, with the front as the reference point.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Position the white cup right side up at the top right of the blue marker.", + "start_idx": 1845, + "end_idx": 1944 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Using the left hand, take the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Have the left arm pick the cabbage off the table diagonally from the middle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "With the left hand, retrieve the cabbage from the table, contacting its middle at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Take the cabbage off the table diagonally by the middle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Retrieve the cabbage from the table with a diagonal pickup at its middle.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Have the left arm take the cabbage off the table.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "With the left hand, retrieve the cabbage from the table.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Have the left arm pick up the cabbage from the table.", + "start_idx": 1944, + "end_idx": 2052 + }, + { + "text": "Put the cabbage to the left of the blue marker with the left hand facing bottom left from the front.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Using the left hand, place the cabbage to the left of the blue marker with its front facing bottom left.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Have the left arm set the cabbage to the left of the blue marker, front oriented toward the bottom left.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "With the left hand, position the cabbage left of the blue marker so the front faces bottom left.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Place the cabbage to the left of the blue marker with its front facing bottom left.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Set the cabbage left of the blue marker, with the front toward the bottom left.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Position the cabbage to the left of the blue marker so its front points bottom left.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Using the left hand, place the cabbage to the left of the blue marker.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Have the left arm set the cabbage left of the blue marker.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "With the left hand, position the cabbage to the left of the blue marker.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Place the cabbage to the left of the blue marker.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Set the cabbage left of the blue marker.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Position the cabbage to the left of the blue marker.", + "start_idx": 2052, + "end_idx": 2163 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal approach at its middle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "With the left hand, retrieve the blue marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Retrieve the blue marker from the table by grasping the middle at a diagonal angle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Take the blue marker from the table with a diagonal approach, holding the middle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "With the left hand, retrieve the blue marker from the table.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle.", + "start_idx": 2163, + "end_idx": 2346 + }, + { + "text": "Put the blue marker to the left of the blue screwdriver with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Using the left hand, place the blue marker to the left of the blue screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "With the left arm, position the blue marker left of the blue screwdriver so the tip serves as the reference point and it faces forwards.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Have the left hand set the blue marker to the left of the blue screwdriver, oriented forwards using the tip as the reference point.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Place the blue marker to the left of the blue screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Set the blue marker left of the blue screwdriver with the tip as the orientation reference point, facing forwards.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Position the blue marker to the left of the blue screwdriver so it faces forwards, using the tip as the reference point.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Using the left hand, place the blue marker to the left of the blue screwdriver.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "With the left arm, set the blue marker left of the blue screwdriver.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Have the left hand position the blue marker to the left of the blue screwdriver.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Place the blue marker to the left of the blue screwdriver.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Set the blue marker left of the blue screwdriver.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Using the left hand, position the blue marker to the left of the blue screwdriver.", + "start_idx": 2346, + "end_idx": 2460 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Have the right arm take the green bowl from the table using a right-side diagonal lip grip.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "With the right hand, grasp the green bowl from the table by the right lip at a diagonal angle.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Take the green bowl from the table with a right-side diagonal lip grip.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Grasp the green bowl from the table by the right lip at a diagonal angle.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Take the green bowl from the table using a diagonal grasp on the right.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "With a diagonal lip grip, grasp the green bowl from the table.", + "start_idx": 264, + "end_idx": 408 + }, + { + "text": "Put the green bowl in between the blue screwdriver and the white cup with the right hand.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Using the right hand, place the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Have the right arm set the green bowl in between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "With the right hand, position the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Place the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Set the green bowl in between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Position the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Leave the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Arrange the green bowl in between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Move the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Using the right hand, move the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Have the right arm place the green bowl between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "With the right hand, arrange the green bowl in between the blue screwdriver and the white cup.", + "start_idx": 408, + "end_idx": 543 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom in a diagonal pick.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table with a side grasp at the bottom in a diagonal pick.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Have the right arm collect the blue screwdriver from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "With the right hand, grasp the blue screwdriver from the table by the bottom using a side hold in a diagonal pickup.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Take the blue screwdriver from the table with a side grip at the bottom in a diagonal pick.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Grasp the blue screwdriver from the table by the bottom using a side hold in a diagonal pickup.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "The blue screwdriver from the table should be picked up with a side grasp at the bottom in a diagonal motion.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table with a side grip at the bottom.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "With the right hand, take the blue screwdriver from the table using a side grasp on the bottom.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Have the right arm pick up the blue screwdriver from the table at the bottom in a diagonal pick.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Pick up the blue screwdriver from the table at the bottom in a diagonal pick.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "The blue screwdriver from the table should be grasped with the right hand at the bottom in a diagonal pickup.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table.", + "start_idx": 543, + "end_idx": 669 + }, + { + "text": "Place the blue screwdriver to the right of the green bowl with the right hand facing top right with the tip as the reference point.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Using the right hand, position the blue screwdriver to the right of the green bowl, with the tip facing top right.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Have the right arm place the blue screwdriver to the right of the green bowl, oriented top right using the tip as reference.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the green bowl so the tip points toward the top right.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Place the blue screwdriver to the right of the green bowl with the tip facing top right.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Set the blue screwdriver to the right of the green bowl, oriented top right from the tip.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Position the blue screwdriver to the right of the green bowl so its tip points top right.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the green bowl.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "With the right hand, set the blue screwdriver to the right of the green bowl.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Have the right arm position the blue screwdriver to the right of the green bowl.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Place the blue screwdriver to the right of the green bowl.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Set the blue screwdriver to the right of the green bowl.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Position the blue screwdriver to the right of the green bowl.", + "start_idx": 669, + "end_idx": 792 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Have the right arm take the green bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "With the right hand, grasp the green bowl from the table using a diagonal lip hold on the right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Grasp the green bowl from the table using a diagonal lip hold on the right side.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "With the right hand, grasp the green bowl from the table.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Using the right hand, take the green bowl from the table.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Have the right arm grasp the green bowl from the table.", + "start_idx": 792, + "end_idx": 921 + }, + { + "text": "Put the green bowl to the right of the blue screwdriver with the right hand.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Using the right hand, place the green bowl to the right of the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Have the right arm set the green bowl down to the right of the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "With the right hand, position the green bowl on the right side of the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Place the green bowl to the right of the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Set the green bowl on the right side of the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Position the green bowl to the screwdriver's right.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Using the right hand, put the green bowl by the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "With the right hand, place the green bowl next to the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Have the right arm set the green bowl near the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Put the green bowl next to the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Place the green bowl by the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Set the green bowl near the blue screwdriver.", + "start_idx": 921, + "end_idx": 1020 + }, + { + "text": "Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Using the right hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Have the right arm pick the blue marker up from the table diagonally by its middle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "With the right hand, retrieve the blue marker from the table in a diagonal orientation, holding the middle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Take the blue marker from the table diagonally by the middle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Retrieve the blue marker from the table while holding its middle at a diagonal angle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Have the right arm take the blue marker from the table.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "With the right hand, retrieve the blue marker from the table.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Take the blue marker from the table at a diagonal angle.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Have the right arm pick up the blue marker from the table diagonally.", + "start_idx": 2460, + "end_idx": 2625 + }, + { + "text": "Put the blue marker to the right of the green bowl with the right hand facing forwards with the tip as the reference point.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Using the right hand, place the blue marker to the right of the green bowl with the tip facing forwards.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Have the right arm set the blue marker to the right of the green bowl, oriented forward using the tip as reference.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "With the right hand, position the blue marker to the right of the green bowl so the tip points forwards.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Place the blue marker to the right of the green bowl with the tip facing forwards.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Set the blue marker to the right of the green bowl, with the tip oriented forwards.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Position the blue marker to the right of the green bowl so its tip points forward.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Using the right hand, put the blue marker to the right of the green bowl.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Have the right arm place the blue marker to the right of the green bowl.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "With the right hand, set the blue marker to the right of the green bowl.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Place the blue marker to the right of the green bowl.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Set the blue marker with the right hand to the right of the green bowl.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Position the blue marker to the right of the green bowl.", + "start_idx": 2625, + "end_idx": 2805 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip at the right side at a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Have the right arm grasp the green bowl from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "With the right hand, collect the green bowl from the table using the lip grip on its right side at a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the right side with a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Take the green bowl from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Grasp the green bowl from the table using the lip grip at the right side with a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Have the right arm take the green bowl from the table using a lip grip.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "With the right hand, grasp the green bowl from the table with a lip hold.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Pick up the green bowl from the table with the right hand at the right side with a diagonal angle.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Take the green bowl from the table using a lip grip.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "With the right hand, collect the green bowl from the table.", + "start_idx": 2805, + "end_idx": 2928 + }, + { + "text": "Dump the asparagus from the green bowl to the right of the blue screwdriver with the right hand.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Using the right hand, dump the asparagus from the green bowl to the right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Have the right arm empty the asparagus out of the green bowl to the right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "With the right hand, pour the asparagus from the green bowl positioned right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Dump the asparagus from the green bowl to the right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Empty the asparagus out of the green bowl to the right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Pour the asparagus from the green bowl right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "The asparagus from the green bowl to the right of the blue screwdriver should be dumped.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Tip the asparagus out of the green bowl to the right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "From the green bowl to the right of the blue screwdriver, dump the asparagus.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Empty the green bowl to the right of the blue screwdriver of its asparagus.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "Pour out the asparagus from the bowl to the right of the blue screwdriver.", + "start_idx": 2928, + "end_idx": 3000 + }, + { + "text": "The asparagus in the green bowl to the right of the blue screwdriver should be poured out.", + "start_idx": 2928, + "end_idx": 3000 + } + ] + }, + "2026-04-21-19-54-35-034000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 324, + "annotations": [ + { + "text": "Pick up the white coffee cup from the table with the left hand by the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Using the left hand, take the white coffee cup from the table by its handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "With the left hand, secure the white coffee cup from the table via the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Take the white coffee cup from the table using the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "The white coffee cup should be picked up from the table by the handle from the side.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "The white coffee cup should be taken from the table.", + "start_idx": 0, + "end_idx": 183 + }, + { + "text": "Put the white coffee cup in front of the blue soda can with the left hand with the front facing backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the blue soda can with the front facing backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Have the left arm set the white coffee cup before the blue soda can, front facing backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "With the left hand, position the white coffee cup in front of the blue soda can so its front faces backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Place the white coffee cup in front of the blue soda can with the front facing backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Set the white coffee cup before the blue soda can with the front facing backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Position the white coffee cup in front of the blue soda can, front facing backwards.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the blue soda can.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Have the left arm set the white coffee cup before the blue soda can.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "With the left hand, position the white coffee cup in front of the blue soda can.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Place the white coffee cup in front of the blue soda can.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Set the white coffee cup before the blue soda can.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Position the white coffee cup in front of the blue soda can.", + "start_idx": 183, + "end_idx": 288 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top left in a diagonal pick angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top left in a diagonal pick angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "With the left arm, grasp the juice pouch from the table using a side hold at the top left on a diagonal angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Have the left hand pick the juice pouch up from the table with a side grasp at the top left in a diagonal approach.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top left in a diagonal pick angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top left on a diagonal angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Grasp the juice pouch from the table with a side hold at the top left in a diagonal orientation.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "With the left arm, take the juice pouch from the table using a side grasp.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Have the left hand grasp the juice pouch from the table with a side hold.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table at the top left in a diagonal pick angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "With the left arm, take the juice pouch from the table from the top left on a diagonal angle.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Have the left hand grasp the juice pouch from the table at the top left in a diagonal approach.", + "start_idx": 288, + "end_idx": 393 + }, + { + "text": "Place the juice pouch to the left of the blue soda can with the left hand right side up.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the blue soda can right side up.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Have the left arm place the juice pouch to the left of the blue soda can in an upright orientation.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "With the left hand, position the juice pouch left of the blue soda can so it is right side up.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Place the juice pouch to the left of the blue soda can right side up.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Set the juice pouch left of the blue soda can in an upright position.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Position the juice pouch to the left of the blue soda can so it stands right side up.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the blue soda can.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "With the left hand, set the juice pouch left of the blue soda can.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Have the left arm position the juice pouch to the left of the blue soda can.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Place the juice pouch to the left of the blue soda can.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Set the juice pouch left of the blue soda can.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Position the juice pouch to the left of the blue soda can.", + "start_idx": 393, + "end_idx": 543 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Have the left arm grasp the blue soda can from the table by the top with a side hold.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "The blue soda can should be picked up from the table with the left hand, applying a side grasp at the top.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Take the blue soda can from the table by the top with a side hold.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "The blue soda can should be grasped from the table at the top using a side grasp.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "With the left hand, pick up the blue soda can from the table.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "The blue soda can should be picked up from the table with the left hand.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 543, + "end_idx": 666 + }, + { + "text": "Put the blue soda can in front of the juice pouch and to the left of the white coffee cup with the left hand.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Using the left hand, place the blue soda can in front of the juice pouch and left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Have the left arm set the blue soda can before the juice pouch and to the left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "With the left hand, position the blue soda can in front of the juice pouch, left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Place the blue soda can in front of the juice pouch and to the left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Set the blue soda can before the juice pouch and left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "The blue soda can goes in front of the juice pouch and to the left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Position the blue soda can ahead of the juice pouch and left of the white coffee cup.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Put the blue soda can down with the left hand.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Using the left hand, place the blue soda can.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Have the left arm set down the blue soda can.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Place the blue soda can.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Set down the blue soda can.", + "start_idx": 666, + "end_idx": 771 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip at the bottom left with a diagonal angle.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "With the left hand, take the Doritos from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Using the left hand, grasp the Doritos from the table with a side hold at the bottom left on a diagonal.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Have the left arm pick the Doritos up from the table with a lateral grip at the bottom left at a diagonal angle.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Pick up the Doritos from the table using a side grip at the bottom left with a diagonal angle.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Take the Doritos from the table with a side grip at the bottom left and a diagonal angle.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Grasp the Doritos from the table at the bottom left using a side hold on a diagonal.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Using the left hand, take the Doritos from the table with a side hold.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Have the left arm grasp the Doritos from the table with a lateral grip.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Pick up the Doritos from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "With the left hand, take the Doritos from the table on a diagonal at the bottom left.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Grasp the Doritos from the table.", + "start_idx": 870, + "end_idx": 909 + }, + { + "text": "Put the Doritos to the right of the white coffee cup with the left hand facing forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Using the left hand, place the Doritos to the right of the white coffee cup with the front facing forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Have the left arm set the Doritos to the right of the white coffee cup, oriented forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "With the left hand, position the Doritos to the right of the white coffee cup so the front faces forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Place the Doritos to the right of the white coffee cup with the front facing forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Set the Doritos to the right of the white coffee cup, oriented forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Position the Doritos to the right of the white coffee cup so the front faces forwards.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Using the left hand, put the Doritos to the right of the white coffee cup.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Have the left arm place the Doritos to the right of the white coffee cup.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "With the left hand, set the Doritos to the right of the white coffee cup.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Put the Doritos to the right of the white coffee cup.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Set the Doritos to the right of the white coffee cup.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Position the Doritos to the right of the white coffee cup.", + "start_idx": 909, + "end_idx": 1002 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Have the left arm pick the brown stuffed animal up from the table by grasping the whole object from above.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "From above, the left hand should seize the brown stuffed animal on the table around the entire object.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Pick up the brown stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Take the brown stuffed animal from the table by grasping the whole object from above.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "From the table, secure the brown stuffed animal with an overhand grasp on the entire object.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "With the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Using the left hand, grasp the brown stuffed animal from the table.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Take the brown stuffed animal from the table by grasping the whole object.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "From the table, seize the brown stuffed animal with the left hand.", + "start_idx": 1002, + "end_idx": 1164 + }, + { + "text": "Put the brown stuffed animal to the left of the blue soda can with the left hand facing backwards with the front as the orientation reference point.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the blue soda can with its front facing backwards.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Have the left arm set the brown stuffed animal to the left of the blue soda can, oriented backwards from the front.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "With the left hand, position the brown stuffed animal to the left of the blue soda can so the front faces backwards.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Place the brown stuffed animal to the left of the blue soda can.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Set the brown stuffed animal to the left of the blue soda can.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Position the brown stuffed animal to the left of the blue soda can.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Have the brown stuffed animal placed to the left of the blue soda can.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the blue soda can.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "With the left hand, set the brown stuffed animal to the left of the blue soda can.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Put the brown stuffed animal to the left of the blue soda can with its front facing backwards.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Arrange the brown stuffed animal to the left of the blue soda can facing backwards from the front.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Have the brown stuffed animal positioned to the left of the blue soda can with the front facing backwards.", + "start_idx": 1164, + "end_idx": 1326 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip at the bottom left.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Using the left hand, take the Doritos from the table with a side grip at the bottom left.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Have the left arm grasp the Doritos from the table using a side hold on the bottom-left area.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "With the left hand, seize the Doritos from the table by the bottom left using a side grasp.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Pick up the Doritos from the table with a side grip at the bottom left.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Take the Doritos from the table using a side grasp on the bottom-left part.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "From the table, grasp the Doritos at the bottom left with a side hold.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Use the left hand to pick up the Doritos from the table.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "With the left hand, take the Doritos from the table.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Have the left arm collect the Doritos from the table.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Pick up the Doritos from the table.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Take the Doritos from the table.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "From the table, grasp the Doritos.", + "start_idx": 1326, + "end_idx": 1443 + }, + { + "text": "Put the Doritos to the top left of the brown stuffed animal with the left hand.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Using the left hand, place the Doritos at the brown stuffed animal's top-left side.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Have the left arm set the Doritos to the stuffed animal's top left.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "With the left hand, position the Doritos at the top left of the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Place the Doritos to the top left of the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Set the Doritos at the brown stuffed animal's top-left area.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Position the Doritos to the stuffed animal's top left.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Move the Doritos beside the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Put the Doritos near the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Place the Doritos by the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Using the left hand, place the Doritos beside the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "With the left hand, set the Doritos near the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Have the left arm put the Doritos by the brown stuffed animal.", + "start_idx": 1443, + "end_idx": 1581 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "With the left arm, grasp the blue soda can from the table by the top using a side hold.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Have the left hand pick the blue soda can up from the table with a side grasp at the top.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side grasp.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "With the left arm, take the blue soda can from the table.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Have the left hand grasp the blue soda can from the table.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Take the blue soda can from the table by the top.", + "start_idx": 1581, + "end_idx": 1773 + }, + { + "text": "Put the blue soda can to the right of the white coffee cup with the left hand.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "With the left hand, position the blue soda can to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Place the blue soda can to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Set the blue soda can down to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Position the blue soda can to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Move the blue soda can so it ends up to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Arrange the blue soda can to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "The blue soda can goes to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Place the blue soda can beside the white coffee cup on its right side.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Set the blue soda can on the right side of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Have the blue soda can placed to the right of the white coffee cup.", + "start_idx": 1773, + "end_idx": 1878 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top from the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top from the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a side hold at the top from above.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "With the left hand, seize the juice pouch from the table using a side grasp on the top from the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top from above.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Grasp the juice pouch from the table at the top with a side hold from the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Have the left arm take the juice pouch from the table using a side grasp.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "With the left hand, grasp the juice pouch from the table using a side hold.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table from the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "From above, have the left arm take the juice pouch from the table at the top.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 1878, + "end_idx": 1980 + }, + { + "text": "Put the juice pouch to the right of the blue soda can with the left hand right side up.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Using the left hand, place the juice pouch to the right of the blue soda can right side up.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Have the left arm set the juice pouch to the right of the blue soda can in an upright orientation.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "With the left hand, position the juice pouch to the right of the blue soda can so it stays right side up.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Place the juice pouch to the right of the blue soda can right side up.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Set the juice pouch to the right of the blue soda can in an upright position.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Position the juice pouch to the right of the blue soda can so it is right side up.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Using the left hand, put the juice pouch to the right of the blue soda can.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Have the left arm place the juice pouch to the right of the blue soda can.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "With the left hand, set the juice pouch to the right of the blue soda can.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Put the juice pouch to the right of the blue soda can.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Place the juice pouch beside the blue soda can on its right.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Set the juice pouch on the right side of the blue soda can.", + "start_idx": 1980, + "end_idx": 2094 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Have the left hand take the brown stuffed animal from the table by grasping the whole object from above.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table using a top hold on the entire object.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Pick up the brown stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Take the brown stuffed animal from the table by grasping the whole object from above.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "From the table, collect the brown stuffed animal with a top hold on the entire object.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Have the left hand take the brown stuffed animal from the table.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "From the table, collect the brown stuffed animal.", + "start_idx": 2094, + "end_idx": 2181 + }, + { + "text": "Put the brown stuffed animal in front of the blue soda can with the left hand facing backwards from the front.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Using the left hand, place the brown stuffed animal in front of the blue soda can facing backward from the front.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Have the left arm set the brown stuffed animal in front of the blue soda can with its front turned backward.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "With the left hand, position the brown stuffed animal before the blue soda can so the front faces backward.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Place the brown stuffed animal in front of the blue soda can facing backward from the front.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Set the brown stuffed animal before the blue soda can with its front turned backward.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Position the brown stuffed animal in front of the blue soda can so it faces backward from the front.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Put the brown stuffed animal in front of the blue soda can.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Place the brown stuffed animal before the blue soda can.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Set the brown stuffed animal in front of the blue soda can.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Using the left hand, put the brown stuffed animal in front of the blue soda can.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "With the left hand, place the brown stuffed animal before the blue soda can.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Have the left arm position the brown stuffed animal in front of the blue soda can.", + "start_idx": 2181, + "end_idx": 2250 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Using the left hand, pick up the Doritos from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Have the left arm take the Doritos from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "With the left hand, grasp the Doritos from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Pick up the Doritos from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "From a diagonal angle, grasp the Doritos from the table at the bottom with a side hold.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Take the Doritos from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Using the left hand, pick up the Doritos from the table with a side grip.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Have the left arm take the Doritos from the table at the bottom.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "With the left hand, grasp the Doritos from the table from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Pick up the Doritos from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Take the Doritos from the table at the bottom.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Grasp the Doritos from the table.", + "start_idx": 2250, + "end_idx": 2346 + }, + { + "text": "Put the Doritos behind the white coffee cup with the left hand facing forwards.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Using the left hand, place the Doritos behind the white coffee cup with the front facing forwards.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Have the left arm set the Doritos behind the white coffee cup, oriented forwards.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "With the left hand, position the Doritos behind the white coffee cup so the front faces forward.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Place the Doritos behind the white coffee cup with the front facing forwards.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Set the Doritos behind the white coffee cup, keeping the front pointed forwards.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Position the Doritos behind the white coffee cup so it faces forward.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Using the left hand, put the Doritos behind the white coffee cup.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "With the left hand, set the Doritos behind the white coffee cup.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Have the left arm place the Doritos behind the white coffee cup.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Put the Doritos behind the white coffee cup.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Set the Doritos behind the white coffee cup.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Position the Doritos behind the white coffee cup.", + "start_idx": 2346, + "end_idx": 2454 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a side hold at the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "With the left hand, pick the blue soda can up from the table using a side grasp from the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Grasp the blue soda can from the table using a side grasp from the top.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Have the left arm grasp the blue soda can from the table.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Get the blue soda can from the table.", + "start_idx": 2886, + "end_idx": 3000 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand from the top at the middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table from the top at the middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table with a top grasp at the middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "With the right hand, grasp the brown stuffed animal from the table from above at its middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Pick up the brown stuffed animal from the table from the top at the middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Grasp the brown stuffed animal from the table from above at its middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Take the brown stuffed animal from the table with a top grasp at the middle.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "With the right hand, grasp the brown stuffed animal from the table.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Grasp the brown stuffed animal from the table.", + "start_idx": 2454, + "end_idx": 2637 + }, + { + "text": "Put the brown stuffed animal to the right of the juice pouch with the right hand facing backwards with the front as the reference point.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the juice pouch with its front facing backward.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Have the right arm set the brown stuffed animal to the right of the juice pouch, oriented backward relative to its front.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "With the right hand, position the brown stuffed animal to the right of the juice pouch so the front faces backward.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Place the brown stuffed animal to the right of the juice pouch with its front facing backward.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Set the brown stuffed animal to the right of the juice pouch, oriented backward from the front.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Position the brown stuffed animal to the right of the juice pouch so its front points backward.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the juice pouch.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Have the right arm set the brown stuffed animal to the right of the juice pouch.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "With the right hand, position the brown stuffed animal to the right of the juice pouch.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Put the brown stuffed animal to the right of the juice pouch.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Place the brown stuffed animal with the right hand.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Set the brown stuffed animal to the right of the juice pouch.", + "start_idx": 2637, + "end_idx": 2724 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Have the right hand pick the juice pouch up from the table using a side grip on the top at a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "From a diagonal angle, the right hand should grasp the top of the juice pouch on the table with a side hold.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the top from a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "From a diagonal angle, grasp the top of the juice pouch from the table with a side hold.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Have the right hand take the juice pouch from the table with a side grasp on the top.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "With the right hand, grasp the juice pouch from the table at a diagonal angle.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 2724, + "end_idx": 2808 + }, + { + "text": "Put the juice pouch on the right side of the table with the right hand right side up with the front as the reference point.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Using the right hand, place the juice pouch on the right side of the table right side up, referencing the front.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Have the right arm set the juice pouch on the table's right side, keeping it right side up with the front as reference.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "With the right hand, position the juice pouch on the right side of the table so it stays right side up, based on the front.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Place the juice pouch on the right side of the table right side up with the front as the reference point.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Set the juice pouch on the right side of the table right side up, using the front as the reference point.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Position the juice pouch on the table's right side right side up with the front as the reference point.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Using the right hand, place the juice pouch on the right side of the table.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Have the right arm set the juice pouch on the table's right side.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "With the right hand, position the juice pouch on the table's right side.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Put the juice pouch on the right side of the table.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Set the juice pouch on the table's right side.", + "start_idx": 2808, + "end_idx": 2886 + }, + { + "text": "Have the juice pouch placed on the right side of the table.", + "start_idx": 2808, + "end_idx": 2886 + } + ] + }, + "2026-04-21-19-58-50-895000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 299, + "annotations": [ + { + "text": "Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Using the left hand, take the juice pouch from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Have the left arm pick the juice pouch up from the table diagonally by its middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table in a diagonal orientation, holding the middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Pick up the juice pouch from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Take the juice pouch from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Retrieve the juice pouch from the table with a diagonal pickup, holding its middle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "From the table, pick up the juice pouch.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Get the juice pouch off the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "With the left hand, retrieve the juice pouch from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Place the juice pouch to the left of the blue soda can with the left hand right side up.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Using the left hand, set the juice pouch to the left of the blue soda can right side up.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Have the left arm place the juice pouch left of the blue soda can in an upright orientation.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "With the left hand, position the juice pouch to the left of the blue soda can so it stays right side up.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Place the juice pouch to the left of the blue soda can right side up.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Set the juice pouch left of the blue soda can in an upright position.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Position the juice pouch to the left of the blue soda can right side up.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Using the left hand, place the juice pouch to the left of the blue soda can.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Have the left arm set the juice pouch left of the blue soda can.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "With the left hand, position the juice pouch to the left of the blue soda can.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Put the juice pouch to the left of the blue soda can.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Set the juice pouch left of the blue soda can.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Place the juice pouch beside the blue soda can on its left side.", + "start_idx": 84, + "end_idx": 174 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a lip grip from the top at the right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table with a lip grip from the top at the right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Have the left hand grasp the white coffee cup from the table with a lip hold from above on its right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "With the left hand, take hold of the white coffee cup from the table using a lip grasp from the top on the right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the top at the right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp from above on its right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold at the right side from the top.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Have the left hand take the white coffee cup from the table.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand from the top at the right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a lip grip.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Grasp the white coffee cup from the table from the top at the right side.", + "start_idx": 174, + "end_idx": 330 + }, + { + "text": "Put the white coffee cup behind the juice pouch with the left hand right side up with the front facing backwards.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Using the left hand, place the white coffee cup behind the juice pouch, right side up, with the front facing backward.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Have the left arm set the white coffee cup behind the juice pouch upright, with its front toward the back.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "With the left hand, position the white coffee cup behind the juice pouch so it stays right side up and the front faces backward.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Place the white coffee cup behind the juice pouch, right side up, with the front facing backward.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Set the white coffee cup behind the juice pouch upright, with its front toward the back.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Position the white coffee cup behind the juice pouch so it is right side up and facing backward at the front.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Using the left hand, put the white coffee cup behind the juice pouch.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "With the left hand, place the white coffee cup behind the juice pouch.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Have the left arm move the white coffee cup behind the juice pouch.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Put the white coffee cup behind the juice pouch.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Set the white coffee cup behind the juice pouch.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Position the white coffee cup behind the juice pouch.", + "start_idx": 330, + "end_idx": 423 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grasp at the bottom and a diagonal pick angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Have the left arm collect the doritos from the table with a bottom side grip at a diagonal angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "With the left hand, grasp the doritos from the table from the bottom using a side hold and a diagonal approach.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Take the doritos from the table with a bottom side grasp and a diagonal approach.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Get the doritos from the table with a side hold at the bottom and a diagonal angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the bottom.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Have the left arm take the doritos from the table using a side grasp at the bottom.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "With the left hand, collect the doritos from the table from the bottom using a side hold.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal pick angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Using the left hand, take the doritos from the table from the bottom with a diagonal approach.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Grab the doritos from the table from the bottom with a diagonal pick angle.", + "start_idx": 423, + "end_idx": 549 + }, + { + "text": "Put the doritos to the left of the white coffee cup with the left hand facing forwards.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Using the left hand, place the Doritos to the left of the white coffee cup with the front facing forward.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Have the left arm set the Doritos to the left of the white coffee cup, front side facing forward.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "With the left hand, position the Doritos left of the white coffee cup so the front faces forward.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Place the Doritos to the left of the white coffee cup with the front facing forward.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Set the Doritos left of the white coffee cup with the front side forward.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Position the Doritos to the left of the white coffee cup, front facing forward.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Using the left hand, place the Doritos to the left of the white coffee cup.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Have the left arm set the Doritos left of the white coffee cup.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "With the left hand, position the Doritos to the left of the white coffee cup.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Place the Doritos to the left of the white coffee cup.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Set the Doritos left of the white coffee cup.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Position the Doritos to the left of the white coffee cup.", + "start_idx": 549, + "end_idx": 648 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip at the top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip at the top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Have the left arm grasp the juice pouch from the table with a side hold at its top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "With the left hand, secure the juice pouch from the table using a lateral grip on the top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Take the juice pouch from the table with a side hold at the top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Grasp the juice pouch from the table with a lateral grip on its top.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Have the left arm take the juice pouch from the table.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "With the left hand, grasp the juice pouch from the table.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Take the juice pouch from the table with the left hand.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Using a side grip at the top, grasp the juice pouch from the table.", + "start_idx": 648, + "end_idx": 741 + }, + { + "text": "Put the juice pouch behind the blue soda can with the left hand right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Using the left hand, place the juice pouch behind the blue soda can right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Have the left arm set the juice pouch behind the blue soda can with its right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "With the left hand, position the juice pouch behind the blue soda can so it stays right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Place the juice pouch behind the blue soda can right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Set the juice pouch behind the blue soda can with its right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Position the juice pouch behind the blue soda can, keeping it right side up.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Put the juice pouch behind the blue soda can with the left hand.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Using the left hand, place the juice pouch behind the blue soda can.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Have the left arm set the juice pouch behind the blue soda can.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Put the juice pouch behind the blue soda can.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Set the juice pouch behind the blue soda can.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Position the juice pouch behind the blue soda can.", + "start_idx": 741, + "end_idx": 795 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Have the left arm grasp the doritos from the table from a diagonal angle with a side hold at the bottom.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "With the left hand, retrieve the doritos from the table by gripping the bottom from a diagonal angle with a side grasp.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "From a diagonal angle, grasp the doritos from the table with a side hold at the bottom.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Take the doritos from the table by gripping the bottom from a diagonal angle with a side grasp.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "With the left hand, pick up the doritos from the table using a side grip.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Using the left hand, take the doritos from the table with a side hold.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side grasp.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "With the left hand, collect the doritos from the table from a diagonal angle at the bottom.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Pick up the doritos from the table at the bottom from a diagonal angle.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Take the doritos from the table with the left hand.", + "start_idx": 1725, + "end_idx": 1857 + }, + { + "text": "Put the doritos to the left of the brown stuffed animal with the left hand facing right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Using the left hand, place the doritos to the left of the brown stuffed animal with the front facing right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Have the left arm set the doritos to the left of the brown stuffed animal, oriented so the front points right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "With the left hand, position the doritos to the left of the brown stuffed animal, front facing right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Place the doritos to the left of the brown stuffed animal with the front facing right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Set the doritos to the left of the brown stuffed animal, with the front pointing right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Position the doritos to the left of the brown stuffed animal so the front faces right.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Using the left hand, place the doritos to the left of the brown stuffed animal.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "With the left hand, set the doritos to the left of the brown stuffed animal.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Have the left arm position the doritos to the left of the brown stuffed animal.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Place the doritos to the left of the brown stuffed animal.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Set the doritos to the left of the brown stuffed animal.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Position the doritos to the left of the brown stuffed animal.", + "start_idx": 1857, + "end_idx": 2010 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Have the right arm pick the blue soda can off the table using a top side grasp from a diagonal approach.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "With the right hand, grasp the blue soda can from the table at the top with a side hold from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Take the blue soda can off the table using a side grasp at the top from a diagonal approach.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Have the right arm take the blue soda can off the table.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Pick up the blue soda can from the table with the right hand from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Using the right hand, take the blue soda can off the table at the top from a diagonal approach.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Grasp the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 795, + "end_idx": 1008 + }, + { + "text": "Put the blue soda can to the right side of the table with the right hand.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Using the right hand, place the blue soda can on the table's right side.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Have the right arm set the blue soda can down at the right side of the table.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the table.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Place the blue soda can on the right side of the table.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Set the blue soda can down at the table's right side.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "The blue soda can goes on the right side of the table.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Put the blue soda can there with the right hand.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Using the right hand, place the blue soda can there.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Have the right arm set the blue soda can down there.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Place the blue soda can there.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Set the blue soda can down.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "The blue soda can should be placed there.", + "start_idx": 1008, + "end_idx": 1134 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "With the right hand, pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Using the right hand, grasp the juice pouch from the table with a side hold at the top at a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Have the right arm take the juice pouch from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Grasp the juice pouch from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "The juice pouch from the table should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "With the right hand, pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Have the right arm grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "With the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Using the right hand, take the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 1134, + "end_idx": 1266 + }, + { + "text": "Put the juice pouch to the bottom right side of the table with the right hand right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Using the right hand, place the juice pouch at the table's bottom right side, right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Have the right arm set the juice pouch on the bottom right area of the table with its right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "With the right hand, position the juice pouch on the table's lower-right side, right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Place the juice pouch at the bottom right side of the table, right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Set the juice pouch on the table's bottom right area, right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Position the juice pouch at the lower-right side of the table, right side up.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Using the right hand, put the juice pouch on the bottom right side of the table.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "With the right hand, place the juice pouch at the table's lower-right side.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Have the right arm set the juice pouch on the bottom right area of the table.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Put the juice pouch on the table's bottom right side.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Set the juice pouch at the lower-right side of the table.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Position the juice pouch on the bottom right area of the table.", + "start_idx": 1266, + "end_idx": 1380 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp at the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table using a diagonal lip hold on the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table via a diagonal grasp on the lip at the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp at the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip hold on the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "The white coffee cup should be picked up from the table with a diagonal grasp at the right-side lip.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Using the right hand, take the white coffee cup from the table at the right side.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip hold.", + "start_idx": 1380, + "end_idx": 1569 + }, + { + "text": "Put the white coffee cup behind the blue soda can with the handle facing backwards right side up using the right arm.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Using the right arm, place the white coffee cup behind the blue soda can with its handle pointing backward and upright.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue soda can, keeping it right side up with the handle facing backward.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "With the right arm, position the white coffee cup behind the blue soda can so the handle faces backward and the cup stays upright.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Place the white coffee cup behind the blue soda can with the handle facing backward and right side up.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Set the white coffee cup behind the blue soda can, keeping it upright with the handle pointed backward.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Position the white coffee cup behind the blue soda can so it is upright and its handle faces backward.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Using the right arm, put the white coffee cup behind the blue soda can.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "With the right arm, place the white coffee cup behind the blue soda can.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Have the right arm position the white coffee cup behind the blue soda can.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Put the white coffee cup behind the blue soda can.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Set the white coffee cup behind the blue soda can.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Position the white coffee cup behind the blue soda can.", + "start_idx": 1569, + "end_idx": 1725 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Have the right hand take the blue soda can from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "With the right hand, grasp the blue soda can from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Take the blue soda can from the table by its top using a side grasp from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "From a diagonal angle, grasp the blue soda can from the table at the top with a side hold.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Have the right hand grasp the blue soda can from the table with a side hold.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Pick up the blue soda can from the table with the right hand from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "With the right hand, take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Grab the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 2010, + "end_idx": 2199 + }, + { + "text": "Put the blue soda can behind the doritos with the right hand.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Using the right hand, place the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Have the right arm set the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "With the right hand, position the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Put the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Place the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Set the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Position the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Move the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "The blue soda can goes behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Arrange the blue soda can behind the doritos.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Place the blue soda can there.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Set the blue soda can in place.", + "start_idx": 2199, + "end_idx": 2334 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Have the right arm grasp the juice pouch from the table by the top with a side hold at a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "With the right hand, secure the juice pouch from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Take the juice pouch from the table with a side hold on the top from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Grasp the juice pouch from the table by the top with a side grip from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "With the right hand, take the juice pouch from the table using a side grasp on the top.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Have the right arm collect the juice pouch from the table with a side hold at the top.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Take the juice pouch from the table at the top from a diagonal angle.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Put the juice pouch behind the brown stuffed animal with the right hand right side up.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Using the right hand, place the juice pouch behind the brown stuffed animal with its right side up.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Have the right arm set the juice pouch behind the brown stuffed animal in an upright orientation.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "With the right hand, position the juice pouch behind the brown stuffed animal so it stays right side up.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Place the juice pouch behind the brown stuffed animal with its right side up.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Set the juice pouch behind the brown stuffed animal in an upright position.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Position the juice pouch behind the brown stuffed animal so it remains right side up.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Put the juice pouch behind the brown stuffed animal with the right hand.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Using the right hand, place the juice pouch behind the brown stuffed animal.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Have the right arm set the juice pouch behind the brown stuffed animal.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Put the juice pouch behind the brown stuffed animal.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Place the juice pouch behind the brown stuffed animal.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Set the juice pouch behind the brown stuffed animal.", + "start_idx": 2448, + "end_idx": 2547 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand from the side by the handle.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Using the right hand, take the white coffee cup from the table from the side by the handle.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table by its handle from the side.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Pick up the white coffee cup from the table from the side by the handle.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Take the white coffee cup from the table by the handle from the side.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Retrieve the white coffee cup from the table from the side by the handle.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 2547, + "end_idx": 2664 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Using the right hand, take the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Have the right arm pick the brown stuffed animal up from the table diagonally with a whole-object grasp.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "With the right hand, collect the brown stuffed animal from the table at a diagonal angle using an entire-object grasp.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "At a diagonal angle, pick up the brown stuffed animal from the table with an entire-object grasp.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Take the brown stuffed animal from the table diagonally, grasping the entire object.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table grasping the entire object.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table using an entire-object grasp.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table with a whole-object grasp.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table at a diagonal angle.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "With the right hand, take the brown stuffed animal from the table diagonally.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2778, + "end_idx": 2883 + }, + { + "text": "Put the brown stuffed animal to the right of the white coffee cup with the right hand facing backwards with the front as the orientation reference point.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the white coffee cup, facing backwards relative to its front.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the brown stuffed animal to the right of the white coffee cup with its front oriented backwards.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the brown stuffed animal to the right of the white coffee cup so the front faces backwards.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Place the brown stuffed animal to the right of the white coffee cup with its front facing backwards.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Set the brown stuffed animal to the right of the white coffee cup, oriented backwards from the front.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Position the brown stuffed animal to the right of the white coffee cup with the front facing backwards.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the white coffee cup.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the brown stuffed animal to the right of the white coffee cup.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the brown stuffed animal to the right of the white coffee cup.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Place the brown stuffed animal to the right of the white coffee cup.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Set the brown stuffed animal to the right of the white coffee cup.", + "start_idx": 2883, + "end_idx": 3000 + }, + { + "text": "Put the brown stuffed animal to the right of the white coffee cup.", + "start_idx": 2883, + "end_idx": 3000 + } + ] + }, + "2026-04-21-20-01-00-040000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "pick_place_diverse", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side grip from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "With the left hand, take the blue soda can from the table using a side grasp on the top.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Have the left arm collect the blue soda can from the table with a side hold at the top.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "From the table, take the blue soda can with the left hand.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Put the blue soda can to the left of the Doritos with the left hand.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "With the left hand, position the blue soda can left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Place the blue soda can to the left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Set the blue soda can down left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Position the blue soda can to the Doritos' left.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Leave the blue soda can on the left side of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Move the blue soda can to the left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Arrange the blue soda can left of the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Put the blue soda can beside the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Using the left hand, place the blue soda can beside the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Have the left arm put the blue soda can by the Doritos.", + "start_idx": 122, + "end_idx": 231 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Using the left hand, take the Doritos from the table with a side grasp at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "With the left arm, pick the Doritos up from the table using a side hold at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Have the left hand grasp the Doritos from the table with a side grip at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Take the Doritos from the table using a side grasp at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Grasp the Doritos from the table with a side hold at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "The Doritos from the table should be picked up with a side grip at the bottom from the side.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Using the left hand, pick up the Doritos from the table.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "With the left arm, take the Doritos from the table.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Have the left hand grasp the Doritos from the table.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Pick up the Doritos from the table with the left hand.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Using the left hand, take the Doritos from the table.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "The Doritos from the table should be grasped with the left hand.", + "start_idx": 636, + "end_idx": 780 + }, + { + "text": "Put the Doritos behind the blue soda can with the left hand facing forwards.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Using the left hand, place the Doritos behind the blue soda can with the front facing forward.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Have the left arm set the Doritos behind the blue soda can, oriented so the front faces forward.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "With the left hand, position the Doritos behind the blue soda can, keeping the front pointed forward.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Place the Doritos behind the blue soda can with the front facing forward.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Set the Doritos behind the blue soda can, oriented forward at the front.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Position the Doritos behind the blue soda can so the front points forward.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Using the left hand, put the Doritos behind the blue soda can.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Have the left arm place the Doritos behind the blue soda can.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "With the left hand, set the Doritos behind the blue soda can.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Put the Doritos behind the blue soda can.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Place the Doritos behind the blue soda can.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Set the Doritos behind the blue soda can.", + "start_idx": 780, + "end_idx": 894 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Using the left hand, take the Doritos from the table with a side grip at the bottom left and a diagonal pick angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Have the left arm grasp the Doritos from the table with a side hold on the bottom-left area at a diagonal angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "With the left hand, seize the Doritos from the table using a side grasp at the bottom left on a diagonal.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Pick up the Doritos from the table using a side grip at the bottom left with a diagonal pick angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Take the Doritos from the table with a side grasp at the bottom left and a diagonal angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Get the Doritos from the table using a side hold on the bottom-left area at a diagonal pick angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Pick up the Doritos from the table with the left hand using a side grip.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Using the left hand, grasp the Doritos from the table with a side hold.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Have the left arm take the Doritos from the table with a side grasp.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Pick up the Doritos from the table with the left hand at the bottom left with a diagonal pick angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "With the left hand, take the Doritos from the table at the bottom left on a diagonal.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Get the Doritos from the table at the bottom left with a diagonal pick angle.", + "start_idx": 1404, + "end_idx": 1584 + }, + { + "text": "Put the Doritos to the right of the blue soda can with the left hand facing forwards.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Using the left hand, place the Doritos to the right of the blue soda can with the front facing forwards.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Have the left arm set the Doritos to the right of the blue soda can, front pointed forward.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "With the left hand, position the Doritos right of the blue soda can so the front faces forward.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Place the Doritos to the right of the blue soda can with the front facing forwards.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Set the Doritos right of the blue soda can, front facing forward.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Position the Doritos to the right of the blue soda can so the front points forward.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Using the left hand, put the Doritos to the right of the blue soda can.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "With the left arm, place the Doritos right of the blue soda can.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Have the left hand set the Doritos to the right of the blue soda can.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Put the Doritos to the right of the blue soda can.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Place the Doritos right of the blue soda can.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Set the Doritos to the right of the blue soda can.", + "start_idx": 1584, + "end_idx": 1701 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table by applying a side grasp at the top.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Using the left hand, retrieve the blue soda can from the table.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 2721, + "end_idx": 2838 + }, + { + "text": "Put the blue soda can to the left of the brown stuffed animal with the left hand.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Place the blue soda can to the left of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Set the blue soda can down to the left of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Position the blue soda can on the left side of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "The blue soda can goes to the left of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Put the blue soda can beside the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Place the blue soda can next to the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Set the blue soda can down beside the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Have the blue soda can placed on the left side of the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Position the blue soda can beside the brown stuffed animal.", + "start_idx": 2838, + "end_idx": 3000 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Have the right arm grasp the juice pouch from the table by the top with a side hold at a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "With the right hand, collect the juice pouch from the table using a side grasp on the top from a diagonal approach.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "From the table, grasp the juice pouch with a side hold at the top from a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Take the juice pouch off the table with a side grasp on the top from a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Have the right arm take the juice pouch from the table using a side grasp.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "With the right hand, collect the juice pouch from the table by the top using a side hold.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Pick up the juice pouch from the table with the right hand from a diagonal angle.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Take the juice pouch from the table by the top with the right hand.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "From the table, grasp the juice pouch using a side grip.", + "start_idx": 231, + "end_idx": 342 + }, + { + "text": "Put the juice pouch behind the white mug with the right hand right side up with the front as the reference point.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Using the right hand, place the juice pouch behind the white mug right side up, with the front as the reference point.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Have the right arm set the juice pouch behind the white mug, keeping it right side up relative to the front.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "With the right hand, position the juice pouch behind the white mug in a right-side-up orientation using the front as reference.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Place the juice pouch behind the white mug right side up, with the front as the reference point.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Set the juice pouch behind the white mug, keeping it right side up relative to the front.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Position the juice pouch behind the white mug in a right-side-up orientation using the front as reference.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Using the right hand, put the juice pouch behind the white mug.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Have the right arm place the juice pouch behind the white mug.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "With the right hand, set the juice pouch behind the white mug.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Put the juice pouch behind the white mug.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Place the juice pouch behind the white mug right side up.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Set the juice pouch behind the white mug with the front as the reference point.", + "start_idx": 342, + "end_idx": 423 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table diagonally by its middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Take the brown stuffed animal from the table at a diagonal angle by the middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Retrieve the brown stuffed animal from the table diagonally, holding its middle.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Have the right arm pick up the brown stuffed animal from the table diagonally.", + "start_idx": 423, + "end_idx": 492 + }, + { + "text": "Place the brown stuffed animal to the center of the table with the right hand facing backwards with the front as the reference point.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Using the right hand, set the brown stuffed animal at the center of the table with its front facing backwards.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Have the right arm place the brown stuffed animal in the table center, oriented backwards relative to its front.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "With the right hand, position the brown stuffed animal at the center of the table so the front faces backwards.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Place the brown stuffed animal at the center of the table with its front facing backwards.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Set the brown stuffed animal in the center of the table, oriented backwards from the front.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Position the brown stuffed animal at the center of the table so it faces backwards relative to its front.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Put the brown stuffed animal at the center of the table.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Set the brown stuffed animal in the center of the table.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Place the brown stuffed animal in the table center.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Using the right hand, place the brown stuffed animal at the center of the table.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Have the right arm set the brown stuffed animal in the center of the table.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "With the right hand, position the brown stuffed animal in the table center.", + "start_idx": 491, + "end_idx": 621 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand from the side grasping the entire object.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Using the right hand, take the brown stuffed animal from the table with a side grasp around the entire object.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Have the right arm pick up the brown stuffed animal from the table by grasping the whole object from the side.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "With the right hand, collect the brown stuffed animal from the table using a side hold on the entire object.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Pick up the brown stuffed animal from the table with a side grasp around the entire object.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "From the table, retrieve the brown stuffed animal by grasping the whole object from the side.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Take the brown stuffed animal from the table using a side hold on the full object.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "From the table, collect the brown stuffed animal.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 894, + "end_idx": 1059 + }, + { + "text": "Place the brown stuffed animal to the right of the white cup with the right hand facing bottom right from the front.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Using the right hand, set the brown stuffed animal to the right of the white cup, facing bottom right from the front.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Have the right arm place the brown stuffed animal to the right of the white cup with its front facing bottom right.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "With the right hand, position the brown stuffed animal to the right of the white cup so the front points bottom right.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Place the brown stuffed animal to the right of the white cup, with its front facing bottom right.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Set the brown stuffed animal to the right of the white cup, oriented bottom right from the front.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Position the brown stuffed animal to the right of the white cup with the front facing bottom right.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Put the brown stuffed animal to the right of the white cup.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Set the brown stuffed animal down to the right of the white cup.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Have the brown stuffed animal placed to the right of the white cup.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the white cup.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "With the right hand, set the brown stuffed animal to the right of the white cup.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Have the right arm put the brown stuffed animal to the right of the white cup.", + "start_idx": 1059, + "end_idx": 1194 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Have the right hand take the juice pouch from the table, grasping it from the side at the top.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "With the right hand, grasp the juice pouch from the table using a side hold at the top.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "From the table, grasp the juice pouch at the top with a side grip.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Pick up the juice pouch from the table with the right hand.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Use the right hand to take the juice pouch from the table.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "With the right hand, grasp the juice pouch from the table.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "From the table, grasp the juice pouch.", + "start_idx": 1194, + "end_idx": 1299 + }, + { + "text": "Put the juice pouch to the left of the white cup right side up with the front as the reference using the right hand.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the white cup, right side up with the front as the reference.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Have the right arm set the juice pouch left of the white cup in an upright orientation, referenced to the front.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "With the right hand, position the juice pouch on the left side of the white cup, right side up relative to the front.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Place the juice pouch to the left of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Set the juice pouch on the left side of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "The juice pouch goes left of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Position the juice pouch to the left of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Have the right arm set the juice pouch left of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "With the right hand, position the juice pouch on the left side of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Put the juice pouch right side up with the front as the reference.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Set the juice pouch to the left of the white cup.", + "start_idx": 1299, + "end_idx": 1404 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Have the right arm grasp the juice pouch from the table using a side hold at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "With the right hand, secure the juice pouch from the table in a side grasp at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Take the juice pouch from the table with a side hold at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Grasp the juice pouch from the table in a side grip at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "The juice pouch from the table should be picked up with a side grasp at the top.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Take the juice pouch from the table with the right hand.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Have the right arm collect the juice pouch from the table.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "The juice pouch from the table should be grasped.", + "start_idx": 1701, + "end_idx": 1866 + }, + { + "text": "Place the juice pouch behind the brown stuffed animal with the right hand right side up.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Using the right hand, set the juice pouch behind the brown stuffed animal right side up.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Have the right arm place the juice pouch behind the brown stuffed animal in an upright orientation.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "With the right hand, position the juice pouch behind the brown stuffed animal so it is right side up.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Place the juice pouch behind the brown stuffed animal right side up.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Set the juice pouch behind the brown stuffed animal in an upright position.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Position the juice pouch behind the brown stuffed animal so it stays upright.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Using the right hand, place the juice pouch behind the brown stuffed animal.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Have the right arm set the juice pouch behind the brown stuffed animal.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "With the right hand, position the juice pouch behind the brown stuffed animal.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Put the juice pouch behind the brown stuffed animal.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Using the right hand, move the juice pouch behind the brown stuffed animal.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Arrange the juice pouch behind the brown stuffed animal in an upright position.", + "start_idx": 1866, + "end_idx": 1995 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grasp from the right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grasp from the right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Have the right arm take the white cup from the table using a lip grasp on its right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "With the right hand, grasp the white cup from the table by its lip from the right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Pick up the white cup from the table using a lip grasp from the right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Take the white cup from the table by its lip on the right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Grasp the white cup from the table from the right side with a lip hold.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Using the right hand, pick up the white cup from the table from the right side.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Take the white cup from the table using a lip grasp.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Grasp the white cup from the table with a lip hold.", + "start_idx": 1995, + "end_idx": 2136 + }, + { + "text": "Put the white cup to the left of the juice pouch with the handle facing bottom right right side up with the front as the orientation reference point using the right hand.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Using the right hand, place the white cup to the left of the juice pouch, right side up, with its handle pointing to the bottom right from the front.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Have the right hand set the white cup left of the juice pouch, keeping it upright and the handle aimed bottom right relative to the front.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "With the right hand, position the white cup to the left of the juice pouch so it is right side up and its handle faces bottom right from the front.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Place the white cup to the left of the juice pouch, right side up, with the handle facing bottom right from the front.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Set the white cup left of the juice pouch, keeping it upright and the handle directed to the bottom right from the front.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Position the white cup to the left of the juice pouch so the handle points bottom right from the front and it stays right side up.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Using the right hand, place the white cup to the left of the juice pouch.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Have the right hand set the white cup left of the juice pouch.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Put the white cup to the left of the juice pouch with the right hand.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Place the white cup to the left of the juice pouch.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Set the white cup left of the juice pouch.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Using the right hand, position the white cup to the left of the juice pouch.", + "start_idx": 2136, + "end_idx": 2268 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand from the side at the middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Using the right hand, take the brown stuffed animal from the table from the side at the middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Have the right hand grasp the brown stuffed animal on the table from the side at its middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "With the right hand, collect the brown stuffed animal from the table by approaching from the side at the middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Pick up the brown stuffed animal from the table from the side at the middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Take the brown stuffed animal from the table by grasping it from the side at the middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "From the side, grasp the brown stuffed animal on the table at the middle.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Have the right hand take the brown stuffed animal from the table.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "With the right hand, grasp the brown stuffed animal on the table.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Have the right hand pick up the brown stuffed animal from the table from the side.", + "start_idx": 2268, + "end_idx": 2421 + }, + { + "text": "Put the brown stuffed animal to the center of the table with the right hand facing bottom right from the front.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Using the right hand, place the brown stuffed animal at the center of the table, facing bottom right from the front.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Have the right arm set the brown stuffed animal in the table center with its front facing bottom right.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "With the right hand, position the brown stuffed animal in the center of the table so the front points bottom right.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Place the brown stuffed animal at the center of the table with its front facing bottom right.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Set the brown stuffed animal in the center of the table, facing bottom right from the front.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Position the brown stuffed animal at the table center so the front faces bottom right.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Using the right hand, put the brown stuffed animal at the center of the table.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "With the right hand, set the brown stuffed animal in the table center.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Have the right arm place the brown stuffed animal at the center of the table.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Put the brown stuffed animal at the center of the table.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Set the brown stuffed animal in the center of the table.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Position the brown stuffed animal at the table center.", + "start_idx": 2421, + "end_idx": 2499 + }, + { + "text": "Pick up the Doritos from the table with the right hand using a side grip at the bottom right from the top.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Using the right hand, take the Doritos from the table with a side grip at the bottom right from the top.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Have the right arm pick the Doritos off the table using a side grasp on the bottom right from above.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "With the right hand, grasp the Doritos from the table at the bottom right using a side hold from the top.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Pick up the Doritos from the table using a side grip at the bottom right from the top.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Take the Doritos off the table with a side grasp at the bottom right from above.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Grasp the Doritos from the table using a side hold on the bottom right from the top.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Using the right hand, pick up the Doritos from the table with a side grip.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Have the right arm take the Doritos off the table with a side grasp.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "With the right hand, grasp the Doritos from the table using a side hold.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Pick up the Doritos from the table with the right hand at the bottom right from the top.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "From above, take the Doritos off the table with the right hand at the bottom right.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Using the right hand, pick up the Doritos from the table.", + "start_idx": 2499, + "end_idx": 2607 + }, + { + "text": "Put the Doritos in front of the white cup and to the right of the brown stuffed animal with the right hand facing top right from the front.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Using the right hand, place the Doritos in front of the white cup and to the right of the brown stuffed animal, facing top right from the front.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Have the right hand set the Doritos in front of the white cup and right of the brown stuffed animal with the front facing top right.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "With the right hand, position the Doritos before the white cup and to the brown stuffed animal's right, oriented top right from the front.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Place the Doritos in front of the white cup and to the right of the brown stuffed animal, facing top right from the front.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Set the Doritos before the white cup and right of the brown stuffed animal with the front facing top right.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Position the Doritos in front of the white cup and to the brown stuffed animal's right, oriented top right from the front.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Using the right hand, place the Doritos in front of the white cup and to the right of the brown stuffed animal.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "With the right hand, set the Doritos before the white cup and right of the brown stuffed animal.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Have the right hand position the Doritos in front of the white cup and to the brown stuffed animal's right.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Put the Doritos in front of the white cup and to the right of the brown stuffed animal.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Place the Doritos before the white cup and right of the brown stuffed animal.", + "start_idx": 2607, + "end_idx": 2721 + }, + { + "text": "Set the Doritos in front of the white cup and to the brown stuffed animal's right.", + "start_idx": 2607, + "end_idx": 2721 + } + ] + }, + "2026-04-21-21-44-50-400000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 325, + "annotations": [ + { + "text": "Pick up the pink stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Have the left arm grasp the pink stuffed animal from the table from above at its middle.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "With the left hand, take the pink stuffed animal from the table by the middle from the top.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Take the pink stuffed animal from the table from above at its middle.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Grasp the pink stuffed animal from the table at the middle from the top.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Retrieve the pink stuffed animal from the table with the left hand.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Have the left arm take the pink stuffed animal from the table.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "From the table, grasp the pink stuffed animal.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 0, + "end_idx": 78 + }, + { + "text": "Put the pink stuffed animal to the left of the croissant with the left hand facing forwards.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the croissant with its front facing forward.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Have the left arm set the pink stuffed animal down left of the croissant, facing forwards.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "With the left hand, position the pink stuffed animal to the croissant's left, front facing forward.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Place the pink stuffed animal to the left of the croissant with its front facing forward.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Set the pink stuffed animal down left of the croissant, facing forwards.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Position the pink stuffed animal to the croissant's left with the front forward.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Using the left hand, place the pink stuffed animal to the left of the croissant.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Have the left arm set the pink stuffed animal down left of the croissant.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "With the left hand, position the pink stuffed animal to the croissant's left.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Place the pink stuffed animal to the left of the croissant.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Set the pink stuffed animal down left of the croissant.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Position the pink stuffed animal to the croissant's left.", + "start_idx": 78, + "end_idx": 162 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Using the left hand, take the croissant from the table from the top at the middle.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "From the table, have the left hand grasp the croissant at the middle from above.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "With the left hand, collect the croissant from the table by approaching the middle from the top.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Take the croissant from the table at the middle from above.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "From the table, grasp the croissant at the middle from the top.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "With the left hand, take the croissant from the table.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Have the left hand grasp the croissant from the table.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "From the table, grasp the croissant.", + "start_idx": 162, + "end_idx": 246 + }, + { + "text": "Put the croissant in front of the white canned goods with the left hand.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Using the left hand, place the croissant in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Have the left arm set the croissant down in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "With the left hand, position the croissant before the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Place the croissant in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Set the croissant down in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Position the croissant before the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "The croissant goes in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Arrange the croissant in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Move the croissant to the spot in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Leave the croissant in front of the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Using the left hand, place the croissant by the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Have the left arm put the croissant near the white canned goods.", + "start_idx": 245, + "end_idx": 318 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Using the left hand, take the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Have the left arm grasp the white canned goods on the table with a side hold at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "With the left hand, secure the white canned goods from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Take the white canned goods from the table with a side hold at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Grasp the white canned goods on the table with a side grip at the top from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "With the left hand, grasp the white canned goods on the table.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Take the white canned goods from the table with the left hand.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Grasp the white canned goods on the table from a diagonal angle.", + "start_idx": 318, + "end_idx": 441 + }, + { + "text": "Put the white canned goods to the right of the doritos with the left hand.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Have the left arm set the white canned goods down to the right of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Put the white canned goods to the right of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Place the white canned goods on the right side of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Set the white canned goods down to the right of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Move the white canned goods to the doritos' right side.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Arrange the white canned goods to the right of the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Place the white canned goods beside the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Set the white canned goods next to the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Position the white canned goods by the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Move the white canned goods alongside the doritos.", + "start_idx": 441, + "end_idx": 558 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Using the left hand, pick up the croissant from the table from the top at the middle.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Have the left arm take the croissant from the table with a top grasp at the middle.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "With the left hand, grasp the croissant from the table at its middle from above.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Take the croissant from the table with a top grasp at the middle.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Grasp the croissant from the table at the middle from above.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Grasp the croissant from the table.", + "start_idx": 1266, + "end_idx": 1401 + }, + { + "text": "Put the croissant to the left of the white canned goods with the left hand.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Using the left hand, place the croissant to the left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Have the left arm set the croissant down to the left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "With the left hand, position the croissant left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Place the croissant to the left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Set the croissant down to the left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Position the croissant left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "The croissant goes to the left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Put the croissant beside the white canned goods on the left side.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Arrange the croissant to sit left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Leave the croissant to the left of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Place the croissant on the left side of the white canned goods.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Set the croissant beside the white canned goods, on their left.", + "start_idx": 1401, + "end_idx": 1527 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table from the top at the middle.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "With the left hand, grasp the pink stuffed animal from the table at its middle from above.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Have the left hand pick the pink stuffed animal up from the table, contacting it from the top at the middle.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Take the pink stuffed animal from the table at the middle from above.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Grasp the pink stuffed animal from the table from the top at its middle.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Grasp the pink stuffed animal from the table.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "With the left hand, take the pink stuffed animal from the table.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Have the left hand grasp the pink stuffed animal from the table.", + "start_idx": 1527, + "end_idx": 1632 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip from the top at the right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip from above at its right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Have the right hand grasp the pink bowl from the table by the lip from the top on the right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "With the right hand, pick the pink bowl up from the table using a lip hold at the bowl's right side from above.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip from the top at the right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Take the pink bowl from the table with a lip grasp from above on its right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Grasp the pink bowl from the table by the lip at the right side from the top.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip hold.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Have the right hand grasp the pink bowl from the table by the lip.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Pick up the pink bowl from the table from the top at the right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Take the pink bowl from the table with the right hand from above at the right side.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Grasp the pink bowl from the table with the right hand using a lip grip.", + "start_idx": 558, + "end_idx": 759 + }, + { + "text": "Put the pink bowl on the right side of the table with the right hand.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Using the right hand, place the pink bowl on the right side of the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Have the right arm set the pink bowl down on the right side of the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "With the right hand, position the pink bowl on the right side of the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Place the pink bowl on the right side of the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Set the pink bowl on the right side of the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "The pink bowl goes on the right side of the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Position the pink bowl on the table's right side.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Put the pink bowl on the table with the right hand.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Using the right hand, place the pink bowl on the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Set the pink bowl down on the table with the right hand.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Have the pink bowl placed on the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "The pink bowl should be set on the table.", + "start_idx": 759, + "end_idx": 840 + }, + { + "text": "Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Using the right hand, take the doritos from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Have the right hand pick the doritos up from the table diagonally by the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "With the right hand, retrieve the doritos from the table with a diagonal approach, holding the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Take the doritos from the table with a diagonal approach by the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Retrieve the doritos from the table diagonally while holding the top of the object.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Have the right hand take the doritos from the table.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "With the right hand, retrieve the doritos from the table.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Approach the doritos diagonally and pick them up from the table.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 840, + "end_idx": 990 + }, + { + "text": "Put the doritos inside the pink bowl with the right hand facing top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Using the right hand, place the doritos into the pink bowl with the front facing top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Have the right arm put the doritos inside the pink bowl, front oriented toward the top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "With the right hand, deposit the doritos in the pink bowl so the front points to the top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Place the doritos into the pink bowl with the front facing top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Set the doritos inside the pink bowl so the front is directed toward the top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Have the doritos placed in the pink bowl with the front pointing top right.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Using the right hand, place the doritos into the pink bowl.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "With the right hand, put the doritos inside the pink bowl.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Have the right arm deposit the doritos in the pink bowl.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Put the doritos into the pink bowl.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Set the doritos in the pink bowl.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Have the doritos placed inside the pink bowl.", + "start_idx": 990, + "end_idx": 1065 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Have the right arm grasp the white canned goods from the table from the top with a side hold at a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "With the right hand, secure the white canned goods from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Take the white canned goods from the table from the top with a side hold at a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Grasp the white canned goods from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Have the right arm take the white canned goods from the table.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "With the right hand, grasp the white canned goods from the table.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Take the white canned goods from the table from the top.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Grasp the white canned goods from the table.", + "start_idx": 1065, + "end_idx": 1212 + }, + { + "text": "Put the white canned goods to the left of the pink bowl with the right hand.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Using the right hand, place the white canned goods to the left of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Have the right arm set the white canned goods down to the left of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "With the right hand, position the white canned goods on the left side of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Place the white canned goods to the left of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Set the white canned goods on the left side of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "The white canned goods should go to the left of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Move the white canned goods beside the pink bowl on its left side.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Put the white canned goods next to the pink bowl, on the left.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Position the white canned goods left of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Set the white canned goods beside the pink bowl, to its left.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Have the white canned goods placed to the left of the pink bowl.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Move the white canned goods to the pink bowl's left side.", + "start_idx": 1212, + "end_idx": 1266 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Have the right hand take the pink stuffed animal from the table with a diagonal approach at its middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table by grasping the middle at a diagonal angle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Retrieve the pink stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal approach, holding the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table, grasping the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Have the right hand take the pink stuffed animal from the table from the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Take the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Grasp the pink stuffed animal from the table at the middle.", + "start_idx": 1746, + "end_idx": 1929 + }, + { + "text": "Put the pink stuffed animal in front of the croissant with the right hand facing top right from the front.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Using the right hand, place the pink stuffed animal in front of the croissant facing the top right from the front.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Have the right arm set the pink stuffed animal in front of the croissant with its front facing top right.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "With the right hand, position the pink stuffed animal before the croissant so the front points to the top right.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Place the pink stuffed animal in front of the croissant facing the top right from the front.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Set the pink stuffed animal in front of the croissant with its front toward the top right.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Position the pink stuffed animal before the croissant, oriented top right from the front.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Using the right hand, put the pink stuffed animal in front of the croissant.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "With the right hand, place the pink stuffed animal before the croissant.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Have the right arm position the pink stuffed animal in front of the croissant.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Put the pink stuffed animal in front of the croissant.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Set the pink stuffed animal before the croissant.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Place the pink stuffed animal in front of the croissant.", + "start_idx": 1929, + "end_idx": 2037 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Have the right arm pick the white canned goods off the table with a top side grip at a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a side hold at the top from a diagonal approach.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Grasp the white canned goods off the table with a side hold at the top from a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Take the white canned goods from the table with a top side grasp from a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Have the right arm take the white canned goods off the table using a side grasp at the top.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "With the right hand, grasp the white canned goods from the table using a side hold.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Take the white canned goods off the table with the right hand.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Grasp the white canned goods from the table.", + "start_idx": 2037, + "end_idx": 2217 + }, + { + "text": "Put the white canned goods in front of the pink bowl with the right hand.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Using the right hand, place the white canned goods in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Have the right arm set the white canned goods down in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "With the right hand, position the white canned goods before the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Place the white canned goods in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Set the white canned goods down in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Position the white canned goods before the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "The white canned goods go in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Put the white canned goods before the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Arrange the white canned goods in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Set the white canned goods in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Place the white canned goods before the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Have the white canned goods positioned in front of the pink bowl.", + "start_idx": 2217, + "end_idx": 2337 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand from the top at the middle.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Have the right hand grasp the pink stuffed animal from the table at the middle from above.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table by contacting its middle from the top.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Take the pink stuffed animal from the table at the middle from above.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Grasp the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Have the right hand grasp the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Grasp the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2427 + }, + { + "text": "Put the pink stuffed animal to the right of the pink bowl with the right hand facing forwards.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the pink bowl with it facing forwards.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Have the right arm set the pink stuffed animal to the right of the pink bowl, facing forward.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "With the right hand, position the pink stuffed animal to the right of the pink bowl so it faces forwards.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Place the pink stuffed animal to the right of the pink bowl with it facing forwards.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Set the pink stuffed animal to the right of the pink bowl, facing forward.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Position the pink stuffed animal to the right of the pink bowl so it faces forwards.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Using the right hand, put the pink stuffed animal to the right of the pink bowl.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Have the right arm place the pink stuffed animal to the right of the pink bowl.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "With the right hand, set the pink stuffed animal to the right of the pink bowl.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Put the pink stuffed animal to the right of the pink bowl.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Place the pink stuffed animal with the right hand.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Set the pink stuffed animal to the right of the pink bowl.", + "start_idx": 2427, + "end_idx": 2511 + }, + { + "text": "Pick up the croissant from the table with the right hand from the top at the middle.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Using the right hand, pick up the croissant from the table from the top at the middle.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Have the right hand take hold of the croissant from the table at the middle from above.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "From the table, grasp the croissant with the right hand at its middle from the top.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Take the croissant from the table at the middle from above.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Grasp the croissant from the table from the top at its middle.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Retrieve the croissant from the table at the middle from the top.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "With the right hand, take the croissant from the table.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Have the right hand grasp the croissant from the table.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "From the table, collect the croissant.", + "start_idx": 2511, + "end_idx": 2613 + }, + { + "text": "Put the croissant to the left of the pink bowl with the right hand.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Using the right hand, place the croissant to the left of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Have the right arm set the croissant down to the left of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "With the right hand, position the croissant left of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Place the croissant to the left of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Set the croissant down left of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Position the croissant to the left of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Leave the croissant on the left side of the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Put the croissant beside the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Set the croissant down next to the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Using the right hand, place the croissant beside the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Have the right arm set the croissant next to the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "With the right hand, leave the croissant by the pink bowl.", + "start_idx": 2613, + "end_idx": 2712 + }, + { + "text": "Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Using the right hand, take the white canned goods from the table with a side grip at the top and a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Have the right arm pick the white canned goods up from the table with a top side grasp at a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "With the right hand, grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Pick up the white canned goods from the table using a side grip at the top with a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Take the white canned goods from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Grasp the white canned goods from the table from the top using a side hold at a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Using the right hand, pick up the white canned goods from the table with a side grip at the top.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "With the right hand, take the white canned goods from the table using a side grasp at the top.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Pick up the white canned goods from the table with the right hand at the top with a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Using the right hand, grasp the white canned goods from the table at the top with a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Take the white canned goods from the table with a diagonal angle.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "With the right hand, pick up the white canned goods from the table.", + "start_idx": 2712, + "end_idx": 2844 + }, + { + "text": "Put the white canned goods to the left of the croissant with the right hand.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white canned goods to the left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the white canned goods down to the left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the white canned goods left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Place the white canned goods to the left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Set the white canned goods down to the left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Position the white canned goods left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "The white canned goods should go to the left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Move the white canned goods to the croissant's left side.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Arrange the white canned goods to the left of the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white canned goods by the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "With the right hand, set down the white canned goods near the croissant.", + "start_idx": 2844, + "end_idx": 3000 + }, + { + "text": "Have the right arm move the white canned goods next to the croissant.", + "start_idx": 2844, + "end_idx": 3000 + } + ] + }, + "2026-04-21-21-50-40-835000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 377, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "With the left hand, collect the croissant from the table diagonally by the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Take the croissant from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "From the table, collect the croissant diagonally while holding the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle by the middle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "With the left hand, collect the croissant from the table.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 0, + "end_idx": 69 + }, + { + "text": "Put the croissant in front of the pink bowl with the left hand.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Using the left hand, place the croissant in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Have the left arm set the croissant down in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "With the left hand, position the croissant before the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Place the croissant in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Set the croissant down in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Put the croissant before the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Leave the croissant in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Position the croissant in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Arrange the croissant before the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Move the croissant to the spot in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Set the croissant before the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "The croissant goes in front of the pink bowl.", + "start_idx": 69, + "end_idx": 150 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Have the left arm pick the pink stuffed animal up from the table with a diagonal approach at its middle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "With the left hand, retrieve the pink stuffed animal from the table, holding it at the middle and at a diagonal angle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal approach, holding the middle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Retrieve the pink stuffed animal from the table by its middle at a diagonal angle.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Have the left arm take the pink stuffed animal from the table.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "With the left hand, retrieve the pink stuffed animal from the table.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Retrieve the pink stuffed animal from the table.", + "start_idx": 150, + "end_idx": 219 + }, + { + "text": "Put the pink stuffed animal in front of the white canned goods with the left hand facing forwards.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the pink stuffed animal in front of the white canned goods facing forwards.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Have the left arm set the pink stuffed animal in front of the white canned goods with its front facing forward.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "With the left hand, position the pink stuffed animal before the white canned goods so it faces forwards.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Place the pink stuffed animal in front of the white canned goods facing forwards.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Set the pink stuffed animal before the white canned goods with its front facing forward.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Position the pink stuffed animal in front of the white canned goods so it faces forwards.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Put the pink stuffed animal in front of the white canned goods.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Set the pink stuffed animal before the white canned goods.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Position the pink stuffed animal in front of the white canned goods.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Using the left hand, place the pink stuffed animal in front of the white canned goods.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Have the left arm set the pink stuffed animal before the white canned goods.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "With the left hand, position the pink stuffed animal in front of the white canned goods.", + "start_idx": 219, + "end_idx": 273 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom right with a diagonal pick angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip at the bottom right and a diagonal pick angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "With the left arm, grasp the doritos from the table from the bottom right using a side hold at a diagonal angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Have the left hand pick the doritos up from the table with a diagonal approach, gripping the bottom right side.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom right and a diagonal pick angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Take the doritos from the table from the bottom right using a side grasp at a diagonal angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "The doritos should be picked up from the table with a side hold at the bottom right and a diagonal approach.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "With the left arm, take the doritos from the table.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Have the left hand grasp the doritos from the table at the bottom right with a diagonal pick angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Pick up the doritos from the table with the left hand at the bottom right with a diagonal pick angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Using the left hand, take the doritos from the table with a side grip.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "The doritos should be picked up from the table at the bottom right with a diagonal angle.", + "start_idx": 273, + "end_idx": 372 + }, + { + "text": "Put the doritos inside the pink bowl with the left hand.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Using the left hand, place the doritos into the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Have the left arm put the doritos in the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "With your left hand, deposit the doritos inside the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Place the doritos into the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Put the doritos in the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "The doritos go inside the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Transfer the doritos to the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Set the doritos into the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Move the doritos inside the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Get the doritos into the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "The pink bowl should contain the doritos.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Position the doritos in the pink bowl.", + "start_idx": 372, + "end_idx": 447 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach and hold its middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally by the middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding the middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Retrieve the croissant from the table diagonally by the middle.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 447, + "end_idx": 513 + }, + { + "text": "Put the croissant to the left of the pink stuffed animal with the left hand.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Using the left hand, place the croissant to the left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Have the left arm set the croissant down to the left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "With your left hand, position the croissant left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Place the croissant to the left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Set the croissant down left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Position the croissant to the pink stuffed animal's left.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Move the croissant so it is left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Leave the croissant to the left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "The croissant goes to the left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Arrange the croissant left of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Place the croissant beside the pink stuffed animal on its left side.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Set down the croissant on the left side of the pink stuffed animal.", + "start_idx": 513, + "end_idx": 609 + }, + { + "text": "Pick up the white canned goods from the table with the left hand from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Using the left hand, take the white canned goods from the table from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Have the left arm grasp the white canned goods on the table from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "With the left hand, seize the white canned goods from the table by approaching from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Pick up the white canned goods from the table from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Take the white canned goods off the table from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Grasp the white canned goods on the table from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Remove the white canned goods from the table from the side at the middle.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Have the left arm take the white canned goods from the table.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "With the left hand, grasp the white canned goods from the table.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Take the white canned goods off the table.", + "start_idx": 609, + "end_idx": 804 + }, + { + "text": "Put the white canned goods to the left of the croissant with the left hand.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Using the left hand, place the white canned goods to the left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Have the left arm set the white canned goods down to the left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "With the left hand, position the white canned goods left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Place the white canned goods to the left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Set the white canned goods down left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Position the white canned goods to the croissant's left.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "The white canned goods should go to the left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Move the white canned goods to the left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Put the white canned goods beside the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Arrange the white canned goods on the croissant's left side.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Have the white canned goods placed left of the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Set down the white canned goods beside the croissant.", + "start_idx": 804, + "end_idx": 924 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom and a diagonal pick angle.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom lip hold at a diagonal angle.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp on the bottom at a diagonal approach.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom with a diagonal pick angle.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Take the pink bowl from the table with a lip grasp on the bottom at a diagonal angle.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "The pink bowl from the table should be grasped with a lip hold at the bottom using a diagonal approach.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp on the bottom.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal pick angle.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "With the left hand, take the pink bowl from the table at a diagonal approach.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 924, + "end_idx": 1053 + }, + { + "text": "Dump the doritos from the pink bowl to the right of the pink stuffed animal with the left hand.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Using the left hand, empty the doritos out of the pink bowl to the right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Have the left arm pour the doritos from the pink bowl positioned right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "With the left hand, tip the pink bowl to the right of the pink stuffed animal and dump out the doritos.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Empty the doritos from the pink bowl to the right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Pour out the doritos from the pink bowl positioned right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Tip the pink bowl to the right of the pink stuffed animal so the doritos come out.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Remove the doritos from the pink bowl to the right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Dump out the doritos from the pink bowl beside the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Empty the doritos from the bowl to the right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Pour the doritos out of the bowl right of the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Have the bowl to the right of the pink stuffed animal emptied of doritos.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Get the doritos out of the pink bowl beside the pink stuffed animal.", + "start_idx": 1053, + "end_idx": 1095 + }, + { + "text": "Put the pink bowl to the right of the doritos with the left hand.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Using the left hand, place the pink bowl to the right of the doritos, right side up from the front.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Have the left arm set the pink bowl to the right of the doritos, keeping it right side up relative to the front.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "With the left hand, position the pink bowl to the right of the doritos in a right-side-up orientation from the front.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Place the pink bowl to the right of the doritos, keeping it right side up relative to the front.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Set the pink bowl to the right of the doritos, right side up from the front.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Position the pink bowl to the right of the doritos in a right-side-up orientation from the front.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Using the left hand, put the pink bowl to the right of the doritos.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Have the left arm place the pink bowl to the right of the doritos.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "With the left hand, set the pink bowl to the right of the doritos.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Place the pink bowl to the right of the doritos.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Set the pink bowl to the right of the doritos.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Position the pink bowl to the right of the doritos.", + "start_idx": 1095, + "end_idx": 1191 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Have the left arm grasp the doritos from the table with a side hold at the bottom on a diagonal.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "With the left hand, take the doritos from the table using a lateral grip on the bottom at a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Take the doritos from the table with a lateral hold on the bottom at a diagonal.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Grasp the doritos from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Pick up the doritos from the table with the left hand from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Using the left hand, take the doritos from the table at the bottom from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Grasp the doritos from the table at the bottom with the left hand.", + "start_idx": 1191, + "end_idx": 1275 + }, + { + "text": "Put the doritos to the right of the pink bowl with the left hand.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Using the left hand, place the doritos to the right of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Have the left arm set the doritos down to the right of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "With the left hand, position the doritos on the right side of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Place the doritos to the right of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Set the doritos down to the right of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Position the doritos on the right side of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "The doritos go to the right of the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Put the doritos beside the pink bowl on its right.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Move the doritos to the pink bowl's right side.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Place the doritos by the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Set the doritos next to the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "The doritos should be placed beside the pink bowl.", + "start_idx": 1275, + "end_idx": 1359 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table from the top at the middle.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "From the top at the middle, have the left hand grasp the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "The left hand should pick the pink stuffed animal from the table up from the top at the middle.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Take the pink stuffed animal from the table from the top at the middle.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Grasp the pink stuffed animal from the table from the top at the middle.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "With the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Using the left hand, take the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Have the left hand grasp the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Have the left hand pick up the pink stuffed animal from the table.", + "start_idx": 1359, + "end_idx": 1491 + }, + { + "text": "Put the pink stuffed animal behind the pink bowl with the left hand facing forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Using the left hand, place the pink stuffed animal behind the pink bowl facing forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Have the left arm set the pink stuffed animal behind the pink bowl with its front facing forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "With the left hand, position the pink stuffed animal behind the pink bowl so the front faces forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Place the pink stuffed animal behind the pink bowl facing forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Set the pink stuffed animal behind the pink bowl with its front facing forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Position the pink stuffed animal behind the pink bowl facing forwards.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Using the left hand, place the pink stuffed animal behind the pink bowl.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Have the left arm set the pink stuffed animal behind the pink bowl.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "With the left hand, position the pink stuffed animal behind the pink bowl.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Put the pink stuffed animal behind the pink bowl.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Place the pink stuffed animal behind the pink bowl.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Set the pink stuffed animal behind the pink bowl.", + "start_idx": 1491, + "end_idx": 1545 + }, + { + "text": "Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table at a diagonal angle, grasping the middle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Have the left arm take the white canned goods off the table with a diagonal approach at the middle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "With the left hand, grasp the middle of the white canned goods on the table and raise it at a diagonal angle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Pick up the white canned goods from the table at a diagonal angle, grasping the middle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Take the white canned goods off the table with a diagonal approach at the middle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Grasp the middle of the white canned goods from the table at a diagonal angle.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Have the left arm take the white canned goods off the table.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "With the left hand, remove the white canned goods from the table.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Take the white canned goods off the table.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Remove the white canned goods from the table.", + "start_idx": 1653, + "end_idx": 1728 + }, + { + "text": "Put the white canned goods inside the pink bowl with the left hand.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Using the left hand, place the white canned goods into the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Have the left arm put the white canned goods inside the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "With the left hand, deposit the white canned goods in the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Place the white canned goods into the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Put the white canned goods in the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "The white canned goods go inside the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Set the white canned goods into the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Move the white canned goods into the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Transfer the white canned goods to the inside of the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Position the white canned goods in the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Get the white canned goods into the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Arrange the white canned goods inside the pink bowl.", + "start_idx": 1728, + "end_idx": 1872 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "With the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal pickup, holding its middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Using the left hand, collect the croissant from the table at a diagonal angle by the middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, holding the middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "From the table, collect the croissant at a diagonal angle by the middle.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Using the left hand, collect the croissant from the table.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "From the table, collect the croissant.", + "start_idx": 1872, + "end_idx": 1962 + }, + { + "text": "Put the croissant to the left of the pink bowl with the left hand.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Using the left hand, place the croissant to the left of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Have the left arm set the croissant down to the left of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "With the left hand, position the croissant on the left side of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Place the croissant to the left of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Set the croissant down to the left of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Position the croissant on the left side of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Leave the croissant to the left of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "The croissant goes to the left of the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Put the croissant by the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Set the croissant next to the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Place the croissant beside the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Have the croissant placed by the pink bowl.", + "start_idx": 1962, + "end_idx": 2031 + }, + { + "text": "Pick up the pink stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "From the table, have the left hand grasp the pink stuffed animal at the middle from above.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "With the left hand, take the pink stuffed animal off the table using a top hold at the middle.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Pick up the pink stuffed animal from the table from the top at the middle.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "From the table, grasp the pink stuffed animal at the middle from above.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Take the pink stuffed animal off the table with a top pickup at the middle.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Using the left hand, pick up the pink stuffed animal from the table.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "With the left hand, take the pink stuffed animal off the table.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Have the left hand grasp the pink stuffed animal from the table.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "From the table, take the pink stuffed animal.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Have the pink stuffed animal picked up from the table.", + "start_idx": 2031, + "end_idx": 2127 + }, + { + "text": "Put the pink stuffed animal on the left side of the table with the left hand facing forwards with the front as the reference point.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Using the left hand, place the pink stuffed animal on the left side of the table with its front facing forwards.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Have the left arm set the pink stuffed animal on the table's left side, front facing forward.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "With the left hand, position the pink stuffed animal on the left side of the table so the front faces forwards.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Place the pink stuffed animal on the left side of the table with its front facing forwards.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Set the pink stuffed animal on the table's left side, front facing forward.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Position the pink stuffed animal on the left side of the table so its front faces forwards.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Using the left hand, put the pink stuffed animal on the left side of the table.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "With the left hand, set the pink stuffed animal on the table's left side.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Have the left arm place the pink stuffed animal on the left side of the table.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Put the pink stuffed animal on the left side of the table.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Using the left hand, place the pink stuffed animal on the table's left side.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Set the pink stuffed animal on the left side of the table.", + "start_idx": 2127, + "end_idx": 2193 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle from the top of the object.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle from the top of the object.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal top-down approach.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "With the left hand, grasp the croissant from the table diagonally from the top of the object.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle from the top of the object.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Take the croissant from the table with a diagonal approach from the top of the object.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Grasp the croissant from the table diagonally from the top of the object.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Using the left hand, take the croissant from the table.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Have the left arm grasp the croissant from the table.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "From the table, take the croissant.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "The croissant from the table should be grasped.", + "start_idx": 2460, + "end_idx": 2592 + }, + { + "text": "Put the croissant behind the pink bowl with the left hand.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Using the left hand, place the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "With your left hand, set the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Have the left arm put the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Place the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Set the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Put the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Position the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Have the croissant placed behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Move the croissant behind the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Using the left hand, place the croissant by the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "With the left hand, set the croissant near the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Have the left arm move the croissant by the pink bowl.", + "start_idx": 2592, + "end_idx": 2682 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grasp at the bottom diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Have the right arm pick up the doritos from the table with a diagonal side grip on the bottom.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "With the right hand, grasp the doritos from the table by the bottom using a side hold diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Take the doritos from the table using a side grasp on the bottom diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Grasp the doritos from the table at the bottom with a diagonal side hold.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Using the right hand, pick up the doritos from the table with a side grip.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "With the right hand, take the doritos from the table using a side grasp.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Have the right arm grasp the doritos from the table by the bottom.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Pick up the doritos from the table with the right hand.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Using the right hand, take the doritos from the table diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Grasp the doritos from the table at the bottom diagonally.", + "start_idx": 2193, + "end_idx": 2364 + }, + { + "text": "Put the doritos on the center of the table with the right hand facing bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Using the right hand, place the doritos at the center of the table with the front facing bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Have the right arm set the doritos in the table center, front oriented toward the bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "With the right hand, position the doritos on the center of the table so the front points bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Place the doritos at the center of the table with the front facing bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Set the doritos on the center of the table, front toward the bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Position the doritos in the center of the table with the front pointing bottom left.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Using the right hand, put the doritos on the center of the table.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "With the right hand, set the doritos at the center of the table.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Have the right arm place the doritos in the center of the table.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Put the doritos on the center of the table.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Set the doritos at the center of the table.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Using the right hand, place the doritos on the center of the table.", + "start_idx": 2364, + "end_idx": 2460 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle from the top of the object.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Have the right arm take the croissant from the table, approaching diagonally from the top.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "With the right hand, grasp the croissant from the table from the top at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle from the top of the object.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Take the croissant from the table, approaching diagonally from the top.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Grasp the croissant from the table from the top at a diagonal angle.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Have the right arm take the croissant from the table.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "With the right hand, grasp the croissant from the table.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Grasp the croissant from the table.", + "start_idx": 2682, + "end_idx": 2862 + }, + { + "text": "Put the croissant in front of the doritos with the right hand.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the croissant down in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Place the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Set the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Put the croissant down in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Position the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Move the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Arrange the croissant in front of the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Place the croissant by the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Set the croissant near the doritos.", + "start_idx": 2862, + "end_idx": 3000 + }, + { + "text": "Put the croissant next to the doritos.", + "start_idx": 2862, + "end_idx": 3000 + } + ] + }, + "2026-04-21-22-03-39-663000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table with a diagonal approach, enclosing the whole object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table diagonally while holding the entire object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Take the brown stuffed animal from the table with a diagonal approach while holding the whole object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "From the table, collect the brown stuffed animal diagonally, enclosing the entire object.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table with a diagonal approach.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "From the table, pick up the brown stuffed animal.", + "start_idx": 0, + "end_idx": 84 + }, + { + "text": "Place the brown stuffed animal inside the white cup with the left hand.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Using the left hand, place the brown stuffed animal inside the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Have the left arm put the brown stuffed animal into the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "With the left hand, deposit the brown stuffed animal in the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Place the brown stuffed animal inside the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Put the brown stuffed animal into the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Set the brown stuffed animal in the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Transfer the brown stuffed animal into the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Move the brown stuffed animal into the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Position the brown stuffed animal inside the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Get the brown stuffed animal into the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Insert the brown stuffed animal into the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "The brown stuffed animal goes inside the white cup.", + "start_idx": 84, + "end_idx": 198 + }, + { + "text": "Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Using the left hand, pick up the tomato from the table at a diagonal angle, grasping the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Have the left arm take the tomato from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "With the left hand, retrieve the tomato from the table on a diagonal angle by grasping its middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Pick up the tomato from the table at a diagonal angle, grasping the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Take the tomato from the table on a diagonal angle, holding the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "From the table, collect the tomato with a diagonal pickup at its middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Pick up the tomato from the table with the left hand, grasping the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Using the left hand, take the tomato from the table at the middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Have the left arm retrieve the tomato from the table by its middle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Pick up the tomato from the table with the left hand at a diagonal angle.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "With the left hand, collect the tomato from the table on a diagonal approach.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Take the tomato from the table.", + "start_idx": 198, + "end_idx": 300 + }, + { + "text": "Put the tomato in front of the pink plate with the left hand facing top left with the front as the reference point.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Using the left hand, place the tomato in front of the pink plate with the front facing the top left.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Have the left arm set the tomato in front of the pink plate, oriented top left relative to its front.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "With the left hand, position the tomato in front of the pink plate so its front points toward the top left.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Place the tomato in front of the pink plate with its front facing the top left.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Set the tomato in front of the pink plate, oriented so the front points to the top left.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Position the tomato in front of the pink plate with the front directed toward the top left.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Put the tomato in front of the pink plate.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Place the tomato in front of the pink plate.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Set the tomato in front of the pink plate.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Position the tomato in front of the pink plate.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Have the tomato placed in front of the pink plate.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Arrange the tomato in front of the pink plate.", + "start_idx": 300, + "end_idx": 357 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "With the left hand, collect the yellow stuffed animal from the table diagonally using an entire-object grasp.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Take the yellow stuffed animal from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Retrieve the yellow stuffed animal from the table diagonally with an entire-object hold.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the table.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Take the yellow stuffed animal from the table with the left hand.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Grab the yellow stuffed animal from the table.", + "start_idx": 357, + "end_idx": 510 + }, + { + "text": "Put the yellow stuffed animal to the right of the corn with the left hand facing top right from the front.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the right of the corn with its front facing the top right.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Have the left arm set the yellow stuffed animal to the right of the corn, front oriented toward the top right.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "With the left hand, position the yellow stuffed animal to the right of the corn so the front faces top right.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Place the yellow stuffed animal to the right of the corn with its front facing the top right.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Set the yellow stuffed animal to the right of the corn, front toward the top right.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Position the yellow stuffed animal to the right of the corn so the front points top right.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Using the left hand, put the yellow stuffed animal to the right of the corn.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "With the left hand, place the yellow stuffed animal to the right of the corn.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Have the left arm position the yellow stuffed animal to the right of the corn.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Put the yellow stuffed animal to the right of the corn.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Set the yellow stuffed animal to the right of the corn.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Arrange the yellow stuffed animal to the right of the corn.", + "start_idx": 510, + "end_idx": 609 + }, + { + "text": "Pick up the tomato from the table with the left hand from the top grasping the entire object.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Using the left hand, take the tomato from the table with a top grasp around the whole object.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Have the left arm pick the tomato up from the table by grasping it from above around the entire object.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "With the left hand, retrieve the tomato from the table using an overhand grasp on the whole tomato.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Pick up the tomato from the table with a top grasp around the entire object.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "From the table, collect the tomato by grasping it from above around the whole object.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Take the tomato from the table using a top hold on the entire object.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "With the left hand, pick up the tomato from the table.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Using the left hand, take the tomato from the table.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Have the left arm retrieve the tomato from the table.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Get the tomato from the table.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Remove the tomato from the table.", + "start_idx": 609, + "end_idx": 744 + }, + { + "text": "Put the tomato in front of the corn with the left hand facing forwards with the front as the reference point.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the tomato in front of the corn, facing forwards relative to the front.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "With the left hand, set the tomato in front of the corn so it faces forward from the front reference point.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Have the left arm position the tomato in front of the corn with its front facing forwards.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Place the tomato in front of the corn, facing forwards relative to the front.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Set the tomato in front of the corn with its front facing forward.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Position the tomato in front of the corn so it faces forwards.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Using the left hand, put the tomato in front of the corn.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "With the left hand, place the tomato in front of the corn.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Have the left arm set the tomato in front of the corn.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Put the tomato in front of the corn.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Place the tomato in front of the corn.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Set the tomato in front of the corn.", + "start_idx": 744, + "end_idx": 837 + }, + { + "text": "Pick up the small white cup from the table with the left hand using a lip grip at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Using the left hand, take the small white cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Have the left arm grasp the small white cup from the table by the top with a lip hold at a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "With the left hand, secure the small white cup from the table using a top lip grasp from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Pick up the small white cup from the table using a lip grip at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Take the small white cup from the table with a lip hold at the top from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Grasp the small white cup from the table by the top with a lip grip from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Using the left hand, pick up the small white cup from the table with a lip grip at the top.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Have the left arm take the small white cup from the table using a lip grasp at the top.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "With the left hand, grasp the small white cup from the table using a lip hold.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Pick up the small white cup from the table from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Using the left hand, take the small white cup from the table from a diagonal angle.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Grasp the small white cup from the table by the top.", + "start_idx": 837, + "end_idx": 1041 + }, + { + "text": "Put the small white cup in front of the pink plate with the left hand right side up with the front facing bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Using the left hand, place the small white cup in front of the pink plate, right side up, with the front facing bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Have the left arm set the small white cup in front of the pink plate upright, with the front pointed toward the bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "With the left hand, position the small white cup before the pink plate right side up, front facing bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Place the small white cup in front of the pink plate right side up, with the front facing bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Set the small white cup before the pink plate upright, with the front pointed toward the bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Position the small white cup in front of the pink plate with its front facing bottom left.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Arrange the small white cup before the pink plate right side up.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Put the small white cup in front of the pink plate.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Set the small white cup before the pink plate.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Position the small white cup in front of the pink plate using the left hand.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "With the left hand, place the small white cup before the pink plate.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Have the left arm set the small white cup in front of the pink plate.", + "start_idx": 1041, + "end_idx": 1161 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip at the right side and a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip on its right side at a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Have the left arm grasp the white cup from the table by the lip on the right side at a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp at the cup's right side in a diagonal orientation.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Pick up the white cup from the table using a lip grip at the right side and a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Take the white cup from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "The white cup from the table should be grasped with a lip grip at the right side and a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "With the left hand, take the white cup from the table using a lip grasp.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Have the left arm collect the white cup from the table by the lip.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Pick up the white cup from the table with the left hand at the right side and a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Using the left hand, grasp the white cup from the table at the right side and a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Take the white cup from the table at the right side and a diagonal angle.", + "start_idx": 1161, + "end_idx": 1320 + }, + { + "text": "Place the white cup to the left of the pink plate with the left hand right side up with the front as the reference point.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Using the left hand, set the white cup to the left of the pink plate right side up, using the front as the reference point.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Have the left arm place the white cup left of the pink plate, keeping it right side up relative to the front.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "With the left hand, position the white cup to the pink plate's left, oriented right side up with the front as the reference point.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Place the white cup to the left of the pink plate.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Set the white cup left of the pink plate.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Position the white cup to the pink plate's left.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Using the left hand, place the white cup to the left of the pink plate.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Have the left arm set the white cup left of the pink plate.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "With the left hand, position the white cup to the pink plate's left.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Place the white cup to the left of the pink plate right side up.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Set the white cup left of the pink plate, keeping it right side up.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Position the white cup to the pink plate's left, oriented right side up.", + "start_idx": 1320, + "end_idx": 1422 + }, + { + "text": "Pick up the small white cup from the table with the left hand using a lip grip from the top at the right side.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Using the left hand, take the small white cup from the table with a lip grip from the top at the right side.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Have the left arm grasp the small white cup from the table by the top right side using a lip grip.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "With the left hand, secure the small white cup from the table using a lip grasp at the top on the right side.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Pick up the small white cup from the table using a lip grip from the top at the right side.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Grasp the small white cup from the table with a lip grip at the top right side.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Take the small white cup from the table by the top right side using a lip grasp.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Using the left hand, pick up the small white cup from the table.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "With the left hand, grasp the small white cup from the table.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Have the left arm take the small white cup from the table.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Pick up the small white cup from the table with the left hand.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Using a lip grip, pick up the small white cup from the table with the left hand.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "With the left hand, collect the small white cup from the table using a lip grip.", + "start_idx": 2418, + "end_idx": 2607 + }, + { + "text": "Put the small white cup to the right of the pink plate with the handle facing backwards using the left hand right side up with the front as reference.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Using the left hand, place the small white cup to the right of the pink plate, right side up with the front as reference and the handle facing backwards.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Have the left hand set the small white cup to the right of the pink plate, keeping it right side up relative to the front, with the handle facing backwards.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "With the left hand, position the small white cup to the right of the pink plate so it is right side up from the front reference, handle facing backwards.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Place the small white cup to the right of the pink plate, right side up with the front as reference and the handle facing backwards.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Set the small white cup to the right of the pink plate, keeping it right side up relative to the front with the handle facing backwards.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Position the small white cup to the right of the pink plate, with the handle facing backwards and the front used as the reference for right side up.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Put the small white cup to the right of the pink plate.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Set the small white cup to the right of the pink plate.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Position the small white cup to the right of the pink plate.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Using the left hand, place the small white cup to the right of the pink plate.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Have the left hand set the small white cup to the right of the pink plate.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "With the left hand, position the small white cup to the right of the pink plate.", + "start_idx": 2607, + "end_idx": 2745 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "With the right arm, grasp the corn from the table at a diagonal angle by the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "From the table, grasp the corn at a diagonal angle by the middle.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Use the right hand to pick up the corn from the table.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "From the table, grasp the corn with the right hand.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 1422, + "end_idx": 1599 + }, + { + "text": "Put the corn in front of the yellow stuffed animal and to the right of the tomato with the right hand facing bottom right from the tip.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Using the right hand, place the corn in front of the yellow stuffed animal and to the right of the tomato, with its tip facing bottom right.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Have the right hand set the corn in front of the yellow stuffed animal and right of the tomato, tip oriented toward the bottom right.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "With the right hand, position the corn in front of the yellow stuffed animal and to the tomato's right, tip facing bottom right.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Place the corn in front of the yellow stuffed animal and to the right of the tomato, with its tip facing bottom right.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Set the corn in front of the yellow stuffed animal and right of the tomato, tip pointed toward the bottom right.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Position the corn in front of the yellow stuffed animal and to the right of the tomato, with the tip directed bottom right.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Using the right hand, place the corn in front of the yellow stuffed animal and to the right of the tomato.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "With the right hand, set the corn in front of the yellow stuffed animal and right of the tomato.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Have the right hand position the corn in front of the yellow stuffed animal and to the right of the tomato.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Place the corn in front of the yellow stuffed animal and to the right of the tomato.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Set the corn in front of the yellow stuffed animal and right of the tomato.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Position the corn to the right of the tomato and in front of the yellow stuffed animal.", + "start_idx": 1599, + "end_idx": 1677 + }, + { + "text": "Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Using the right hand, pick up the tomato from the table at a diagonal angle, grasping the middle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Have the right hand take the tomato from the table with a diagonal approach at its middle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "With the right hand, grasp the tomato from the table at the middle using a diagonal angle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Pick up the tomato from the table at a diagonal angle, grasping the middle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Take the tomato from the table with a diagonal approach at its middle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Grasp the tomato from the table at the middle with a diagonal angle.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Using the right hand, pick up the tomato from the table.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Have the right hand take the tomato from the table.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "With the right hand, grasp the tomato from the table.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Take the tomato from the table.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Have the tomato picked up from the table.", + "start_idx": 1677, + "end_idx": 1812 + }, + { + "text": "Put the tomato to the right of the corn with the right hand facing backwards relative to the front.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Using the right hand, place the tomato to the right of the corn, facing backward relative to the front.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Have the right arm set the tomato to the right of the corn with its facing directed backward from the front.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "With the right hand, position the tomato to the right of the corn so it faces backward relative to the front.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Place the tomato to the right of the corn, facing backward relative to the front.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Set the tomato to the right of the corn with its front oriented backward.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Position the tomato to the right of the corn so it faces backward from the front.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Using the right hand, put the tomato to the right of the corn.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Have the right arm place the tomato to the right of the corn.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "With the right hand, set the tomato to the right of the corn.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Place the tomato to the right of the corn.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Set the tomato to the right of the corn.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Position the tomato to the right of the corn.", + "start_idx": 1812, + "end_idx": 1938 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Using the right hand, take the yellow stuffed animal from the table at a diagonal angle, grasping its middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Have the right hand pick up the yellow stuffed animal from the table diagonally by the middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table, approaching at a diagonal angle and holding the middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Take the yellow stuffed animal from the table diagonally by the middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Retrieve the yellow stuffed animal from the table with a diagonal approach, holding its middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Have the right hand take the yellow stuffed animal from the table.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Take the yellow stuffed animal from the table at a diagonal angle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Get the yellow stuffed animal from the table by the middle.", + "start_idx": 1937, + "end_idx": 2052 + }, + { + "text": "Put the yellow stuffed animal behind the tomato with the right hand facing top left relative to the front.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Using the right hand, place the yellow stuffed animal behind the tomato with its front facing the top left.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Have the right arm set the yellow stuffed animal behind the tomato, oriented top-left relative to the front.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "With the right hand, position the yellow stuffed animal behind the tomato so the front faces top left.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Place the yellow stuffed animal behind the tomato with its front facing the top left.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Set the yellow stuffed animal behind the tomato, oriented top-left relative to the front.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Position the yellow stuffed animal behind the tomato so the front points toward the top left.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Using the right hand, put the yellow stuffed animal behind the tomato.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Have the right arm place the yellow stuffed animal behind the tomato.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "With the right hand, set the yellow stuffed animal behind the tomato.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Put the yellow stuffed animal behind the tomato.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Behind the tomato, place the yellow stuffed animal.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Have the yellow stuffed animal placed behind the tomato.", + "start_idx": 2052, + "end_idx": 2148 + }, + { + "text": "Pick up the corn from the table with the right hand from the top at the middle.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Using the right hand, take the corn from the table from the top at the middle.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Have the right arm grasp the corn on the table from above at its middle.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "With the right hand, seize the corn from the table by the top at the center.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Pick up the corn from the table from the top at the middle.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Take the corn from the table from above at its middle.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Grasp the corn on the table by the top at the center.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "With the right hand, grasp the corn on the table.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Take the corn on the table.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 2148, + "end_idx": 2295 + }, + { + "text": "Put the corn to the left of the yellow stuffed animal with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Using the right hand, place the corn to the left of the yellow stuffed animal, oriented bottom left with the tip as the reference point.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Have the right arm set the corn left of the yellow stuffed animal, with the tip pointing toward the bottom left.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "With the right hand, position the corn to the left of the yellow stuffed animal so the tip faces bottom left.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Place the corn to the left of the yellow stuffed animal, oriented bottom left with the tip as the reference point.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Set the corn left of the yellow stuffed animal with the tip facing the bottom left.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Position the corn to the left of the yellow stuffed animal so its tip points bottom left.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Put the corn to the left of the yellow stuffed animal.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Leave the corn left of the yellow stuffed animal.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Arrange the corn to the left of the yellow stuffed animal.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Using the right hand, place the corn to the left of the yellow stuffed animal.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "Have the right arm set the corn left of the yellow stuffed animal.", + "start_idx": 2295, + "end_idx": 2418 + }, + { + "text": "With the right hand, put the corn beside the yellow stuffed animal on its left side.", + "start_idx": 2295, + "end_idx": 2418 + } + ] + }, + "2026-04-21-22-07-19-157000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 233, + "annotations": [ + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, take the corn from the table at a diagonal angle, grasping its middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right arm pick up the corn from the table with a diagonal approach at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, grasp the middle of the corn on the table and pick it up diagonally.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the corn from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the middle of the corn from the table and pick it up at a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, grasp the corn from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the corn from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Using the right hand, take the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Have the right arm pick up the yellow stuffed animal from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table diagonally using a full-object hold.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Take the yellow stuffed animal from the table diagonally with a whole-object grasp.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Retrieve the yellow stuffed animal from the table at a diagonal angle using a full-object hold.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Have the right arm take the yellow stuffed animal from the table.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Retrieve the yellow stuffed animal from the table.", + "start_idx": 171, + "end_idx": 303 + }, + { + "text": "Put the yellow stuffed animal in front of the tomato with the right hand facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Using the right hand, place the yellow stuffed animal in front of the tomato, facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Have the right arm set the yellow stuffed animal in front of the tomato with its front facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "With the right hand, position the yellow stuffed animal in front of the tomato so it faces forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Place the yellow stuffed animal in front of the tomato, facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Set the yellow stuffed animal in front of the tomato with its front facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Position the yellow stuffed animal in front of the tomato so it faces forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Using the right hand, put the yellow stuffed animal in front of the tomato.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "With the right hand, place the yellow stuffed animal in front of the tomato.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Have the right arm set the yellow stuffed animal in front of the tomato.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Put the yellow stuffed animal in front of the tomato.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Position the yellow stuffed animal facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Using the right hand, place the yellow stuffed animal facing forwards.", + "start_idx": 303, + "end_idx": 411 + }, + { + "text": "Pick up the white mug from the table with the right hand from the side by the handle.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Using the right hand, pick up the white mug from the table from the side by the handle.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Have the right arm take the white mug from the table, approaching from the side and grasping the handle.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "With the right hand, grasp the white mug from the table at the handle from the side.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Pick up the white mug from the table from the side by the handle.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Take the white mug from the table by the handle from the side.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Grasp the white mug from the table at the handle from the side.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Pick up the white mug from the table with the right hand.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Using the right hand, take the white mug from the table.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Have the right arm grasp the white mug from the table.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Using the right hand, pick up the white mug from the table from the side.", + "start_idx": 639, + "end_idx": 699 + }, + { + "text": "Put the white mug to the right of the yellow stuffed animal with the front facing bottom left using the right hand.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Using the right hand, place the white mug to the right of the yellow stuffed animal with the front facing bottom left.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Have the right hand set the white mug to the yellow stuffed animal's right, front facing bottom left.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "With the right hand, position the white mug right of the yellow stuffed animal, front pointed bottom left.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Place the white mug to the right of the yellow stuffed animal with the front facing bottom left.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Set the white mug to the yellow stuffed animal's right with the front facing bottom left.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Position the white mug right of the yellow stuffed animal with the front pointed bottom left.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Using the right hand, put the white mug to the right of the yellow stuffed animal.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Have the right hand place the white mug to the yellow stuffed animal's right.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "With the right hand, set the white mug right of the yellow stuffed animal.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Place the white mug to the right of the yellow stuffed animal.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Set the white mug to the yellow stuffed animal's right.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Position the white mug right of the yellow stuffed animal.", + "start_idx": 699, + "end_idx": 801 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Have the right arm take the corn from the table with a diagonal approach at its middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "With the right hand, collect the corn from the table by gripping the middle at a diagonal angle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Take the corn from the table with a diagonal approach at the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Grab the corn from the table, approaching diagonally and holding its middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Using the right hand, pick up the corn from the table, grasping the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Have the right arm take the corn from the table by the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "With the right hand, collect the corn from the table at a diagonal angle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Take the corn from the table at a diagonal angle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Grab the corn from the table by the middle.", + "start_idx": 801, + "end_idx": 963 + }, + { + "text": "Put the corn to the right of the white mug with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Using the right hand, place the corn to the right of the white mug, with the tip facing bottom right.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Have the right arm set the corn to the right of the white mug so the tip points bottom right.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "With the right hand, position the corn to the right of the white mug, oriented bottom right from the tip.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Place the corn to the right of the white mug with the tip facing bottom right.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Set the corn to the right of the white mug so the tip points bottom right.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Position the corn to the right of the white mug, oriented bottom right at the tip.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Using the right hand, put the corn to the right of the white mug.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "With the right hand, place the corn to the right of the white mug.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Have the right arm set the corn to the right of the white mug.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Put the corn to the right of the white mug.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Set the corn to the right of the white mug.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Position the corn to the right of the white mug.", + "start_idx": 963, + "end_idx": 1068 + }, + { + "text": "Pick up the tomato from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Using the right hand, take the tomato from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Have the right arm pick the tomato up from the table, gripping its top from a diagonal angle with a side hold.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "With the right hand, grasp the tomato from the table at the top using a side grip from a diagonal angle.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Pick up the tomato from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Grasp the tomato from the table at the top with a side hold from a diagonal angle.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "From a diagonal angle, take the tomato from the table with a side grip at the top.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Using the right hand, pick up the tomato from the table.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Have the right arm take the tomato from the table.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "With the right hand, grasp the tomato from the table.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Using the right hand, pick up the tomato from the table from a diagonal angle.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Pick up the tomato from the table with the right hand.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Take the tomato from the table.", + "start_idx": 1125, + "end_idx": 1374 + }, + { + "text": "Put the tomato to the left of the yellow stuffed animal with the right hand right side up front.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Using the right hand, place the tomato to the left of the yellow stuffed animal, right side up with the front facing forward.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Have the right arm set the tomato to the left of the yellow stuffed animal in a right-side-up position, front forward.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "With the right hand, position the tomato left of the yellow stuffed animal so it is right side up and front-facing.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Place the tomato to the left of the yellow stuffed animal right side up with the front facing forward.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Set the tomato left of the yellow stuffed animal in a right-side-up, front-facing orientation.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Position the tomato to the left of the yellow stuffed animal with its front forward and right side up.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Using the right hand, place the tomato to the left of the yellow stuffed animal.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Have the right arm set the tomato left of the yellow stuffed animal.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "With the right hand, position the tomato to the left of the yellow stuffed animal.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Put the tomato to the left of the yellow stuffed animal.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Set the tomato left of the yellow stuffed animal.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Position the tomato beside the yellow stuffed animal on its left side.", + "start_idx": 1374, + "end_idx": 1554 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Have the right hand take the yellow stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table by approaching diagonally and grasping its middle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Take the yellow stuffed animal from the table with a diagonal pickup at the middle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Retrieve the yellow stuffed animal from the table by grasping the middle at a diagonal angle.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Have the right hand take the yellow stuffed animal from the table.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Take the yellow stuffed animal from the table with the right hand.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Retrieve the yellow stuffed animal from the table.", + "start_idx": 2745, + "end_idx": 2919 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at the middle.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Using the left hand, take the white cup from the table from the top at the middle.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Have the left arm grasp the white cup on the table with a top hold at the middle.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "With the left hand, collect the white cup from the table by grasping it from above at the middle.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Pick up the white cup from the table from the top at the middle.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Take the white cup off the table from above at the middle.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "From the top at the middle, grasp the white cup from the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Take the white cup off the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1554, + "end_idx": 1821 + }, + { + "text": "Put the white cup to the right of the pink plate right side up with the front as the reference using the left hand.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Using the left hand, place the white cup to the right of the pink plate right side up, with the front as the reference.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Have the left arm set the white cup to the right of the pink plate in an upright orientation, using the front as the reference point.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "With the left hand, position the white cup to the right of the pink plate upright, referenced to the front.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Place the white cup to the right of the pink plate right side up, with the front as the reference.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Set the white cup to the right of the pink plate upright relative to the front.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Position the white cup to the right of the pink plate with the front as the reference, right side up.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Using the left hand, place the white cup to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Have the left arm set the white cup to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "With the left hand, position the white cup to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Put the white cup right side up to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Arrange the white cup to the right of the pink plate in an upright orientation.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Place the white cup to the right of the pink plate.", + "start_idx": 1821, + "end_idx": 1914 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table by grasping it from the top at the middle.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table, contacting it from above at its midpoint.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table using a top grasp at the middle.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Pick up the orange screwdriver from the table from the top at the middle.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Take the orange screwdriver from the table with a top grasp at the middle.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Retrieve the orange screwdriver from the table by grasping it from above at the middle.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "With the left hand, retrieve the orange screwdriver from the table.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Retrieve the orange screwdriver from the table.", + "start_idx": 1914, + "end_idx": 2001 + }, + { + "text": "Put the orange screwdriver on top of the pink plate with the left hand with its tip facing top right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Using the left hand, place the orange screwdriver on top of the pink plate with its tip pointing to the top right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Have the left arm set the orange screwdriver atop the pink plate, tip directed toward the top right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "With the left hand, position the orange screwdriver on the pink plate so its tip faces the upper right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Place the orange screwdriver on top of the pink plate.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Set the orange screwdriver atop the pink plate.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Put the orange screwdriver onto the pink plate.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Using the left hand, place the orange screwdriver on top of the pink plate.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Have the left arm put the orange screwdriver onto the pink plate.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "With the left hand, set the orange screwdriver atop the pink plate.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Place the orange screwdriver on top of the pink plate with its tip facing the top right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Set the orange screwdriver on the pink plate with the tip pointed upper right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Put the orange screwdriver onto the pink plate, tip facing top right.", + "start_idx": 2001, + "end_idx": 2127 + }, + { + "text": "Pick up the tomato from the table with the left hand from the top at the middle.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Using the left hand, pick up the tomato from the table from the top at the middle.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "From the top at the middle, have the left hand grasp the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "With the left hand, take the tomato from the table by approaching from the top at the middle.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Pick up the tomato from the table from the top at the middle.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "From the top at the middle, grasp the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Take the tomato from the table at the middle from the top.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Retrieve the tomato from the table from the top at the middle.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Using the left hand, pick up the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "With the left hand, grasp the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Have the left hand take the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Get the tomato from the table.", + "start_idx": 2127, + "end_idx": 2316 + }, + { + "text": "Put the tomato in front of the white cup with the left hand right side up with the front as the reference point.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Using the left hand, place the tomato in front of the white cup right side up, with the front as the reference point.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Have the left arm set the tomato in front of the white cup, keeping it right side up relative to the front.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "With the left hand, position the tomato before the white cup in a right-side-up orientation using the front as reference.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Place the tomato in front of the white cup right side up, with the front as the reference point.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Set the tomato before the white cup, keeping it right side up relative to the front.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Position the tomato in front of the white cup in a right-side-up orientation using the front as reference.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Using the left hand, put the tomato in front of the white cup.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "With the left hand, place the tomato before the white cup.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Have the left arm position the tomato in front of the white cup.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Put the tomato in front of the white cup.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Set the tomato before the white cup.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Position the tomato in front of the white cup.", + "start_idx": 2316, + "end_idx": 2415 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grasp at the bottom right.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Have the left arm pick up the pink plate from the table with the lip grasp diagonally at the bottom right.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "With the left hand, secure the pink plate from the table using a diagonal lip grip at its bottom right edge.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Take the pink plate from the table with a diagonal lip grip at the bottom right.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Grasp the pink plate from the table with a diagonal lip hold at the bottom right.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 2415, + "end_idx": 2553 + }, + { + "text": "Put the pink plate to the left of the tomato with the left hand right side up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Using the left hand, place the pink plate to the left of the tomato, right side up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Have the left arm set the pink plate left of the tomato with its right side facing up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "With the left hand, position the pink plate on the tomato's left side, right side up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Place the pink plate to the left of the tomato, right side up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Set the pink plate on the left side of the tomato, right side up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Position the pink plate left of the tomato with its right side facing up.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Using the left hand, put the pink plate to the left of the tomato.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "With the left hand, set the pink plate on the tomato's left side.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Have the left arm place the pink plate left of the tomato.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Put the pink plate to the left of the tomato.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Set the pink plate on the tomato's left side.", + "start_idx": 2553, + "end_idx": 2745 + }, + { + "text": "Position the pink plate left of the tomato.", + "start_idx": 2553, + "end_idx": 2745 + } + ] + }, + "2026-04-21-22-50-45-117000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the eggplant from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, take the eggplant from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm grasp the eggplant from the table at its middle from above.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the left hand, seize the eggplant from the table by the middle from the top.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the eggplant from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the eggplant from the table at the middle from above.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Grasp the eggplant from the table by its middle from the top.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, take the eggplant from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm grasp the eggplant from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Retrieve the eggplant from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Put the eggplant in front of the blue marker with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Using the left hand, place the eggplant in front of the blue marker with its tip facing forwards.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Have the left arm set the eggplant in front of the blue marker, oriented forward using the tip as reference.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "With the left hand, position the eggplant before the blue marker so the tip points forwards.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Place the eggplant in front of the blue marker with its tip facing forwards.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Set the eggplant before the blue marker, keeping the tip oriented forwards.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Position the eggplant in front of the blue marker with the tip pointed forward.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Using the left hand, put the eggplant in front of the blue marker.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "With the left hand, place the eggplant before the blue marker.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Have the left arm position the eggplant in front of the blue marker.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Put the eggplant in front of the blue marker.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Set the eggplant before the blue marker.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Position the eggplant in front of the blue marker.", + "start_idx": 114, + "end_idx": 192 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Have the left arm pick the blue marker off the table with a diagonal approach, holding it at the center.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "With the left hand, secure the blue marker from the table diagonally at its middle.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Take the blue marker off the table with a diagonal approach, holding the middle.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Grab the blue marker from the table diagonally by its center.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "From the table, grasp the blue marker.", + "start_idx": 192, + "end_idx": 327 + }, + { + "text": "Put the blue marker to the left of the eggplant with the left hand facing forwards.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Using the left hand, place the blue marker to the left of the eggplant with its tip facing forwards.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Have the left arm set the blue marker left of the eggplant, tip pointed forward.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "With the left hand, position the blue marker to the eggplant's left, keeping the tip facing forwards.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Place the blue marker to the left of the eggplant with its tip facing forwards.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Set the blue marker left of the eggplant, keeping the tip pointed forward.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Position the blue marker on the left side of the eggplant with the tip facing forwards.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Using the left hand, put the blue marker to the left of the eggplant.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "With the left hand, place the blue marker on the eggplant's left side.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Have the left arm set the blue marker left of the eggplant.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Put the blue marker to the left of the eggplant.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Place the blue marker on the left side of the eggplant.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Set the blue marker beside the eggplant on its left.", + "start_idx": 327, + "end_idx": 450 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table from the top at the middle.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Have the left arm grasp the blue screwdriver on the table with a top hold at its middle.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "With the left hand, seize the blue screwdriver from the table at the middle from above.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Take the blue screwdriver on the table with a top grasp at the middle.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "From above, grasp the blue screwdriver from the table at its middle.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Get the blue screwdriver from the table with the left hand.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Have the left arm pick up the blue screwdriver on the table.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Take the blue screwdriver from the table from above.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "From the table, grasp the blue screwdriver.", + "start_idx": 450, + "end_idx": 582 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Have the left arm take the blue screwdriver from the table diagonally by its middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table at a diagonal angle, holding the middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Take the blue screwdriver from the table diagonally by the middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Retrieve the blue screwdriver from the table at a diagonal angle, holding its middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Get the blue screwdriver from the table diagonally at the middle.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Have the left arm take the blue screwdriver from the table.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 1284, + "end_idx": 1398 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "With the left hand, retrieve the eggplant from the table diagonally by its middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Retrieve the eggplant from the table with a diagonal pickup at its middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Take the eggplant from the table diagonally, holding the middle.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Have the left arm take the eggplant from the table.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "With the left hand, retrieve the eggplant from the table.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Get the eggplant from the table.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Remove the eggplant from the table.", + "start_idx": 1500, + "end_idx": 1635 + }, + { + "text": "Put the eggplant behind the blue marker with the left hand with the tip facing right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Using the left hand, place the eggplant behind the blue marker with its tip facing right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Have the left arm set the eggplant behind the blue marker, tip pointed to the right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "With the left hand, position the eggplant behind the blue marker so the tip faces right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Place the eggplant behind the blue marker with its tip facing right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Set the eggplant behind the blue marker, keeping the tip pointed right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Position the eggplant behind the blue marker so its tip faces right.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Using the left hand, place the eggplant behind the blue marker.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Have the left arm set the eggplant behind the blue marker.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "With the left hand, position the eggplant behind the blue marker.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Put the eggplant behind the blue marker.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Set the eggplant behind the blue marker.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Position the eggplant behind the blue marker.", + "start_idx": 1635, + "end_idx": 1770 + }, + { + "text": "Pick up the asparagus from the table with the left hand from the top at the middle.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Using the left hand, take the asparagus from the table from the top at the middle.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Have the left arm grasp the asparagus from the table at the middle from above.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "With the left hand, secure the asparagus from the table by its middle from the top.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Pick up the asparagus from the table from the top at the middle.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Take the asparagus from the table at the middle from above.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Grasp the asparagus from the table from the top at the middle.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "With the left hand, take the asparagus from the table.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Have the left arm grasp the asparagus from the table.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Using the left hand, collect the asparagus from the table.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Retrieve the asparagus from the table from above.", + "start_idx": 1770, + "end_idx": 1902 + }, + { + "text": "Put the asparagus to the right of the blue marker with the left hand with its tip facing bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Using the left hand, place the asparagus to the right of the blue marker with its tip pointing toward the bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Have the left arm set the asparagus to the right of the blue marker, tip directed bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "With the left hand, position the asparagus to the right of the blue marker so its tip faces the bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Place the asparagus to the right of the blue marker with its tip pointing toward the bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Set the asparagus to the right of the blue marker so the tip faces bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Position the asparagus to the right of the blue marker, tip oriented toward the bottom left.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Using the left hand, put the asparagus to the right of the blue marker.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "With the left hand, place the asparagus to the right of the blue marker.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Have the left arm set the asparagus to the right of the blue marker.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Put the asparagus to the right of the blue marker.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Place the asparagus with the left hand, to the right of the blue marker.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Set the asparagus to the right of the blue marker with the left hand.", + "start_idx": 1902, + "end_idx": 2004 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Using the left hand, take the blue marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Have the left arm pick the blue marker off the table diagonally, holding it at the center.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "With the left hand, retrieve the blue marker from the table in a diagonal orientation by grasping the middle.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Take the blue marker off the table diagonally while holding its middle.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Retrieve the blue marker from the table in a diagonal position, with your grasp at the center.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "With the left hand, take the blue marker off the table.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Have the left arm retrieve the blue marker from the table.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Take the blue marker off the table.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Have the left arm pick up the blue marker from the table at a diagonal angle.", + "start_idx": 2004, + "end_idx": 2190 + }, + { + "text": "Place the blue marker to the left of the silver bowl with the left hand with its tip facing top right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Using the left hand, set the blue marker to the left of the silver bowl with its tip pointing toward the top right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Have the left arm place the blue marker left of the silver bowl, keeping the tip directed to the top right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "With the left hand, position the blue marker beside the silver bowl on its left, tip aimed at the upper right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Place the blue marker to the left of the silver bowl with its tip facing the top right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Set the blue marker on the left side of the silver bowl, with the tip pointing top right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Position the blue marker left of the silver bowl, keeping its tip oriented toward the upper right.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Using the left hand, place the blue marker to the left of the silver bowl.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "With the left hand, set the blue marker on the left side of the silver bowl.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Have the left arm position the blue marker beside the silver bowl on its left.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Place the blue marker to the left of the silver bowl.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Set the blue marker on the left side of the silver bowl.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Position the blue marker beside the silver bowl on its left.", + "start_idx": 2190, + "end_idx": 2322 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Have the left hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "With the left arm, retrieve the asparagus from the table at a diagonal angle by grasping the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle with a grasp at the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Have the left hand take the asparagus from the table.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "With the left arm, retrieve the asparagus from the table.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Take the asparagus from the table, grasping the middle.", + "start_idx": 2322, + "end_idx": 2472 + }, + { + "text": "Put the asparagus to the left of the blue marker with the left hand with the tip facing bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Using the left hand, place the asparagus to the left of the blue marker with its tip facing bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Have the left arm set the asparagus left of the blue marker, tip oriented toward the bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "With the left hand, position the asparagus to the left of the blue marker so the tip points bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Place the asparagus to the left of the blue marker with its tip facing bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Set the asparagus left of the blue marker, with the tip pointing toward the bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Position the asparagus to the left of the blue marker so its tip faces bottom left.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Using the left hand, put the asparagus to the left of the blue marker.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "With the left hand, place the asparagus left of the blue marker.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Have the left arm set the asparagus to the left of the blue marker.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Place the asparagus to the left of the blue marker.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Set the asparagus left of the blue marker.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Position the asparagus to the left of the blue marker.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Have the left arm take the blue screwdriver off the table, grasping it from the top at the middle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table by grasping its middle from above.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Take the blue screwdriver off the table, grasping it from above at the middle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Retrieve the blue screwdriver from the table with a top grasp at its middle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Retrieve the blue screwdriver from the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Return to home with the left arm.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Using the left arm, move back to the home position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "With the left arm, go to the home pose.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Move back to home position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Go to the home pose.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Head to the home position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Resume the home position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Transition to home pose.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Move to the default position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Go back to the resting position.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Return to the default pose.", + "start_idx": 2880, + "end_idx": 3000 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Have the right arm pick the asparagus up from the table diagonally by its middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "With the right hand, collect the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "From the table, collect the asparagus at a diagonal angle, gripping its middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Have the right arm take the asparagus from the table by its middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "With the right hand, collect the asparagus from the table, holding the middle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Using the right hand, take the asparagus from the table diagonally.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Have the right arm collect the asparagus from the table.", + "start_idx": 714, + "end_idx": 858 + }, + { + "text": "Put the asparagus in front of the silver bowl with the right hand facing bottom right with the tip as reference.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Using the right hand, place the asparagus in front of the silver bowl with the tip facing bottom right.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Have the right arm set the asparagus in front of the silver bowl, oriented bottom right from the tip.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "With the right hand, position the asparagus in front of the silver bowl so its tip points to the bottom right.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Place the asparagus in front of the silver bowl with its tip facing bottom right.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Set the asparagus in front of the silver bowl with the tip oriented toward the bottom right.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Position the asparagus in front of the silver bowl so the tip points bottom right.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Using the right hand, put the asparagus in front of the silver bowl.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "With the right hand, place the asparagus in front of the silver bowl.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Have the right arm position the asparagus in front of the silver bowl.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Put the asparagus in front of the silver bowl.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Set the asparagus in front of the silver bowl.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Position the asparagus in front of the silver bowl.", + "start_idx": 858, + "end_idx": 972 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Have the right arm pick the silver bowl up from the table using a lip grasp diagonally on its right side.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the right side using a diagonal lip hold.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Grasp the silver bowl from the table by its right side with a diagonal lip hold.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Have the right arm take the silver bowl from the table.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Using the right hand, take the silver bowl from the table.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 972, + "end_idx": 1131 + }, + { + "text": "Put the silver bowl to the right of the asparagus with the right hand.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Have the right arm set the silver bowl down to the asparagus's right.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "With the right hand, position the silver bowl on the right side of the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Place the silver bowl to the right of the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Set the silver bowl on the asparagus's right side.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Position the silver bowl to the right of the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Using the right hand, place the silver bowl by the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Have the right arm set the silver bowl down near the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Place the silver bowl next to the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Set the silver bowl beside the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Using the right hand, place the silver bowl beside the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Have the right arm position the silver bowl near the asparagus.", + "start_idx": 1131, + "end_idx": 1233 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Return to the home position.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Move back to home.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Go to the home pose.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Head to the home position.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Reset to home.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Bring the manipulator to home.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Return home now.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Move the arm to home.", + "start_idx": 1233, + "end_idx": 1284 + }, + { + "text": "Back to the home position.", + "start_idx": 1233, + "end_idx": 1284 + } + ] + }, + "2026-04-21-23-54-17-885000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, take the croissant from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm grasp the croissant from the table at the middle from above.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, pick the croissant up from the table, contacting it from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the croissant from the table at the middle from above.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the croissant from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the croissant from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Place the croissant inside the silver bowl with the left hand.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Using the left hand, set the croissant inside the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Have the left arm place the croissant into the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "With the left hand, deposit the croissant in the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Place the croissant inside the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Put the croissant into the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Set the croissant in the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Deposit the croissant inside the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Move the croissant into the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "The croissant goes inside the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Put the croissant in the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Place the croissant into the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Set the croissant inside the silver bowl.", + "start_idx": 120, + "end_idx": 222 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom from the top.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip at the bottom from the top.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Have the left arm take the cabbage from the table, grasping the bottom with a side hold from above.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "With the left hand, retrieve the cabbage from the table by securing its bottom in a side grasp from the top.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Pick up the cabbage from the table with a side grip at the bottom from the top.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "From the table, take the cabbage with a side hold at its bottom from above.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Grasp the cabbage from the table at the bottom with a side grip from the top.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "With a side grasp at the bottom, pick up the cabbage from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Pick up the cabbage from the table with the left hand.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Using the left hand, take the cabbage from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Have the left arm pick up the cabbage from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 222, + "end_idx": 348 + }, + { + "text": "Put the cabbage in front of the silver bowl with the left hand facing forwards.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Using the left hand, place the cabbage in front of the silver bowl facing forwards.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Have the left arm set the cabbage before the silver bowl with its front facing forward.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "With the left hand, position the cabbage in front of the silver bowl so it faces forwards.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Place the cabbage in front of the silver bowl facing forwards.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Set the cabbage before the silver bowl with its front facing forward.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Position the cabbage in front of the silver bowl so it faces forwards.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Using the left hand, place the cabbage in front of the silver bowl.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Have the left arm set the cabbage before the silver bowl.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "With the left hand, position the cabbage in front of the silver bowl.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Place the cabbage in front of the silver bowl.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Set the cabbage before the silver bowl.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Position the cabbage in front of the silver bowl.", + "start_idx": 348, + "end_idx": 459 + }, + { + "text": "Pick up the pink mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Using the left hand, take the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Have the left arm grasp the pink mug from the table by the handle at a diagonal angle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "With the left hand, retrieve the pink mug from the table, approaching diagonally by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Pick up the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Take the pink mug from the table by the handle at a diagonal angle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Retrieve the pink mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "From the table, grasp the pink mug by the handle at a diagonal angle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Using the left hand, pick up the pink mug from the table by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "With the left arm, take the pink mug from the table by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Have the left hand retrieve the pink mug from the table.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Pick up the pink mug from the table by the handle.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "From the table, take the pink mug.", + "start_idx": 459, + "end_idx": 594 + }, + { + "text": "Put the pink mug to the left of the silver bowl with the left hand right side up with the front as the orientation reference point.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Using the left hand, place the pink mug to the left of the silver bowl right side up, with the front as the orientation reference point.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Have the left arm set the pink mug left of the silver bowl, keeping it right side up relative to the front.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "With the left hand, position the pink mug to the silver bowl's left, oriented right side up using the front as the reference point.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Place the pink mug to the left of the silver bowl.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Set the pink mug left of the silver bowl.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Position the pink mug to the silver bowl's left side.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Using the left hand, place the pink mug to the left of the silver bowl.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "With the left hand, set the pink mug left of the silver bowl.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Have the left arm position the pink mug to the silver bowl's left.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Place the pink mug to the left of the silver bowl right side up.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Set the pink mug left of the silver bowl with the front as the orientation reference point.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Using the left hand, place the pink mug to the left of the silver bowl right side up.", + "start_idx": 594, + "end_idx": 738 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Using the left hand, take the green bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "From a diagonal angle, have the left hand grasp the green bag of chips from the table with a side hold at the bottom left.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "With the left hand, secure the green bag of chips from the table using a side grasp on the bottom left at a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the bottom left from a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Take the green bag of chips from the table using a side hold on the bottom left at a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Grasp the green bag of chips from the table with a side grasp at the bottom left from a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "With the left hand, pick up the green bag of chips from the table using a side grip.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Have the left hand take the green bag of chips from the table with a side hold.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Using the left hand, grasp the green bag of chips from the table.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Pick up the green bag of chips from the table at the bottom left from a diagonal angle.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "From a diagonal angle, take the green bag of chips from the table with the left hand.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Get the green bag of chips from the table using a side grip.", + "start_idx": 738, + "end_idx": 942 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl with the left hand facing top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "With the left hand, place the green bag of chips to the right of the silver bowl, facing top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Have the left arm set the green bag of chips to the right of the silver bowl with its front toward the top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Using the left hand, position the green bag of chips to the right of the silver bowl, oriented top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Place the green bag of chips to the right of the silver bowl facing top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Set the green bag of chips to the right of the silver bowl with its front toward the top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Position the green bag of chips to the right of the silver bowl, oriented toward the top left.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "With the left hand, place the green bag of chips to the right of the silver bowl.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Using the left hand, set the green bag of chips to the right of the silver bowl.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Have the left arm position the green bag of chips to the right of the silver bowl.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Set the green bag of chips to the right of the silver bowl.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Have the bag of chips placed to the right of the silver bowl.", + "start_idx": 942, + "end_idx": 1074 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the top left from the top.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the top left from the top.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp at the bowl's top-left area from above.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "With the left hand, grasp the green bowl from the table by its top-left lip from above.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the top left from the top.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Take the green bowl from the table using a lip grasp at the top-left area from above.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Grasp the green bowl from the table by the top-left lip from above.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "With the left hand, pick up the green bowl from the table using a lip grip.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Using the left hand, take the green bowl from the table.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Have the left arm grasp the green bowl from the table.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Pick up the green bowl from the table from above.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Take the green bowl from the table with the left hand.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Grasp the green bowl from the table.", + "start_idx": 1074, + "end_idx": 1164 + }, + { + "text": "Put the green bowl in front of the green bag of chips with the left hand.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Using the left hand, place the green bowl in front of the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Have the left arm set the green bowl down in front of the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "With the left hand, position the green bowl before the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Place the green bowl in front of the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Set the green bowl down in front of the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Position the green bowl before the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Using the left hand, put the green bowl by the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "With the left hand, set the green bowl next to the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Have the left arm place the green bowl near the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Put the green bowl by the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Set the green bowl next to the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Position the green bowl near the green bag of chips.", + "start_idx": 1164, + "end_idx": 1302 + }, + { + "text": "Pick up the pink mug from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Using the left hand, take the pink mug from the table by its handle at a diagonal angle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "With the left arm, grasp the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Have the left hand retrieve the pink mug from the table, holding the handle on a diagonal.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Take the pink mug from the table by its handle at a diagonal angle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Grasp the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Retrieve the pink mug from the table, taking hold of the handle at a diagonal angle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Using the left hand, pick up the pink mug from the table by the handle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "With the left arm, collect the pink mug from the table by its handle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Have the left hand take the pink mug from the table by the handle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Using the left hand, pick up the pink mug from the table at a diagonal angle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "With the left arm, grasp the pink mug from the table on a diagonal.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Take the pink mug from the table by its handle.", + "start_idx": 1302, + "end_idx": 1500 + }, + { + "text": "Put the pink mug to the right of the green bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Using the left hand, place the pink mug to the right of the green bowl with the handle facing backward and upright.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Have the left arm set the pink mug to the green bowl's right, upright with its handle pointing backward.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "With the left hand, position the pink mug on the right side of the green bowl, right side up and with the handle facing back.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Place the pink mug to the right of the green bowl with the handle facing backward and upright.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Set the pink mug on the right side of the green bowl, right side up with its handle pointing backward.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Position the pink mug to the green bowl's right, upright and with the handle facing back.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Using the left hand, put the pink mug to the right of the green bowl.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "With the left hand, place the pink mug on the right side of the green bowl.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Have the left arm set the pink mug to the green bowl's right.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Put the pink mug to the right of the green bowl.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Set the pink mug on the right side of the green bowl.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Position the pink mug to the green bowl's right.", + "start_idx": 1500, + "end_idx": 1638 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach, holding it at the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally, gripping the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle by grasping the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Retrieve the cabbage from the table diagonally, gripping it at the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Using the left hand, pick up the cabbage from the table by grasping the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Have the left arm take the cabbage from the table, holding the middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "With the left hand, retrieve the cabbage from the table from its middle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Take the cabbage from the table with the left hand.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 1638, + "end_idx": 1806 + }, + { + "text": "Put the cabbage behind the pink mug with the left hand facing top right from the front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Using the left hand, place the cabbage behind the pink mug with its top right side facing front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the cabbage behind the pink mug, oriented top right from the front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "With the left hand, position the cabbage behind the pink mug so it faces top right from the front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Place the cabbage behind the pink mug with its top right side facing front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Set the cabbage behind the pink mug so it faces top right from the front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Position the cabbage behind the pink mug, oriented top right from the front.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Using the left hand, put the cabbage behind the pink mug.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "With the left hand, place the cabbage behind the pink mug.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Have the left arm set the cabbage behind the pink mug.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Put the cabbage behind the pink mug.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Place the cabbage behind the pink mug.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Set the cabbage behind the pink mug.", + "start_idx": 1806, + "end_idx": 1941 + }, + { + "text": "Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Using the left hand, take the cabbage from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Have the left arm pick the cabbage up from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "With the left hand, grasp the cabbage from the table by the bottom using a side hold from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Pick up the cabbage from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Take the cabbage from the table with a side grasp on the bottom from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Grasp the cabbage from the table by the bottom with a side hold from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Using the left hand, pick up the cabbage from the table with a side grip at the bottom.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "With the left hand, take the cabbage from the table using a side grasp on the bottom.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Have the left arm grasp the cabbage from the table by the bottom with a side hold.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Using the left hand, pick up the cabbage from the table from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "With the left hand, take the cabbage from the table at a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Pick up the cabbage from the table by the bottom from a diagonal angle.", + "start_idx": 2547, + "end_idx": 2691 + }, + { + "text": "Place the cabbage inside the green bowl with the left hand facing top right relative to the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Using the left hand, place the cabbage in the green bowl facing the top right relative to the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Have the left arm set the cabbage inside the green bowl with its orientation toward the top right from the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "With the left hand, deposit the cabbage into the green bowl, oriented top right relative to the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Place the cabbage inside the green bowl facing the top right relative to the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Set the cabbage in the green bowl with its top directed to the right from the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Put the cabbage into the green bowl oriented toward the top right when viewed from the front.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Using the left hand, place the cabbage inside the green bowl.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "With the left hand, set the cabbage into the green bowl.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Have the left arm put the cabbage in the green bowl.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Place the cabbage in the green bowl.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Set the cabbage inside the green bowl.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Put the cabbage into the green bowl.", + "start_idx": 2691, + "end_idx": 2793 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "With the left hand, take the green bag of chips from the table using a side grasp at the bottom with a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Using the left arm, grasp the green bag of chips from the table from the bottom with a side hold and a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Have the left hand pick the green bag of chips off the table with a side grip at the bottom and a diagonal approach.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Pick up the green bag of chips from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Take the green bag of chips off the table with a side grasp at the bottom and a diagonal approach.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Grasp the green bag of chips from the table at the bottom with a side hold and a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a side grip at the bottom.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Have the left arm take the green bag of chips off the table using a side grasp at the bottom.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table from the bottom using a side hold.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table with a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Have the left arm take the green bag of chips off the table at the bottom with a diagonal approach.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Pick up the green bag of chips from the table at the bottom with a diagonal pick angle.", + "start_idx": 2793, + "end_idx": 2931 + }, + { + "text": "Put the green bag of chips to the left of the green bowl with the left hand facing left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green bowl with its front facing left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Have the left arm set the green bag of chips left of the green bowl, front pointed left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "With the left hand, position the green bag of chips on the bowl's left side, front facing left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Place the green bag of chips to the left of the green bowl with its front facing left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Set the green bag of chips on the left side of the green bowl, front pointed left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Position the green bag of chips left of the green bowl with the front facing left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the green bowl.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "With the left hand, set the green bag of chips on the bowl's left side.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Have the left arm place the green bag of chips left of the green bowl.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Place the green bag of chips to the left of the green bowl.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Set the green bag of chips on the left side of the green bowl.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Position the green bag of chips beside the green bowl on its left.", + "start_idx": 2931, + "end_idx": 2982 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Return to the home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Reset to home.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Head back to home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Move to home.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Return home.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Go back to the home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Reset to the home position.", + "start_idx": 2982, + "end_idx": 3000 + }, + { + "text": "Pick up the pink mug from the table with the right hand from the side by the handle.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Using the right hand, take hold of the pink mug on the table from the side by its handle.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Have the right arm grasp the pink mug from the table at the handle with a side approach.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "With the right hand, secure the pink mug from the table by the handle from the side.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Pick up the pink mug from the table from the side by the handle.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Take the pink mug from the table by the handle with a side grasp.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "From the table, grasp the pink mug at the handle from the side.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Pick up the pink mug from the table with the right hand.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Use the right hand to take the pink mug from the table.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Have the right arm pick up the pink mug from the table.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Take the pink mug from the table.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "From the table, grasp the pink mug.", + "start_idx": 1941, + "end_idx": 2184 + }, + { + "text": "Put the pink mug to the right of the cabbage with the right hand with the handle facing backwards.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Using the right hand, place the pink mug to the cabbage's right with the handle facing backward.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Have the right arm set the pink mug down to the right of the cabbage, handle pointing backward.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "With the right hand, position the pink mug on the right side of the cabbage, with its handle facing back.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Place the pink mug to the right of the cabbage.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Set the pink mug on the cabbage's right side.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Position the pink mug to the right of the cabbage.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Move the pink mug to the right of the cabbage.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Using the right hand, place the pink mug to the right of the cabbage.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Have the right arm set the pink mug down on the cabbage's right side.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "With the right hand, position the pink mug beside the cabbage on its right.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Put the pink mug down with the handle facing backward.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Arrange the pink mug with its handle facing back.", + "start_idx": 2184, + "end_idx": 2292 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a lip grip from the top at the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Using the right hand, take the green bowl from the table with a lip grip from the top at the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Have the right hand grasp the green bowl from the table using a lip hold from above on the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "With the right hand, secure the green bowl from the table by the lip from the top at the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Take the green bowl from the table using a lip grip from the top at the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Grasp the green bowl from the table with a lip hold from above on the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "The green bowl from the table should be picked up using a lip grip from the top at the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Using the right hand, pick up the green bowl from the table.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "With the right hand, take the green bowl from the table.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Have the right hand collect the green bowl from the table.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Take the green bowl from the table from the top at the right side.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Using a lip grip, pick up the green bowl from the table with the right hand.", + "start_idx": 2292, + "end_idx": 2430 + }, + { + "text": "Put the green bowl in front of the pink mug with the right hand.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Using the right hand, place the green bowl in front of the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Have the right arm set the green bowl down in front of the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "With the right hand, position the green bowl before the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Place the green bowl in front of the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Set the green bowl down in front of the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Position the green bowl before the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Leave the green bowl in front of the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Using the right hand, put the green bowl by the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "With the right hand, place the green bowl near the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Have the right arm set the green bowl next to the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Put the green bowl by the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Set the green bowl near the pink mug.", + "start_idx": 2430, + "end_idx": 2517 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "With the right arm, go to the home position.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Return to the home position.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Move back to home.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Go to the home pose.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Resume the home position.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Shift to the home position.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Return home now.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Move to home.", + "start_idx": 2517, + "end_idx": 2547 + }, + { + "text": "Go back to the home position.", + "start_idx": 2517, + "end_idx": 2547 + } + ] + }, + "2026-04-21-23-56-26-195000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 221, + "annotations": [ + { + "text": "Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the left hand, take the silver bowl from the table with a diagonal lip grasp at the left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the left hand collect the silver bowl from the table using a diagonal lip grip on its left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the left hand, grasp the silver bowl from the table via a diagonal lip hold at the left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp at the left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the silver bowl from the table with a diagonal lip grip on the left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Grasp the silver bowl from the table via a diagonal lip hold at its left side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the left hand, pick up the silver bowl from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the left hand, take the silver bowl from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the left hand grasp the silver bowl from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the silver bowl from the table with the left hand.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Dump the croissant from the silver bowl to the left of the green bag of chips with the left hand.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Using the left hand, dump the croissant from the silver bowl left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Have the left arm empty the croissant out of the silver bowl to the left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "With the left hand, tip the croissant from the silver bowl positioned left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Dump the croissant from the silver bowl to the left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Empty the croissant out of the silver bowl left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "The croissant in the silver bowl to the left of the green bag of chips should be dumped.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Tip the croissant from the silver bowl beside the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Pour out the croissant from the silver bowl that is left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Remove the croissant from the silver bowl to the left of the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "From the silver bowl left of the green bag of chips, dump the croissant.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Empty the croissant from the silver bowl beside the green bag of chips.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "The croissant from the silver bowl left of the green bag of chips needs to be tipped out.", + "start_idx": 129, + "end_idx": 198 + }, + { + "text": "Put the silver bowl behind the green bag of chips with the left hand.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Using the left hand, place the silver bowl behind the green bag of chips upright with its front facing forward.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Have the left arm set the silver bowl behind the green bag of chips, keeping it right side up and the front forward.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "With the left hand, position the silver bowl behind the green bag of chips so it stays upright and faces front.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Place the silver bowl behind the green bag of chips, keeping it upright with the front facing forward.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Set the silver bowl behind the green bag of chips so it remains right side up and front-facing.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Position the silver bowl behind the green bag of chips, upright and facing forward.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Using the left hand, put the silver bowl behind the green bag of chips.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "With the left hand, place the silver bowl behind the green bag of chips.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Have the left arm position the silver bowl behind the green bag of chips.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Put the silver bowl behind the green bag of chips.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Set the silver bowl behind the green bag of chips.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Position the silver bowl behind the green bag of chips.", + "start_idx": 198, + "end_idx": 357 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Using the left hand, take the croissant from the table from above at its middle.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Have the left arm grasp the croissant on the table at the center from the top.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "With the left hand, collect the croissant from the table by gripping its middle from above.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Pick up the croissant from the table from above at the middle.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Take the croissant from the table at its center from the top.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "From above, grasp the croissant from the table at the middle.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "With the left hand, pick up the croissant from the table.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Using the left hand, grasp the croissant from the table.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 357, + "end_idx": 486 + }, + { + "text": "Put the croissant to the left of the silver bowl with the left hand.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Using the left hand, place the croissant to the left of the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Have the left arm set the croissant down left of the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "With the left hand, position the croissant to the silver bowl's left.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Place the croissant to the left of the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Set the croissant down left of the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Position the croissant on the left side of the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Put the croissant beside the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Using the left hand, place the croissant by the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Have the left arm set the croissant next to the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "With the left hand, position the croissant beside the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Set the croissant by the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Place the croissant next to the silver bowl.", + "start_idx": 486, + "end_idx": 588 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "With the left hand, retrieve the croissant from the table, contacting it at the middle on a diagonal.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Take the croissant from the table with a diagonal approach, holding its middle.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle by the middle.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 1881, + "end_idx": 2022 + }, + { + "text": "Put the croissant in front of the silver bowl with the left hand.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Using the left hand, place the croissant in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Have the left arm set the croissant down in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "With the left hand, position the croissant before the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Place the croissant in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Set the croissant down in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Position the croissant before the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Have the croissant placed in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "The croissant goes in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Move the croissant to a spot in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Arrange the croissant in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Set the croissant before the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Put the croissant down in front of the silver bowl.", + "start_idx": 2022, + "end_idx": 2118 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Return to the home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Move to the home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Go back to home.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Reset to the home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Head to the home pose.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Resume the home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Move back home.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Return home.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Go to the home position.", + "start_idx": 2118, + "end_idx": 2184 + }, + { + "text": "Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Using the right hand, pick up the green bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Have the right arm take the green bowl from the table using a right-side diagonal lip grip.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "With the right hand, grasp the green bowl from the table via a diagonal lip hold on the right.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Pick up the green bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Take the green bowl from the table with a diagonal lip grip on the right side.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Grasp the green bowl from the table with a right-side diagonal lip hold.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Using a diagonal lip grasp on the right, collect the green bowl from the table.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "With a right-side diagonal lip grip, retrieve the green bowl from the table.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Pick up the green bowl from the table with the right hand.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Have the right arm take the green bowl from the table.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Using the right hand, grasp the green bowl from the table.", + "start_idx": 588, + "end_idx": 750 + }, + { + "text": "Put the green bowl to the right of the pink mug with the right hand.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Using the right hand, place the green bowl to the right of the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Have the right arm set the green bowl down to the right of the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "With the right hand, position the green bowl on the right side of the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Place the green bowl to the right of the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Set the green bowl on the right side of the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Position the green bowl to the pink mug's right.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Using the right hand, put the green bowl by the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Have the right arm place the green bowl next to the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Put the green bowl beside the pink mug with the right hand.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Set the green bowl down by the pink mug with the right hand.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Place the green bowl next to the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Have the bowl placed to the right of the pink mug.", + "start_idx": 837, + "end_idx": 942 + }, + { + "text": "Pick up the cabbage from the table with the right hand from the top at the middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Using the right hand, take the cabbage from the table from the top at the middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Have the right arm grasp the cabbage on the table from above at its middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "With the right hand, collect the cabbage from the table by gripping it at the top middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Pick up the cabbage from the table from the top at the middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Take the cabbage from the table from above at its middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Grab the cabbage on the table at the top middle.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "With the right hand, take the cabbage from the table.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Have the right arm grasp the cabbage on the table.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Using the right hand, collect the cabbage from the table.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Take the cabbage on the table.", + "start_idx": 942, + "end_idx": 1101 + }, + { + "text": "Pick up the pink mug from the table with the right hand from the side by the handle.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Using the right hand, take the pink mug from the table by the handle from the side.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Have the right arm grasp the pink mug from the table at the handle from the side.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "With the right hand, collect the pink mug from the table via the handle from the side.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Pick up the pink mug from the table by the handle from the side.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Take the pink mug from the table at the handle from the side.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Grasp the pink mug from the table via the handle from the side.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "From the table, retrieve the pink mug by the handle.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Take the pink mug from the table.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Using the right hand, pick up the pink mug from the table.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Have the right arm take the pink mug from the table.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "With the right hand, grasp the pink mug from the table.", + "start_idx": 1131, + "end_idx": 1392 + }, + { + "text": "Put the pink mug to the right of the green bowl with the handle facing backwards using the right arm right side up from the front.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Using the right arm, place the pink mug to the right of the green bowl, right side up from the front, with the handle facing backwards.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Have the right arm set the pink mug to the green bowl's right, keeping it right side up from the front and the handle facing backwards.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "With the right arm, position the pink mug on the right side of the green bowl, right side up from the front, handle facing backwards.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Place the pink mug to the right of the green bowl, right side up from the front, with the handle facing backwards.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Set the pink mug on the green bowl's right side, keeping it right side up from the front and the handle facing backwards.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "The pink mug goes to the right of the green bowl, right side up from the front, with the handle facing backwards.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Using the right arm, place the pink mug to the right of the green bowl.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Have the right arm set the pink mug on the right side of the green bowl.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "With the right arm, position the pink mug to the green bowl's right.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Put the pink mug to the right of the green bowl.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Set the pink mug on the right side of the green bowl.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "The pink mug should go to the right of the green bowl.", + "start_idx": 1392, + "end_idx": 1572 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand using a side grip at the bottom.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a side grip at the bottom.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table by the bottom with a side hold.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "With the right hand, pick the green bag of chips off the table, gripping its bottom from the side.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Pick up the green bag of chips from the table with a side grip at the bottom.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Take the green bag of chips off the table, holding the bottom from the side.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Grasp the green bag of chips from the table at the bottom with a side hold.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Using a side grip at the bottom, pick up the green bag of chips from the table.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "From the table, collect the green bag of chips with the right hand.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Use the right hand to take the green bag of chips from the table.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Have the right arm pick up the green bag of chips from the table.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Take the green bag of chips off the table.", + "start_idx": 1572, + "end_idx": 1785 + }, + { + "text": "Put the green bag of chips inside the silver bowl with the right hand upside down.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Using the right hand, place the green bag of chips upside down inside the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Have the right arm set the green bag of chips into the silver bowl in an upside-down position.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "With the right hand, deposit the green bag of chips in the silver bowl upside down.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Place the green bag of chips upside down inside the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Set the green bag of chips into the silver bowl in an upside-down position.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Put the green bag of chips in the silver bowl upside down.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Using the right hand, place the green bag of chips inside the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Have the right arm set the green bag of chips into the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "With the right hand, put the green bag of chips in the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Place the green bag of chips inside the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Set the green bag of chips into the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Put the green bag of chips in the silver bowl.", + "start_idx": 1785, + "end_idx": 1881 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Using the right hand, take the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Have the right hand pick the croissant off the table with a diagonal approach at its middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "With the right hand, retrieve the croissant from the table by taking it at a diagonal angle around the middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Take the croissant off the table with a diagonal approach, holding the middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Get the croissant from the table at a diagonal angle by grasping its middle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Have the right hand take the croissant off the table.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "With the right hand, retrieve the croissant from the table.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Take the croissant off the table with a diagonal approach.", + "start_idx": 2184, + "end_idx": 2268 + }, + { + "text": "Pick up the pink mug from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Using the right hand, take the pink mug from the table by its handle at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Have the right arm grasp the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "With the right hand, retrieve the pink mug from the table, holding it by the handle at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Pick up the pink mug from the table by the handle at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Grasp the pink mug from the table by its handle at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Take the pink mug from the table using the handle at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Using the right hand, pick up the pink mug from the table by the handle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Have the right arm take the pink mug from the table by its handle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "With the right hand, grasp the pink mug from the table.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Pick up the pink mug from the table at a diagonal angle.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Take the pink mug from the table with the right hand.", + "start_idx": 2385, + "end_idx": 2571 + }, + { + "text": "Grasp the pink mug from the table.", + "start_idx": 2385, + "end_idx": 2571 + } + ] + }, + "2026-04-22-02-25-58-535000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 221, + "annotations": [ + { + "text": "Pick up the white mug from the table with the left hand from the side by the handle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Using the left hand, take the white mug from the table from the side by the handle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Have the left arm grasp the white mug from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "With the left hand, collect the white mug from the table by its handle from the side.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Pick up the white mug from the table from the side by the handle.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Take the white mug from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Grasp the white mug from the table by the handle from the side.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "With the left hand, take the white mug from the table.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Have the left arm collect the white mug from the table.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "From the side, pick up the white mug from the table.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 0, + "end_idx": 159 + }, + { + "text": "Put the white mug on top of the white plate with the left hand right side up with the front facing backwards.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Using the left hand, place the white mug onto the white plate upright with its front facing backward.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Have the left arm set the white mug on top of the white plate right side up, front toward the back.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "With the left hand, position the white mug atop the white plate upright and facing backward at the front.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Set the white mug on top of the white plate right side up with the front facing backward.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Place the white mug onto the white plate upright, with its front toward the back.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Put the white mug atop the white plate with the front facing backward and right side up.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "With the left hand, put the white mug on top of the white plate.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Using the left hand, place the white mug onto the white plate.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Have the left arm set the white mug atop the white plate.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Put the white mug on top of the white plate.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Place the white mug onto the white plate.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Set the white mug atop the white plate.", + "start_idx": 159, + "end_idx": 279 + }, + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grip on the left side.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal lip grip on its left side.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "With the left arm, grasp the beige bowl from the table using a diagonal lip hold on the left side.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Have the left hand pick the beige bowl up from the table with a diagonal grip on the left lip.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grip on the left side.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Grasp the beige bowl from the table with a diagonal hold on its left lip.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "The beige bowl should be picked up from the table with a diagonal grip on the left side.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "With the left arm, take the beige bowl from the table.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Have the left hand grasp the beige bowl from the table.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Using the left hand, collect the beige bowl from the table.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Take the beige bowl from the table.", + "start_idx": 279, + "end_idx": 402 + }, + { + "text": "Put the beige bowl in front of the white plate with the left hand right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Using the left hand, place the beige bowl in front of the white plate right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Have the left arm set the beige bowl down in front of the white plate, right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "With the left hand, position the beige bowl before the white plate so it stays right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Place the beige bowl in front of the white plate right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Set the beige bowl down in front of the white plate, right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Position the beige bowl before the white plate, keeping it right side up.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Using the left hand, put the beige bowl in front of the white plate.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "With the left hand, set the beige bowl down before the white plate.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Have the left arm place the beige bowl in front of the white plate.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Put the beige bowl in front of the white plate.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Set the beige bowl down before the white plate.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Position the beige bowl in front of the white plate.", + "start_idx": 402, + "end_idx": 531 + }, + { + "text": "Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Using the left hand, take the white cup from the table with a diagonal lip grasp on its left side.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Have the left arm pick up the white cup from the table by the left side using a diagonal lip grip.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "With the left hand, grasp the white cup from the table at the left side with a diagonal lip hold.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the left side.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Take the white cup from the table with a diagonal lip grip at its left side.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Grasp the white cup from the table by its left side using a diagonal lip hold.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "The white cup should be taken from the table with the left hand.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Retrieve the white cup from the table using the left hand.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2592, + "end_idx": 2832 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top at the right side using a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Using the right hand, take the white cup from the table from the top at the right side with a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Have the right arm grasp the white cup from the table at the right side from above using a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "With a lip grip, the right hand should seize the white cup from the table from the top on its right side.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Pick up the white cup from the table from the top at the right side using a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Grasp the white cup from the table at the right side from above with a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Take the white cup from the table on its right side from the top using a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Have the right arm take the white cup from the table using a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "With the right hand, grasp the white cup from the table using a lip grip.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "From the top at the right side, pick up the white cup from the table with the right hand.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Have the right arm grasp the white cup from the table from above on its right side.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 681, + "end_idx": 753 + }, + { + "text": "Put the white cup to the right of the coffee pod with the right hand right side up with the front as the orientation reference point.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Using the right hand, place the white cup to the right of the coffee pod, right side up with the front as the reference point.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Have the right hand set the white cup to the right of the coffee pod, keeping it right side up relative to the front.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "With the right hand, position the white cup to the right of the coffee pod, oriented right side up using the front as the reference point.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Place the white cup to the right of the coffee pod, right side up with the front as the reference point.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Set the white cup to the right of the coffee pod, keeping it right side up relative to the front.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Position the white cup to the right of the coffee pod, with the front as the reference point and right side up.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Using the right hand, place the white cup to the right of the coffee pod.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Have the right hand set the white cup to the right of the coffee pod.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "With the right hand, position the white cup to the right of the coffee pod.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Place the white cup to the right of the coffee pod.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Set the white cup to the right of the coffee pod.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Position the white cup to the right of the coffee pod.", + "start_idx": 753, + "end_idx": 882 + }, + { + "text": "Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Using the right hand, take the coffee pod from the table at a diagonal angle, grasping the entire object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Have the right arm pick the coffee pod up from the table with a diagonal approach and a full-object grasp.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "With the right hand, retrieve the coffee pod from the table diagonally while enclosing the whole object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Pick up the coffee pod from the table at a diagonal angle, grasping the entire object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Take the coffee pod from the table with a diagonal approach and a full-object grasp.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Retrieve the coffee pod from the table diagonally while holding the whole object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table, grasping the entire object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Have the right arm take the coffee pod from the table with a full-object hold.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "With the right hand, collect the coffee pod from the table by grasping the whole object.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table at a diagonal angle.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Have the right arm retrieve the coffee pod from the table with a diagonal approach.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 882, + "end_idx": 1059 + }, + { + "text": "Put the coffee pod to the top left of the white cup with the right hand right side up with the front as the orientation reference.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Using the right hand, place the coffee pod at the white cup's top-left, right side up with the front as the orientation reference.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Have the right arm set the coffee pod to the top left of the white cup, keeping it right side up relative to the front.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "With the right hand, position the coffee pod top-left of the white cup, oriented right side up using the front as the reference.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Place the coffee pod to the top left of the white cup.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Set the coffee pod at the top left of the white cup.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "The coffee pod goes to the white cup's top-left side.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Put the coffee pod to the top left of the white cup with the right hand.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Using the right hand, place the coffee pod at the white cup's top-left.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Have the right arm set the coffee pod beside the white cup at the top-left.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Place the coffee pod to the top left of the white cup, right side up with the front as the orientation reference.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Position the coffee pod at the white cup's top-left, keeping it right side up relative to the front.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "The coffee pod should be set top-left of the white cup, with its front as reference and right side up.", + "start_idx": 1059, + "end_idx": 1173 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Have the right arm grasp the white cup from the table with a diagonal lip hold at the right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "With the right hand, secure the white cup from the table using a diagonal grasp on the lip at the right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on its right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Grasp the white cup from the table with a diagonal lip contact at the right side.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Take the white cup from the table using a diagonal lip grasp.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Grab the white cup from the table.", + "start_idx": 1173, + "end_idx": 1350 + }, + { + "text": "Put the white cup to the right of the coffee pod with the right hand right side up with the front as the reference point.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Using the right hand, place the white cup to the right of the coffee pod, right side up with the front as the reference point.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Have the right arm set the white cup to the right of the coffee pod, keeping it right side up relative to the front.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "With the right hand, position the white cup to the right of the coffee pod so it is right side up using the front as the reference point.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Place the white cup to the right of the coffee pod, right side up with the front as the reference point.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Set the white cup to the right of the coffee pod, keeping it right side up relative to the front.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Position the white cup to the right of the coffee pod so it is right side up using the front as the reference point.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Using the right hand, place the white cup to the right of the coffee pod.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Have the right arm set the white cup to the right of the coffee pod.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "With the right hand, position the white cup to the right of the coffee pod.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Place the white cup to the right of the coffee pod.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Set the white cup to the right of the coffee pod.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Have the right arm place the white cup to the right of the coffee pod.", + "start_idx": 1350, + "end_idx": 1467 + }, + { + "text": "Pick up the coffee pod from the table with the right hand from the side at the middle.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Using the right hand, take the coffee pod from the table from the side at the middle.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Have the right arm grasp the coffee pod from the table with a side approach at the middle.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "With the right hand, secure the coffee pod from the table by its middle from the side.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Pick up the coffee pod from the table from the side at the middle.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "From the table, collect the coffee pod with a side grasp at the middle.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "The coffee pod from the table should be picked up from the side at the middle.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "With the right hand, take the coffee pod from the table.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Have the right arm collect the coffee pod from the table.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "From the table, grasp the coffee pod.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "The coffee pod from the table should be taken.", + "start_idx": 1467, + "end_idx": 1668 + }, + { + "text": "Put the coffee pod inside the beige bowl with the right hand facing bottom right from the front.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Using the right hand, place the coffee pod into the beige bowl facing the bottom right from the front.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Have the right arm put the coffee pod inside the beige bowl with its orientation toward the bottom right from the front.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "With the right hand, set the coffee pod in the beige bowl so it faces bottom right from the front.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Place the coffee pod into the beige bowl facing the bottom right from the front.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Set the coffee pod inside the beige bowl with the front facing bottom right.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Put the coffee pod in the beige bowl oriented bottom right from the front.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Deposit the coffee pod into the beige bowl with its front toward the bottom right.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Using the right hand, place the coffee pod into the beige bowl.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Have the right arm put the coffee pod inside the beige bowl.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "With the right hand, set the coffee pod in the beige bowl.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Place the coffee pod into the beige bowl.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Put the coffee pod in the beige bowl.", + "start_idx": 1668, + "end_idx": 1743 + }, + { + "text": "Pick up the white mug from the top of the white plate with the right hand at a diagonal angle by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Using the right hand, take the white mug from the top of the white plate at a diagonal angle by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Have the right arm grasp the white mug from the top of the white plate by the handle at a diagonal angle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "With the right hand, retrieve the white mug from the top of the white plate, approaching diagonally by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Pick up the white mug from the top of the white plate at a diagonal angle by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Take the white mug from the top of the white plate by the handle at a diagonal angle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Retrieve the white mug from the top of the white plate, grasping the handle at a diagonal angle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Using the right hand, pick up the white mug from the top of the white plate by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Have the right arm take the white mug from the top of the white plate by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "With the right hand, retrieve the white mug from the top of the white plate by the handle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Pick up the white mug from the top of the white plate with the right hand at a diagonal angle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Take the white mug from the top of the white plate with the right hand at a diagonal angle.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Retrieve the white mug from the top of the white plate.", + "start_idx": 1743, + "end_idx": 2046 + }, + { + "text": "Put the white mug to the right of the beige bowl with the right hand right side up with the front facing backwards.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Using the right hand, place the white mug to the right of the beige bowl, right side up, with its front facing backward.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Have the right arm set the white mug to the right of the beige bowl, keeping it upright and the front pointed backward.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "With the right hand, position the white mug to the right of the beige bowl so it stays right side up and faces backward.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Place the white mug to the right of the beige bowl, right side up, with the front facing backward.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Set the white mug to the right of the beige bowl, upright, with its front pointed backward.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Position the white mug to the right of the beige bowl, keeping it right side up and facing backward.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Using the right hand, put the white mug to the right of the beige bowl.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "With the right hand, place the white mug to the right of the beige bowl.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Have the right arm set the white mug to the right of the beige bowl.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Put the white mug to the right of the beige bowl.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Place the white mug to the right of the beige bowl.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Set the white mug to the right of the beige bowl.", + "start_idx": 2046, + "end_idx": 2238 + }, + { + "text": "Pick up the white cup from the table with the right hand from the side at the middle.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Using the right hand, take the white cup from the table from the side at the middle.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Have the right hand grasp the white cup on the table with a side approach at the middle.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "From the side at the middle, the right hand should pick up the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Pick up the white cup from the table from the side at the middle.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Take the white cup on the table with a side approach at the middle.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "From the side at the middle, grasp the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Retrieve the white cup from the table from the side at the middle.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Have the right hand take the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "The right hand should grasp the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2439, + "end_idx": 2496 + }, + { + "text": "Put the white cup right side up behind the white mug and to the right of the white plate with the right hand.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Using the right hand, place the white cup upright behind the white mug and to the right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Have the right arm set the white cup right side up behind the white mug and right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "With the right hand, position the white cup behind the white mug and to the right of the white plate, keeping it upright.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Place the white cup right side up behind the white mug and to the right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Set the white cup upright behind the white mug and right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Position the white cup behind the white mug and to the right of the white plate, right side up.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Place the white cup behind the white mug and to the right of the white plate with the right hand.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Set the white cup behind the white mug and right of the white plate using the right hand.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Using the right hand, position the white cup behind the white mug and to the right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Put the white cup behind the white mug and to the right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Arrange the white cup behind the white mug and right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Have the right arm place the white cup behind the white mug and to the right of the white plate.", + "start_idx": 2496, + "end_idx": 2592 + } + ] + }, + "2026-04-22-02-30-32-296000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the right side.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Using the left hand, take the beige bowl from the table with a diagonal lip grasp at the right side.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Have the left arm pick up the beige bowl from the table using a diagonal grasp on the right lip.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "With the left hand, grasp the beige bowl from the table at the right side with a diagonal lip hold.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Grasp the beige bowl from the table at the right side with a diagonal lip grip.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Using the left hand, pick up the beige bowl from the table.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "With the left hand, take the beige bowl from the table.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Have the left arm grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Pick up the beige bowl from the table with the left hand.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Take the beige bowl from the table using a diagonal grasp at the right side.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 0, + "end_idx": 111 + }, + { + "text": "Put the beige bowl in front of the white cup with the left hand.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Using the left hand, place the beige bowl in front of the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Have the left arm set the beige bowl before the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "With the left hand, position the beige bowl in front of the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Place the beige bowl in front of the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Set the beige bowl before the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Position the beige bowl in front of the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "The beige bowl goes in front of the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Using the left hand, put the beige bowl by the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Have the left arm place the beige bowl next to the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "With the left hand, set the beige bowl near the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Put the beige bowl by the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Place the beige bowl near the white cup.", + "start_idx": 162, + "end_idx": 315 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Using the left hand, take hold of the white mug by the handle from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Have the left arm grasp the white mug at the handle with a side approach.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "With the left hand, seize the white mug by its handle from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Pick up the white mug by the handle from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Take the white mug at the handle from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Grasp the white mug by its handle from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Secure the white mug by the handle.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Using the left hand, pick up the white mug by the handle.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "With the left hand, take the white mug from the side.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Using the left hand, grasp the white mug from the table.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 315, + "end_idx": 501 + }, + { + "text": "Put the white mug on top of the white plate with the left hand right side up with the front facing backwards.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Using the left hand, place the white mug on top of the white plate right side up with the front facing backwards.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Have the left arm set the white mug onto the white plate, keeping it upright with the front directed backward.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "With the left hand, position the white mug on the white plate so it is right side up and the front faces backwards.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Place the white mug on top of the white plate right side up with the front facing backwards.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Set the white mug onto the white plate, keeping it upright and with the front facing backwards.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Position the white mug on the white plate right side up, front facing backwards.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Using the left hand, put the white mug on top of the white plate.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Have the left arm place the white mug onto the white plate.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "With the left hand, set the white mug on the white plate.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Put the white mug on top of the white plate.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Place the white mug onto the white plate.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Set the white mug on the white plate.", + "start_idx": 501, + "end_idx": 627 + }, + { + "text": "Pick up the coffee pod from the table with the left hand using a side grasp at the top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Using the left hand, take the coffee pod from the table with a side grasp at the top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Have the left arm pick the coffee pod off the table using a side hold at the top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "With the left hand, grasp the coffee pod from the table from the side at its top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Pick up the coffee pod from the table using a side grasp at the top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Take the coffee pod off the table with a side hold at the top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Grasp the coffee pod from the table from the side at the top.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Have the left arm take the coffee pod off the table.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "With the left hand, grasp the coffee pod from the table.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Take the coffee pod off the table.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Have the coffee pod picked up from the table.", + "start_idx": 627, + "end_idx": 795 + }, + { + "text": "Put the coffee pod to the left of the beige bowl with the left hand facing bottom left from the front.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Using the left hand, place the coffee pod to the left of the beige bowl, facing bottom left from the front.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Have the left arm set the coffee pod left of the beige bowl with its front facing bottom left.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "With the left hand, position the coffee pod to the beige bowl's left, oriented bottom left from the front.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Place the coffee pod to the left of the beige bowl, facing bottom left from the front.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Set the coffee pod left of the beige bowl with its front facing bottom left.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Position the coffee pod to the left of the beige bowl, oriented bottom left from the front.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Using the left hand, put the coffee pod to the left of the beige bowl.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Have the left arm place the coffee pod left of the beige bowl.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "With the left hand, set the coffee pod to the beige bowl's left.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Put the coffee pod to the left of the beige bowl.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Place the coffee pod left of the beige bowl.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Set the coffee pod to the beige bowl's left.", + "start_idx": 795, + "end_idx": 906 + }, + { + "text": "Pick up the white mug from the top of the white plate with the left hand by the handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Using the left hand, grasp the white mug on top of the white plate by the handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Have the left arm take the white mug from the top of the white plate, holding its handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "With the left hand, seize the white mug resting on the white plate by its handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Pick up the white mug from the top of the white plate by the handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Take the white mug off the top of the white plate, gripping the handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Grasp the white mug resting on the white plate by the handle from the side.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Remove the white mug from the top of the white plate with the left hand.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Using the left hand, pick up the white mug from the top of the white plate.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Have the left arm take the white mug off the white plate.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Pick up the white mug from the top of the white plate with the left hand.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Take the white mug from the top of the white plate.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Remove the white mug from the white plate.", + "start_idx": 1176, + "end_idx": 1344 + }, + { + "text": "Put the white mug to the left of the coffee pod with the left hand right side up with the front facing backwards.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Using the left hand, place the white mug to the left of the coffee pod upright with the front facing backward.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Have the left arm set the white mug left of the coffee pod, right side up and with its front toward the back.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "With the left hand, position the white mug to the left of the coffee pod so it stays upright and its front faces backward.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Place the white mug to the left of the coffee pod upright with the front facing backward.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Set the white mug left of the coffee pod, keeping it right side up with its front toward the back.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Position the white mug to the left of the coffee pod with the front facing backward and right side up.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Using the left hand, put the white mug to the left of the coffee pod.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Have the left arm place the white mug left of the coffee pod.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "With the left hand, set the white mug to the left of the coffee pod.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Put the white mug to the left of the coffee pod.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Place the white mug left of the coffee pod upright.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Set the white mug to the left of the coffee pod with its front facing backward.", + "start_idx": 1344, + "end_idx": 1479 + }, + { + "text": "Pick up the white plate from the table with the left hand from the side at the bottom left using a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Using the left hand, take the white plate from the table from the side at the bottom left with a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Have the left hand grasp the white plate from the table at the bottom-left side using a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "With the left hand, secure the white plate from the table from the side at the bottom left via a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Pick up the white plate from the table from the side at the bottom left using a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Take the white plate from the table at the bottom-left side with a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Grasp the white plate from the table from the side at the bottom left with a lip grip.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Using a lip grip, pick up the white plate from the table with the left hand.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "With the left hand, take the white plate from the table.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Have the left hand grasp the white plate from the table.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Pick up the white plate from the table with the left hand.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Using the left hand, pick up the white plate from the table with a lip grasp.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Take the white plate from the table from the side at the bottom left.", + "start_idx": 1479, + "end_idx": 1701 + }, + { + "text": "Put the white plate to the left of the white mug with the left hand right side up facing front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Using the left hand, place the white plate to the left of the white mug, right side up and facing front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Have the left arm set the white plate to the left of the white mug with its right side up, facing front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "With the left hand, position the white plate left of the white mug, keeping it right side up and oriented toward the front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Set the white plate to the left of the white mug, right side up and facing front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Place the white plate left of the white mug with its top side up, facing front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Position the white plate to the left of the white mug, keeping it right side up and toward the front.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Using the left hand, place the white plate to the left of the white mug.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Have the left arm set the white plate left of the white mug.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "With the left hand, position the white plate to the left of the white mug.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Put the white plate to the left of the white mug.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Set the white plate left of the white mug.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Position the white plate to the left of the white mug.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle from the side.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Using the left hand, take the white mug from the table by its handle from the side.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Have the left arm grasp the white mug from the table at the handle from the side.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "With the left hand, secure the white mug from the table by the handle using a side approach.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Pick up the white mug from the table by the handle from the side.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Take the white mug from the table by its handle from the side.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Grasp the white mug from the table at the handle from the side.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "With the left hand, take the white mug from the table at the handle.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Have the left arm grasp the white mug from the table by its handle.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "With the left hand, take the white mug from the table.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Have the left arm grasp the white mug from the table.", + "start_idx": 2184, + "end_idx": 2373 + }, + { + "text": "Put the white mug on top of the white plate with the left hand right side up with the front facing bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Using the left hand, place the white mug onto the white plate right side up with the front facing bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Have the left arm set the white mug on top of the white plate, keeping it upright and the front toward the bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "With the left hand, position the white mug atop the white plate right side up, front facing bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Place the white mug on top of the white plate right side up with the front facing bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Set the white mug onto the white plate, keeping it upright with the front toward the bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Position the white mug atop the white plate right side up, front facing bottom right.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Using the left hand, put the white mug on top of the white plate.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "With the left hand, set the white mug onto the white plate.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Have the left arm place the white mug atop the white plate.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Put the white mug on top of the white plate.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Set the white mug onto the white plate.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Place the white mug atop the white plate.", + "start_idx": 2373, + "end_idx": 2511 + }, + { + "text": "Pick up the coffee pod from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Have the left arm take the coffee pod from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "With the left hand, collect the coffee pod from the table diagonally while enclosing the entire object.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Pick up the coffee pod from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Take the coffee pod from the table diagonally with a whole-object grasp.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Grasp the coffee pod from the table at a diagonal angle around the entire object.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Have the left arm take the coffee pod from the table.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "With the left hand, grasp the coffee pod from the table.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Take the coffee pod from the table diagonally.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Using the left hand, collect the coffee pod from the table at a diagonal angle.", + "start_idx": 2511, + "end_idx": 2739 + }, + { + "text": "Put the coffee pod behind the white plate with the left hand facing left with the front as the reference point.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Using the left hand, place the coffee pod behind the white plate with its front facing left.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Have the left arm set the coffee pod behind the white plate, oriented leftward from the front.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "With the left hand, position the coffee pod behind the white plate so the front points left.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Place the coffee pod behind the white plate with its front facing left.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Set the coffee pod behind the white plate, with the front oriented to the left.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Position the coffee pod behind the white plate so its front faces left.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Using the left hand, place the coffee pod behind the white plate.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Have the left arm set the coffee pod behind the white plate.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "With the left hand, position the coffee pod behind the white plate.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Put the coffee pod behind the white plate.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Set the coffee pod behind the white plate.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Position the coffee pod behind the white plate.", + "start_idx": 2739, + "end_idx": 2847 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a diagonal lip grasp at the right side.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Have the right arm take the white cup from the table using a diagonal grasp on the lip at the cup's right side.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "With the right hand, grasp the white cup from the table on its right side with a diagonal lip hold.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp at the right side.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Grasp the white cup from the table at the right side with a diagonal lip grip.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Using the right hand, take the white cup from the table.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Grasp the white cup from the table with the right hand.", + "start_idx": 906, + "end_idx": 1086 + }, + { + "text": "Put the white cup to the right of the beige bowl with the right hand right side up with the front as the orientation reference.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Using the right hand, place the white cup to the right of the beige bowl, right side up with the front as the orientation reference.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Have the right arm set the white cup to the right of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "With the right hand, position the white cup to the right of the beige bowl so it is right side up, using the front as the reference.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Place the white cup to the right of the beige bowl, right side up with the front as the orientation reference.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Set the white cup to the right of the beige bowl, keeping it right side up relative to the front.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Position the white cup to the right of the beige bowl so the front serves as the orientation reference and it remains right side up.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Using the right hand, place the white cup to the right of the beige bowl.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Have the right arm set the white cup to the right of the beige bowl.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "With the right hand, position the white cup to the right of the beige bowl.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Put the white cup to the right of the beige bowl.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Arrange the white cup to the right of the beige bowl.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "The white cup goes to the right of the beige bowl.", + "start_idx": 1086, + "end_idx": 1176 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Have the right arm pick up the white cup from the table by the lip at a diagonal on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "With the right hand, grasp the white cup from the table using the cup's lip in a diagonal hold on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Take the white cup from the table with a diagonal lip hold on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Grasp the white cup from the table by the lip diagonally on the right side.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Have the right arm take the white cup from the table.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "With the right hand, grasp the white cup from the table.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1893, + "end_idx": 2058 + }, + { + "text": "Place the white cup behind the beige bowl with the right hand right side up.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Using the right hand, set the white cup behind the beige bowl right side up.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Have the right arm place the white cup behind the beige bowl in an upright orientation.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "With the right hand, position the white cup behind the beige bowl so it is right side up.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Place the white cup behind the beige bowl.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Set the white cup behind the beige bowl.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Position the white cup behind the beige bowl.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Using the right hand, place the white cup behind the beige bowl.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Have the right arm set the white cup behind the beige bowl.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "With the right hand, move the white cup behind the beige bowl.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Place the white cup behind the beige bowl with the right hand.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Set the white cup behind the beige bowl right side up.", + "start_idx": 2058, + "end_idx": 2184 + }, + { + "text": "Position the white cup behind the beige bowl upright.", + "start_idx": 2058, + "end_idx": 2184 + } + ] + }, + "2026-04-22-02-35-17-392000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 325, + "annotations": [ + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "From the table, have the left hand grasp the blue stuffed animal at the middle from above.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "The left hand should take hold of the blue stuffed animal from the table, contacting it from the top at the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "From the table, grasp the blue stuffed animal at the middle from above.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Take the blue stuffed animal from the table, approaching from the top at the middle.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Using the left hand, grasp the blue stuffed animal from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Have the left hand take the blue stuffed animal from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "From the table, collect the blue stuffed animal.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Take hold of the blue stuffed animal from the table.", + "start_idx": 0, + "end_idx": 75 + }, + { + "text": "Put the blue stuffed animal behind the pink plate with the left hand facing forwards from the front.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the pink plate, facing forwards from the front.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Have the left arm set the blue stuffed animal behind the pink plate with its front facing forward.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the pink plate so the front faces forwards.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Place the blue stuffed animal behind the pink plate with its front facing forwards.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Set the blue stuffed animal behind the pink plate, facing forwards from the front.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Position the blue stuffed animal behind the pink plate so it faces forward from the front.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the pink plate.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Have the left arm set the blue stuffed animal behind the pink plate.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the pink plate.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Put the blue stuffed animal behind the pink plate.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Place the blue stuffed animal behind the pink plate.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Set the blue stuffed animal behind the pink plate.", + "start_idx": 75, + "end_idx": 129 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table with a diagonal pickup, holding its middle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the table by grasping the middle at a diagonal angle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Take the yellow stuffed animal from the table with a diagonal pickup, holding the middle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Retrieve the yellow stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the table.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Retrieve the yellow stuffed animal from the table.", + "start_idx": 129, + "end_idx": 249 + }, + { + "text": "Put the yellow stuffed animal to the left of the pink plate with the left hand facing forwards.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the pink plate with its front facing forwards.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Have the left arm set the yellow stuffed animal to the left of the pink plate, front facing forward.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "With the left hand, position the yellow stuffed animal left of the pink plate so the front faces forwards.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Place the yellow stuffed animal to the left of the pink plate with its front facing forwards.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Set the yellow stuffed animal to the left of the pink plate, front facing forward.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Position the yellow stuffed animal left of the pink plate with the front facing forwards.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the pink plate.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Have the left arm set the yellow stuffed animal left of the pink plate.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "With the left hand, position the yellow stuffed animal to the left of the pink plate.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Put the yellow stuffed animal beside the pink plate.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Set the yellow stuffed animal to the left of the pink plate.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Position the yellow stuffed animal next to the pink plate.", + "start_idx": 249, + "end_idx": 333 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "From the table, take the yellow stuffed animal with the left hand, grasping it from the top at the middle.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Have the left arm pick up the yellow stuffed animal from the table by the top at its middle.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Take the yellow stuffed animal from the table by the top at its middle.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "From the table, grasp the yellow stuffed animal at the middle from the top.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "With the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Using the left hand, take the yellow stuffed animal from the table.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Have the left arm grasp the yellow stuffed animal from the table.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "From the table, take the yellow stuffed animal.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Have the yellow stuffed animal picked up from the table.", + "start_idx": 861, + "end_idx": 990 + }, + { + "text": "Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand facing forwards.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the blue stuffed animal, facing forwards.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Have the left arm set the yellow stuffed animal left of the blue stuffed animal with its front facing forward.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "With the left hand, position the yellow stuffed animal on the blue stuffed animal's left side, facing forwards.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Place the yellow stuffed animal to the left of the blue stuffed animal.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Set the yellow stuffed animal on the left side of the blue stuffed animal.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Position the yellow stuffed animal left of the blue stuffed animal.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the blue stuffed animal.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Have the left arm set the yellow stuffed animal left of the blue stuffed animal.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Place the yellow stuffed animal to the left of the blue stuffed animal, facing forwards.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Set the yellow stuffed animal on the left side of the blue stuffed animal with its front facing forward.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Put the yellow stuffed animal left of the blue stuffed animal facing forwards.", + "start_idx": 990, + "end_idx": 1047 + }, + { + "text": "Pick up the orange screwdriver from the pink plate with the left hand from the top at the middle.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Using the left hand, take the orange screwdriver from the pink plate from the top at the middle.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "With the left arm, grasp the orange screwdriver off the pink plate from above at its middle.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Have the left hand pick the orange screwdriver from the pink plate, approaching from the top at the center.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Pick up the orange screwdriver from the pink plate from the top at the middle.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Take the orange screwdriver off the pink plate from above at its middle.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Grasp the orange screwdriver from the pink plate at the center from the top.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Remove the orange screwdriver from the pink plate with the left hand.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Using the left hand, take the orange screwdriver off the pink plate.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Have the left arm grasp the orange screwdriver from the pink plate.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Pick up the orange screwdriver from the pink plate.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Take the orange screwdriver off the pink plate.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Grasp the orange screwdriver from the pink plate.", + "start_idx": 1047, + "end_idx": 1221 + }, + { + "text": "Place the orange screwdriver to the left of the yellow stuffed animal with the left hand facing forwards with the tip facing forwards.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the yellow stuffed animal with its tip facing forwards.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Have the left arm set the orange screwdriver left of the yellow stuffed animal, oriented forwards at the tip.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "With the left hand, position the orange screwdriver to the yellow stuffed animal's left, keeping the tip pointed forwards.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Place the orange screwdriver to the left of the yellow stuffed animal with its tip facing forwards.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Set the orange screwdriver left of the yellow stuffed animal, with the tip facing forwards.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Position the orange screwdriver to the left of the yellow stuffed animal, tip pointed forwards.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the yellow stuffed animal.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Have the left arm set the orange screwdriver left of the yellow stuffed animal.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "With the left hand, position the orange screwdriver to the yellow stuffed animal's left.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Place the orange screwdriver to the left of the yellow stuffed animal.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Set the orange screwdriver left of the yellow stuffed animal.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Position the orange screwdriver to the yellow stuffed animal's left.", + "start_idx": 1221, + "end_idx": 1347 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table, grasping it from the top at the middle.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "With the left hand, seize the yellow stuffed animal from the table at the middle from above.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Take the yellow stuffed animal from the table at the middle from above.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Grasp the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "With the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Using the left hand, grasp the yellow stuffed animal from the table.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Grasp the yellow stuffed animal from the table.", + "start_idx": 1620, + "end_idx": 1740 + }, + { + "text": "Put the yellow stuffed animal in front of the orange screwdriver with the left hand facing top left from the front.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Using the left hand, place the yellow stuffed animal in front of the orange screwdriver, facing top left from the front.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Have the left arm set the yellow stuffed animal in front of the orange screwdriver with its front facing top left.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "With the left hand, position the yellow stuffed animal before the orange screwdriver so the front points top left.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Place the yellow stuffed animal in front of the orange screwdriver with its front facing top left.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Set the yellow stuffed animal before the orange screwdriver, oriented top left from the front.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Position the yellow stuffed animal in front of the orange screwdriver so the front faces top left.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Arrange the yellow stuffed animal before the orange screwdriver.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Put the yellow stuffed animal in front of the orange screwdriver.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Set the yellow stuffed animal before the orange screwdriver.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Using the left hand, place the yellow stuffed animal in front of the orange screwdriver.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Have the left arm position the yellow stuffed animal before the orange screwdriver.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "With the left hand, set the yellow stuffed animal in front of the orange screwdriver.", + "start_idx": 1740, + "end_idx": 1806 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Have the left arm grasp the blue stuffed animal on the table from above at its middle.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "With the left hand, pick the blue stuffed animal up from the table by the top at the center.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Take the blue stuffed animal from the table from above at its middle.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Grasp the blue stuffed animal on the table by the top at the center.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "With the left hand, grasp the blue stuffed animal on the table.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Take the blue stuffed animal from the table.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Grasp the blue stuffed animal on the table.", + "start_idx": 1806, + "end_idx": 1908 + }, + { + "text": "Put the blue stuffed animal to the right of the orange screwdriver with the left hand facing top left from the front.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Using the left hand, place the blue stuffed animal to the right of the orange screwdriver, facing top left from the front.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the orange screwdriver with its front facing top left.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "With the left hand, position the blue stuffed animal to the right of the orange screwdriver so the front points top left.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Place the blue stuffed animal to the right of the orange screwdriver, facing top left from the front.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Set the blue stuffed animal to the right of the orange screwdriver with its front facing top left.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Position the blue stuffed animal to the right of the orange screwdriver so it faces top left from the front.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Using the left hand, place the blue stuffed animal to the right of the orange screwdriver.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the orange screwdriver.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "With the left hand, position the blue stuffed animal to the right of the orange screwdriver.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Put the blue stuffed animal to the right of the orange screwdriver.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Place the blue stuffed animal beside the orange screwdriver on its right side.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Set the blue stuffed animal down to the right of the orange screwdriver.", + "start_idx": 1908, + "end_idx": 1980 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip from the top at the left.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Have the left hand grasp the pink plate from the table using a lip hold from the top-left side.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "With the left hand, secure the pink plate from the table by the top left using a lip grasp.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top at the left.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Take the pink plate from the table with a lip grip from the top at the left.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Grasp the pink plate from the table using a lip hold from the top-left area.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Have the left hand take the pink plate from the table using a lip grasp.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Pick up the pink plate from the table from the top at the left.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Take the pink plate from the table at the top-left side.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Grasp the pink plate from the table with the left hand.", + "start_idx": 1980, + "end_idx": 2097 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed animal with the left hand right side up front.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Using the left hand, set the pink plate to the right of the yellow stuffed animal, right side up with the front facing forward.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Have the left arm place the pink plate to the right of the yellow stuffed animal, keeping it right side up and front-facing.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "With the left hand, position the pink plate to the right of the yellow stuffed animal so it stays right side up, front toward the front.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed animal, keeping it right side up with the front facing forward.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Set the pink plate to the right of the yellow stuffed animal in a right-side-up, front-facing orientation.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Position the pink plate to the right of the yellow stuffed animal so it is right side up and front-facing.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Using the left hand, place the pink plate to the right of the yellow stuffed animal.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "With the left hand, set the pink plate to the right of the yellow stuffed animal.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Have the left arm position the pink plate to the right of the yellow stuffed animal.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Put the pink plate to the right of the yellow stuffed animal.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Arrange the pink plate to the right of the yellow stuffed animal.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Place the pink plate to the right of the yellow stuffed animal in position.", + "start_idx": 2097, + "end_idx": 2208 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "From the top at the middle, have the left hand grasp the yellow stuffed animal on the table.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "The yellow stuffed animal on the table should be taken with the left hand from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Grasp the yellow stuffed animal on the table from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Take the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Retrieve the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "With the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Have the left hand take the yellow stuffed animal from the table.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "The left hand should grasp the yellow stuffed animal from the table.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "The yellow stuffed animal from the table should be grasped.", + "start_idx": 2820, + "end_idx": 2937 + }, + { + "text": "Place the yellow stuffed animal on the top of the pink plate with the left hand facing top left with the front as the reference point.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Using the left hand, set the yellow stuffed animal on top of the pink plate with its front facing the top left.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Have the left arm place the yellow stuffed animal onto the pink plate, oriented so the front points top left.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the yellow stuffed animal on the top of the pink plate, front facing top left.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Place the yellow stuffed animal on top of the pink plate with its front facing the top left.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Set the yellow stuffed animal onto the pink plate with the front oriented toward the top left.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Position the yellow stuffed animal on the top of the pink plate so its front points top left.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the yellow stuffed animal on top of the pink plate.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "With the left hand, set the yellow stuffed animal onto the pink plate.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Have the left arm position the yellow stuffed animal on the pink plate.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Place the yellow stuffed animal on top of the pink plate.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Set the yellow stuffed animal onto the pink plate.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Position the yellow stuffed animal on the pink plate.", + "start_idx": 2937, + "end_idx": 3000 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Have the right arm pick the doritos up from the table with a side hold at the bottom diagonally.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "With the right hand, grasp the doritos from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom diagonally.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Take the doritos from the table with a side grasp at the bottom diagonally.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Grasp the doritos from the table with a side hold at the bottom diagonally.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Have the right arm take the doritos from the table.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Pick up the doritos from the table with the right hand.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Take the doritos from the table using a side grip.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Grasp the doritos from the table with the right hand at the bottom diagonally.", + "start_idx": 333, + "end_idx": 438 + }, + { + "text": "Put the doritos to the right of the pink plate with the right hand facing right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Using the right hand, place the doritos to the right of the pink plate with the front facing right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Have the right arm set the doritos to the right of the pink plate, front pointed right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "With the right hand, position the doritos to the right of the pink plate so the front faces right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Place the doritos to the right of the pink plate with the front facing right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Set the doritos to the right of the pink plate, front pointed right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Position the doritos to the right of the pink plate so the front faces right.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Using the right hand, put the doritos to the right of the pink plate.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Have the right arm place the doritos to the right of the pink plate.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "With the right hand, set the doritos to the right of the pink plate.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Put the doritos to the right of the pink plate.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Place the doritos to the right of the pink plate.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Set the doritos to the right of the pink plate.", + "start_idx": 438, + "end_idx": 552 + }, + { + "text": "Pick up the white mug from the table with the right hand from the side by the handle.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Using the right hand, take the white mug from the table from the side by the handle.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Have the right arm grasp the white mug from the table at the handle from a side approach.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "With the right hand, pick the white mug up from the table by its handle from the side.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Pick up the white mug from the table from the side by the handle.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Take the white mug from the table by the handle from the side.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Grasp the white mug from the table at the handle with a side approach.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Pick up the white mug from the table with the right hand.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Using the right hand, take the white mug from the table.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Have the right arm grasp the white mug from the table.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Take the white mug from the table with the right hand.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 552, + "end_idx": 714 + }, + { + "text": "Put the white mug behind the doritos with the right hand right side up with the front facing backwards.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Using the right hand, place the white mug behind the doritos upright with its front facing backward.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Have the right arm set the white mug behind the doritos, keeping it right side up and the front pointed backward.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "With the right hand, position the white mug behind the doritos so it stays upright and faces backward.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Place the white mug behind the doritos right side up with the front facing backward.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Set the white mug behind the doritos upright with its front toward the back.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Position the white mug behind the doritos so it is right side up and facing backward.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Put the white mug behind the doritos with the right hand.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Using the right hand, place the white mug behind the doritos.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Have the right arm set the white mug behind the doritos.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Put the white mug behind the doritos.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Place the white mug behind the doritos upright.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Behind the doritos, set the white mug with its front facing backward.", + "start_idx": 714, + "end_idx": 861 + }, + { + "text": "Pick up the doritos from the table with the right hand from the top at the top of the object.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Using the right hand, take the doritos from the table with a top grasp at the top of the object.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Have the right arm pick up the doritos from the table by grasping from above at the object's top.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "With the right hand, collect the doritos from the table using a top-down grasp on the top of the object.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Pick up the doritos from the table from the top at the top of the object.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Take the doritos from the table with a top grasp at the top of the object.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Grab the doritos from the table by approaching from above at the object's top.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Have the right arm take the doritos from the table.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "With the right hand, grab the doritos from the table.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "From the table, take the doritos.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Grab the doritos from the table.", + "start_idx": 1347, + "end_idx": 1530 + }, + { + "text": "Put the doritos to the right of the white mug with the right hand facing right from the front.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Using the right hand, place the doritos to the right of the white mug, facing right from the front.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Have the right arm set the doritos to the right of the white mug with its front facing right.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "With the right hand, position the doritos to the right of the white mug so the front faces right.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Place the doritos to the right of the white mug, facing right from the front.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Set the doritos to the right of the white mug with the front facing right.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Position the doritos to the right of the white mug so it faces right from the front.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Using the right hand, put the doritos to the right of the white mug.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Have the right arm place the doritos to the right of the white mug.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "With the right hand, set the doritos to the right of the white mug.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Put the doritos to the right of the white mug.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Set the doritos to the right of the white mug.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Position the doritos to the right of the white mug.", + "start_idx": 1530, + "end_idx": 1620 + }, + { + "text": "Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Using the right hand, pick up the doritos from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Have the right hand take the doritos from the table with a diagonal approach, holding the top of the object.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "With the right hand, retrieve the doritos from the table diagonally by grasping the top.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Take the doritos from the table with a diagonal approach, holding the top of the object.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Retrieve the doritos from the table diagonally by grasping the top.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Using the right hand, pick up the doritos from the table, grasping the top of the object.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "With the right hand, take the doritos from the table by the top.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Have the right hand retrieve the doritos from the table, holding the top.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Using the right hand, pick up the doritos from the table at a diagonal angle.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "With the right hand, take the doritos from the table diagonally.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Have the right hand pick up the doritos from the table.", + "start_idx": 2208, + "end_idx": 2346 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip from the top at the right.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Using the right hand, take the white mug from the table with a lip grip from the top at the right.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Have the right arm grasp the white mug off the table using a lip hold from the top-right side.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "With the right hand, seize the white mug from the table by its lip from the top at the right.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Take the white mug from the table using a lip grip from the top at the right.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Grasp the white mug off the table with a lip hold from the top-right side.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "The white mug from the table should be picked up by its lip from the top at the right.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Using the right hand, pick up the white mug from the table.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Have the right arm take the white mug off the table.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "With the right hand, grasp the white mug from the table.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Pick up the white mug from the table from the top at the right.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "The white mug from the table should be taken from the top-right side.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "From the table, grasp the white mug.", + "start_idx": 2502, + "end_idx": 2661 + }, + { + "text": "Put the white mug to the right of the doritos with the right hand right side up with the front facing backwards.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Using the right hand, place the white mug to the right of the doritos, right side up, with the front facing backward.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Have the right arm set the white mug to the right of the doritos in an upright position, front directed backward.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "With the right hand, position the white mug on the right side of the doritos, right side up and facing backward.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Place the white mug to the right of the doritos, right side up, with the front facing backward.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Set the white mug on the right of the doritos, upright, with the front directed backward.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Position the white mug to the right of the doritos, keeping it right side up and facing backward.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Using the right hand, place the white mug to the right of the doritos.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Have the right arm set the white mug on the right side of the doritos.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "With the right hand, position the white mug to the right of the doritos.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Put the white mug to the right of the doritos.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Set the white mug on the right side of the doritos.", + "start_idx": 2661, + "end_idx": 2820 + }, + { + "text": "Using the right hand, place the white mug beside the doritos.", + "start_idx": 2661, + "end_idx": 2820 + } + ] + }, + "2026-04-22-02-37-29-474000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 324, + "annotations": [ + { + "text": "Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left hand grasp the orange screwdriver from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, secure the orange screwdriver from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the orange screwdriver from the table with a side hold at the bottom on a diagonal approach.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the orange screwdriver from the table at the bottom with a side grip from a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left hand take the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, grasp the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table with a side grip.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grab the orange screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Place the orange screwdriver to the left of the pink plate with the left hand tip facing top left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the pink plate with the tip pointing to the top left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Have the left arm set the orange screwdriver to the left of the pink plate, tip directed toward the top-left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "With the left hand, position the orange screwdriver left of the pink plate so its tip faces the upper left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Place the orange screwdriver to the left of the pink plate with the tip facing top left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Set the orange screwdriver to the left of the pink plate, with its tip pointing top left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Position the orange screwdriver left of the pink plate, tip aimed toward the top left.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Using the left hand, place the orange screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Have the left arm set the orange screwdriver left of the pink plate.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "With the left hand, position the orange screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Put the orange screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Set the orange screwdriver left of the pink plate.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Position the orange screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 204 + }, + { + "text": "Pick up the yellow stuffed animal from the pink plate with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the pink plate with a diagonal approach and a whole-object grasp.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the pink plate diagonally while holding the entire object.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Pick up the yellow stuffed animal from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Retrieve the yellow stuffed animal from the pink plate with a diagonal approach and a whole-object hold.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Take the yellow stuffed animal from the pink plate diagonally while grasping the entire object.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the pink plate.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the pink plate.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the pink plate.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Pick up the yellow stuffed animal from the pink plate.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Take the yellow stuffed animal from the pink plate.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Retrieve the yellow stuffed animal from the pink plate.", + "start_idx": 204, + "end_idx": 321 + }, + { + "text": "Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand facing top left from the front.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the blue stuffed animal, facing top left from the front.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Have the left arm set the yellow stuffed animal left of the blue stuffed animal with its front facing the top left.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "With the left hand, position the yellow stuffed animal to the blue stuffed animal's left, oriented top left from the front.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Place the yellow stuffed animal to the left of the blue stuffed animal.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Set the yellow stuffed animal left of the blue stuffed animal.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Position the yellow stuffed animal to the blue stuffed animal's left.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the blue stuffed animal.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Have the left arm set the yellow stuffed animal left of the blue stuffed animal.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "With the left hand, position the yellow stuffed animal to the blue stuffed animal's left.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Place the yellow stuffed animal to the left of the blue stuffed animal with its front facing top left.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Set the yellow stuffed animal left of the blue stuffed animal, front toward the top left.", + "start_idx": 321, + "end_idx": 429 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the bottom.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Have the left hand grasp the doritos from the table from the side at the bottom.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "With the left hand, take hold of the doritos from the table using a bottom side grasp.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Take the doritos from the table with a side grasp at the bottom.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Grasp the doritos from the table from the side at the bottom.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Using a side grip at the bottom, pick up the doritos from the table.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "From the table, collect the doritos with the left hand.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Have the left hand pick up the doritos from the table.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Take the doritos from the table with the left hand.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "From the table, grasp the doritos.", + "start_idx": 429, + "end_idx": 558 + }, + { + "text": "Put the doritos behind the white coffee cup with the left hand facing top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Using the left hand, place the doritos behind the white coffee cup with the front facing top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Have the left arm set the doritos behind the white coffee cup, front oriented toward the top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "With the left hand, position the doritos behind the white coffee cup so the front points top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Place the doritos behind the white coffee cup with the front facing top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Set the doritos behind the white coffee cup, with the front oriented toward the top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Position the doritos behind the white coffee cup so the front points top right.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Using the left hand, put the doritos behind the white coffee cup.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Have the left arm place the doritos behind the white coffee cup.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "With the left hand, set the doritos behind the white coffee cup.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Put the doritos behind the white coffee cup.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Place the doritos behind the white coffee cup behind the white coffee cup.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Set the doritos behind the white coffee cup in place.", + "start_idx": 558, + "end_idx": 663 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Have the left arm pick the blue stuffed animal up from the table by grasping the whole object from above.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table using a top hold on the entire object.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Pick up the blue stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Take the blue stuffed animal from the table by grasping the whole object from above.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Retrieve the blue stuffed animal from the table using a top hold on the entire object.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Take the blue stuffed animal from the table from above.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Grasp the blue stuffed animal from the table with the left hand.", + "start_idx": 663, + "end_idx": 780 + }, + { + "text": "Put the blue stuffed animal to the right of the pink plate with the left hand facing forwards.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Using the left hand, place the blue stuffed animal to the right of the pink plate facing forwards.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the pink plate with its front facing forward.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "With the left hand, position the blue stuffed animal to the right of the pink plate so the front faces forwards.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Place the blue stuffed animal to the right of the pink plate facing forwards.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Set the blue stuffed animal to the right of the pink plate with its front facing forward.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Position the blue stuffed animal to the right of the pink plate so it faces forwards.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Using the left hand, put the blue stuffed animal to the right of the pink plate.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "With the left hand, place the blue stuffed animal to the right of the pink plate.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the pink plate.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Put the blue stuffed animal to the right of the pink plate.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Place the blue stuffed animal beside the pink plate.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Set the blue stuffed animal next to the pink plate.", + "start_idx": 780, + "end_idx": 873 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the table diagonally while holding the entire object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Take the yellow stuffed animal from the table with a diagonal approach and a full-object hold.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Retrieve the yellow stuffed animal from the table diagonally, enclosing the entire object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table, grasping the entire object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table with a full-object grasp.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "With the left hand, collect the yellow stuffed animal from the table while holding the whole object.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table at a diagonal angle.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Have the left arm retrieve the yellow stuffed animal from the table with a diagonal approach.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 1386, + "end_idx": 1545 + }, + { + "text": "Put the blue stuffed animal behind the pink plate with the left hand facing forwards with the front as the orientation reference point.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the pink plate, facing forwards with the front as the reference point.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Have the left arm set the blue stuffed animal behind the pink plate with its front facing forwards.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the pink plate so the front faces forwards.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Place the blue stuffed animal behind the pink plate, facing forwards with the front as the reference point.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Set the blue stuffed animal behind the pink plate with its front facing forwards.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Position the blue stuffed animal behind the pink plate so it faces forwards from the front.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the pink plate.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Have the left arm set the blue stuffed animal behind the pink plate.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the pink plate.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Put the blue stuffed animal behind the pink plate.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Set the blue stuffed animal behind the pink plate.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Position the blue stuffed animal behind the pink plate.", + "start_idx": 1545, + "end_idx": 1608 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Have the left arm pick the orange screwdriver up from the table with a diagonal approach at the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "With the left hand, collect the orange screwdriver from the table, holding it at the middle on a diagonal.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal approach, holding the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "From the table, collect the orange screwdriver at a diagonal angle by the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Using the left hand, pick up the orange screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "With the left hand, collect the orange screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Take the orange screwdriver from the table at a diagonal angle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "From the table, collect the orange screwdriver by the middle.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Put the orange screwdriver on top of the pink plate with the left hand facing top right with the tip as the orientation reference point.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Using the left hand, place the orange screwdriver on top of the pink plate with the tip facing top right.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Have the left arm set the orange screwdriver onto the pink plate, oriented top right by its tip.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "With the left hand, position the orange screwdriver on the pink plate so the tip points top right.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Place the orange screwdriver on top of the pink plate with the tip facing top right.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Set the orange screwdriver onto the pink plate, oriented top right from the tip.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Position the orange screwdriver on the pink plate so its tip points top right.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Using the left hand, put the orange screwdriver on top of the pink plate.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "With the left hand, set the orange screwdriver onto the pink plate.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Have the left arm place the orange screwdriver on the pink plate.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Put the orange screwdriver on top of the pink plate.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Set the orange screwdriver onto the pink plate.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Place the orange screwdriver on the pink plate.", + "start_idx": 2016, + "end_idx": 2121 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "At a diagonal angle, have the left hand take hold of the yellow stuffed animal from the table by its middle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the table using a diagonal pickup at the middle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Take the yellow stuffed animal from the table by the middle at a diagonal angle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "From the table, collect the yellow stuffed animal at a diagonal angle by its middle.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Use the left hand to pick up the yellow stuffed animal from the table.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Have the left hand take the yellow stuffed animal from the table.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "With the left hand, grasp the yellow stuffed animal from the table.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "From the table, collect the yellow stuffed animal.", + "start_idx": 2121, + "end_idx": 2232 + }, + { + "text": "Put the yellow stuffed animal in front of the doritos with the left hand facing forwards.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Using the left hand, place the yellow stuffed animal in front of the doritos facing forwards.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Have the left arm set the yellow stuffed animal in front of the doritos with its front facing forward.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "With the left hand, position the yellow stuffed animal before the doritos, front facing forward.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Place the yellow stuffed animal in front of the doritos facing forwards.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Set the yellow stuffed animal before the doritos with its front forward.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Position the yellow stuffed animal in front of the doritos so it faces forward.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Using the left hand, put the yellow stuffed animal in front of the doritos.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "With the left hand, place the yellow stuffed animal before the doritos.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Have the left arm set the yellow stuffed animal in front of the doritos.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Put the yellow stuffed animal in front of the doritos.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Set the yellow stuffed animal before the doritos.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Position the yellow stuffed animal in front of the doritos.", + "start_idx": 2232, + "end_idx": 2319 + }, + { + "text": "Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Using the right hand, take the doritos from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Have the right hand grasp the doritos from the table from the bottom with a side hold at a diagonal angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "With the right hand, pick the doritos up from the table using a side grasp on the bottom at a diagonal angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Pick up the doritos from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Take the doritos from the table with a side grasp at the bottom and a diagonal angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Grasp the doritos from the table from the bottom using a side hold at a diagonal pick angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Using the right hand, pick up the doritos from the table.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Have the right hand take the doritos from the table.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "With the right hand, grasp the doritos from the table.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Pick up the doritos from the table with the right hand at the bottom with a diagonal pick angle.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Take the doritos from the table with the right hand at a diagonal angle from the bottom.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Using the right hand, grasp the doritos from the table at the bottom.", + "start_idx": 873, + "end_idx": 1020 + }, + { + "text": "Put the doritos behind the blue stuffed animal with the right hand facing top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Using the right hand, place the doritos behind the blue stuffed animal with the front facing top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Have the right arm set the doritos behind the blue stuffed animal, front oriented toward the top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "With the right hand, position the doritos behind the blue stuffed animal so the front points top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Place the doritos behind the blue stuffed animal with the front facing top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Set the doritos behind the blue stuffed animal, front toward the top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Position the doritos behind the blue stuffed animal with its front pointed top right.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Using the right hand, put the doritos behind the blue stuffed animal.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Have the right arm place the doritos behind the blue stuffed animal.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "With the right hand, set the doritos behind the blue stuffed animal.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Put the doritos behind the blue stuffed animal.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Using the right hand, position the doritos behind the blue stuffed animal.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Have the right arm put the doritos behind the blue stuffed animal.", + "start_idx": 1020, + "end_idx": 1107 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip at the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table with a top lip grip at a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "The white coffee cup from the table should be taken with the right hand using a lip grasp on the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Pick up the white coffee cup from the table with a lip grip at the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Grasp the white coffee cup from the table using a lip hold on the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "The white coffee cup from the table should be picked up with a lip grip at the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table using a lip grip at the top.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Use the right hand to take the white coffee cup from the table with a lip grip on the top.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table at the top with a lip hold.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Take the white coffee cup from the table at the top from a diagonal angle.", + "start_idx": 1107, + "end_idx": 1227 + }, + { + "text": "Put the white coffee cup to the right of the blue stuffed animal with the handle facing left with the right hand right side up.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the blue stuffed animal, with the handle facing left and right side up.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the blue stuffed animal, keeping the handle pointed left and the cup right side up.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the blue stuffed animal so the handle faces left and it stays right side up.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Place the white coffee cup to the right of the blue stuffed animal with the handle facing left and right side up.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Set the white coffee cup to the right of the blue stuffed animal, with the handle pointed left and the cup right side up.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Position the white coffee cup to the right of the blue stuffed animal, keeping the handle to the left and the cup upright.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the blue stuffed animal.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the blue stuffed animal.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the blue stuffed animal.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Put the white coffee cup to the right of the blue stuffed animal.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Set the white coffee cup down to the right of the blue stuffed animal.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Have the white coffee cup placed to the right of the blue stuffed animal.", + "start_idx": 1227, + "end_idx": 1386 + }, + { + "text": "Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Have the right arm take the blue stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "With the right hand, retrieve the blue stuffed animal from the table at a diagonal angle by gripping its middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Pick up the blue stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Take the blue stuffed animal from the table with a diagonal pickup, holding the middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Retrieve the blue stuffed animal from the table at a diagonal angle by gripping its middle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Have the right arm take the blue stuffed animal from the table.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "With the right hand, retrieve the blue stuffed animal from the table.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Take the blue stuffed animal from the table at a diagonal angle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table at a diagonal angle.", + "start_idx": 1608, + "end_idx": 1809 + }, + { + "text": "Place the blue stuffed animal to the top right side of the table with the right hand facing top right from the front.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Using the right hand, set the blue stuffed animal on the table's top right side, facing top right from the front.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Have the right arm place the blue stuffed animal at the table's upper right area with its front facing top right.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "With the right hand, position the blue stuffed animal on the table's top right side so the front points top right.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Place the blue stuffed animal on the table's top right side.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Set the blue stuffed animal at the table's upper right area.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Position the blue stuffed animal on the top right side of the table.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Put the blue stuffed animal on the table's top right side.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Using the right hand, place the blue stuffed animal on the table's top right side.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "With the right hand, set the blue stuffed animal at the table's upper right area.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Have the right arm position the blue stuffed animal on the table's top right side.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Place the blue stuffed animal at the table's upper right area with its front facing top right.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Set the blue stuffed animal on the table's top right side, facing top right from the front.", + "start_idx": 1809, + "end_idx": 1890 + }, + { + "text": "Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Using the right hand, take the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Have the right arm pick the blue stuffed animal up from the table diagonally with a full-object grasp.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "With the right hand, retrieve the blue stuffed animal from the table in a diagonal orientation using an all-around hold.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Pick up the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Take the blue stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Retrieve the blue stuffed animal from the table in a diagonal orientation using an all-around hold.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table, grasping the entire object.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Have the right arm take the blue stuffed animal from the table with a full-object hold.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "With the right hand, retrieve the blue stuffed animal from the table by holding the whole object.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table at a diagonal angle.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Have the right arm take the blue stuffed animal from the table diagonally.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 2319, + "end_idx": 2424 + }, + { + "text": "Put the blue stuffed animal to the right of the white coffee cup with the right hand facing forwards.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Using the right hand, place the blue stuffed animal to the right of the white coffee cup, facing forwards.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Have the right arm set the blue stuffed animal to the right of the white coffee cup with its front facing forward.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "With the right hand, position the blue stuffed animal to the right of the white coffee cup so the front faces forwards.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Place the blue stuffed animal to the right of the white coffee cup, facing forwards.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Set the blue stuffed animal to the right of the white coffee cup with its front facing forward.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Position the blue stuffed animal to the right of the white coffee cup so it faces forwards.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Using the right hand, put the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Have the right arm place the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "With the right hand, set the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Place the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Set the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Position the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 2424, + "end_idx": 2514 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a lip grip at the right side with a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table using a lip hold on the right side at a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "With the right hand, secure the white coffee cup from the table by the right side using a diagonal lip grasp.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Grasp the white coffee cup from the table using a lip grip at the right side with a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Take the white coffee cup from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Pick up the white coffee cup from the table by the right side using a diagonal lip grasp.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "With the right hand, take the white coffee cup from the table using a lip hold.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table with a lip grasp.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at the right side with a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "With the right hand, take the white coffee cup from the table by the right side at a diagonal angle.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2514, + "end_idx": 2652 + }, + { + "text": "Put the white coffee cup behind the blue stuffed animal with the right hand right side up with the front facing forwards.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Using the right hand, place the white coffee cup behind the blue stuffed animal, right side up with the front facing forward.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue stuffed animal, keeping it upright and the front pointed forward.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "With the right hand, position the white coffee cup behind the blue stuffed animal so it stays right side up and faces forward.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Place the white coffee cup behind the blue stuffed animal, right side up with the front facing forward.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Set the white coffee cup behind the blue stuffed animal, upright and with the front pointed forward.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Position the white coffee cup behind the blue stuffed animal, keeping it right side up and facing forward.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Using the right hand, place the white coffee cup behind the blue stuffed animal.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Have the right arm set the white coffee cup behind the blue stuffed animal.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "With the right hand, position the white coffee cup behind the blue stuffed animal.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Put the white coffee cup behind the blue stuffed animal.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Place the white coffee cup behind the blue stuffed animal.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Set the white coffee cup behind the blue stuffed animal.", + "start_idx": 2652, + "end_idx": 2847 + }, + { + "text": "Return to home with the right arm.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Using the right arm, return to the home position.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "With the right manipulator, go to the home pose.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Return to the home position.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Move back to home.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Go to the home pose.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Resume the home position.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Back to home.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Move to home.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Return home.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Head to the home position.", + "start_idx": 2847, + "end_idx": 2937 + }, + { + "text": "Adopt the home pose.", + "start_idx": 2847, + "end_idx": 2937 + } + ] + }, + "2026-04-22-02-44-14-010000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 338, + "annotations": [ + { + "text": "Pick up the screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm grasp the screwdriver from the table with a top approach at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, take hold of the screwdriver from the table at the middle from above.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the screwdriver from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the screwdriver from the table at the middle from above.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the screwdriver from the table using a top pickup at the middle.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the left arm grasp the screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the left hand, take the screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Grasp the screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the screwdriver from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Put the screwdriver to the left of the pink plate with the left hand facing top left by the tip.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the pink plate with the tip facing top left.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Have the left arm set the screwdriver left of the pink plate, oriented top left at the tip.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "With the left hand, position the screwdriver to the left of the pink plate so the tip points top left.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Place the screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Set the screwdriver left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Position the screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Put the screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Have the left arm set the screwdriver left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "With the left hand, position the screwdriver to the left of the pink plate.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Place the screwdriver left of the pink plate with the left hand.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Set the screwdriver to the left of the pink plate with the left hand.", + "start_idx": 120, + "end_idx": 198 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "With the left hand, collect the yellow stuffed animal from the table diagonally while holding the entire object.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Take the yellow stuffed animal from the table diagonally while holding the whole object.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "From the table, collect the yellow stuffed animal at a diagonal angle with a full-object hold.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "With the left hand, collect the yellow stuffed animal from the table.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "From the table, collect the yellow stuffed animal.", + "start_idx": 198, + "end_idx": 309 + }, + { + "text": "Put the yellow stuffed animal on top of the pink plate with the left hand facing top left from the front.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Using the left hand, place the yellow stuffed animal on top of the pink plate facing top left from the front.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Have the left arm set the yellow stuffed animal atop the pink plate with its front facing the top left.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "With the left hand, position the yellow stuffed animal on the pink plate so the front points to the top left.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Place the yellow stuffed animal on top of the pink plate facing top left from the front.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Set the yellow stuffed animal atop the pink plate with its front toward the top left.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Position the yellow stuffed animal on the pink plate so the front faces top left.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Using the left hand, put the yellow stuffed animal on top of the pink plate.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "With the left hand, set the yellow stuffed animal atop the pink plate.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Have the left arm place the yellow stuffed animal on the pink plate.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Put the yellow stuffed animal on top of the pink plate.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Set the yellow stuffed animal on the pink plate.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Arrange the yellow stuffed animal atop the pink plate.", + "start_idx": 309, + "end_idx": 387 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the bottom.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Have the left arm take the doritos from the table, grasping the bottom from the side.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "With the left hand, retrieve the doritos from the table by holding the bottom with a side grasp.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Take the doritos from the table using a side grasp at the bottom.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Retrieve the doritos from the table with the bottom held from the side.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "With the left hand, retrieve the doritos from the table.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Get the doritos from the table.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 387, + "end_idx": 489 + }, + { + "text": "Put the doritos behind the screwdriver with the left hand facing left with the front as the reference point.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Using the left hand, place the doritos behind the screwdriver with the front facing left.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Have the left arm set the doritos behind the screwdriver, oriented left relative to the front.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "With the left hand, position the doritos behind the screwdriver so the front points left.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Place the doritos behind the screwdriver with the front facing left.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Set the doritos behind the screwdriver so the front points left.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Position the doritos behind the screwdriver, oriented left from the front.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Using the left hand, put the doritos behind the screwdriver.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Have the left arm place the doritos behind the screwdriver.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "With the left hand, set the doritos behind the screwdriver.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Put the doritos behind the screwdriver.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Place the doritos behind the screwdriver.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Set the doritos behind the screwdriver.", + "start_idx": 489, + "end_idx": 591 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Have the left arm pick the blue stuffed animal off the table diagonally with a whole-object grasp.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table on a diagonal, enclosing the entire object.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Pick up the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Take the blue stuffed animal off the table diagonally with a whole-object grasp.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Retrieve the blue stuffed animal from the table on a diagonal, enclosing the entire object.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table, grasping the entire object.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "With the left hand, take the blue stuffed animal off the table using a whole-object grasp.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Have the left arm retrieve the blue stuffed animal from the table.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Take the blue stuffed animal off the table.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table at a diagonal angle.", + "start_idx": 591, + "end_idx": 723 + }, + { + "text": "Put the blue stuffed animal behind the pink plate with the left hand facing forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the pink plate with it facing forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Have the left arm set the blue stuffed animal behind the pink plate so it faces forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the pink plate, facing forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Place the blue stuffed animal behind the pink plate with it facing forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Set the blue stuffed animal behind the pink plate so it faces forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Position the blue stuffed animal behind the pink plate, facing forwards.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Put the blue stuffed animal behind the pink plate.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Place the blue stuffed animal behind the pink plate.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Set the blue stuffed animal behind the pink plate.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Position the blue stuffed animal behind the pink plate.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the pink plate.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Have the left arm put the blue stuffed animal behind the pink plate.", + "start_idx": 723, + "end_idx": 807 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Using the left hand, take the screwdriver from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Have the left arm pick the screwdriver up from the table with a side grip at the top on a diagonal approach.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "With the left hand, grasp the screwdriver from the table at the top using a side hold from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Pick up the screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Grasp the screwdriver from the table at the top with a side hold from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "The screwdriver should be picked up from the table with a side grasp at the top from a diagonal approach.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Pick up the screwdriver from the table with the left hand.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Using the left hand, take the screwdriver from the table from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Pick up the screwdriver from the table at the top from a diagonal angle.", + "start_idx": 1191, + "end_idx": 1302 + }, + { + "text": "Put the screwdriver behind the white coffee cup with the left hand facing top right with the tip as the reference point.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Using the left hand, place the screwdriver behind the white coffee cup with the tip facing top right.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Have the left hand set the screwdriver behind the white coffee cup, oriented top right by its tip.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "With the left hand, position the screwdriver behind the white coffee cup so the tip points toward the top right.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Place the screwdriver behind the white coffee cup with the tip facing top right.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Set the screwdriver behind the white coffee cup, with the tip oriented toward the top right.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Position the screwdriver behind the white coffee cup so its tip points top right.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Using the left hand, put the screwdriver behind the white coffee cup.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Have the left hand place the screwdriver behind the white coffee cup.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "With the left hand, set the screwdriver behind the white coffee cup.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Place the screwdriver behind the white coffee cup.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Set the screwdriver behind the white coffee cup.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Position the screwdriver behind the white coffee cup.", + "start_idx": 1302, + "end_idx": 1431 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "From the top at the middle, have the left hand take the blue stuffed animal from the table.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "With the left hand, grasp the blue stuffed animal from the table at the middle from above.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Take the blue stuffed animal from the table at the middle from above.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Grasp the blue stuffed animal from the table from the top at the middle.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Have the left hand grasp the blue stuffed animal from the table.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Take the blue stuffed animal from the table.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Grasp the blue stuffed animal from the table.", + "start_idx": 1431, + "end_idx": 1584 + }, + { + "text": "Put the blue stuffed animal to the right of the white coffee cup with the left hand facing forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "With the left hand, place the blue stuffed animal to the right of the white coffee cup facing forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the white coffee cup with its front facing forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Using the left hand, position the blue stuffed animal to the right of the white coffee cup, front facing forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Place the blue stuffed animal to the right of the white coffee cup facing forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Set the blue stuffed animal to the right of the white coffee cup with its front forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Position the blue stuffed animal to the right of the white coffee cup so it faces forwards.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Using the left hand, put the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "With the left hand, set the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Have the left arm place the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Put the blue stuffed animal to the right of the white coffee cup.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Place the blue stuffed animal beside the white coffee cup on its right side.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Set the blue stuffed animal on the right side of the white coffee cup.", + "start_idx": 1584, + "end_idx": 1713 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip from the top at the right side.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip from the top at the right side.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Have the left arm take the doritos from the table by grasping from the top on the right side with a side hold.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "With the left hand, grasp the doritos from the table from above at the right side using a side grip.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Pick up the doritos from the table with a side grip from the top at the right side.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Take the doritos from the table by grasping from the top on the right side with a side hold.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Grasp the doritos from the table from above at the right side using a side grip.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Pick up the doritos from the table from the top at the right side.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Take the doritos from the table with the left hand.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Grasp the doritos from the table.", + "start_idx": 1713, + "end_idx": 1851 + }, + { + "text": "Put the doritos to the left of the pink plate with the left hand facing left with the front as the reference point.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Using the left hand, place the doritos to the left of the pink plate, facing left with the front as the reference point.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Have the left arm set the doritos to the left of the pink plate with the front facing left.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "With the left hand, position the doritos to the left of the pink plate so the front points left.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Place the doritos to the left of the pink plate, with the front facing left.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Set the doritos to the left of the pink plate so the front faces left.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Position the doritos to the left of the pink plate facing left relative to the front.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Move the doritos to the left of the pink plate.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Put the doritos down to the left of the pink plate.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Leave the doritos to the left of the pink plate.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Using the left hand, place the doritos to the left of the pink plate.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "With the left arm, set the doritos down to the left of the pink plate.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Have the left hand position the doritos to the left of the pink plate.", + "start_idx": 1851, + "end_idx": 1956 + }, + { + "text": "Pick up the yellow stuffed animal from the top of the pink plate with the left hand from the top at the middle.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Using the left hand, take the yellow stuffed animal from the top of the pink plate, grasping it from above at the middle.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "With the left hand, retrieve the yellow stuffed animal from the top of the pink plate by grasping the middle from the top.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Have the left arm pick the yellow stuffed animal off the top of the pink plate with a top grasp at the middle.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Pick up the yellow stuffed animal from the top of the pink plate, grasping it from above at the middle.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Take the yellow stuffed animal off the top of the pink plate with a top grasp at the middle.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Retrieve the yellow stuffed animal from the top of the pink plate by grasping the middle from the top.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "From the top of the pink plate, pick up the yellow stuffed animal.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Take the yellow stuffed animal off the top of the pink plate.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "The yellow stuffed animal on the pink plate should be picked up.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Pick up the yellow stuffed animal from the top of the pink plate with the left hand.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "With the left hand, take the yellow stuffed animal off the top of the pink plate.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Have the left arm retrieve the yellow stuffed animal from the pink plate.", + "start_idx": 1956, + "end_idx": 2100 + }, + { + "text": "Put the yellow stuffed animal behind the doritos with the left hand facing forwards.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Using the left hand, place the yellow stuffed animal behind the doritos with it facing forwards.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Have the left arm set the yellow stuffed animal behind the doritos, oriented forward.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "With the left hand, position the yellow stuffed animal behind the doritos so it faces the front.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Place the yellow stuffed animal behind the doritos facing forwards.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Set the yellow stuffed animal behind the doritos with its front forward.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Position the yellow stuffed animal behind the doritos so it faces forwards.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Using the left hand, put the yellow stuffed animal behind the doritos.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "With the left arm, place the yellow stuffed animal behind the doritos.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Have the left hand position the yellow stuffed animal behind the doritos.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Put the yellow stuffed animal behind the doritos.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Set the yellow stuffed animal behind the doritos.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Place the yellow stuffed animal behind the doritos.", + "start_idx": 2100, + "end_idx": 2193 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Using the left hand, take the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Have the left arm pick the screwdriver up from the table, grasping its bottom with a side hold from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table by gripping the bottom from a diagonal angle with a side grasp.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Pick up the screwdriver from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "From the table, take the screwdriver with a side grasp at its bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Retrieve the screwdriver from the table, holding the bottom with a side grip from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table with a side grip at the bottom.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Have the left arm take the screwdriver from the table using a side grasp at the bottom.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "With the left hand, retrieve the screwdriver from the table by gripping its bottom from the side.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Pick up the screwdriver from the table at the bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "From the table, take the screwdriver at its bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Get the screwdriver from the table by grasping the bottom from a diagonal angle.", + "start_idx": 2193, + "end_idx": 2304 + }, + { + "text": "Put the screwdriver behind the pink plate with the left hand with the tip facing top right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Using the left hand, place the screwdriver behind the pink plate with its tip pointing to the top right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Have the left arm set the screwdriver behind the pink plate, keeping the tip oriented top right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "With the left hand, position the screwdriver behind the pink plate so the tip faces the upper right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Place the screwdriver behind the pink plate with its tip pointing to the top right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Set the screwdriver behind the pink plate with the tip facing upper right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Position the screwdriver behind the pink plate so its tip points to the top right.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Using the left hand, put the screwdriver behind the pink plate.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "With the left hand, place the screwdriver behind the pink plate.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Have the left arm set the screwdriver behind the pink plate.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Put the screwdriver behind the pink plate.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Position the screwdriver behind the pink plate.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Set the screwdriver behind the pink plate.", + "start_idx": 2304, + "end_idx": 2421 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand using a side grasp at the left from the top.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Using the left hand, take the white coffee cup from the table with a side grasp at the left from the top.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table with a side hold on the left from above.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "With the left hand, secure the white coffee cup from the table using a side grip on its left side from the top.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Pick up the white coffee cup from the table using a side grasp at the left from the top.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Grasp the white coffee cup from the table with a side hold on the left from above.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "The white coffee cup from the table should be taken with a side grip at the left from the top.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Have the left arm take the white coffee cup from the table.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "With the left hand, grasp the white coffee cup from the table.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Using the left hand, take the white coffee cup from the table.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 2421, + "end_idx": 2565 + }, + { + "text": "Put the white coffee cup to the right of the screwdriver with the left hand right side up with the front facing forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Using the left hand, place the white coffee cup to the right of the screwdriver, right side up, with the front facing forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Have the left arm set the white coffee cup to the screwdriver's right, upright, with the front oriented forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "With the left hand, position the white coffee cup on the right side of the screwdriver, right side up and facing forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Place the white coffee cup to the right of the screwdriver, right side up, with the front facing forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Set the white coffee cup on the screwdriver's right side, upright and with the front oriented forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Position the white coffee cup to the right of the screwdriver, keeping it right side up and facing forwards.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Using the left hand, put the white coffee cup to the right of the screwdriver.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Have the left arm place the white coffee cup on the right side of the screwdriver.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "With the left hand, set the white coffee cup to the screwdriver's right.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Place the white coffee cup to the right of the screwdriver.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Set the white coffee cup on the screwdriver's right side.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Position the white coffee cup to the screwdriver's right.", + "start_idx": 2565, + "end_idx": 2667 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Have the left arm pick up the blue stuffed animal from the table diagonally with a whole-object grasp.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table at a diagonal angle using an entire-object hold.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Pick up the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Retrieve the blue stuffed animal from the table diagonally with a whole-object grasp.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Take the blue stuffed animal from the table at a diagonal angle using a full-object hold.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table, grasping the entire object.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table with a whole-object grasp.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "With the left hand, collect the blue stuffed animal from the table using an entire-object hold.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table at a diagonal angle.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Have the left arm retrieve the blue stuffed animal from the table diagonally.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 2667, + "end_idx": 2802 + }, + { + "text": "Put the blue stuffed animal to the right of the pink plate with the left hand facing forwards.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Using the left hand, place the blue stuffed animal to the right of the pink plate with it facing forwards.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the pink plate, oriented forwards.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "With the left hand, position the blue stuffed animal to the right of the pink plate so it faces front.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Place the blue stuffed animal to the right of the pink plate with it facing forwards.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Set the blue stuffed animal to the right of the pink plate, facing forwards.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Position the blue stuffed animal to the right of the pink plate so it faces front.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Using the left hand, place the blue stuffed animal to the right of the pink plate.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Have the left arm set the blue stuffed animal to the right of the pink plate.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "With the left hand, position the blue stuffed animal to the right of the pink plate.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Place the blue stuffed animal to the right of the pink plate.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Set the blue stuffed animal to the right of the pink plate.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Have the blue stuffed animal placed to the right of the pink plate.", + "start_idx": 2802, + "end_idx": 2868 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Using the left hand, take the yellow stuffed animal from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Have the left arm grasp the yellow stuffed animal from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "With the left hand, collect the yellow stuffed animal from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Pick up the yellow stuffed animal from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Take the yellow stuffed animal from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Grasp the yellow stuffed animal from the table at the top with a side hold from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table with a side grip at the top.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table using a side grasp on the top.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "With the left hand, grasp the yellow stuffed animal from the table from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand at the top from a diagonal angle.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Take the yellow stuffed animal from the table with the left hand using a side grip.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "With the left hand, get the yellow stuffed animal from the table at the top.", + "start_idx": 2868, + "end_idx": 2970 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table from the right with a lip grip at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table using a lip grasp from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Grasp the white coffee cup from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Have the right hand take the white coffee cup from the table using a lip grasp.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "With the right hand, collect the white coffee cup from the table by its lip.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Using the right hand, get the white coffee cup from the table at a diagonal angle from the right.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Take the white coffee cup from the table from the right at a diagonal angle.", + "start_idx": 807, + "end_idx": 990 + }, + { + "text": "Put the white coffee cup to the right of the pink plate with the handle facing forwards using the right hand.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the pink plate with the handle facing forwards.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink plate, handle pointed forward.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "With the right hand, position the white coffee cup right of the pink plate so its handle faces front.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Place the white coffee cup to the right of the pink plate with the handle facing forwards.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Set the white coffee cup right of the pink plate, with its handle pointed forward.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Position the white coffee cup to the right of the pink plate so the handle faces front.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the pink plate.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Have the right arm set the white coffee cup right of the pink plate.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "With the right hand, position the white coffee cup beside the pink plate on its right side.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Place the white coffee cup to the right of the pink plate.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Set the white coffee cup right of the pink plate.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Position the white coffee cup beside the pink plate on its right side.", + "start_idx": 990, + "end_idx": 1128 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "With the right arm, go to the home pose.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Return to the home position.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Move back to home position.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Go to the home pose.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Reset to the home position.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Resume the home pose.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Head back to the home position.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Move to home.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Return home.", + "start_idx": 1128, + "end_idx": 1191 + }, + { + "text": "Go back to the home position.", + "start_idx": 1128, + "end_idx": 1191 + } + ] + }, + "2026-04-22-02-50-42-144000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 247, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Have the left arm take the blue marker from the table by its bottom with a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "From a diagonal angle, the left hand should grasp the blue marker from the table at the bottom with a side hold.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "From a diagonal angle, grasp the blue marker from the table at the bottom with a side hold.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Take the blue marker from the table by the bottom using a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "With the left hand, pick up the blue marker from the table using a side grip.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Have the left arm take the blue marker from the table with a side grasp.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the left hand, grasp the blue marker from the table with a side hold.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the blue marker from the table with the left hand at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "From a diagonal angle, take the blue marker from the table with the left hand by the bottom.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table with a diagonal approach at its middle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "With the left hand, retrieve the brown stuffed animal from the table by holding its middle at a diagonal angle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Take the brown stuffed animal from the table with a diagonal approach, holding the middle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Retrieve the brown stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "With the left hand, retrieve the brown stuffed animal from the table.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "The brown stuffed animal from the table should be picked up.", + "start_idx": 204, + "end_idx": 318 + }, + { + "text": "Put the brown stuffed animal to the left of the canned goods with the left hand facing forwards from the front.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the canned goods, facing forwards from the front.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Have the left arm set the brown stuffed animal left of the canned goods with its front facing forward.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "With the left hand, position the brown stuffed animal to the left of the canned goods so the front faces forwards.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Place the brown stuffed animal to the left of the canned goods with its front facing forward.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Set the brown stuffed animal left of the canned goods, facing forwards from the front.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Position the brown stuffed animal to the left of the canned goods with the front facing forward.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the canned goods.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Have the left arm set the brown stuffed animal left of the canned goods.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "With the left hand, position the brown stuffed animal to the left of the canned goods.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Put the brown stuffed animal to the left of the canned goods.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Place the brown stuffed animal left of the canned goods.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Set the brown stuffed animal to the left of the canned goods.", + "start_idx": 318, + "end_idx": 405 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Have the left arm pick up the blue screwdriver from the table in a side grip at the top, diagonally.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table using a side hold on the top at a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Pick up the blue screwdriver from the table using a side grip at the top from a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Take the blue screwdriver from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "The blue screwdriver should be picked up from the table in a side hold at the top from a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table with a side grip at the top.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Have the left arm take the blue screwdriver from the table with a side grasp on the top.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "With the left hand, retrieve the blue screwdriver from the table using a side hold at the top.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table from a diagonal angle.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Have the left arm take the blue screwdriver from the table diagonally.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 405, + "end_idx": 555 + }, + { + "text": "Place the blue screwdriver behind the canned goods with the left hand with its tip facing bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Using the left hand, set the blue screwdriver behind the canned goods with its tip facing bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Have the left arm place the blue screwdriver behind the canned goods so the tip points to the bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "With the left hand, position the blue screwdriver behind the canned goods, keeping its tip oriented bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Place the blue screwdriver behind the canned goods with its tip facing bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Set the blue screwdriver behind the canned goods so its tip points bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Position the blue screwdriver behind the canned goods with the tip directed to the bottom right.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the canned goods.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "With the left hand, set the blue screwdriver behind the canned goods.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Have the left arm position the blue screwdriver behind the canned goods.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Place the blue screwdriver behind the canned goods.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Set the blue screwdriver behind the canned goods.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Position the blue screwdriver behind the canned goods.", + "start_idx": 555, + "end_idx": 690 + }, + { + "text": "Pick up the green mug from the table with the left hand by the handle from the side.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Using the left hand, grasp the green mug on the table by its handle from the side.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Have the left arm take hold of the green mug from the table at the handle, approaching from the side.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "With the left hand, secure the green mug from the table using the handle from a side approach.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Pick up the green mug from the table by the handle from the side.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Take the green mug from the table by its handle from the side.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "From the table, collect the green mug at the handle from the side.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "With the left hand, remove the green mug from the table.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Pick up the green mug from the table by the handle.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Grasp the green mug from the table with the left hand.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 1356, + "end_idx": 1605 + }, + { + "text": "Put the green mug to the left of the carrot with the left hand right side up with the front facing bottom left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Using the left hand, place the green mug to the left of the carrot, right side up, with the front facing bottom left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Have the left arm set the green mug left of the carrot, keeping it upright and the front pointed bottom left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "With the left hand, position the green mug to the carrot's left, right side up and with the front facing bottom left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Place the green mug to the left of the carrot, right side up, with the front facing bottom left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Set the green mug left of the carrot, keeping it upright with the front pointed bottom left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Position the green mug to the carrot's left, right side up and facing bottom left at the front.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Using the left hand, put the green mug to the left of the carrot.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Have the left arm place the green mug on the carrot's left side.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "With the left hand, set the green mug to the left of the carrot.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Put the green mug to the left of the carrot.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Position the green mug on the left side of the carrot.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Set the green mug to the carrot's left.", + "start_idx": 1605, + "end_idx": 1764 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table from the top at the middle.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "With the left arm, grasp the blue screwdriver off the table at its middle from above.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Have the left hand pick the blue screwdriver up from the table, contacting it from the top at the middle.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Take the blue screwdriver off the table at its middle from above.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Grasp the blue screwdriver from the table at the middle, approaching from the top.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "With the left arm, take the blue screwdriver off the table.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Have the left hand grasp the blue screwdriver from the table.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "From above, pick up the blue screwdriver from the table.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "At the middle, take the blue screwdriver off the table.", + "start_idx": 1764, + "end_idx": 1881 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "With the left hand, retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Retrieve the blue marker from the table diagonally by the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Take the blue marker from the table at a diagonal angle, holding the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Pick up the blue marker from the table with the left hand, grasping the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "With the left hand, take the blue marker from the table by the middle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Have the left arm pick up the blue marker from the table.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "From the table, retrieve the blue marker with the left hand.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 1962, + "end_idx": 2115 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Have the left arm pick the brown stuffed animal up from the table by grasping it from above across the entire object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "With the left hand, grasp the brown stuffed animal from the table from the top, enclosing the whole object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Pick up the brown stuffed animal from the table from the top, grasping the entire object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "From above, take the brown stuffed animal off the table by grasping the whole object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "The brown stuffed animal should be picked up from the table with a top hold on the entire object.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Have the left arm pick up the brown stuffed animal from the table.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Take the brown stuffed animal off the table.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "The brown stuffed animal should be picked up from the table.", + "start_idx": 2250, + "end_idx": 2370 + }, + { + "text": "Put the brown stuffed animal behind the canned goods with the left hand facing forwards.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Using the left hand, place the brown stuffed animal behind the canned goods with its front facing forwards.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Have the left arm set the brown stuffed animal behind the canned goods, front facing forward.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "With the left hand, position the brown stuffed animal behind the canned goods so the front faces forwards.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Place the brown stuffed animal behind the canned goods with its front facing forwards.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Set the brown stuffed animal behind the canned goods, front facing forward.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Position the brown stuffed animal behind the canned goods so it faces forwards.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Using the left hand, put the brown stuffed animal behind the canned goods.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "With the left hand, set the brown stuffed animal behind the canned goods.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Have the left arm place the brown stuffed animal behind the canned goods.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Put the brown stuffed animal behind the canned goods.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Set the brown stuffed animal behind the canned goods.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Have the stuffed animal placed behind the canned goods.", + "start_idx": 2370, + "end_idx": 2454 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "With the left hand, go to the home pose.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Return to home position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Move back to the home position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Go to the home pose.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Shift to the home position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Have the arm return home.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Move the manipulator to its home pose.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Return to the default position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Bring the arm back to home.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Set the manipulator to its home position.", + "start_idx": 2454, + "end_idx": 2499 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Have the right arm pick the white coffee cup up from the table with a diagonal lip grasp on its right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table using a diagonal lip hold on the right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Pick up the white coffee cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Take the white coffee cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Grasp the white coffee cup from the table with a diagonal lip hold on the right side.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Using the right hand, take the white coffee cup from the table.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 690, + "end_idx": 948 + }, + { + "text": "Put the white coffee cup to the right side of the table with the right hand right side up with the front facing backwards.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Using the right hand, place the white coffee cup on the table's right side, right side up, with the front facing backward.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Have the right arm set the white coffee cup to the right side of the table, upright, with its front toward the back.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "With the right hand, position the white coffee cup at the table's right side, right side up and facing backward at the front.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Place the white coffee cup on the right side of the table, right side up, with the front facing backward.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Set the white coffee cup to the right side of the table, upright, with its front toward the back.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Position the white coffee cup at the table's right side, with the front facing backward and right side up.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Using the right hand, place the white coffee cup on the right side of the table.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Have the right arm set the white coffee cup to the right side of the table.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "With the right hand, position the white coffee cup at the table's right side.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Place the white coffee cup on the right side of the table.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Set the white coffee cup to the right side of the table.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Position the white coffee cup at the table's right side.", + "start_idx": 948, + "end_idx": 1071 + }, + { + "text": "Pick up the asparagus from the table with the right hand from the top at the middle.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Using the right hand, pick up the asparagus from the table from the top at the middle.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Have the right hand take the asparagus from the table, grasping it from the top at the middle.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "With the right hand, grasp the asparagus from the table at the middle from above.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Pick up the asparagus from the table from the top at the middle.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Take the asparagus from the table, approaching from above at the middle.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Grasp the asparagus from the table at the middle from the top.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "With the right hand, grasp the asparagus from the table.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Grasp the asparagus from the table.", + "start_idx": 1071, + "end_idx": 1251 + }, + { + "text": "Put the asparagus in front of the carrot with the right hand with the tip facing top left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Using the right hand, place the asparagus in front of the carrot with the tip pointing to the top left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Have the right arm set the asparagus in front of the carrot, tip oriented toward the upper left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "With the right hand, position the asparagus before the carrot so its tip faces top left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Place the asparagus in front of the carrot with the tip pointing to the top left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Set the asparagus before the carrot, with the tip oriented toward the upper left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Position the asparagus in front of the carrot so the tip faces top left.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Using the right hand, put the asparagus in front of the carrot.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Have the right arm place the asparagus before the carrot.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "With the right hand, set the asparagus in front of the carrot.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Place the asparagus in front of the carrot.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Set the asparagus before the carrot.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Position the asparagus in front of the carrot.", + "start_idx": 1251, + "end_idx": 1356 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Have the right arm take the carrot from the table, grasping it diagonally at the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "With the right hand, retrieve the carrot from the table at a diagonal angle, holding it from the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Take the carrot from the table diagonally from the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Retrieve the carrot from the table with a diagonal grasp at the middle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Get the carrot from the table from the middle at a diagonal angle.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Using the right hand, pick up the carrot from the table.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Have the right arm take the carrot from the table.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "With the right hand, retrieve the carrot from the table.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 2499, + "end_idx": 2571 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at the handle from the side.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Using the right hand, take the white coffee cup from the table by the handle from the side.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table at the handle with a side approach.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table, holding the handle from the side.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Pick up the white coffee cup from the table at the handle from the side.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "From the table, collect the white coffee cup by the handle from the side.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Take the white coffee cup from the table using the handle from the side.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table at the handle.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Have the right arm take the white coffee cup from the table by the handle.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "From the table, retrieve the white coffee cup.", + "start_idx": 2688, + "end_idx": 2820 + }, + { + "text": "Put the white coffee cup to the right of the green mug with the handle facing backwards with the right hand right side up.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the green mug, right side up, with the handle facing backward.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Have the right hand set the white coffee cup to the right of the green mug, keeping it upright and the handle facing backward.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the green mug, right side up with its handle facing backward.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Place the white coffee cup to the right of the green mug, right side up, with the handle facing backward.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Set the white coffee cup to the right of the green mug, keeping it upright and the handle facing backward.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Position the white coffee cup to the right of the green mug with the handle facing backward, right side up.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Put the white coffee cup to the right of the green mug.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Set the white coffee cup down to the right of the green mug.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Place the white coffee cup to the right of the green mug.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the green mug.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "With the right hand, set the white coffee cup to the right of the green mug.", + "start_idx": 2820, + "end_idx": 3000 + }, + { + "text": "Have the right hand put the white coffee cup to the right of the green mug.", + "start_idx": 2820, + "end_idx": 3000 + } + ] + }, + "2026-04-22-02-55-57-557000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table by grasping the whole object from above.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table using a top hold on the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the brown stuffed animal from the table from the top grasping the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "From above, take the brown stuffed animal from the table while holding the whole object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Grasp the entire brown stuffed animal from the top and remove it from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm pick up the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Remove the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Place the brown stuffed animal to the left of the canned goods with the left hand facing top left with the front as the reference point.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the canned goods with its front facing the top left.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Have the left arm set the brown stuffed animal to the left of the canned goods, front oriented toward the top left.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "With the left hand, position the brown stuffed animal left of the canned goods, keeping the front pointed top left.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Place the brown stuffed animal to the left of the canned goods with its front facing the top left.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Set the brown stuffed animal left of the canned goods, with the front directed toward the top left.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Position the brown stuffed animal to the left of the canned goods, front facing top left.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the canned goods.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Have the left arm set the brown stuffed animal left of the canned goods.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "With the left hand, position the brown stuffed animal to the left of the canned goods.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Place the brown stuffed animal to the left of the canned goods.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Set the brown stuffed animal left of the canned goods.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Position the brown stuffed animal to the left of the canned goods.", + "start_idx": 114, + "end_idx": 216 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table from the top at the middle.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the table with a top approach at the middle.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "With the left hand, seize the blue screwdriver from the table at its middle from above.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Take the blue screwdriver from the table with a top-down grasp at the middle.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Grasp the blue screwdriver from the table at its middle from above.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "With the left hand, take the blue screwdriver from the table.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Have the left arm grasp the blue screwdriver from the table.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Grasp the blue screwdriver from the table.", + "start_idx": 216, + "end_idx": 351 + }, + { + "text": "Put the blue screwdriver behind the canned goods with the left hand facing bottom right at the tip.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Using the left hand, place the blue screwdriver behind the canned goods with its tip facing bottom right.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Have the left arm set the blue screwdriver behind the canned goods, tip oriented toward the bottom right.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "With the left hand, position the blue screwdriver behind the canned goods so the tip points bottom right.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Place the blue screwdriver behind the canned goods with its tip facing bottom right.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Set the blue screwdriver behind the canned goods, keeping the tip pointed toward the bottom right.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Position the blue screwdriver behind the canned goods with the tip directed to the bottom right.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Using the left hand, put the blue screwdriver behind the canned goods.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Have the left arm place the blue screwdriver behind the canned goods.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "With the left hand, set the blue screwdriver behind the canned goods.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Put the blue screwdriver behind the canned goods.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Set the blue screwdriver behind the canned goods.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Position the blue screwdriver behind the canned goods.", + "start_idx": 351, + "end_idx": 441 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "With the left hand, take the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Have the left arm pick the blue marker off the table, holding it at a diagonal angle from the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Using the left hand, grasp the middle of the blue marker on the table and pick it up diagonally.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Pick up the blue marker from the table by grasping the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Take the blue marker off the table while holding the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Grab the blue marker from the table at the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Using the left hand, pick up the blue marker from the table by grasping the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "With the left hand, take the blue marker from the table from its middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Have the left arm remove the blue marker from the table, holding the middle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Take the blue marker off the table diagonally.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Grasp the blue marker from the table and pick it up.", + "start_idx": 441, + "end_idx": 564 + }, + { + "text": "Put the blue marker behind the brown stuffed animal with the left hand facing backwards with the tip as the reference point.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Using the left hand, place the blue marker behind the brown stuffed animal with the tip facing backward.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Have the left arm put the blue marker behind the brown stuffed animal, oriented backward from the tip.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "With the left hand, set the blue marker behind the brown stuffed animal so its tip points backward.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Place the blue marker behind the brown stuffed animal with the tip facing backward.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Set the blue marker behind the brown stuffed animal with its tip oriented backward.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Position the blue marker behind the brown stuffed animal so the tip points backward.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Using the left hand, put the blue marker behind the brown stuffed animal.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Have the left arm place the blue marker behind the brown stuffed animal.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "With the left hand, position the blue marker behind the brown stuffed animal.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Put the blue marker behind the brown stuffed animal.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Set the blue marker behind the brown stuffed animal.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Position the blue marker behind the brown stuffed animal.", + "start_idx": 564, + "end_idx": 723 + }, + { + "text": "Pick up the green mug from the table with the left hand by the handle from the side.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Using the left hand, take the green mug from the table by its handle from the side.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Have the left arm grasp the green mug from the table at the handle with a side approach.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "With the left hand, seize the green mug from the table by the handle from the side.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Pick up the green mug from the table by the handle from the side.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Take the green mug from the table at its handle from the side.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "From the table, grasp the green mug by the handle from the side.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Using the left hand, pick up the green mug from the table.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "With the left hand, grasp the green mug from the table.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "From the table, take the green mug.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Have the left arm pick up the green mug from the table by the handle.", + "start_idx": 723, + "end_idx": 948 + }, + { + "text": "Place the green mug to the right of the blue marker with the left hand right side up with the front facing backwards.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Using the left hand, set the green mug to the right of the blue marker, right side up, with the front facing backward.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Have the left arm place the green mug right of the blue marker, upright, with its front toward the back.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "With the left hand, position the green mug to the blue marker's right, keeping it right side up and the front facing backwards.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Place the green mug to the right of the blue marker, right side up, with the front facing backwards.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Set the green mug right of the blue marker, upright, with its front toward the back.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Position the green mug to the blue marker's right, keeping it upright and facing backward.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Using the left hand, place the green mug to the right of the blue marker.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Have the left arm set the green mug right of the blue marker.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "With the left hand, position the green mug to the blue marker's right.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Put the green mug to the right of the blue marker.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Arrange the green mug right of the blue marker.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "The green mug goes to the right of the blue marker.", + "start_idx": 948, + "end_idx": 1107 + }, + { + "text": "Pick up the blue screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Using the left hand, take the blue screwdriver from the table from the top at the middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Have the left arm pick the blue screwdriver up from the table, grasping it from the top at the middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "With the left hand, grasp the blue screwdriver off the table from the top at its middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Take the blue screwdriver off the table from the top at the middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Grasp the blue screwdriver from the table from above at the middle.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Using the left hand, pick up the blue screwdriver from the table.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Have the left arm take the blue screwdriver off the table.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "With the left hand, grasp the blue screwdriver from the table.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Have the screwdriver picked up from the table.", + "start_idx": 1701, + "end_idx": 1893 + }, + { + "text": "Place the blue screwdriver to the left of the carrot with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Using the left hand, set the blue screwdriver to the carrot's left with the tip facing backwards.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Have the left arm place the blue screwdriver left of the carrot, oriented backwards at the tip.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "With the left hand, position the blue screwdriver to the left of the carrot so its tip points backward.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Place the blue screwdriver to the left of the carrot with the tip facing backwards.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Set the blue screwdriver left of the carrot, with the tip oriented backward.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Position the blue screwdriver to the carrot's left, keeping the tip facing backward.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "The blue screwdriver goes to the left of the carrot, tip facing backwards.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Using the left hand, place the blue screwdriver to the left of the carrot.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Have the left arm set the blue screwdriver left of the carrot.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "With the left hand, position the blue screwdriver to the carrot's left.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Place the blue screwdriver to the left of the carrot.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Set the blue screwdriver left of the carrot.", + "start_idx": 1893, + "end_idx": 2055 + }, + { + "text": "Pick up the green mug from the table with the left hand by the handle from the side.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Using the left hand, take the green mug from the table by its handle from the side.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Have the left arm grasp the green mug from the table at the handle with a side approach.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "With the left hand, seize the green mug from the table by the handle from the side.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Pick up the green mug from the table by the handle from the side.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Take the green mug from the table at its handle from the side.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "From the table, grasp the green mug by the handle from the side.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Retrieve the green mug from the table using the left hand.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "With the left hand, pick up the green mug from the table.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Have the left arm take the green mug from the table.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Pick up the green mug from the table with the left hand.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Take the green mug from the table by the handle.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "From the table, grasp the green mug at the handle.", + "start_idx": 2055, + "end_idx": 2232 + }, + { + "text": "Put the green mug on the top side of the table with the left hand right side up with the front facing backwards.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Using the left hand, place the green mug on the top side of the table right side up with the front facing backward.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Have the left arm set the green mug on the table's top side, upright, with its front toward the back.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "With the left hand, position the green mug on the top side of the table right side up, front facing backwards.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Place the green mug on the top side of the table right side up with the front facing backwards.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Set the green mug on the table's top side upright with its front toward the back.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Position the green mug on the top side of the table with the front facing backwards and right side up.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Using the left hand, put the green mug on the top side of the table.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "With the left hand, place the green mug on the table's top side.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Have the left arm set the green mug on the top side of the table.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Put the green mug on the top side of the table.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Set the green mug on the table's top side with the left hand.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Place the green mug on the top side of the table right side up.", + "start_idx": 2232, + "end_idx": 2334 + }, + { + "text": "Pick up the blue marker from the table with the left hand from the top at the middle.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Using the left hand, pick up the blue marker from the table from the top at the middle.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Have the left arm take the blue marker off the table with a top grasp at its middle.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "With the left hand, grasp the blue marker from the table at the middle from above.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Pick up the blue marker from the table from the top at the middle.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Take the blue marker off the table with a top grasp at its middle.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Grasp the blue marker from the table at the middle from above.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Have the left arm take the blue marker off the table.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "From the table, take the blue marker.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "The blue marker should be grasped from the table.", + "start_idx": 2334, + "end_idx": 2487 + }, + { + "text": "Put the blue marker to the right of the screwdriver with the left hand with its tip facing bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Using the left hand, place the blue marker to the screwdriver's right with its tip pointing toward the bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Have the left arm set the blue marker to the right of the screwdriver, tip oriented bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "With the left hand, position the blue marker on the screwdriver's right side, keeping its tip facing the bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Place the blue marker to the right of the screwdriver with its tip pointing toward the bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Set the blue marker on the right side of the screwdriver, with its tip facing bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Position the blue marker to the screwdriver's right, tip directed bottom right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Using the left hand, put the blue marker to the right of the screwdriver.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Have the left arm place the blue marker on the screwdriver's right side.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "With the left hand, set the blue marker to the screwdriver's right.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Put the blue marker to the right of the screwdriver.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Using the left hand, position the blue marker by the screwdriver.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Set the blue marker beside the screwdriver.", + "start_idx": 2487, + "end_idx": 2691 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Using the right hand, take the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Have the right arm pick the asparagus up from the table diagonally by the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "With the right hand, retrieve the asparagus from the table, holding it at a diagonal angle around the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Take the asparagus from the table diagonally by the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Retrieve the asparagus from the table at a diagonal angle, holding the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "With the right hand, take the asparagus from the table.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Have the right arm retrieve the asparagus from the table.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Using the right hand, get the asparagus from the table at a diagonal angle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Take the asparagus from the table by the middle.", + "start_idx": 1107, + "end_idx": 1257 + }, + { + "text": "Put the asparagus to the right of the white cup with the right hand facing top left by the tip.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white cup with the tip facing top left.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Have the right hand set the asparagus to the right of the white cup so its tip points toward the top left.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "With the right hand, position the asparagus to the right of the white cup, tip oriented top left.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Place the asparagus to the right of the white cup with the tip facing top left.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Set the asparagus to the right of the white cup so the tip points to the top left.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Position the asparagus to the right of the white cup, with its tip toward the upper left.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Using the right hand, place the asparagus to the right of the white cup.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "With the right hand, set the asparagus to the right of the white cup.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Have the right hand position the asparagus to the right of the white cup.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Put the asparagus to the right of the white cup.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Set the asparagus to the right of the white cup.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Position the asparagus to the right of the white cup.", + "start_idx": 1257, + "end_idx": 1317 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Take the carrot from the table with a diagonal pickup, holding the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Retrieve the carrot from the table diagonally by the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Have the right arm take the carrot from the table by the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "With the right hand, retrieve the carrot from the table while holding the middle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Take the carrot from the table with the right hand diagonally.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1317, + "end_idx": 1401 + }, + { + "text": "Put the carrot in front of the white cup with the right hand facing forwards.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Using the right hand, place the carrot in front of the white cup with its tip facing forwards.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Have the right arm set the carrot in front of the white cup, tip pointed forward.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "With the right hand, position the carrot before the white cup so the tip faces forwards.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Place the carrot in front of the white cup with its tip facing forwards.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Set the carrot before the white cup, keeping the tip pointed forward.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Position the carrot in front of the white cup so it faces forwards.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Using the right hand, put the carrot in front of the white cup.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "With the right hand, set the carrot before the white cup.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Have the right arm place the carrot in front of the white cup.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Put the carrot in front of the white cup.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Set the carrot before the white cup.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Place the carrot in front of the white cup.", + "start_idx": 1401, + "end_idx": 1482 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on its right side.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Have the right arm pick the white cup off the table using a diagonal lip grasp on the right side.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "With the right hand, grasp the white cup from the table by its right side in a diagonal lip hold.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Take the white cup off the table with a diagonal lip grasp on its right side.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Grasp the white cup from the table by the right side with a diagonal lip grip.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Using a diagonal lip grasp on the right side, pick up the white cup from the table.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "With the right hand, take the white cup off the table.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Have the right arm grasp the white cup from the table.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Take the white cup off the table.", + "start_idx": 1482, + "end_idx": 1602 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand from the top at the middle.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table from the top at the middle.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Have the right hand grasp the blue screwdriver from the table with a top approach at its middle.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "From the table, retrieve the blue screwdriver with the right hand, contacting it from above at the center.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Take the blue screwdriver from the table with a top grasp at the middle.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "From the table, collect the blue screwdriver, approaching from above at its center.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "With the right hand, take the blue screwdriver from the table.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Have the right hand retrieve the blue screwdriver from the table.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "From the table, grasp the blue screwdriver.", + "start_idx": 2691, + "end_idx": 2862 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 2691, + "end_idx": 2862 + } + ] + }, + "2026-04-22-02-58-16-127000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Have the right hand take the blue screwdriver from the table, keeping it diagonal and holding it at the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table in a diagonal orientation, gripping its middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle by grasping the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Take the blue screwdriver from the table in a diagonal orientation, holding the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Retrieve the blue screwdriver from the table while keeping it diagonal and grasping the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Have the right hand take the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Take the blue screwdriver from the table by grasping the middle.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 0, + "end_idx": 222 + }, + { + "text": "Place the blue screwdriver to the right of the asparagus with the right hand facing backwards with the tip as the orientation reference point.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Using the right hand, set the blue screwdriver to the asparagus's right with the tip facing backwards.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Have the right arm place the blue screwdriver to the right of the asparagus, with its tip oriented backward.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "With the right hand, position the blue screwdriver on the right side of the asparagus, tip facing backward.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Set the blue screwdriver to the right of the asparagus with the tip facing backwards.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Place the blue screwdriver on the right side of the asparagus, with its tip oriented backward.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Position the blue screwdriver to the asparagus's right, tip facing backward.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Using the right hand, place the blue screwdriver to the right of the asparagus.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "With the right hand, set the blue screwdriver on the right side of the asparagus.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Have the right arm position the blue screwdriver to the asparagus's right.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Put the blue screwdriver to the right of the asparagus.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Place the blue screwdriver on the right side of the asparagus.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Using the right hand, put the blue screwdriver to the right of the asparagus.", + "start_idx": 222, + "end_idx": 321 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "With the right hand, collect the asparagus from the table at a diagonal angle by grasping its middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Take the asparagus from the table at a diagonal angle while holding the middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "From the table, collect the asparagus with a diagonal pickup and grasp the middle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Using the right hand, take the asparagus from the table.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Have the right arm collect the asparagus from the table.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "At a diagonal angle, take the asparagus from the table.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 321, + "end_idx": 456 + }, + { + "text": "Put the asparagus between the blue marker and the carrot with the right hand with the tip facing top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Using the right hand, place the asparagus between the blue marker and the carrot with its tip pointing to the top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Have the right arm set the asparagus between the blue marker and the carrot, tip oriented toward the top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "With the right hand, position the asparagus between the blue marker and the carrot so the tip faces top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Place the asparagus between the blue marker and the carrot with its tip pointing to the top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Set the asparagus between the blue marker and the carrot, with the tip facing top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Position the asparagus between the blue marker and the carrot so its tip points top left.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Using the right hand, put the asparagus between the blue marker and the carrot.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Have the right arm place the asparagus between the blue marker and the carrot.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "With the right hand, set the asparagus between the blue marker and the carrot.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Put the asparagus between the blue marker and the carrot.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Place the asparagus between the blue marker and the carrot.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Set the asparagus between the blue marker and the carrot.", + "start_idx": 456, + "end_idx": 618 + }, + { + "text": "Pick up the blue marker from the table with the right hand from the top at the middle.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Using the right hand, take the blue marker from the table from the top at the middle.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Have the right arm grasp the blue marker from the table from above at its middle.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "With the right hand, collect the blue marker from the table by approaching from the top at the middle.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Pick up the blue marker from the table from the top at the middle.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Take the blue marker from the table from above at its middle.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Grasp the blue marker from the table at the middle from the top.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Using the right hand, pick up the blue marker from the table.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "With the right hand, take the blue marker from the table.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Have the right arm grasp the blue marker from the table.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "From the table, grasp the blue marker.", + "start_idx": 618, + "end_idx": 723 + }, + { + "text": "Put the blue marker to the right of the green cup with the right hand with its tip facing bottom right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Using the right hand, place the blue marker to the right of the green cup with its tip pointing toward the bottom right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Have the right hand set the blue marker to the green cup's right side, keeping the tip aimed bottom right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "With the right hand, position the blue marker right of the green cup so the tip faces the lower right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Place the blue marker to the right of the green cup with its tip facing bottom right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Set the blue marker on the right side of the green cup with its tip pointing bottom right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Position the blue marker to the green cup's right with the tip aimed toward the lower right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Using the right hand, put the blue marker to the right of the green cup.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Have the right hand place the blue marker on the right side of the green cup.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "With the right hand, set the blue marker to the green cup's right.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Put the blue marker to the right of the green cup.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Position the blue marker on the right side of the green cup.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Have the blue marker placed to the right of the green cup.", + "start_idx": 723, + "end_idx": 903 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Have the right arm take the green mug from the table by its handle at a diagonal angle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "With the right hand, grasp the green mug from the table by the handle on a diagonal.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Grasp the green mug from the table by its handle on a diagonal.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Have the right arm take the green mug from the table by its handle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "With the right hand, grasp the green mug from the table by the handle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Using the right hand, pick up the green mug from the table at a diagonal angle.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Have the right arm take the green mug from the table on a diagonal.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 903, + "end_idx": 1077 + }, + { + "text": "Put the green mug between the blue marker and the blue screwdriver with the handle facing bottom right right side up using the right hand.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Using the right hand, place the green mug between the blue marker and the blue screwdriver, right side up with the handle facing bottom right.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Have the right arm set the green mug between the blue marker and the blue screwdriver, keeping it upright and the handle pointed bottom right.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "With the right hand, position the green mug between the blue marker and the blue screwdriver so the handle faces bottom right and it remains right side up.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Place the green mug between the blue marker and the blue screwdriver, right side up with the handle facing bottom right.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Set the green mug between the blue marker and the blue screwdriver, keeping the handle pointed bottom right and the mug upright.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Position the green mug between the blue marker and the blue screwdriver with the handle facing bottom right, right side up.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Put the green mug between the blue marker and the blue screwdriver.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Set the green mug between the blue marker and the blue screwdriver.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Position the green mug between the blue marker and the blue screwdriver.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Place the green mug between the blue marker and the blue screwdriver with the right hand.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Using the right hand, put the green mug between the blue marker and the blue screwdriver.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Have the right arm place the green mug between the blue marker and the blue screwdriver.", + "start_idx": 1077, + "end_idx": 1212 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "With the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Have the right arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Using the right hand, collect the asparagus from the table on a diagonal, gripping the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Take the asparagus from the table on a diagonal, holding the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "The asparagus from the table should be picked up diagonally by the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "With the right hand, pick up the asparagus from the table.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Using the right hand, collect the asparagus from the table.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "The asparagus from the table should be picked up by the middle.", + "start_idx": 1854, + "end_idx": 2013 + }, + { + "text": "Put the asparagus to the left of the blue marker with the right hand facing forwards with the tip forwards.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Using the right hand, place the asparagus to the left of the blue marker with its tip pointing forward.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Have the right arm set the asparagus left of the blue marker, oriented forward at the tip.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "With the right hand, position the asparagus to the left of the blue marker so the tip faces forward.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Place the asparagus to the left of the blue marker.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Set the asparagus left of the blue marker.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Have the asparagus placed to the left of the blue marker.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Using the right hand, put the asparagus to the left of the blue marker.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "With the right hand, place the asparagus left of the blue marker.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Position the asparagus to the left of the blue marker with its tip facing forward.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Set the asparagus left of the blue marker so the tip points forward.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Put the asparagus left of the blue marker with the tip forward.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Using the right hand, place the asparagus to the left of the blue marker.", + "start_idx": 2012, + "end_idx": 2121 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Using the right hand, take the carrot from the table at a diagonal angle, grasping its middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Have the right arm pick the carrot off the table on a diagonal, holding it at the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Take the carrot off the table on a diagonal, holding the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "The carrot from the table should be picked up diagonally by its middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Using the right hand, pick up the carrot from the table grasping the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "With the right hand, remove the carrot from the table while holding the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Have the right arm take the carrot off the table by the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Using the right hand, get the carrot from the table on a diagonal.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Take the carrot from the table grasping the middle.", + "start_idx": 2121, + "end_idx": 2220 + }, + { + "text": "Put the carrot between the white canned goods and the asparagus with the right hand facing top left with the tip as the reference point.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Using the right hand, place the carrot between the white canned goods and the asparagus, facing top left with the tip as the reference point.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Have the right arm set the carrot between the white canned goods and the asparagus, oriented top left from the tip.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "With the right hand, position the carrot between the white canned goods and the asparagus so its tip faces top left.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Place the carrot between the white canned goods and the asparagus, facing top left with the tip as the reference point.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Set the carrot between the white canned goods and the asparagus with its tip oriented toward the top left.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Position the carrot between the white canned goods and the asparagus so the tip points top left.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Using the right hand, put the carrot between the white canned goods and the asparagus.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "With the right hand, place the carrot between the white canned goods and the asparagus.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Have the right arm position the carrot between the white canned goods and the asparagus.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Put the carrot between the white canned goods and the asparagus.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Set the carrot between the white canned goods and the asparagus.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Position the carrot between the white canned goods and the asparagus.", + "start_idx": 2220, + "end_idx": 2367 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip at the top right from a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Using the right hand, take the white mug from the table with a lip grip at the top right from a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Have the right arm grasp the white mug from the table with a lip hold on the top-right area at a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "With the right hand, secure the white mug from the table using a lip grasp at the top right on a diagonal.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Pick up the white mug from the table using a lip grip at the top right from a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Take the white mug from the table with a lip hold on the top-right area at a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Grasp the white mug from the table using a lip grasp at the top right from a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Retrieve the white mug from the table at the top right using a lip grip.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Take the white mug from the table with a lip grasp on the top-right area.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Pick up the white mug from the table using a lip hold.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Using the right hand, pick up the white mug from the table from a diagonal angle.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "With the right hand, take the white mug from the table at the top right.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Have the right arm grasp the white mug from the table.", + "start_idx": 2367, + "end_idx": 2517 + }, + { + "text": "Put the white mug to the bottom right of the asparagus with the right hand right side up with the front as the reference point.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Using the right hand, place the white mug at the bottom right of the asparagus, right side up with the front as the reference point.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Have the right arm set the white mug down bottom-right of the asparagus, keeping it right side up relative to the front.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "With the right hand, position the white mug to the asparagus's bottom right, oriented right side up using the front as the reference point.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Set the white mug at the bottom right of the asparagus, right side up with the front as the reference point.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Place the white mug to the bottom right of the asparagus, keeping it right side up relative to the front.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Position the white mug bottom-right of the asparagus, with the front as the reference point and right side up.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Put the white mug with the front as the reference point to the bottom right of the asparagus.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Using the right hand, put the white mug to the bottom right of the asparagus.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "With the right hand, place the white mug bottom-right of the asparagus.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Have the right arm set the white mug down to the bottom right of the asparagus.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Arrange the white mug to the bottom right of the asparagus.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "The white mug goes at the bottom right of the asparagus.", + "start_idx": 2517, + "end_idx": 2655 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Using the right hand, take the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Have the right arm grasp the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "With the right hand, secure the green mug from the table via the handle at a diagonal angle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Pick up the green mug from the table at a diagonal angle by the handle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Take the green mug from the table by the handle at a diagonal angle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Grasp the green mug from the table via the handle at a diagonal angle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Pick up the green mug from the table with the right hand by the handle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Using the right hand, collect the green mug from the table by the handle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Have the right arm take the green mug from the table by the handle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Pick up the green mug from the table with the right hand at a diagonal angle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "With the right hand, grasp the green mug from the table at a diagonal angle.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Take the green mug from the table.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Place the green mug in front of the blue marker with the handle facing backwards right side up using the right arm.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Using the right arm, set the green mug in front of the blue marker, handle facing backward and upright.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Have the right arm place the green mug before the blue marker with its handle pointed backward, right side up.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "With the right arm, position the green mug in front of the blue marker so the handle faces backward and the mug stays upright.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Place the green mug in front of the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Set the green mug before the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Position the green mug in front of the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Put the green mug in front of the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Using the right arm, place the green mug in front of the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Have the right arm set the green mug before the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "With the right arm, position the green mug in front of the blue marker.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Place the green mug in front of the blue marker with the handle facing backward and upright.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Set the green mug before the blue marker, keeping the handle pointed backward and the mug right side up.", + "start_idx": 2760, + "end_idx": 2892 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand using a side grip from the top.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table with a side grip from the top.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Have the left arm pick the brown stuffed animal up from the table using a side grasp at the top.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "With the left hand, grasp the brown stuffed animal from the table using a side hold from above.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Pick up the brown stuffed animal from the table using a side grip from the top.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Take the brown stuffed animal from the table with a side grasp from above.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Grasp the brown stuffed animal from the table using a side hold at the top.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "The brown stuffed animal from the table should be picked up with the left hand using a side grip.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table with a side grasp.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "With the left hand, grasp the brown stuffed animal from the table using a side hold.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Take the brown stuffed animal from the table from the top.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "The brown stuffed animal from the table should be grasped with a side grip.", + "start_idx": 1212, + "end_idx": 1467 + }, + { + "text": "Put the brown stuffed animal behind the white canned goods with the left hand facing forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Using the left hand, place the brown stuffed animal behind the white canned goods facing forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Have the left arm set the brown stuffed animal behind the white canned goods with its front facing forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "With the left hand, position the brown stuffed animal behind the white canned goods so it faces forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Place the brown stuffed animal behind the white canned goods facing forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Set the brown stuffed animal behind the white canned goods with its front facing forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Position the brown stuffed animal behind the white canned goods so it faces forwards.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Using the left hand, place the brown stuffed animal behind the white canned goods.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Have the left arm set the brown stuffed animal behind the white canned goods.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "With the left hand, position the brown stuffed animal behind the white canned goods.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Place the brown stuffed animal behind the white canned goods.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Set the brown stuffed animal behind the white canned goods.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Position the brown stuffed animal behind the white canned goods.", + "start_idx": 1467, + "end_idx": 1551 + }, + { + "text": "Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "With the left arm, grasp the white canned goods on the table using a side hold at the top from a diagonal approach.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Have the left hand take the white canned goods from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Pick up the white canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Grasp the white canned goods on the table with a side hold at the top from a diagonal approach.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Take the white canned goods from the table with a side grasp on the top at a diagonal angle.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table with a side grip.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "With the left arm, grasp the white canned goods on the table using a side hold.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Have the left hand take the white canned goods from the table with a side grasp.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Using the left hand, pick up the white canned goods from the table from a diagonal angle.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "With the left arm, grasp the white canned goods on the table at the top from a diagonal approach.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Pick up the white canned goods from the table.", + "start_idx": 1551, + "end_idx": 1704 + }, + { + "text": "Put the white canned goods to the right of the brown stuffed animal with the left hand.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Using the left hand, place the white canned goods to the right of the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Have the left arm set the white canned goods to the brown stuffed animal's right side.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "With the left hand, position the white canned goods on the right side of the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Place the white canned goods to the right of the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Set the white canned goods on the brown stuffed animal's right side.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Position the white canned goods to the right of the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Move the white canned goods to the right of the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Have the white canned goods placed to the right of the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Using the left hand, place the white canned goods by the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "With the left hand, set the white canned goods next to the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Place the white canned goods by the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + }, + { + "text": "Set the white canned goods next to the brown stuffed animal.", + "start_idx": 1704, + "end_idx": 1854 + } + ] + }, + "2026-04-22-03-02-02-854000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table at a diagonal angle by gripping the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Retrieve the gray stuffed animal from the table with a diagonal pickup, holding the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Take the gray stuffed animal from the table at a diagonal angle by gripping its middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "From the table, take the gray stuffed animal at a diagonal angle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Get the gray stuffed animal from the table by grasping the middle.", + "start_idx": 0, + "end_idx": 81 + }, + { + "text": "Put the gray stuffed animal to the left of the blue soda can with the left hand facing forwards from the front.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the blue soda can, facing forwards from the front.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Have the left arm set the gray stuffed animal to the left of the blue soda can with its front facing forward.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "With the left hand, position the gray stuffed animal left of the blue soda can so the front faces forwards.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Place the gray stuffed animal to the left of the blue soda can, facing forwards from the front.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Set the gray stuffed animal left of the blue soda can with its front facing forward.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Position the gray stuffed animal to the left of the blue soda can so it faces forwards from the front.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the blue soda can.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Have the left arm set the gray stuffed animal left of the blue soda can.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "With the left hand, position the gray stuffed animal next to the left side of the blue soda can.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Place the gray stuffed animal to the left of the blue soda can.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Set the gray stuffed animal left of the blue soda can.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Position the gray stuffed animal beside the blue soda can on its left side.", + "start_idx": 81, + "end_idx": 144 + }, + { + "text": "Pick up the tomato from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Using the left hand, pick up the tomato from the table with a side grip at the top from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Have the left arm take the tomato from the table, grasping its top with a side hold at a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "With the left hand, collect the tomato from the table by gripping the top from a diagonal angle using a side grasp.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Pick up the tomato from the table with a side grip at the top from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Take the tomato from the table, using a side grasp on the top from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "From the table, grasp the tomato at the top with a side hold from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Using the left hand, pick up the tomato from the table with a side grip.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Have the left arm take the tomato from the table using a side grasp.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "With the left hand, collect the tomato from the table with a side hold.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Using the left hand, pick up the tomato from the table from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Take the tomato from the table with the left hand at the top from a diagonal angle.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 144, + "end_idx": 273 + }, + { + "text": "Put the tomato in front of the gray stuffed animal with the left hand right side up.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Using the left hand, place the tomato in front of the gray stuffed animal right side up.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Have the left arm set the tomato right side up in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "With the left hand, position the tomato in front of the gray stuffed animal so it is right side up.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Place the tomato in front of the gray stuffed animal right side up.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Set the tomato right side up in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Position the tomato in front of the gray stuffed animal so it stays upright.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Using the left hand, put the tomato in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "With the left hand, set the tomato in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Have the left arm place the tomato in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Put the tomato in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Set the tomato in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Position the tomato in front of the gray stuffed animal.", + "start_idx": 273, + "end_idx": 387 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping its middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table at a diagonal angle, grasping its middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Have the left hand take the blue soda can from the table with a diagonal approach at the middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table diagonally by its middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping its middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Take the blue soda can from the table with a diagonal approach at its middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Retrieve the blue soda can from the table diagonally by the middle.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Have the left hand take the blue soda can from the table.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Have the left hand pick up the blue soda can from the table.", + "start_idx": 387, + "end_idx": 534 + }, + { + "text": "Put the blue soda can to the bottom right of the red marker with the left hand.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Using the left hand, place the blue soda can at the bottom right of the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Have the left arm set the blue soda can down at the red marker's bottom-right side.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "With the left hand, position the blue soda can to the lower right of the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Place the blue soda can at the bottom right of the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Set the blue soda can down to the lower right of the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Position the blue soda can at the red marker's bottom-right side.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "The blue soda can goes to the bottom right of the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Put the blue soda can beside the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Set the blue soda can down near the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Place the blue soda can by the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "The blue soda can should go next to the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Set the blue soda can down by the red marker.", + "start_idx": 534, + "end_idx": 681 + }, + { + "text": "Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Using the left hand, pick up the tomato from the table at a diagonal angle, grasping its middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Have the left hand take the tomato from the table with a diagonal approach at the middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "With the left hand, collect the tomato from the table, contacting the middle at a diagonal angle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Pick up the tomato from the table at a diagonal angle, grasping the middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Take the tomato from the table with a diagonal approach, holding its middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "From the table, collect the tomato at a diagonal angle by the middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Using the left hand, pick up the tomato from the table, grasping the middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "With the left hand, take the tomato from the table at a diagonal angle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Have the left hand collect the tomato from the table.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Pick up the tomato from the table, grasping the middle.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "At a diagonal angle, take the tomato from the table.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "From the table, pick up the tomato.", + "start_idx": 1041, + "end_idx": 1176 + }, + { + "text": "Put the tomato to the left of the blue soda can right side up with the front as the orientation reference using the left hand.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Using the left hand, place the tomato to the left of the blue soda can, right side up with the front as the reference.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Have the left arm set the tomato to the left of the blue soda can in an upright orientation, referenced to the front.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "With the left hand, position the tomato left of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Place the tomato to the left of the blue soda can, right side up with the front as the reference.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Set the tomato left of the blue soda can in an upright orientation referenced to the front.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Position the tomato to the left of the blue soda can, keeping the front as the orientation reference.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Using the left hand, put the tomato to the left of the blue soda can.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "With the left hand, place the tomato left of the blue soda can.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Have the left arm set the tomato to the left of the blue soda can.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Put the tomato to the left of the blue soda can.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Set the tomato left of the blue soda can.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Position the tomato beside the blue soda can on its left side.", + "start_idx": 1176, + "end_idx": 1284 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table from the top at the middle.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "From the top, have the left hand take the gray stuffed animal from the table at its middle.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table at the middle from above.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the middle.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "From above, take the gray stuffed animal from the table at its middle.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Grasp the gray stuffed animal from the table at the middle from the top.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "With the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Have the left hand take the gray stuffed animal from the table.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Using the left hand, grasp the gray stuffed animal from the table.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 1284, + "end_idx": 1380 + }, + { + "text": "Put the gray stuffed animal to the left of the tomato with the left hand facing top left from the front.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the tomato, facing top left from the front.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Have the left arm set the gray stuffed animal to the left of the tomato with its front facing the top left.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "With the left hand, position the gray stuffed animal to the left of the tomato so the front points top left.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Place the gray stuffed animal to the left of the tomato with its front facing top left.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Set the gray stuffed animal to the left of the tomato, oriented top left from the front.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Position the gray stuffed animal to the left of the tomato so it faces top left from the front.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Using the left hand, put the gray stuffed animal to the left of the tomato.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "With the left hand, place the gray stuffed animal to the left of the tomato.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Have the left arm position the gray stuffed animal to the left of the tomato.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Put the gray stuffed animal to the left of the tomato.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Set the gray stuffed animal to the left of the tomato.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Place the gray stuffed animal to the left of the tomato.", + "start_idx": 1380, + "end_idx": 1449 + }, + { + "text": "Pick up the tomato from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Using the left hand, take the tomato from the table at a diagonal angle from the middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Have the left arm grasp the tomato from the table diagonally at its middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "With the left hand, pick the tomato up from the table using a diagonal approach at the middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Pick up the tomato from the table at a diagonal angle from the middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Take the tomato from the table diagonally from the middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Grasp the tomato from the table at a diagonal angle from the middle.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Pick up the tomato from the table with the left hand.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Using the left hand, take the tomato from the table.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Have the left arm grasp the tomato from the table.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Take the tomato from the table.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Get the tomato from the table.", + "start_idx": 1734, + "end_idx": 1911 + }, + { + "text": "Put the tomato to the left of the red marker with the left hand right side up front.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Using the left hand, place the tomato to the left of the red marker, right side up with the front facing forward.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Have the left arm set the tomato left of the red marker, keeping it right side up and front-facing.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "With the left hand, position the tomato to the left of the red marker in a right-side-up orientation, front forward.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Place the tomato to the left of the red marker, keeping it right side up and front-facing.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Set the tomato left of the red marker with its front facing forward and its right side up.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Position the tomato to the left of the red marker in a right-side-up, front-facing pose.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Using the left hand, put the tomato to the left of the red marker.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "With the left arm, place the tomato left of the red marker.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Have the left hand set the tomato to the left of the red marker.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Put the tomato to the left of the red marker.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Set the tomato left of the red marker.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Position the tomato to the left of the red marker.", + "start_idx": 1911, + "end_idx": 2055 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from the top at the middle.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the table at the middle from above.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "With the left hand, pick the gray stuffed animal up from the table, contacting it from the top at the middle.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the middle.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Take the gray stuffed animal from the table at the middle from above.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Grasp the gray stuffed animal from the table from the top at the middle.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 2055, + "end_idx": 2163 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Using the right hand, take the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Have the right hand pick the red marker off the table diagonally from its middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "With the right hand, secure the red marker from the table in a diagonal hold at the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Take the red marker off the table diagonally from the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "The red marker should be picked up from the table at a diagonal angle by the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "With the right hand, take the red marker off the table.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Have the right hand collect the red marker from the table.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Pick up the red marker from the table by the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "From the table, grasp the red marker in the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Using the right hand, pick up the red marker from the table by the middle.", + "start_idx": 681, + "end_idx": 888 + }, + { + "text": "Put the red marker to the right of the blue soda can with the tip facing forwards using the right hand.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can with its tip facing forward.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can, tip pointed forward.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can so the tip faces forward.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Place the red marker to the right of the blue soda can with its tip facing forward.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Set the red marker to the right of the blue soda can, keeping the tip pointed forward.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Position the red marker to the right of the blue soda can so its tip faces forward.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Put the red marker to the right of the blue soda can.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Set the red marker to the right of the blue soda can.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Place the red marker to the right of the blue soda can.", + "start_idx": 888, + "end_idx": 1041 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "With the right hand, pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Using a top side grasp, have the right hand take the blue soda can from the table.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "The right hand should grasp the blue soda can from the table with a side hold from the top.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "With the right hand, take the blue soda can from the table.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Have the right hand grasp the blue soda can from the table.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "The blue soda can from the table should be grasped.", + "start_idx": 1449, + "end_idx": 1614 + }, + { + "text": "Put the blue soda can to the right of the red marker with the right hand.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "With the right hand, position the blue soda can just right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Place the blue soda can to the right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Set the blue soda can down to the right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Position the blue soda can right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "The blue soda can goes to the right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Move the blue soda can so it ends up to the right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Put the blue soda can beside the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Arrange the blue soda can on the right side of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "To the right of the red marker, place the blue soda can.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "The task is to place the blue soda can right of the red marker.", + "start_idx": 1614, + "end_idx": 1734 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Have the right hand grasp the red marker from the table with a side hold at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Pick up the red marker from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Take the red marker from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "The red marker from the table should be grasped with a side hold at the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Have the right hand grasp the red marker from the table by the top from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Using the right hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "With the right hand, pick up the red marker from the table.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Take the red marker from the table from a diagonal angle.", + "start_idx": 2280, + "end_idx": 2460 + }, + { + "text": "Put the red marker to the right of the blue soda can with the tip facing forwards using the right hand.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can, with the tip facing forwards.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can so its tip points forwards.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "The red marker goes to the right of the blue soda can with its tip facing forwards, placed by the right hand.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Place the red marker to the right of the blue soda can with the tip facing forwards.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Set the red marker to the right of the blue soda can so the tip points forwards.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "The red marker should go to the right of the blue soda can, tip facing forwards.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Put the red marker to the right of the blue soda can using the right hand.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Have the right hand place the red marker to the right of the blue soda can.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Place the red marker to the right of the blue soda can.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Set the red marker to the right of the blue soda can.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "The red marker goes to the right of the blue soda can.", + "start_idx": 2460, + "end_idx": 2631 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "With the right hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table with a diagonal approach at the top of the object.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Have the right arm retrieve the gray stuffed animal from the table by grasping its top at a diagonal angle.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal approach, holding the top of the object.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Retrieve the gray stuffed animal from the table by grasping the top at a diagonal angle.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Have the right arm retrieve the gray stuffed animal from the table.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Retrieve the gray stuffed animal from the table.", + "start_idx": 2631, + "end_idx": 2772 + }, + { + "text": "Place the gray stuffed animal between the tomato and the blue soda can with the right hand facing forwards.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Using the right hand, set the gray stuffed animal between the tomato and the blue soda can, facing forwards.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Have the right arm place the gray stuffed animal between the tomato and the blue soda can with its front facing forward.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the gray stuffed animal between the tomato and the blue soda can so it faces forwards.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Place the gray stuffed animal between the tomato and the blue soda can facing forwards.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Position the gray stuffed animal between the tomato and the blue soda can with its front facing forward.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Set the gray stuffed animal between the tomato and the blue soda can so it faces forwards.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Put the gray stuffed animal between the tomato and the blue soda can.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Arrange the gray stuffed animal between the tomato and the blue soda can.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "The gray stuffed animal goes between the tomato and the blue soda can.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the gray stuffed animal between the tomato and the blue soda can.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "With the right hand, put the gray stuffed animal between the tomato and the blue soda can.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the gray stuffed animal between the tomato and the blue soda can.", + "start_idx": 2772, + "end_idx": 3000 + } + ] + }, + "2026-04-22-03-04-16-390000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 324, + "annotations": [ + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right arm grasp the gray stuffed animal from the table diagonally at its middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, seize the gray stuffed animal from the table from the middle at a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle from the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the gray stuffed animal from the table diagonally from the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the gray stuffed animal from the table at a diagonal angle from its middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, take the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right arm grab the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, grasp the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the gray stuffed animal behind the tomato with the right hand facing forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Using the right hand, place the gray stuffed animal behind the tomato facing forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Have the right arm set the gray stuffed animal behind the tomato with its front facing forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "With the right hand, position the gray stuffed animal behind the tomato so it faces forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Place the gray stuffed animal behind the tomato facing forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Set the gray stuffed animal behind the tomato with its front facing forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Position the gray stuffed animal behind the tomato so it faces forwards.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Put the gray stuffed animal behind the tomato.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Place the gray stuffed animal behind the tomato.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Set the gray stuffed animal behind the tomato.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Using the right hand, place the gray stuffed animal behind the tomato.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "With the right hand, put the gray stuffed animal behind the tomato.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Have the right arm set the gray stuffed animal behind the tomato.", + "start_idx": 99, + "end_idx": 195 + }, + { + "text": "Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Using the right hand, take the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Have the right arm pick the blue soda can off the table diagonally by its middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table using a diagonal approach at the middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Take the blue soda can off the table diagonally by its middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Retrieve the blue soda can from the table with a diagonal pickup at the middle.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Have the right arm take the blue soda can off the table.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Take the blue soda can off the table with the right hand.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Retrieve the blue soda can from the table diagonally.", + "start_idx": 195, + "end_idx": 327 + }, + { + "text": "Put the blue soda can to the right of the gray stuffed animal with the right hand.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Set the blue soda can on the right side of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Position the blue soda can to the gray stuffed animal's right.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Put the blue soda can beside the gray stuffed animal on its right side.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Leave the blue soda can to the right of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Arrange the blue soda can on the right side of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Move the blue soda can so it ends up to the right of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "The blue soda can goes to the right of the gray stuffed animal.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Set the blue soda can down to the gray stuffed animal's right.", + "start_idx": 327, + "end_idx": 411 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "With the right hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Take the red marker from the table diagonally, holding the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Retrieve the red marker from the table with a diagonal pickup at the middle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "With the right hand, retrieve the red marker from the table.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Grab the red marker from the table with the right hand.", + "start_idx": 411, + "end_idx": 495 + }, + { + "text": "Put the red marker to the right of the blue soda can with the right hand with its tip facing top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can with its tip pointing to the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can, tip oriented top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can so its tip faces the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Place the red marker to the right of the blue soda can with its tip pointing to the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Set the red marker to the right of the blue soda can, with the tip facing top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Position the red marker to the right of the blue soda can so the tip points top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Using the right hand, put the red marker to the right of the blue soda can.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "With the right hand, place the red marker to the right of the blue soda can.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Have the right hand position the red marker to the right of the blue soda can.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Put the red marker to the right of the blue soda can.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Set the red marker to the right of the blue soda can.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Position the red marker to the right of the blue soda can.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Pick up the tomato from the table with the right hand from the top grasping the entire object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Using the right hand, pick up the tomato from the table with a top grasp around the entire object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Have the right arm take the tomato from the table by grasping it from above around the whole object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "With the right hand, collect the tomato from the table using an overhand grasp on the entire object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Pick up the tomato from the table by grasping it from above around the whole object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Take the tomato from the table with a top grasp on the entire object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "From the table, collect the tomato using an overhand grasp around the whole object.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Pick up the tomato from the table with the right hand.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Using the right hand, take the tomato from the table.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Have the right arm collect the tomato from the table.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Take the tomato from the table.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "From the table, grasp the tomato.", + "start_idx": 645, + "end_idx": 804 + }, + { + "text": "Put the tomato to the right of the red marker with the right hand right side up with the front as the orientation reference point.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Using the right hand, place the tomato to the right of the red marker, right side up with the front as the reference point.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Have the right arm set the tomato down to the right of the red marker, keeping it right side up relative to the front.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "With the right hand, position the tomato to the right of the red marker so the front serves as the reference point and it remains right side up.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Place the tomato to the right of the red marker, keeping it right side up with the front as the reference point.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Set the tomato down to the right of the red marker, right side up relative to the front.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Position the tomato to the right of the red marker with the front as the reference point, right side up.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Using the right hand, put the tomato to the right of the red marker.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Have the right arm place the tomato to the right of the red marker.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "With the right hand, set the tomato down to the right of the red marker.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Place the tomato to the right of the red marker.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Set the tomato down to the right of the red marker.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Position the tomato to the right of the red marker.", + "start_idx": 804, + "end_idx": 954 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Have the right hand pick up the blue soda can from the table, gripping its top from the side at a diagonal.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "With the right hand, collect the blue soda can from the table using a diagonal side hold on the top.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Take the blue soda can from the table with a diagonal side grasp on the top.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Grasp the blue soda can from the table from the side at the top diagonally.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Have the right hand take the blue soda can from the table using a side grasp.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "With the right hand, grasp the blue soda can from the table from the side.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Take the blue soda can from the table using a side grip.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "The blue soda can should be picked up from the table.", + "start_idx": 954, + "end_idx": 1128 + }, + { + "text": "Put the blue soda can to the bottom right of the red marker with the right hand.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Using the right hand, place the blue soda can at the bottom right of the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Have the right arm set the blue soda can down to the lower right of the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "With the right hand, position the blue soda can in the bottom-right spot relative to the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Place the blue soda can at the bottom right of the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Set the blue soda can down to the lower right of the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Position the blue soda can in the bottom-right area beside the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Move the blue soda can to the bottom right of the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Arrange the blue soda can at the lower right of the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Using the right hand, place the blue soda can by the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "With the right hand, set the blue soda can near the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Place the blue soda can near the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Set down the blue soda can by the red marker.", + "start_idx": 1128, + "end_idx": 1248 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Have the right arm take the gray stuffed animal from the table with a diagonal approach and a full-object grasp.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the table diagonally, holding the whole object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal approach and a full-object hold.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Retrieve the gray stuffed animal from the table diagonally while grasping the whole object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table, grasping the entire object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "With the right hand, take the gray stuffed animal from the table using a full-object grasp.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Have the right arm retrieve the gray stuffed animal from the table while holding the whole object.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table at a diagonal angle.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "With the right hand, take the gray stuffed animal from the table diagonally.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 1248, + "end_idx": 1341 + }, + { + "text": "Put the gray stuffed animal to the left of the blue soda can with the right hand facing forwards with the front as the reference point.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the left of the blue soda can, facing forwards with the front as the reference point.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Have the right hand set the gray stuffed animal left of the blue soda can with its front facing forwards.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "With the right hand, position the gray stuffed animal to the left of the blue soda can so the front faces forwards.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Place the gray stuffed animal to the left of the blue soda can with its front facing forwards.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Set the gray stuffed animal left of the blue soda can, facing forwards from the front.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Position the gray stuffed animal to the left of the blue soda can with the front directed forwards.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the left of the blue soda can.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "With the right hand, set the gray stuffed animal left of the blue soda can.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Have the right hand position the gray stuffed animal to the left of the blue soda can.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Put the gray stuffed animal to the left of the blue soda can.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Set the gray stuffed animal to the left of the blue soda can.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Position the gray stuffed animal left of the blue soda can.", + "start_idx": 1341, + "end_idx": 1407 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Using the right hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Have the right hand take the red marker from the table with a diagonal approach at its middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "With the right hand, collect the red marker from the table by grasping it at the middle on a diagonal.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Take the red marker from the table with a diagonal approach at the middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "The red marker from the table should be picked up diagonally by its middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Have the right hand collect the red marker from the table.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Pick up the red marker from the table with the right hand at a diagonal angle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Take the red marker from the table with the right hand on a diagonal.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Using the right hand, pick up the red marker from the table by grasping the middle.", + "start_idx": 1407, + "end_idx": 1506 + }, + { + "text": "Place the red marker behind the gray stuffed animal with the right hand with its tip facing top left.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Using the right hand, position the red marker behind the gray stuffed animal with its tip pointing to the top left.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Have the right hand set the red marker behind the gray stuffed animal, tip oriented toward the top left.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "With the right hand, place the red marker behind the gray stuffed animal so its tip faces the top-left direction.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Place the red marker behind the gray stuffed animal with its tip facing top left.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Set the red marker behind the gray stuffed animal, keeping the tip pointed top left.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Position the red marker behind the gray stuffed animal.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Put the red marker behind the gray stuffed animal.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Have the red marker placed behind the gray stuffed animal.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Using the right hand, place the red marker behind the gray stuffed animal.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "With the right hand, set the red marker behind the gray stuffed animal.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Have the right hand position the red marker behind the gray stuffed animal.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Put the red marker behind the gray stuffed animal with the right hand.", + "start_idx": 1506, + "end_idx": 1605 + }, + { + "text": "Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Using the right hand, pick up the tomato from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Have the right hand take the tomato from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "With the right hand, retrieve the tomato from the table diagonally while enclosing the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Pick up the tomato from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Take the tomato from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Retrieve the tomato from the table diagonally while enclosing the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Using the right hand, pick up the tomato from the table, grasping the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "With the right hand, take the tomato from the table and enclose the entire object.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Have the right hand retrieve the tomato from the table with a whole-object grasp.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Using the right hand, pick up the tomato from the table at a diagonal angle.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "With the right hand, take the tomato from the table diagonally.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Pick up the tomato from the table.", + "start_idx": 1605, + "end_idx": 1824 + }, + { + "text": "Put the tomato to the right of the red marker with the right hand right side up with the front as the reference point.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Using the right hand, place the tomato to the right of the red marker, right side up with the front as the reference point.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Have the right arm set the tomato to the right of the red marker in a right-side-up orientation, referenced to the front.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "With the right hand, position the tomato to the right of the red marker so it is right side up relative to the front.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Place the tomato to the right of the red marker, right side up with the front as the reference point.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Set the tomato to the right of the red marker in a right-side-up orientation relative to the front.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Position the tomato to the right of the red marker so it is right side up using the front as reference.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Put the tomato to the right of the red marker.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Set the tomato to the right of the red marker.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Position the tomato to the right of the red marker.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Using the right hand, place the tomato to the right of the red marker.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Have the right arm put the tomato to the right of the red marker.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "With the right hand, set the tomato to the right of the red marker.", + "start_idx": 1824, + "end_idx": 1950 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the top with a diagonal pick angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Have the right hand grasp the red marker from the table with a side hold at the top, approaching diagonally.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp on the top at a diagonal angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Pick up the red marker from the table with a side grip at the top and a diagonal pick angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Take the red marker from the table using a side grasp on the top with a diagonal approach.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Grasp the red marker from the table with a side hold at the top at a diagonal angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the top.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp on the top.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Have the right hand grasp the red marker from the table with a side hold at the top.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a diagonal pick angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "With the right hand, take the red marker from the table diagonally.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Pick up the red marker from the table with a diagonal angle.", + "start_idx": 1950, + "end_idx": 2091 + }, + { + "text": "Put the red marker to the left of the gray stuffed animal with the right hand facing forwards with the tip as the reference point.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Using the right hand, place the red marker to the left of the gray stuffed animal, with the tip facing forwards.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Have the right hand set the red marker left of the gray stuffed animal, oriented forward at the tip.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "With the right hand, position the red marker to the gray stuffed animal's left, tip facing forwards.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Place the red marker to the left of the gray stuffed animal.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Set the red marker down left of the gray stuffed animal.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Position the red marker to the left of the gray stuffed animal.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Using the right hand, place the red marker to the left of the gray stuffed animal.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Have the right hand set the red marker left of the gray stuffed animal.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Put the red marker by the gray stuffed animal on its left side.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Position the red marker left of the gray stuffed animal with the right hand.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Set the red marker to the left of the gray stuffed animal, tip forward.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Using the right hand, put the red marker by the gray stuffed animal on its left side.", + "start_idx": 2091, + "end_idx": 2178 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "At a diagonal angle, have the right hand take the gray stuffed animal from the table with a whole-object grasp.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "With the gray stuffed animal on the table, the right hand should retrieve it diagonally while enclosing the entire object.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Take the gray stuffed animal from the table at a diagonal angle with a full-object hold.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "From the table, collect the gray stuffed animal diagonally while holding the whole object.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Use the right hand to pick up the gray stuffed animal from the table.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Have the right hand take the gray stuffed animal from the table.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "The gray stuffed animal should be picked up from the table with the right hand.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the table.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 2178, + "end_idx": 2253 + }, + { + "text": "Place the gray stuffed animal to the left of the red marker with the right hand facing forwards.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Using the right hand, set the gray stuffed animal to the left of the red marker with its front facing forward.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Have the right arm place the gray stuffed animal left of the red marker, front facing forwards.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "With the right hand, position the gray stuffed animal to the left of the red marker so the front faces forward.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Place the gray stuffed animal to the left of the red marker with its front facing forward.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Set the gray stuffed animal left of the red marker, with the front facing forwards.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Position the gray stuffed animal to the left of the red marker, front facing forward.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the left of the red marker.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "With the right hand, set the gray stuffed animal left of the red marker.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Have the right arm position the gray stuffed animal to the left of the red marker.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Put the gray stuffed animal to the left of the red marker.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Set the gray stuffed animal left of the red marker.", + "start_idx": 2253, + "end_idx": 2343 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Have the right arm grasp the blue soda can from the table by the top with a side hold at a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "With the right hand, seize the blue soda can from the table using a side grasp on the top from a diagonal approach.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Take the blue soda can from the table with a side hold on the top from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side grip from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Have the right arm take the blue soda can from the table using a side grasp on the top.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "With the right hand, grasp the blue soda can from the table by the top using a side hold.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Have the right arm take the blue soda can from the table at the top from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Pick up the blue soda can from the table by the top from a diagonal angle.", + "start_idx": 2841, + "end_idx": 2937 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Using the left hand, take the red marker from the table with a top grasp at the middle.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Have the left arm pick the red marker up from the table, contacting it from above at its middle.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "With the left hand, grasp the red marker from the table from the top at the center.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "From above at the middle, grasp the red marker from the table.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Take the red marker from the table with a top hold at its middle.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Using the left hand, take the red marker from the table.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "With the left hand, pick up the red marker from the table.", + "start_idx": 2343, + "end_idx": 2544 + }, + { + "text": "Put the red marker to the left of the gray stuffed animal with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Using the left hand, place the red marker to the left of the gray stuffed animal with the tip facing forwards.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Have the left arm set the red marker left of the gray stuffed animal, oriented forward using its tip as the reference point.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "With the left hand, position the red marker to the left of the gray stuffed animal so the tip faces forwards.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Place the red marker to the left of the gray stuffed animal with the tip facing forwards.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Set the red marker left of the gray stuffed animal, with its tip oriented forwards.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Position the red marker to the left of the gray stuffed animal so the tip points forwards.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Using the left hand, put the red marker to the left of the gray stuffed animal.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "With the left hand, place the red marker left of the gray stuffed animal.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Have the left arm position the red marker to the left of the gray stuffed animal.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Put the red marker to the left of the gray stuffed animal.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Set the red marker left of the gray stuffed animal.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Position the red marker to the left of the gray stuffed animal.", + "start_idx": 2544, + "end_idx": 2652 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from above by grasping the entire object.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Have the left arm pick the gray stuffed animal up from the table with a whole-object grasp from the top.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table by taking it from above around the entire object.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top by grasping the entire object.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Take the gray stuffed animal from the table from above with a whole-object grasp.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "From the table, retrieve the gray stuffed animal by grasping the entire object from the top.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table by grasping the entire object.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table around the whole object.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Have the left arm collect the gray stuffed animal from the table with a full-object grasp.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Take the gray stuffed animal from the table with the left hand.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table from above.", + "start_idx": 2652, + "end_idx": 2769 + }, + { + "text": "Put the gray stuffed animal behind the red marker with the left hand facing forwards.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the red marker with its front facing forward.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the red marker, front pointed forward.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the red marker so the front faces forward.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Place the gray stuffed animal behind the red marker with its front facing forward.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Set the gray stuffed animal behind the red marker, front directed forward.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Position the gray stuffed animal behind the red marker so it faces forward.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the red marker.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the red marker.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the red marker.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Put the gray stuffed animal behind the red marker.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Place the gray stuffed animal behind the red marker.", + "start_idx": 2769, + "end_idx": 2841 + }, + { + "text": "Set the gray stuffed animal behind the red marker.", + "start_idx": 2769, + "end_idx": 2841 + } + ] + }, + "2026-04-23-03-32-31-333000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 312, + "annotations": [ + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the bottom.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the bottom.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the right arm pick the juice pouch up from the table using a side hold on its bottom.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the right hand, grasp the juice pouch from the table by its bottom using a side grip.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the bottom.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the juice pouch from the table with a side grasp on the bottom.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Grasp the juice pouch from the table by the bottom with a side hold.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the right arm take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "With the right hand, grasp the juice pouch from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Pick up the juice pouch from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Take the juice pouch from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Have the right arm pick up the juice pouch from the table.", + "start_idx": 0, + "end_idx": 135 + }, + { + "text": "Put the juice pouch between the croissant and the pink stuffed animal with the right hand right side up.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Using the right hand, place the juice pouch upright between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Have the right arm set the juice pouch between the croissant and the pink stuffed animal, keeping it right side up.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "With the right hand, position the juice pouch right side up between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Place the juice pouch upright between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Set the juice pouch between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Position the juice pouch between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Arrange the juice pouch between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Using the right hand, put the juice pouch between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "With the right hand, set the juice pouch between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Have the right arm place the juice pouch between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Put the juice pouch right side up between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Keep the juice pouch upright and place it between the croissant and the pink stuffed animal.", + "start_idx": 135, + "end_idx": 321 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "With the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Using the right hand, retrieve the croissant from the table at a slanted angle by grasping its middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, holding the middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Retrieve the croissant from the table at a slanted angle by grasping its middle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "With the right hand, pick up the croissant from the table.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Use the right hand to take the croissant from the table.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Have the right hand retrieve the croissant from the table.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Pick up the croissant from the table with the right hand.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Take the croissant from the table at a diagonal angle.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Grasp the middle of the croissant and pick it up from the table.", + "start_idx": 321, + "end_idx": 453 + }, + { + "text": "Put the croissant in front of the white mug with the right hand.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Using the right hand, place the croissant in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Have the right arm set the croissant down in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "With the right hand, position the croissant before the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Place the croissant in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Set the croissant down in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "The croissant goes in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Put the croissant before the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Position the croissant in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "In front of the white mug, place the croissant.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Have the croissant placed before the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Set the croissant in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "The croissant should be put in front of the white mug.", + "start_idx": 453, + "end_idx": 567 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Using the right hand, take the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Have the right hand pick the pink stuffed animal up from the table with a diagonal approach at the middle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "With the right hand, collect the pink stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal approach, holding the middle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "From the table, retrieve the pink stuffed animal at a diagonal angle by its middle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Use the right hand to pick up the pink stuffed animal from the table.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Have the right hand retrieve the pink stuffed animal from the table.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "From the table, take the pink stuffed animal.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Use the right hand to pick up the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 789, + "end_idx": 963 + }, + { + "text": "Put the pink stuffed animal to the right of the croissant with the right hand facing top left from the front.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the croissant, facing top left from the front.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Have the right arm set the pink stuffed animal to the right of the croissant with its front facing top left.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "With the right hand, position the pink stuffed animal to the right of the croissant so the front points top left.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Place the pink stuffed animal to the right of the croissant, facing top left from the front.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Set the pink stuffed animal to the right of the croissant with its front facing top left.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Position the pink stuffed animal to the right of the croissant so the front faces top left.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Using the right hand, put the pink stuffed animal to the right of the croissant.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "With the right hand, place the pink stuffed animal to the right of the croissant.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Have the right arm position the pink stuffed animal to the right of the croissant.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Put the pink stuffed animal to the right of the croissant.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Set the pink stuffed animal to the right of the croissant.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Position the pink stuffed animal to the right of the croissant.", + "start_idx": 963, + "end_idx": 1062 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Have the right hand grasp the white mug from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "The white mug from the table should be taken with the right hand using a lip grip on its right side at a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Pick up the white mug from the table using a lip grip at the right side with a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Grasp the white mug from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "The white mug from the table should be picked up using a lip grip at the right side with a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Have the right hand grasp the white mug from the table using a lip grasp.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "The white mug from the table should be taken with the right hand using a lip grip.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Pick up the white mug from the table at the right side with a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Using the right hand, pick up the white mug from the table at the right side with a diagonal angle.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 1062, + "end_idx": 1212 + }, + { + "text": "Put the white mug to the right of the juice pouch with the handle facing right using the right hand right side up from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Using the right hand, place the white mug to the right of the juice pouch, handle facing right, right side up from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Have the right arm set the white mug right of the juice pouch with its handle pointed right, upright from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "With the right hand, position the white mug to the juice pouch's right, keeping the handle to the right and the mug right side up from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Place the white mug to the right of the juice pouch with the handle facing right, right side up from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Set the white mug right of the juice pouch, with its handle pointed right and the mug upright from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Position the white mug to the juice pouch's right, handle facing right, right side up from the front.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Using the right hand, place the white mug to the right of the juice pouch.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Have the right arm set the white mug right of the juice pouch.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "With the right hand, position the white mug to the juice pouch's right.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Place the white mug to the right of the juice pouch.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Using the right hand, place the white mug to the right of the juice pouch with the handle facing right.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Have the right arm set the white mug right of the juice pouch with its handle pointed right.", + "start_idx": 1212, + "end_idx": 1488 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Using the right hand, take the pink stuffed animal from the table with a side grip at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Have the right arm pick up the pink stuffed animal from the table with a side grasp at the top on a diagonal.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "With the right hand, grasp the pink stuffed animal from the table using a side hold at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Pick up the pink stuffed animal from the table with a side grip at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Take the pink stuffed animal from the table using a side grasp at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Grasp the pink stuffed animal from the table with a side hold at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table with a side grip.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Have the right arm take the pink stuffed animal from the table using a side grasp.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "With the right hand, grasp the pink stuffed animal from the table using a side hold.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at the top diagonally.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Take the pink stuffed animal from the table.", + "start_idx": 1488, + "end_idx": 1659 + }, + { + "text": "Put the pink stuffed animal behind the croissant with the right hand facing top left from the front.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Using the right hand, place the pink stuffed animal behind the croissant, facing top left from the front.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Have the right hand set the pink stuffed animal behind the croissant with its front facing the top left.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "With the right hand, position the pink stuffed animal behind the croissant so the front points top left.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Place the pink stuffed animal behind the croissant, facing top left from the front.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Set the pink stuffed animal behind the croissant with its front toward the top left.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Position the pink stuffed animal behind the croissant so it faces top left from the front.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Using the right hand, put the pink stuffed animal behind the croissant.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "With the right hand, set the pink stuffed animal behind the croissant.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Have the right hand place the pink stuffed animal behind the croissant.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Put the pink stuffed animal behind the croissant.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Set the pink stuffed animal behind the croissant.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Position the pink stuffed animal behind the croissant.", + "start_idx": 1659, + "end_idx": 1704 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "With the right hand, retrieve the cabbage from the table, contacting it at the middle on a diagonal.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Take the cabbage from the table with a diagonal approach at its middle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Retrieve the cabbage from the table on a diagonal, contacting the middle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Have the right arm pick up the cabbage from the table at a diagonal angle.", + "start_idx": 1704, + "end_idx": 1800 + }, + { + "text": "Put the cabbage behind the pink stuffed animal with the right hand facing top left from the front.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Using the right hand, place the cabbage behind the pink stuffed animal with its front facing the top left.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Have the right arm set the cabbage behind the pink stuffed animal, oriented top left from the front.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "With the right hand, position the cabbage behind the pink stuffed animal so the front points toward the top left.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Place the cabbage behind the pink stuffed animal with its front facing the top left.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Set the cabbage behind the pink stuffed animal, oriented top left from the front.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Position the cabbage behind the pink stuffed animal so the front faces the top left.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Using the right hand, put the cabbage behind the pink stuffed animal.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Have the right arm place the cabbage behind the pink stuffed animal.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "With the right hand, set the cabbage behind the pink stuffed animal.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Place the cabbage behind the pink stuffed animal.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Set the cabbage behind the pink stuffed animal.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Position the cabbage behind the pink stuffed animal.", + "start_idx": 1800, + "end_idx": 1944 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Have the right arm grasp the juice pouch from the table from a diagonal angle with a side hold at the top.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "With the right hand, seize the juice pouch from the table using a side grasp on the top from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "From the table, grasp the juice pouch with a side hold at the top from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Take the juice pouch from the table at the top with a side grasp from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip at the top.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Have the right arm take the juice pouch from the table using a side grasp on the top.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "With the right hand, grasp the juice pouch from the table.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Pick up the juice pouch from the table from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "From the table, take the juice pouch with the right hand from a diagonal angle.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Using a side grip, pick up the juice pouch from the table with the right hand.", + "start_idx": 1944, + "end_idx": 2055 + }, + { + "text": "Put the juice pouch to the right of the pink stuffed animal with the right hand right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the pink stuffed animal with its right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Have the right arm set the juice pouch to the right of the pink stuffed animal, keeping it right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "With the right hand, position the juice pouch to the right of the pink stuffed animal so it stays right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Place the juice pouch to the right of the pink stuffed animal with its right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Set the juice pouch to the right of the pink stuffed animal, keeping it right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Position the juice pouch to the right of the pink stuffed animal right side up.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Put the juice pouch to the right of the pink stuffed animal with the right hand.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Using the right hand, place the juice pouch to the right of the pink stuffed animal.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Have the right arm set the juice pouch to the right of the pink stuffed animal.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Place the juice pouch to the right of the pink stuffed animal.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Set the juice pouch to the right of the pink stuffed animal.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Position the juice pouch to the right of the pink stuffed animal.", + "start_idx": 2055, + "end_idx": 2154 + }, + { + "text": "Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Using the right hand, take the croissant from the table with a side grasp at the bottom diagonally.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Have the right hand pick the croissant up from the table with a diagonal side hold at the bottom.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "With the right hand, grasp the croissant from the table using a side grip on the bottom at a diagonal angle.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Pick up the croissant from the table using a side grip at the bottom diagonally.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Take the croissant from the table with a side grasp at the bottom on a diagonal.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Grasp the croissant from the table with a side hold at the bottom diagonally.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "With the right hand, grasp the croissant from the table.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Pick up the croissant from the table with the right hand at the bottom diagonally.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Using the right hand, take the croissant from the table with a side grip.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Grasp the croissant from the table at the bottom diagonally.", + "start_idx": 2154, + "end_idx": 2220 + }, + { + "text": "Put the croissant in front of the white mug with the right hand.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Using the right hand, place the croissant in front of the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Have the right arm set the croissant down in front of the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "With the right hand, position the croissant before the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Place the croissant in front of the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Set the croissant down in front of the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "The croissant goes in front of the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Position the croissant before the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Move the croissant to the spot in front of the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Put the croissant by the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Using the right hand, place the croissant by the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Have the right arm set the croissant near the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "With the right hand, move the croissant next to the white mug.", + "start_idx": 2220, + "end_idx": 2337 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Using the right hand, take the pink stuffed animal from the table at a diagonal angle by the middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Have the right hand pick the pink stuffed animal off the table, approaching diagonally and grasping the middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "From the table, retrieve the pink stuffed animal with the right hand at a diagonal angle, holding its middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Take the pink stuffed animal from the table at a diagonal angle by the middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "From the table, pick up the pink stuffed animal diagonally, grasping the middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Retrieve the pink stuffed animal off the table with a diagonal approach at its middle.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Have the right hand take the pink stuffed animal off the table.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "From the table, retrieve the pink stuffed animal with the right hand.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Take the pink stuffed animal off the table.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "From the table, grasp the pink stuffed animal.", + "start_idx": 2337, + "end_idx": 2418 + }, + { + "text": "Put the pink stuffed animal inside the white mug with the right hand right side up.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Using the right hand, place the pink stuffed animal into the white mug right side up.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Have the right arm put the pink stuffed animal inside the white mug in an upright orientation.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "With the right hand, set the pink stuffed animal into the white mug so it stays right side up.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Place the pink stuffed animal into the white mug right side up.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Set the pink stuffed animal inside the white mug in an upright position.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Put the pink stuffed animal into the white mug so it is right side up.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Using the right hand, place the pink stuffed animal into the white mug.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Have the right arm put the pink stuffed animal inside the white mug.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "With the right hand, set the pink stuffed animal into the white mug.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Put the pink stuffed animal inside the white mug.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Place the pink stuffed animal into the white mug.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Set the pink stuffed animal in the white mug.", + "start_idx": 2418, + "end_idx": 2535 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top diagonally.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Have the right arm pick the juice pouch off the table in a diagonal top side grip.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "With the right hand, grasp the juice pouch from the table by its top in a diagonal side hold.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top diagonally.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Take the juice pouch off the table with a diagonal side grasp at the top.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Grasp the juice pouch from the table by the top in a diagonal side hold.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Have the right arm take the juice pouch off the table using a side grasp.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "With the right hand, grasp the juice pouch from the table in a side hold.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Pick up the juice pouch from the table with the right hand diagonally.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Take the juice pouch off the table with the right hand at the top diagonal.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Grasp the juice pouch from the table by the top diagonally.", + "start_idx": 2535, + "end_idx": 2619 + }, + { + "text": "Place the juice pouch to the left of the croissant with the right hand right side up with the front as the reference point.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Using the right hand, set the juice pouch to the left of the croissant right side up, using the front as the reference point.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Have the right arm place the juice pouch left of the croissant, keeping it right side up relative to the front.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "With the right hand, position the juice pouch to the croissant's left, right side up with the front as the reference point.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Place the juice pouch to the left of the croissant.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Set the juice pouch left of the croissant.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Position the juice pouch to the croissant's left.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the croissant.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Have the right arm set the juice pouch left of the croissant.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "With the right hand, position the juice pouch to the croissant's left.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Place the juice pouch to the left of the croissant right side up.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Set the juice pouch left of the croissant, keeping it right side up.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Position the juice pouch to the croissant's left, with its front as the reference point.", + "start_idx": 2619, + "end_idx": 2712 + }, + { + "text": "Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Using the right hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Have the right arm take the cabbage from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "With the right hand, retrieve the cabbage from the table at a diagonal angle by grasping its middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Take the cabbage from the table with a diagonal pickup, holding the middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Retrieve the cabbage from the table at a diagonal angle by grasping its middle.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Using the right hand, pick up the cabbage from the table.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Have the right arm take the cabbage from the table.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "With the right hand, retrieve the cabbage from the table.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Retrieve the cabbage from the table.", + "start_idx": 2712, + "end_idx": 2805 + }, + { + "text": "Put the cabbage to the left of the juice pouch with the right hand facing top left from the front.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the cabbage to the left of the juice pouch, facing top left from the front.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the cabbage left of the juice pouch with its front facing top left.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the cabbage to the left of the juice pouch so the front points top left.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Place the cabbage to the left of the juice pouch with its front facing top left.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Set the cabbage left of the juice pouch, front facing top left.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Position the cabbage to the left of the juice pouch oriented top left from the front.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Using the right hand, put the cabbage to the left of the juice pouch.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the cabbage left of the juice pouch.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Have the right arm position the cabbage to the left of the juice pouch.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Put the cabbage to the left of the juice pouch.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Set the cabbage left of the juice pouch.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Position the cabbage to the left of the juice pouch.", + "start_idx": 2805, + "end_idx": 3000 + }, + { + "text": "Pick up the cabbage from the table with the left hand from the top at the middle.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Using the left hand, pick up the cabbage from the table from the top at the middle.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Have the left arm take the cabbage from the table with a top grasp at the middle.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "With the left hand, grasp the cabbage from the table at the middle from above.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Pick up the cabbage from the table from the top at the middle.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Take the cabbage from the table with a top contact at the middle.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Grasp the cabbage from the table at the middle from above.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Take the cabbage from the table.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Grasp the cabbage from the table.", + "start_idx": 567, + "end_idx": 717 + }, + { + "text": "Put the cabbage to the left of the croissant with the left hand facing forwards.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Using the left hand, place the cabbage to the left of the croissant with its front facing forwards.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Have the left arm set the cabbage to the croissant's left, front facing forward.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "With the left hand, position the cabbage left of the croissant so the front faces forwards.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Place the cabbage to the left of the croissant with its front facing forwards.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Set the cabbage left of the croissant, keeping the front pointed forwards.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Position the cabbage on the croissant's left side with the front facing forward.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Using the left hand, put the cabbage to the left of the croissant.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Have the left arm place the cabbage on the left side of the croissant.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "With the left hand, set the cabbage beside the croissant on its left.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Put the cabbage to the left of the croissant.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Set the cabbage on the croissant's left side.", + "start_idx": 717, + "end_idx": 789 + }, + { + "text": "Position the cabbage beside the croissant on the left.", + "start_idx": 717, + "end_idx": 789 + } + ] + }, + "2026-04-23-03-34-42-011000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 299, + "annotations": [ + { + "text": "Pick up the bag of juice from the table with the right hand using a side grip at the top.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the right hand, take the bag of juice from the table with a side grasp at the top.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the right arm pick the bag of juice up from the table using a side hold on its top.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "With the right hand, grasp the bag of juice from the table from the side at the top.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the bag of juice from the table using a side grip at the top.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the bag of juice from the table with a side grasp at the top.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "From the table, grasp the bag of juice at the top with a side hold.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Using the right hand, pick up the bag of juice from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Have the right arm take the bag of juice from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "From the table, grasp the bag of juice with the right hand.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Pick up the bag of juice from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Take the bag of juice from the table.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "From the table, get the bag of juice.", + "start_idx": 0, + "end_idx": 120 + }, + { + "text": "Put the bag of juice to the left of the green cabbage with the right hand right side up.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Using the right hand, place the bag of juice to the left of the green cabbage right side up.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Have the right arm set the bag of juice down to the left of the green cabbage with its right side up.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "With the right hand, position the bag of juice to the left of the green cabbage, right side up.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Place the bag of juice to the left of the green cabbage right side up.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Set the bag of juice to the left of the green cabbage with its right side up.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Position the bag of juice to the left of the green cabbage in an upright orientation.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Using the right hand, put the bag of juice to the left of the green cabbage.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Have the right arm place the bag of juice to the left of the green cabbage.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "With the right hand, set the bag of juice down to the left of the green cabbage.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Place the bag of juice to the left of the green cabbage.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Set the bag of juice down beside the green cabbage on its left.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Position the bag of juice on the left side of the green cabbage.", + "start_idx": 120, + "end_idx": 261 + }, + { + "text": "Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Using the right hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Have the right hand take the croissant from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "With the right hand, collect the croissant from the table by approaching diagonally and gripping the center.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, holding the middle.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "From the table, collect the croissant by approaching diagonally and gripping its center.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Have the right hand take the croissant from the table.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "With the right hand, collect the croissant from the table.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "From the table, take the croissant.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Collect the croissant from the table.", + "start_idx": 261, + "end_idx": 393 + }, + { + "text": "Put the croissant to the left of the bag of juice with the right hand.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Using the right hand, place the croissant to the left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Have the right arm set the croissant on the left side of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "With the right hand, position the croissant left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Place the croissant to the left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Set the croissant on the left side of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "The croissant goes to the left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Position the croissant beside the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Move the croissant next to the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Put the croissant by the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Have the croissant placed to the left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Set the croissant left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "The croissant should be placed on the left of the bag of juice.", + "start_idx": 393, + "end_idx": 510 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand from the side by the handle.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Using the right hand, take the white coffee cup from the table from the side by the handle.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "With the right hand, retrieve the white coffee cup from the table by its handle from the side.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Pick up the white coffee cup from the table from the side by the handle.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Take the white coffee cup from the table by its handle from the side.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Remove the white coffee cup from the table using the right hand.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Grasp the white coffee cup from the table using the right hand.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Take the white coffee cup from the table from the side.", + "start_idx": 660, + "end_idx": 768 + }, + { + "text": "Put the white coffee cup behind the croissant with the handle facing backwards right side up using the right hand.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Using the right hand, place the white coffee cup behind the croissant with the handle facing backward and upright.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Have the right hand set the white coffee cup behind the croissant, keeping it right side up and the handle pointed backward.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "With the right hand, position the white coffee cup behind the croissant so the handle faces backward and the cup stays upright.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Place the white coffee cup behind the croissant with the handle facing backward and right side up.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Set the white coffee cup behind the croissant with the handle pointing backward while keeping it upright.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Position the white coffee cup behind the croissant, handle facing backward and upright.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Using the right hand, place the white coffee cup behind the croissant.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "With the right hand, set the white coffee cup behind the croissant.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Have the right hand position the white coffee cup behind the croissant.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Put the white coffee cup behind the croissant.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Set the white coffee cup behind the croissant.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Position the white coffee cup behind the croissant.", + "start_idx": 768, + "end_idx": 897 + }, + { + "text": "Pick up the green cabbage from the table with the right hand from the side at the middle.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Using the right hand, pick up the green cabbage from the table from the side at the middle.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "From the table, have the right hand grasp the green cabbage at the middle from the side.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Take the green cabbage from the table with the right hand, approaching from the side at the middle.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Pick up the green cabbage from the table from the side at the middle.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "From the side at the middle, grasp the green cabbage from the table.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Take the green cabbage from the table at the middle from the side.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Pick up the green cabbage from the table with the right hand.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "With the right hand, take the green cabbage from the table.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Have the right hand grasp the green cabbage from the table.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Pick up the green cabbage from the table.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "From the table, take the green cabbage.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Grasp the green cabbage from the table.", + "start_idx": 897, + "end_idx": 1041 + }, + { + "text": "Put the green cabbage to the left of the croissant with the right hand facing top left from the front.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Using the right hand, place the green cabbage to the left of the croissant with its front facing the top left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Have the right hand set the green cabbage left of the croissant, front oriented toward the top left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "With the right hand, position the green cabbage to the croissant's left, front facing top left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Place the green cabbage to the left of the croissant with its front facing the top left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Set the green cabbage left of the croissant, with the front oriented toward the top left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Position the green cabbage to the left of the croissant, front facing top left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Using the right hand, place the green cabbage to the left of the croissant.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Have the right hand set the green cabbage left of the croissant.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "With the right hand, position the green cabbage to the croissant's left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Place the green cabbage to the left of the croissant.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Set the green cabbage left of the croissant.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Position the green cabbage to the croissant's left.", + "start_idx": 1041, + "end_idx": 1194 + }, + { + "text": "Pick up the bag of juice from the table with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "With the right hand, pick up the bag of juice from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Using the right hand, take the bag of juice from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Have the right arm grasp the bag of juice from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Pick up the bag of juice from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Take the bag of juice from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "The bag of juice should be picked up from the table with a side hold at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Pick up the bag of juice from the table with the right hand using a side grip at the top.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Using the right hand, grasp the bag of juice from the table with a side grip at the top.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Have the right arm take the bag of juice from the table with a side hold at the top.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Pick up the bag of juice from the table with the right hand at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "With the right hand, take the bag of juice from the table from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Grab the bag of juice from the table at the top from a diagonal angle.", + "start_idx": 1473, + "end_idx": 1572 + }, + { + "text": "Put the bag of juice to the left of the white coffee cup and behind the green cabbage with the right hand right side up.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Using the right hand, place the bag of juice upright to the left of the white coffee cup and behind the green cabbage.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Have the right arm set the bag of juice down right side up, left of the white coffee cup and behind the green cabbage.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "With the right hand, position the bag of juice to the left of the white coffee cup and behind the green cabbage, keeping it upright.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Place the bag of juice upright to the left of the white coffee cup and behind the green cabbage.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Set the bag of juice down left of the white coffee cup and behind the green cabbage, right side up.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Position the bag of juice behind the green cabbage and to the left of the white coffee cup, upright.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Using the right hand, place the bag of juice to the left of the white coffee cup and behind the green cabbage.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Have the right arm set the bag of juice down behind the green cabbage and left of the white coffee cup.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "With the right hand, position the bag of juice behind the green cabbage and to the left of the white coffee cup.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Place the bag of juice right side up.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Set the bag of juice down upright.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Position the bag of juice so it is upright.", + "start_idx": 1572, + "end_idx": 1668 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Using the right hand, return to home.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Have the right arm move back to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "With the right hand, go to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Return to home.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Move back to home.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Go to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Head to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Bring the arm back home.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Reset to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Move to home.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Come back to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Return to the home position.", + "start_idx": 1668, + "end_idx": 1725 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Using the left hand, pick up the croissant from the table from the top at the middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Have the left arm take the croissant from the table with a top grasp at the middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "With the left hand, grasp the croissant from the table from above at its middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Take the croissant from the table from above at its middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Grasp the croissant from the table at the middle from the top.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Using the left hand, pick up the croissant from the table from above.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Take the croissant from the table at the middle.", + "start_idx": 1194, + "end_idx": 1380 + }, + { + "text": "Put the croissant to the left of the green cabbage with the left hand.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Using the left hand, place the croissant to the left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Have the left arm set the croissant down to the left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "With the left hand, position the croissant left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Place the croissant to the left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Set the croissant down left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "The croissant goes to the left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Position the croissant to the cabbage's left side.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Move the croissant to the left of the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Using the left hand, place the croissant by the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "With the left hand, set the croissant down beside the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Have the left arm position the croissant beside the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Put the croissant beside the green cabbage.", + "start_idx": 1380, + "end_idx": 1473 + }, + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping its middle.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Have the left hand take the croissant from the table with a diagonal pickup, holding the middle.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "With the left hand, retrieve the croissant from the table at a diagonal angle by grasping the center.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Take the croissant from the table with a diagonal pickup, holding its middle.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Retrieve the croissant from the table at a diagonal angle by grasping the center.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Have the left hand take the croissant from the table.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Retrieve the croissant from the table.", + "start_idx": 1725, + "end_idx": 1797 + }, + { + "text": "Put the croissant to the top left of the bag of juice with the left hand.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "With the left hand, place the croissant at the bag of juice's top-left side.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Using the left arm, set the croissant to the upper left of the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Have the left hand position the croissant at the top left of the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Place the croissant to the top left of the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Set the croissant at the bag of juice's upper-left side.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Position the croissant to the upper left of the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "The croissant goes to the top-left of the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Put the croissant by the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Place the croissant next to the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Set the croissant near the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Have the croissant placed by the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Using the left hand, put the croissant next to the bag of juice.", + "start_idx": 1797, + "end_idx": 1902 + }, + { + "text": "Pick up the green cabbage from the table with the left hand from the top at the middle.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Using the left hand, take the green cabbage from the table from the top at the middle.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Have the left arm pick the green cabbage up from the table, grasping it from the top at the middle.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "With the left hand, grasp the green cabbage from the table at the middle from above.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Pick up the green cabbage from the table from the top at the middle.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Grasp the green cabbage from the table at the middle from above.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Take the green cabbage from the table from above at the middle.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Using the left hand, pick up the green cabbage from the table.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "With the left hand, take the green cabbage from the table.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Have the left arm grasp the green cabbage from the table.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Pick up the green cabbage from the table.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Take the green cabbage from the table.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Grasp the green cabbage from the table.", + "start_idx": 1902, + "end_idx": 2037 + }, + { + "text": "Place the green cabbage with the left hand to the bottom left of the croissant facing top right from the front.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Using the left hand, set the green cabbage at the croissant's bottom left, facing top right from the front.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Have the left arm place the green cabbage to the bottom left of the croissant with its front facing top right.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "With the left hand, position the green cabbage at the croissant's lower-left side, oriented top right from the front.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Place the green cabbage to the bottom left of the croissant.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Set the green cabbage at the croissant's bottom left.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Position the green cabbage on the lower-left side of the croissant.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Using the left hand, place the green cabbage to the bottom left of the croissant.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Have the left arm set the green cabbage at the croissant's lower-left side.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "With the left hand, position the green cabbage beside the croissant on its bottom-left.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Place the green cabbage to the bottom left of the croissant, facing top right from the front.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Set the green cabbage at the croissant's lower-left side with its front facing top right.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Position the green cabbage beside the croissant on the bottom left, oriented top right from the front.", + "start_idx": 2037, + "end_idx": 2175 + }, + { + "text": "Pick up the white coffee cup from the table with the left hand by the handle from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Using the left hand, take the white coffee cup from the table by its handle from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table at the handle with a side approach.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "With the left hand, seize the white coffee cup from the table by the handle from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Take the white coffee cup from the table using the handle from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "The left hand should take the white coffee cup from the table at the handle.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "With the left arm, grasp the white coffee cup from the table from the side.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Take the white coffee cup from the table with the left hand.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Grasp the white coffee cup from the table by the handle.", + "start_idx": 2175, + "end_idx": 2403 + }, + { + "text": "Dump the pink stuffed animal from the white coffee cup to the left of the green cabbage with the left hand.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Using the left hand, dump the pink stuffed animal out of the white coffee cup to the left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Have the left arm empty the pink stuffed animal from the white coffee cup positioned left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "With the left hand, remove the pink stuffed animal by dumping it from the white coffee cup left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Dump the pink stuffed animal out of the white coffee cup to the left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Empty the pink stuffed animal from the white coffee cup left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Remove the pink stuffed animal by dumping it from the white coffee cup to the left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "The pink stuffed animal should be dumped from the white coffee cup left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "From the white coffee cup to the left of the green cabbage, dump the pink stuffed animal.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Empty the pink stuffed animal from the white coffee cup positioned left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Dump the pink stuffed animal out of the white coffee cup left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "The pink stuffed animal goes out of the white coffee cup to the left of the green cabbage.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "From the white coffee cup left of the green cabbage, remove the pink stuffed animal.", + "start_idx": 2403, + "end_idx": 2490 + }, + { + "text": "Put the white coffee cup in front of the pink stuffed animal with the left hand right side up with the front facing bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the pink stuffed animal, right side up, with the front facing bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Have the left arm set the white coffee cup in front of the pink stuffed animal, keeping it upright and the front pointed bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "With the left hand, position the white coffee cup before the pink stuffed animal so it stays right side up and the front faces bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Place the white coffee cup in front of the pink stuffed animal, right side up, with the front facing bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Set the white coffee cup before the pink stuffed animal, upright, with the front pointed bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Position the white coffee cup in front of the pink stuffed animal, keeping it right side up and the front toward bottom left.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Using the left hand, place the white coffee cup in front of the pink stuffed animal.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "With the left hand, set the white coffee cup before the pink stuffed animal.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Have the left arm position the white coffee cup in front of the pink stuffed animal.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Put the white coffee cup in front of the pink stuffed animal.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Place the white coffee cup before the pink stuffed animal.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Set the white coffee cup in front of the pink stuffed animal.", + "start_idx": 2490, + "end_idx": 2610 + }, + { + "text": "Pick up the bag of juice from the table with the left hand using a side grip at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Using the left hand, pick up the bag of juice from the table with a side grip at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Have the left hand take the bag of juice from the table, grasping it from the side at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "With the left hand, grasp the bag of juice from the table using a side hold at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Pick up the bag of juice from the table using a side grip at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Take the bag of juice from the table with a side hold at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Grasp the bag of juice from the table from the side at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Remove the bag of juice from the table with a side grip.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Pick up the bag of juice from the table from the side.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Take the bag of juice from the table at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Using the left hand, pick up the bag of juice from the table at the top.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "With the left hand, take the bag of juice from the table using a side grip.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Get the bag of juice from the table.", + "start_idx": 2610, + "end_idx": 2751 + }, + { + "text": "Put the bag of juice in front of the white coffee cup with the left hand right side up.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Using the left hand, place the bag of juice in front of the white coffee cup right side up.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Have the left arm set the bag of juice before the white coffee cup, keeping it right side up.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "With the left hand, position the bag of juice in front of the white coffee cup so it remains right side up.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Place the bag of juice in front of the white coffee cup right side up.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Set the bag of juice before the white coffee cup right side up.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Position the bag of juice in front of the white coffee cup upright.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Using the left hand, put the bag of juice in front of the white coffee cup.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "With the left hand, place the bag of juice before the white coffee cup.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Have the left arm set the bag of juice in front of the white coffee cup.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Put the bag of juice in front of the white coffee cup.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Set the bag of juice before the white coffee cup.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Position the bag of juice in front of the white coffee cup.", + "start_idx": 2751, + "end_idx": 2856 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Using the left hand, take the croissant from the table from the top at the middle.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Have the left arm pick the croissant up from the table with a top grasp at the middle.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "With the left hand, grasp the croissant from the table at its middle from above.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Take the croissant from the table with a top-middle grasp.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Grasp the croissant from the table at the middle from above.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "From the table, pick up the croissant with the left hand.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Use the left hand to take the croissant from the table.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Have the left arm grasp the croissant from the table.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 2856, + "end_idx": 2961 + }, + { + "text": "From the table, grasp the croissant.", + "start_idx": 2856, + "end_idx": 2961 + } + ] + }, + "2026-04-23-03-37-30-664000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 299, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, take the asparagus from the table by grasping it from the top at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm pick the asparagus up from the table, contacting it at the middle from above.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, grasp the asparagus from the table at its middle from the top.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the asparagus from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the asparagus from the table at the middle from above.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the asparagus from the table by its middle from the top.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "From above, pick up the asparagus from the table at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the asparagus from the table with the left hand.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, take the asparagus from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm collect the asparagus from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the asparagus to the left of the green mug with the left hand facing backwards by the tip.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green mug with the tip facing backwards.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Have the left arm set the asparagus left of the green mug so the tip points backward.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "With the left hand, position the asparagus on the left side of the green mug, tip oriented backward.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Place the asparagus to the left of the green mug with the tip facing backwards.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Set the asparagus on the left side of the green mug with the tip pointing backward.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Position the asparagus left of the green mug, keeping the tip directed backward.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Using the left hand, place the asparagus to the left of the green mug.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "With the left hand, set the asparagus on the left side of the green mug.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Have the left arm position the asparagus left of the green mug.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Put the asparagus to the left of the green mug.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Set the asparagus on the left side of the green mug.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Place the asparagus left of the green mug.", + "start_idx": 99, + "end_idx": 237 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table from the top at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "From the top, have the left hand take hold of the blue stuffed animal on the table at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "With the left arm, grasp the blue stuffed animal from the table from above at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "From above, take the blue stuffed animal off the table at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "The blue stuffed animal from the table should be grasped from the top at the entire object.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Retrieve the blue stuffed animal from the table.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Take the blue stuffed animal from the table.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Grasp the blue stuffed animal from the table.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 237, + "end_idx": 333 + }, + { + "text": "Put the blue stuffed animal in front of the green mug with the left hand facing bottom left with the front as the reference point.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the green mug, oriented bottom left from its front.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Have the left arm set the blue stuffed animal before the green mug with its front facing bottom left.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "With the left hand, position the blue stuffed animal in front of the green mug so the front points bottom left.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Place the blue stuffed animal in front of the green mug with its front facing bottom left.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Set the blue stuffed animal before the green mug, oriented bottom left from the front.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Position the blue stuffed animal in front of the green mug so its front faces bottom left.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Put the blue stuffed animal in front of the green mug.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Place the blue stuffed animal before the green mug.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Set the blue stuffed animal in front of the green mug.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the green mug.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Have the left arm put the blue stuffed animal before the green mug.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "With the left hand, set the blue stuffed animal in front of the green mug.", + "start_idx": 333, + "end_idx": 420 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table from the top at the middle.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "From the table, have the left hand grasp the orange screwdriver at the middle from above.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "The left hand should collect the orange screwdriver from the table with a top grasp at the middle.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Pick up the orange screwdriver from the table from the top at the middle.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Take the orange screwdriver from the table at the middle from above.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "From the table, grasp the orange screwdriver with a top approach at the middle.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "With the left hand, take the orange screwdriver from the table.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Have the left hand grasp the orange screwdriver from the table.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "From the table, take the orange screwdriver.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Grasp the orange screwdriver from the table.", + "start_idx": 420, + "end_idx": 519 + }, + { + "text": "Put the orange screwdriver in front of the corn with the left hand facing forwards with the tip as the reference point.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Using the left hand, place the orange screwdriver in front of the corn with its tip facing forwards.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Have the left arm set the orange screwdriver in front of the corn, oriented forward using the tip as reference.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "With the left hand, position the orange screwdriver before the corn so the tip points forwards.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Place the orange screwdriver in front of the corn with its tip facing forwards.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Set the orange screwdriver before the corn with the tip oriented forwards.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Position the orange screwdriver in front of the corn so its tip faces forward.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Using the left hand, put the orange screwdriver in front of the corn.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "With the left hand, place the orange screwdriver before the corn.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Have the left arm set the orange screwdriver in front of the corn.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Place the orange screwdriver in front of the corn.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Set the orange screwdriver before the corn.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Position the orange screwdriver in front of the corn.", + "start_idx": 519, + "end_idx": 615 + }, + { + "text": "Pick up the green mug from the table with the left hand from the side by the handle.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Using the left hand, pick up the green mug from the table from the side by the handle.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Have the left arm take the green mug from the table with a side grasp on the handle.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "With the left hand, grasp the green mug from the table at the handle from the side.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Pick up the green mug from the table from the side by the handle.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Take the green mug from the table using a side approach at the handle.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Grasp the green mug from the table by the handle from the side.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Use the left hand to pick up the green mug from the table.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "The green mug should be taken from the table with the left hand.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "With the left arm, take the green mug from the table.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Get the green mug from the table with the left hand.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Remove the green mug from the table.", + "start_idx": 1059, + "end_idx": 1266 + }, + { + "text": "Put the green mug to the center of the table with the left hand right side up with the front facing bottom right.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Using the left hand, place the green mug at the center of the table, right side up, with the front facing bottom right.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Have the left arm set the green mug in the table center, upright, with the front oriented toward the bottom right.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "The green mug goes to the center of the table with the left hand, kept right side up and facing bottom right at the front.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Place the green mug at the center of the table, right side up, with the front facing bottom right.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Set the green mug in the center of the table, upright, with the front oriented toward the bottom right.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Position the green mug at the table center, keeping it right side up with the front toward bottom right.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "With the left hand, place the green mug at the center of the table.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Have the left arm put the green mug in the center of the table.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "The green mug should be set at the center of the table with the left hand.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Put the green mug at the center of the table.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Using the left hand, set the green mug at the center of the table.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Have the left arm place the green mug in the table center.", + "start_idx": 1266, + "end_idx": 1506 + }, + { + "text": "Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Have the left arm take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "With the left hand, retrieve the asparagus from the table on a diagonal angle by grasping the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Retrieve the asparagus from the table on a diagonal angle by grasping the middle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Using the left hand, pick up the asparagus from the table.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "With the left hand, retrieve the asparagus from the table.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Take the asparagus from the table at a diagonal angle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Using the left hand, pick up the asparagus from the table at a diagonal angle.", + "start_idx": 1506, + "end_idx": 1641 + }, + { + "text": "Put the asparagus to the left of the orange screwdriver with the left hand with the tip facing bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Using the left hand, place the asparagus to the left of the orange screwdriver with the tip pointing bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Have the left arm set the asparagus left of the orange screwdriver, tip facing the bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "With the left hand, position the asparagus to the left of the orange screwdriver so its tip points bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Place the asparagus to the left of the orange screwdriver with the tip pointing bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Set the asparagus left of the orange screwdriver, with its tip facing the bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Position the asparagus to the left of the orange screwdriver so the tip points bottom right.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "With the left hand, place the asparagus to the left of the orange screwdriver.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Using the left hand, set the asparagus left of the orange screwdriver.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Have the left arm position the asparagus to the left of the orange screwdriver.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Place the asparagus to the left of the orange screwdriver.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Set the asparagus left of the orange screwdriver.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Position the asparagus to the left of the orange screwdriver.", + "start_idx": 1641, + "end_idx": 1767 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand using a side grip from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table with a side grip from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Have the left arm grasp the blue stuffed animal from the table from the top using a side hold.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table in a side grasp from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Pick up the blue stuffed animal from the table using a side grip from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Take the blue stuffed animal from the table with a side hold from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Retrieve the blue stuffed animal from the table in a side grasp from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "With the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Using the left hand, grasp the blue stuffed animal from the table.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Take the blue stuffed animal from the table from the top.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Retrieve the blue stuffed animal from the table.", + "start_idx": 1767, + "end_idx": 1854 + }, + { + "text": "Place the blue stuffed animal behind the asparagus with the left hand facing bottom left from the front.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Using the left hand, set the blue stuffed animal behind the asparagus with its front facing bottom left.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Have the left arm place the blue stuffed animal behind the asparagus, front oriented toward the bottom left.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the asparagus so the front points bottom left.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Place the blue stuffed animal behind the asparagus with its front facing bottom left.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Set the blue stuffed animal behind the asparagus, with the front oriented toward the bottom left.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Position the blue stuffed animal behind the asparagus so its front faces bottom left.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Using the left hand, place the blue stuffed animal behind the asparagus.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Have the left arm set the blue stuffed animal behind the asparagus.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "With the left hand, position the blue stuffed animal behind the asparagus.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Place the blue stuffed animal behind the asparagus.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Set the blue stuffed animal behind the asparagus.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Put the blue stuffed animal behind the asparagus.", + "start_idx": 1854, + "end_idx": 1944 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Have the left arm take the pink bowl from the table, applying a lip grasp from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "With the left hand, grasp the pink bowl off the table using the lip from the left on a diagonal approach.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Take the pink bowl off the table with a lip grasp from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Grasp the pink bowl from the table with the lip from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Have the left arm take the pink bowl off the table.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Pick up the pink bowl from the table with the left hand from the left at a diagonal angle.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "From the left at a diagonal angle, take the pink bowl off the table with the left hand.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Using the left hand, grasp the pink bowl from the table with a lip grip.", + "start_idx": 1944, + "end_idx": 2061 + }, + { + "text": "Put the pink bowl to the left of the blue stuffed animal with the left hand.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Have the left arm set the pink bowl to the left of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Place the pink bowl to the left of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Set the pink bowl on the left side of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "The pink bowl goes to the left of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Put the pink bowl beside the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Using the left hand, place the pink bowl beside the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Have the left arm set the pink bowl next to the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Position the pink bowl next to the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Set the pink bowl beside the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Arrange the pink bowl on the left side of the blue stuffed animal.", + "start_idx": 2061, + "end_idx": 2172 + }, + { + "text": "Pick up the asparagus from the table with the left hand from the top at the middle.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Using the left hand, take the asparagus from the table from the top at the middle.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Have the left arm grasp the asparagus on the table from above at its middle.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "With the left hand, collect the asparagus from the table by grasping it from the top at the center.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Pick up the asparagus from the table from the top at the middle.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Take the asparagus from the table by grasping it from above at the center.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "From the table, grasp the asparagus at its middle from the top.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "With the left hand, pick up the asparagus from the table.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Have the left arm take the asparagus from the table.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "From the table, collect the asparagus with the left hand.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "From the table, grasp the asparagus.", + "start_idx": 2172, + "end_idx": 2262 + }, + { + "text": "Put the asparagus behind the blue stuffed animal with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Using the left hand, place the asparagus behind the blue stuffed animal with the tip facing bottom right.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Have the left arm set the asparagus behind the blue stuffed animal, tip oriented toward the bottom right.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "With the left hand, position the asparagus behind the blue stuffed animal so its tip points bottom right.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Place the asparagus behind the blue stuffed animal with the tip facing bottom right.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Set the asparagus behind the blue stuffed animal, with its tip oriented toward the bottom right.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Position the asparagus behind the blue stuffed animal so the tip points to the bottom right.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Using the left hand, put the asparagus behind the blue stuffed animal.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Have the left arm place the asparagus behind the blue stuffed animal.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "With the left hand, set the asparagus behind the blue stuffed animal.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Put the asparagus behind the blue stuffed animal.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Place the asparagus behind the blue stuffed animal.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Set the asparagus behind the blue stuffed animal.", + "start_idx": 2262, + "end_idx": 2391 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Have the left arm pick up the blue stuffed animal from the table by grasping it from above around the entire object.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table using a full-object top grasp.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Pick up the blue stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "From the table, take the blue stuffed animal by grasping it from above around the entire object.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Retrieve the blue stuffed animal from the table using a top grasp on the whole object.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "With the left hand, retrieve the blue stuffed animal from the table.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Using the left hand, grasp the blue stuffed animal from the table.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "From the table, take the blue stuffed animal.", + "start_idx": 2865, + "end_idx": 2976 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "With the right hand, retrieve the corn from the table at a diagonal angle by grasping the middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Take the corn from the table with a diagonal pickup, holding the middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Retrieve the corn from the table at a diagonal angle by grasping its middle.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Have the right hand take the corn from the table.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "With the right hand, retrieve the corn from the table.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Take the corn from the table.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Retrieve the corn from the table.", + "start_idx": 615, + "end_idx": 810 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at a diagonal angle grasping the top of the object.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at a diagonal angle, grasping the top.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Have the right arm take the green bag of chips from the table with a diagonal approach, holding its top.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "With the right hand, retrieve the green bag of chips from the table diagonally by gripping the top of the object.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Take the green bag of chips from the table with a diagonal approach, holding the top.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Retrieve the green bag of chips from the table diagonally by gripping its top.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Have the right arm take the green bag of chips from the table.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "With the right hand, retrieve the green bag of chips from the table.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Take the green bag of chips from the table at a diagonal angle.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Grab the green bag of chips from the table.", + "start_idx": 903, + "end_idx": 984 + }, + { + "text": "Put the green bag of chips in front of the corn with the right hand facing backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Using the right hand, place the green bag of chips in front of the corn, facing backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Have the right arm set the green bag of chips before the corn with its placement facing backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "With the right hand, position the green bag of chips in front of the corn so it faces backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Place the green bag of chips in front of the corn, facing backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Set the green bag of chips before the corn with its placement facing backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Position the green bag of chips in front of the corn so it faces backwards.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Using the right hand, put the green bag of chips in front of the corn.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Have the right arm place the green bag of chips before the corn.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "With the right hand, set the green bag of chips in front of the corn.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Put the green bag of chips in front of the corn.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Set the green bag of chips before the corn.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Position the green bag of chips in front of the corn.", + "start_idx": 983, + "end_idx": 1059 + }, + { + "text": "Pick up the green mug from the table with the right hand by the handle from the side.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Using the right hand, take hold of the green mug on the table by its handle from the side.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Have the right arm grasp the green mug from the table at the handle with a side approach.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "With the right hand, seize the green mug from the table using the handle from the side.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Pick up the green mug from the table by the handle from the side.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Take the green mug from the table by its handle from the side.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Grasp the green mug on the table at the handle from the side.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Using the right hand, pick up the green mug from the table by the handle.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "With the right hand, take the green mug from the table at the handle.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Have the right arm grasp the green mug from the table.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Pick up the green mug from the table with the right hand.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Take the green mug from the table by its handle.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Grasp the green mug from the table.", + "start_idx": 2391, + "end_idx": 2646 + }, + { + "text": "Put the green mug to the right of the corn with the right hand right side up with the front facing backwards.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Using the right hand, place the green mug to the right of the corn, right side up, with its front facing backward.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Have the right arm set the green mug to the corn's right, upright, with the front oriented backward.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "With the right hand, position the green mug on the right side of the corn, right side up and facing backward.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Place the green mug to the right of the corn, right side up, with its front facing backward.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Set the green mug on the corn's right side, upright, with the front oriented backward.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Position the green mug to the right of the corn, keeping it right side up and facing backward.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Using the right hand, place the green mug to the right of the corn.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Have the right arm set the green mug on the right side of the corn.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "With the right hand, position the green mug to the corn's right.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Place the green mug to the right of the corn.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Set the green mug on the right side of the corn.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Have the right arm place the green mug to the right of the corn, right side up.", + "start_idx": 2646, + "end_idx": 2793 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Have the right arm return to its home pose.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "With the right hand, go to the home position.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Return to the home position.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Move back to home position.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Go to the home pose.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Bring the manipulator back to home.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Reset to the home position.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "The home position should be reached.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Return home.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Move to home.", + "start_idx": 2793, + "end_idx": 2865 + }, + { + "text": "Go back to the home position.", + "start_idx": 2793, + "end_idx": 2865 + } + ] + }, + "2026-04-23-03-39-40-493000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 311, + "annotations": [ + { + "text": "Pick up the pink bowl from the table with the left hand using a side grip at the left in a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a side grip at the left in a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Have the left hand grasp the pink bowl from the table with a side hold on the left at a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "With the left hand, take the pink bowl from the table using a side grasp on its left side at a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Pick up the pink bowl from the table with a side grip at the left in a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Take the pink bowl from the table using a side grasp on the left at a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Grasp the pink bowl from the table with a side hold on its left side at a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a side grip.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Have the left hand take the pink bowl from the table using a side grasp.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "With the left hand, grasp the pink bowl from the table via a side hold.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the left in a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Take the pink bowl from the table with the left hand on its left side at a diagonal angle.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Have the left hand grasp the pink bowl from the table at a diagonal angle on the left side.", + "start_idx": 225, + "end_idx": 375 + }, + { + "text": "Put the pink bowl in front of the asparagus with the left hand.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Using the left hand, place the pink bowl in front of the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Have the left arm set the pink bowl down in front of the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "With the left hand, position the pink bowl before the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Place the pink bowl in front of the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Set the pink bowl down in front of the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Position the pink bowl before the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Put the pink bowl by the asparagus with the left hand.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Using the left hand, place the pink bowl near the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Have the left arm set the pink bowl beside the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Set the pink bowl by the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Place the pink bowl near the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Position the pink bowl beside the asparagus.", + "start_idx": 420, + "end_idx": 540 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand using a side grip at the top from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table with a side grip at the top from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Have the left hand take the blue stuffed animal from the table, grasping it at the top with a side grip from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "With the left hand, grasp the blue stuffed animal from the table at the top using a side grip from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Pick up the blue stuffed animal from the table with a side grip at the top from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Grasp the blue stuffed animal from the table at the top with a side grip from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "The blue stuffed animal from the table should be taken using a side grip at the top from the side.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "With the left hand, pick up the blue stuffed animal from the table.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Have the left hand take the blue stuffed animal from the table.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Using the left hand, grasp the blue stuffed animal from the table.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Take the blue stuffed animal from the table with the left hand.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Grasp the blue stuffed animal from the table.", + "start_idx": 540, + "end_idx": 678 + }, + { + "text": "Put the blue stuffed animal to the left of the asparagus with the left hand facing bottom right from the front.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Using the left hand, place the blue stuffed animal to the left of the asparagus, facing bottom right from the front.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Have the left arm set the blue stuffed animal to the left of the asparagus with its front facing bottom right.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "With the left hand, position the blue stuffed animal left of the asparagus so the front points bottom right.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Place the blue stuffed animal to the left of the asparagus with its front facing bottom right.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Set the blue stuffed animal left of the asparagus, front facing bottom right.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Position the blue stuffed animal to the asparagus's left with the front oriented bottom right.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Using the left hand, put the blue stuffed animal to the left of the asparagus.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Have the left arm place the blue stuffed animal left of the asparagus.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "With the left hand, set the blue stuffed animal to the asparagus's left.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Put the blue stuffed animal to the left of the asparagus.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Set the blue stuffed animal left of the asparagus.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Position the blue stuffed animal to the asparagus's left.", + "start_idx": 678, + "end_idx": 741 + }, + { + "text": "Pick up the asparagus from the table with the left hand using a side grip at the bottom from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "With the left hand, take the asparagus from the table using a side grip at the bottom from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Using the left hand, grasp the asparagus from the table with a side hold at the bottom from above.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Have the left arm pick the asparagus up from the table with a side grasp at the bottom from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the bottom from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Take the asparagus from the table with a side hold at the bottom from above.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Grasp the asparagus from the table in a side grip at the bottom from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "With the left hand, pick up the asparagus from the table using a side grip at the bottom.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Using the left hand, take the asparagus from the table with a side grasp at the bottom.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Have the left arm grasp the asparagus from the table with a side hold at the bottom.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "With the left hand, pick up the asparagus from the table from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Using the left hand, take the asparagus from the table at the bottom from above.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Pick up the asparagus from the table at the bottom from the top.", + "start_idx": 1095, + "end_idx": 1329 + }, + { + "text": "Put the asparagus inside the pink bowl with the left hand facing bottom left with the tip as the reference point.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Using the left hand, place the asparagus into the pink bowl with the tip facing bottom left.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Have the left arm set the asparagus inside the pink bowl, oriented bottom left by its tip.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "With the left hand, deposit the asparagus in the pink bowl so the tip points toward the bottom left.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Place the asparagus inside the pink bowl with the tip facing bottom left.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Set the asparagus into the pink bowl with the tip oriented bottom left.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Put the asparagus in the pink bowl so its tip faces the bottom left.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Using the left hand, place the asparagus into the pink bowl.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Have the left arm put the asparagus inside the pink bowl.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "With the left hand, set the asparagus in the pink bowl.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Put the asparagus in the pink bowl.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Place the asparagus into the pink bowl with the left hand.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Set the asparagus inside the pink bowl.", + "start_idx": 1329, + "end_idx": 1398 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand from the side at the middle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Using the right hand, grasp the orange screwdriver from the table from the side at its middle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Have the right arm take the orange screwdriver off the table with a side approach at the middle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "From the table, retrieve the orange screwdriver with the right hand, contacting it from the side at the middle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Pick up the orange screwdriver from the table from the side at the middle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "From the table, take the orange screwdriver with a side approach at the middle.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "The orange screwdriver should be grasped from the table at its middle from the side.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "With the right arm, take the orange screwdriver off the table.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Have the right hand retrieve the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "From the table, grasp the orange screwdriver.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Take the orange screwdriver off the table.", + "start_idx": 0, + "end_idx": 93 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Have the right arm take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "With the right hand, collect the orange screwdriver from the table on a diagonal angle by grasping its middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Take the orange screwdriver from the table on a diagonal pickup, holding the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "From the table, collect the orange screwdriver at a diagonal angle by the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Have the right arm take the orange screwdriver from the table.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "With the right hand, collect the orange screwdriver from the table.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Take the orange screwdriver from the table with the right hand.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "From the table, collect the orange screwdriver by the middle.", + "start_idx": 741, + "end_idx": 963 + }, + { + "text": "Place the orange screwdriver to the right of the pink bowl with the right hand with its tip facing top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Using the right hand, set the orange screwdriver to the right of the pink bowl with its tip pointing to the top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Have the right arm place the orange screwdriver to the right of the pink bowl, tip oriented toward the top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "With the right hand, position the orange screwdriver to the right of the pink bowl so its tip faces top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Place the orange screwdriver to the right of the pink bowl with its tip facing top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Set the orange screwdriver to the right of the pink bowl, with the tip pointing top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Position the orange screwdriver to the right of the pink bowl so the tip faces the top left.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Using the right hand, place the orange screwdriver to the right of the pink bowl.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "With the right hand, set the orange screwdriver to the right of the pink bowl.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Have the right arm position the orange screwdriver to the right of the pink bowl.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Put the orange screwdriver to the right of the pink bowl.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Set the orange screwdriver to the right of the pink bowl.", + "start_idx": 963, + "end_idx": 1095 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table with a side grasp at the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Have the right arm pick the orange screwdriver off the table using a side grip on the top at a diagonal angle.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table in a side hold at the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip at the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Take the orange screwdriver off the table with a side grasp on the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Grasp the orange screwdriver from the table in a side hold at the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table with a side grip.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Take the orange screwdriver from the table with the right hand using a side grasp.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table at the top diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Grasp the orange screwdriver from the table diagonally.", + "start_idx": 1398, + "end_idx": 1542 + }, + { + "text": "Put the orange screwdriver to the right of the pink bowl with the right hand facing the tip top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "With the right hand, place the orange screwdriver to the right of the pink bowl, with the tip facing the top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Have the right arm set the orange screwdriver to the right of the pink bowl so the tip points top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Using the right hand, position the orange screwdriver to the right of the pink bowl with its tip oriented toward the top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Place the orange screwdriver to the right of the pink bowl with the tip facing the top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Set the orange screwdriver to the right of the pink bowl so the tip points top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Position the orange screwdriver to the right of the pink bowl, tip toward the top right.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "With the right hand, place the orange screwdriver to the right of the pink bowl.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Using the right hand, set the orange screwdriver to the right of the pink bowl.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Have the right arm position the orange screwdriver to the right of the pink bowl.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Place the orange screwdriver to the right of the pink bowl.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Set the orange screwdriver to the right of the pink bowl.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Position the orange screwdriver to the right of the pink bowl.", + "start_idx": 1542, + "end_idx": 1644 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle from the middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Using the right hand, pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Have the right arm grasp the corn from the table diagonally at its middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "With the right hand, take the corn from the table using a diagonal approach at the middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Pick up the corn from the table at a diagonal angle from the middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Take the corn from the table diagonally from the middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Grasp the corn from the table at a diagonal angle from its middle.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Pick up the corn from the table with the right hand.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Using the right hand, take the corn from the table.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Have the right arm pick up the corn from the table.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Take the corn from the table.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 1644, + "end_idx": 1788 + }, + { + "text": "Pick up the green mug from the table with the right hand from the side by the handle.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Using the right hand, take the green mug from the table from the side by the handle.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "From the side, have the right hand grasp the green mug on the table by the handle.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "With the right hand, retrieve the green mug from the table by the handle from the side.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Pick up the green mug from the table from the side by the handle.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "From the side, grasp the green mug on the table by the handle.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Take the green mug from the table by the handle from the side.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Get the green mug from the table with the right hand.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Using the right hand, collect the green mug from the table.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Have the right hand take the green mug from the table.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Pick up the green mug from the table.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Grab the green mug from the table.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "From the side, take the green mug from the table.", + "start_idx": 1857, + "end_idx": 1995 + }, + { + "text": "Put the green mug behind the corn with the handle facing backwards right side up using the right arm.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Using the right arm, place the green mug behind the corn, keeping it upright with the handle pointing backward.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Have the right arm set the green mug behind the corn, handle facing the back and the mug right side up.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "With the right arm, position the green mug behind the corn so the handle faces backward and it stays upright.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Place the green mug behind the corn, keeping it upright with the handle pointing backward.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Set the green mug behind the corn with the handle facing the back and the mug right side up.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Position the green mug behind the corn so it remains upright and the handle points backward.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Using the right arm, put the green mug behind the corn.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "With the right arm, place the green mug behind the corn.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Have the right arm set the green mug behind the corn.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Put the green mug behind the corn.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Set the green mug behind the corn.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Position the green mug behind the corn.", + "start_idx": 1995, + "end_idx": 2097 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Using the right hand, take the green bag of chips from the table at a diagonal angle from the top of the object.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table diagonally from the top of the object.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "With the right hand, retrieve the green bag of chips from the table using a diagonal approach from the top of the object.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal angle from the top of the object.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Grasp the green bag of chips from the table diagonally from the top of the object.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Take the green bag of chips from the table with a diagonal top approach.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Have the right arm take the green bag of chips from the table.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Retrieve the green bag of chips from the table.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 2097, + "end_idx": 2172 + }, + { + "text": "Place the green bag of chips behind the pink bowl with the right hand facing backwards.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Using the right hand, place the green bag of chips behind the pink bowl facing backwards.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Have the right arm set the green bag of chips behind the pink bowl with its front facing backward.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "With the right hand, position the green bag of chips behind the pink bowl so the front faces backwards.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Place the green bag of chips behind the pink bowl facing backwards.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Set the green bag of chips behind the pink bowl with its front facing backward.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Position the green bag of chips behind the pink bowl so it faces backwards.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Using the right hand, place the green bag of chips behind the pink bowl.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Have the right arm set the green bag of chips behind the pink bowl.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "With the right hand, position the green bag of chips behind the pink bowl.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Place the green bag of chips behind the pink bowl.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Set the green bag of chips behind the pink bowl.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Position the green bag of chips behind the pink bowl.", + "start_idx": 2172, + "end_idx": 2289 + }, + { + "text": "Pick up the corn from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Using the right hand, collect the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Have the right hand take the corn from the table with a diagonal approach at its middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "With the right hand, seize the corn from the table diagonally by the middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Pick up the corn from the table at a diagonal angle, grasping the middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Take the corn from the table with a diagonal approach, holding the middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Grab the corn from the table diagonally at the middle.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "With the right hand, take the corn from the table.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Have the right hand grasp the corn from the table.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Take the corn from the table.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Grasp the corn from the table.", + "start_idx": 2289, + "end_idx": 2400 + }, + { + "text": "Put the corn to the left of the green mug with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Using the right hand, place the corn to the left of the green mug with its tip facing the bottom right.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Have the right arm set the corn left of the green mug, oriented bottom right from the tip.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "With the right hand, position the corn to the left of the green mug so the tip points bottom right.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Place the corn to the left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Set the corn left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Position the corn to the left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Leave the corn to the left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Using the right hand, place the corn to the left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Have the right arm set the corn left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "With the right hand, position the corn beside the green mug on its left.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Put the corn left of the green mug.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Place the corn beside the green mug on its left.", + "start_idx": 2400, + "end_idx": 2490 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand using a side grip from the top at the bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table with a side grip from the top at the bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Have the right arm grasp the orange screwdriver from the table, approaching from the top with a side hold at its bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "With the right hand, secure the orange screwdriver from the table in a side grasp from above at the bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Pick up the orange screwdriver from the table using a side grip from the top at the bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Take the orange screwdriver from the table with a side hold from above at the bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Grasp the orange screwdriver from the table from the top at the bottom with a side grasp.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Have the right arm take the orange screwdriver from the table.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Pick up the orange screwdriver from the table from the top at the bottom.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Take the orange screwdriver from the table with the right hand.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Grasp the orange screwdriver from the table.", + "start_idx": 2490, + "end_idx": 2598 + }, + { + "text": "Put the orange screwdriver in front of the green mug with the right hand with its tip facing forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Using the right hand, place the orange screwdriver in front of the green mug with its tip facing forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Have the right arm set the orange screwdriver before the green mug, tip pointed forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "With the right hand, position the orange screwdriver in front of the green mug so its tip faces forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Place the orange screwdriver in front of the green mug with its tip facing forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Set the orange screwdriver before the green mug with its tip pointed forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Position the orange screwdriver in front of the green mug so the tip faces forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Using the right hand, put the orange screwdriver in front of the green mug.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Have the right arm place the orange screwdriver before the green mug.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "With the right hand, set the orange screwdriver in front of the green mug.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Put the orange screwdriver in front of the green mug.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Using the right hand, position the orange screwdriver before the green mug.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Set the orange screwdriver in front of the green mug so the tip faces forwards.", + "start_idx": 2598, + "end_idx": 2682 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Have the right arm pick the pink bowl up from the table using a right-side diagonal lip grip.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "With a diagonal lip grasp on the bowl's right side, the right hand should retrieve the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grip on the right side.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Retrieve the pink bowl from the table with a right-side diagonal lip grasp.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "With the right hand, retrieve the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Using the right hand, grasp the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 2682, + "end_idx": 2757 + }, + { + "text": "Dump the asparagus from the pink bowl in front of the corn with the right hand.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "With the right hand, pour out the asparagus from the pink bowl in front of the corn.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Have the right arm empty the asparagus out of the pink bowl positioned in front of the corn.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Using the right hand, tip the pink bowl in front of the corn to dump the asparagus.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Pour out the asparagus from the pink bowl in front of the corn.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Empty the asparagus from the pink bowl in front of the corn.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "The asparagus from the pink bowl in front of the corn should be dumped out.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Dump the asparagus from the pink bowl.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Pour the asparagus out of the pink bowl.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Empty out the asparagus from the pink bowl.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Dump the asparagus from the bowl in front of the corn.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Pour out the asparagus from the pink bowl, using the right hand.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Have the right arm dump the asparagus from the pink bowl.", + "start_idx": 2757, + "end_idx": 2802 + }, + { + "text": "Put the pink bowl to the right of the green mug with the right hand.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the green mug, right side up from the front.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Have the right arm set the pink bowl to the right of the green mug with its front kept right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "With the right hand, position the pink bowl to the right of the green mug, maintaining a right-side-up front.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Place the pink bowl to the right of the green mug, keeping its front right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Set the pink bowl to the right of the green mug with the front right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Position the pink bowl to the right of the green mug, right side up from the front.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Using the right hand, put the pink bowl to the right of the green mug.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Have the right arm place the pink bowl to the right of the green mug.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "With the right hand, set the pink bowl to the right of the green mug.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Place the pink bowl to the right of the green mug.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Set the pink bowl to the right of the green mug.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Have the pink bowl placed to the right of the green mug.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Have the right hand take the orange screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "With the right hand, grasp the orange screwdriver from the table at a diagonal angle by the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Pick up the orange screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Take the orange screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "From the table, grasp the orange screwdriver at a diagonal angle by the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Using the right hand, pick up the orange screwdriver from the table, grasping the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "With the right hand, take the orange screwdriver from the table by the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Have the right hand grasp the orange screwdriver from the table at the middle.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "Take the orange screwdriver from the table with the right hand.", + "start_idx": 2901, + "end_idx": 2973 + }, + { + "text": "From the table, grasp the orange screwdriver with the right hand.", + "start_idx": 2901, + "end_idx": 2973 + } + ] + }, + "2026-04-23-03-42-31-355000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 377, + "annotations": [ + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "With the right hand, grasp the asparagus from the table at the middle on a diagonal.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Take the asparagus from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Grasp the asparagus from the table diagonally at the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Using the right hand, pick up the asparagus from the table, grasping the middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Have the right hand take the asparagus from the table at its middle.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "With the right hand, grasp the asparagus from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Take the asparagus from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 0, + "end_idx": 96 + }, + { + "text": "Put the asparagus in front of the green coffee cup with the tip facing top left using the right hand.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Using the right hand, place the asparagus in front of the green coffee cup with the tip pointing to the top left.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Have the right arm set the asparagus in front of the green coffee cup, tip oriented toward the upper left.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "With the right hand, position the asparagus before the green coffee cup so its tip faces top left.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Place the asparagus in front of the green coffee cup with the tip facing top left.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Set the asparagus before the green coffee cup with its tip pointed to the upper left.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Position the asparagus in front of the green coffee cup, tip directed top left.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Using the right hand, put the asparagus in front of the green coffee cup.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "With the right hand, place the asparagus before the green coffee cup.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Have the right arm position the asparagus in front of the green coffee cup.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Put the asparagus in front of the green coffee cup.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Set the asparagus before the green coffee cup.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Position the asparagus in front of the green coffee cup.", + "start_idx": 96, + "end_idx": 162 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Using the right hand, take the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Have the right arm pick the screwdriver up from the table on a diagonal, holding it at the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Take the screwdriver from the table on a diagonal, holding the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "From the table, retrieve the screwdriver diagonally by the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Have the right arm take the screwdriver from the table by the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "With the right hand, collect the screwdriver from the table by the middle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Have the right arm retrieve the screwdriver from the table on a diagonal.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 162, + "end_idx": 261 + }, + { + "text": "Place the screwdriver to the left of the asparagus with the right hand facing top left by the tip.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Using the right hand, set the screwdriver to the left of the asparagus with the tip facing top left.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Have the right arm place the screwdriver left of the asparagus, oriented top left at the tip.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "With the right hand, position the screwdriver to the asparagus's left so the tip points top left.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Place the screwdriver to the left of the asparagus with the tip facing top left.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Set the screwdriver left of the asparagus, with the tip oriented toward the top left.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Position the screwdriver to the left of the asparagus so its tip points top left.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Using the right hand, place the screwdriver to the left of the asparagus.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Have the right arm set the screwdriver left of the asparagus.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "With the right hand, position the screwdriver to the asparagus's left.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Put the screwdriver to the left of the asparagus.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Using the right hand, place the screwdriver by the asparagus on its left side.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Set the screwdriver on the left side of the asparagus.", + "start_idx": 261, + "end_idx": 351 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Have the right arm take the screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table diagonally by its middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Pick up the screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Retrieve the screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "From the table, take the screwdriver diagonally by the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table, grasping the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Have the right arm take the screwdriver from the table by the middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "With the right hand, retrieve the screwdriver from the table, holding its middle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Pick up the screwdriver from the table with the right hand at a diagonal angle.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Take the screwdriver from the table diagonally with the right hand.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Using the right hand, pick up the screwdriver from the table.", + "start_idx": 717, + "end_idx": 837 + }, + { + "text": "Place the screwdriver to the left of the corn with the right hand facing top left with the tip as the reference point.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Using the right hand, set the screwdriver to the left of the corn with the tip facing top left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Have the right arm place the screwdriver left of the corn, oriented top left by its tip.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "With the right hand, position the screwdriver to the corn's left, tip directed toward the top left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Place the screwdriver to the left of the corn with the tip facing top left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Set the screwdriver left of the corn, with the tip oriented top left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Position the screwdriver to the left of the corn, tip pointed toward the top left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Place the screwdriver to the left of the corn.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Set the screwdriver left of the corn.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Position the screwdriver to the corn's left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Using the right hand, place the screwdriver to the left of the corn.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "With the right hand, set the screwdriver left of the corn.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Have the right arm position the screwdriver to the corn's left.", + "start_idx": 837, + "end_idx": 939 + }, + { + "text": "Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Have the right hand take the asparagus from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "At a diagonal angle, the right hand should collect the asparagus from the table by grasping the middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Pick up the asparagus from the table at a diagonal angle, grasping the middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Take the asparagus from the table with a diagonal pickup, holding the middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "From the table, collect the asparagus at a diagonal angle by grasping its middle.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Pick up the asparagus from the table with the right hand.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Have the right hand take the asparagus from the table.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Using the right hand, collect the asparagus from the table.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "From the table, take the asparagus.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Have the asparagus picked up from the table.", + "start_idx": 939, + "end_idx": 1032 + }, + { + "text": "Put the asparagus inside the pink bowl with the right hand right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Using the right hand, place the asparagus in the pink bowl with its tip right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Have the right hand set the asparagus inside the pink bowl, tip oriented right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "With the right hand, deposit the asparagus into the pink bowl, keeping the tip right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Place the asparagus in the pink bowl with its tip right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Set the asparagus inside the pink bowl with the tip right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Put the asparagus into the pink bowl, tip right side up.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Using the right hand, place the asparagus inside the pink bowl.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "With the right hand, set the asparagus into the pink bowl.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Have the right hand put the asparagus in the pink bowl.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Put the asparagus inside the pink bowl.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Set the asparagus into the pink bowl.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Have the asparagus placed in the pink bowl.", + "start_idx": 1032, + "end_idx": 1095 + }, + { + "text": "Pick up the green coffee cup from the table with the right hand by the handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Using the right hand, take the green coffee cup from the table by its handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Have the right arm grasp the green coffee cup from the table at the handle with a side approach.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "With the right hand, secure the green coffee cup from the table by the handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Pick up the green coffee cup from the table by the handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Take the green coffee cup from the table at its handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Grasp the green coffee cup from the table by the handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Remove the green coffee cup from the table using the handle from the side.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Using the right hand, pick up the green coffee cup from the table.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Have the right arm take the green coffee cup from the table.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "With the right hand, grasp the green coffee cup from the table.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Pick up the green coffee cup from the table.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Take the green coffee cup from the table.", + "start_idx": 1095, + "end_idx": 1179 + }, + { + "text": "Put the green coffee cup to the left of the screwdriver with the handle facing bottom right right side up using the right hand.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Using the right hand, place the green coffee cup to the left of the screwdriver, right side up, with the handle facing bottom right.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Have the right hand set the green coffee cup left of the screwdriver with its handle pointing bottom right and the cup right side up.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "With the right hand, position the green coffee cup to the screwdriver's left, keeping it right side up and the handle toward bottom right.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Place the green coffee cup to the left of the screwdriver with the handle facing bottom right and right side up.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Set the green coffee cup left of the screwdriver, with its handle pointing bottom right and the cup upright.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Position the green coffee cup to the screwdriver's left, keeping the handle aimed bottom right and the cup right side up.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Using the right hand, put the green coffee cup to the left of the screwdriver.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Have the right hand place the green coffee cup to the screwdriver's left.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "With the right hand, set the green coffee cup left of the screwdriver.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Place the green coffee cup to the left of the screwdriver.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Put the green coffee cup left of the screwdriver.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Set the green coffee cup to the screwdriver's left.", + "start_idx": 1179, + "end_idx": 1341 + }, + { + "text": "Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Using the right hand, take the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Have the right arm pick the blue stuffed animal up from the table diagonally with a full-object grasp.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "With the right hand, retrieve the blue stuffed animal from the table at a diagonal angle using an all-over hold.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Pick up the blue stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Take the blue stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Retrieve the blue stuffed animal from the table at a diagonal angle using an all-over hold.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table, grasping the entire object.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "With the right hand, collect the blue stuffed animal from the table using a full-object grasp.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Have the right arm take the blue stuffed animal from the table with an all-over hold.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Using the right hand, pick up the blue stuffed animal from the table at a diagonal angle.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "With the right hand, retrieve the blue stuffed animal from the table diagonally.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 1341, + "end_idx": 1431 + }, + { + "text": "Put the blue stuffed animal in front of the corn with the right hand facing bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Using the right hand, place the blue stuffed animal in front of the corn with it facing bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Have the right arm put the blue stuffed animal in front of the corn, oriented bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "With the right hand, set the blue stuffed animal in front of the corn so it faces bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Place the blue stuffed animal in front of the corn with it facing bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Set the blue stuffed animal in front of the corn, oriented bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "The blue stuffed animal goes in front of the corn, facing bottom right from the front.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Using the right hand, put the blue stuffed animal in front of the corn.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "With the right hand, position the blue stuffed animal in front of the corn.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Have the right arm place the blue stuffed animal in front of the corn.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Put the blue stuffed animal in front of the corn.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Using the right hand, set the blue stuffed animal in front of the corn.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Position the blue stuffed animal in front of the corn with the right hand.", + "start_idx": 1431, + "end_idx": 1488 + }, + { + "text": "Pick up the corn from the table with the right hand from the top at the middle.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Using the right hand, pick up the corn from the table from the top at the middle.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Have the right arm grasp the corn from the table at the middle from above.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "With the right hand, take the corn from the table by approaching from the top at the middle.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table from the top at the middle.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Take the corn from the table at the middle from above.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Grasp the corn from the table from the top at the middle.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "With the right hand, grasp the corn from the table.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "From above, pick up the corn from the table.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "At the middle, take the corn from the table.", + "start_idx": 2235, + "end_idx": 2385 + }, + { + "text": "Put the corn to the right of the green coffee cup with the tip facing backwards using the right hand.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Using the right hand, place the corn to the right of the green coffee cup with its tip facing backwards.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Have the right hand set the corn to the right of the green coffee cup, tip oriented backward.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "With the right hand, position the corn to the right of the green coffee cup so the tip points backward.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Place the corn to the right of the green coffee cup with its tip facing backwards.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Set the corn to the right of the green coffee cup, with the tip oriented backward.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Position the corn to the right of the green coffee cup so its tip points backward.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Put the corn to the right of the green coffee cup.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Arrange the corn to the right of the green coffee cup.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Using the right hand, place the corn to the right of the green coffee cup.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "With the right hand, set the corn beside the green coffee cup on its right side.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Place the corn beside the green coffee cup on its right side.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Have the right hand put the corn beside the green coffee cup on its right side.", + "start_idx": 2385, + "end_idx": 2466 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Have the right hand take the pink bowl from the table using a right-side diagonal lip grip.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "With the right hand, grasp the pink bowl from the table with a diagonal lip hold on its right side.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grip on the right side.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Grasp the pink bowl from the table with a right-side diagonal lip hold.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Have the right hand grasp the pink bowl from the table.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Have the pink bowl taken from the table.", + "start_idx": 2466, + "end_idx": 2634 + }, + { + "text": "Put the pink bowl to the right of the corn with the right hand.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Have the right hand set the pink bowl on the corn's right side.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "With the right hand, position the pink bowl to the right of the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Place the pink bowl to the right of the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Set the pink bowl on the right side of the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Position the pink bowl to the corn's right.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Move the pink bowl to the right of the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Put the pink bowl beside the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Set the pink bowl next to the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Place the pink bowl by the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Position the pink bowl on the corn's right side.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Have the pink bowl placed to the right of the corn.", + "start_idx": 2634, + "end_idx": 2730 + }, + { + "text": "Pick up the corn from the table with the right hand from the top at the middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Using the right hand, pick up the corn from the table from the top at the middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Have the right arm grasp the corn from the table from above at its middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "With the right hand, take the corn from the table using a top approach at the middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Pick up the corn from the table from the top at the middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Take the corn from the table from above at its middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Grasp the corn from the table with a top approach at the middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Retrieve the corn from the table from the top at the middle.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Using the right hand, pick up the corn from the table.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Have the right arm take the corn from the table.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "With the right hand, grasp the corn from the table.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Pick up the corn from the table.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "From the table, collect the corn.", + "start_idx": 2730, + "end_idx": 2844 + }, + { + "text": "Put the corn in front of the pink bowl with the right hand facing bottom left by the tip.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Using the right hand, place the corn in front of the pink bowl with the tip facing bottom left.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Have the right hand set the corn in front of the pink bowl so its tip points bottom left.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "With the right hand, position the corn before the pink bowl, tip oriented toward the bottom left.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Place the corn in front of the pink bowl with the tip facing bottom left.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Set the corn before the pink bowl so the tip points bottom left.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Position the corn in front of the pink bowl, with its tip directed bottom left.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Put the corn in front of the pink bowl.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Set the corn before the pink bowl.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Position the corn in front of the pink bowl.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Place the corn in front of the pink bowl.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Using the right hand, place the corn in front of the pink bowl.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Have the right hand set the corn before the pink bowl.", + "start_idx": 2844, + "end_idx": 2952 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top at the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table from the top at the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "From above, have the left hand take hold of the blue stuffed animal on the table at the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "With the left hand, grasp the blue stuffed animal from the table from the top around the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top at the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "From above, take the blue stuffed animal off the table at the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Grasp the blue stuffed animal from the table from the top around the entire object.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Remove the blue stuffed animal from the table by grasping it at the entire object from the top.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Have the left hand pick up the blue stuffed animal from the table.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Take the blue stuffed animal off the table.", + "start_idx": 441, + "end_idx": 483 + }, + { + "text": "Put the blue stuffed animal in front of the green bag of chips with the left hand facing backwards.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the green bag of chips facing backwards.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Have the left arm set the blue stuffed animal in front of the green bag of chips with its back facing outward.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "With the left hand, position the blue stuffed animal before the green bag of chips so it faces backwards.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Place the blue stuffed animal in front of the green bag of chips facing backwards.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Set the blue stuffed animal before the green bag of chips with its back toward the front.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Position the blue stuffed animal in front of the green bag of chips so it faces backwards.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Put the blue stuffed animal in front of the green bag of chips.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "The blue stuffed animal goes before the green bag of chips.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Set the blue stuffed animal in front of the green bag of chips with the left hand.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Using the left hand, place the blue stuffed animal before the green bag of chips.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Have the left arm put the blue stuffed animal in front of the green bag of chips.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Position the blue stuffed animal before the green bag of chips.", + "start_idx": 483, + "end_idx": 546 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Using the left hand, take the green bag of chips from the table at a diagonal angle, grasping the middle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Have the left arm pick the green bag of chips off the table diagonally, holding it at the center.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "With the left hand, retrieve the green bag of chips from the table using a diagonal approach and grasp the middle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal angle, grasping the middle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Take the green bag of chips off the table diagonally, holding the middle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Retrieve the green bag of chips from the table with a diagonal approach at the center.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "With the left hand, take the green bag of chips off the table.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Have the left arm retrieve the green bag of chips from the table.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table at a diagonal angle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Take the green bag of chips off the table, grasping the middle.", + "start_idx": 546, + "end_idx": 642 + }, + { + "text": "Put the green bag of chips to the left of the blue stuffed animal with the left hand facing backwards.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the blue stuffed animal with its front facing backward.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Have the left hand set the green bag of chips to the left of the blue stuffed animal, oriented with the front backward.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "With the left hand, position the green bag of chips left of the blue stuffed animal so its front faces backward.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Place the green bag of chips to the left of the blue stuffed animal with its front facing backward.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Set the green bag of chips to the left of the blue stuffed animal with the front oriented backward.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Position the green bag of chips to the left of the blue stuffed animal so the front faces backward.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the blue stuffed animal.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "With the left hand, place the green bag of chips left of the blue stuffed animal.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Have the left hand set the green bag of chips to the left of the blue stuffed animal.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Put the green bag of chips to the left of the blue stuffed animal.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Place the green bag of chips left of the blue stuffed animal.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Set the green bag of chips to the left of the blue stuffed animal.", + "start_idx": 642, + "end_idx": 717 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand from the top at the middle.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Using the left hand, take the green bag of chips from the table from the top at the middle.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Have the left arm grasp the green bag of chips from the table at the middle from above.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "With the left hand, seize the green bag of chips from the table by the top at its middle.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Pick up the green bag of chips from the table from the top at the middle.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Grasp the green bag of chips from the table at the middle from above.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Take the green bag of chips from the table by the top at its middle.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "The green bag of chips from the table should be picked up with the left hand.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "With the left hand, take the green bag of chips from the table.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Grab the green bag of chips from the table.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Retrieve the green bag of chips from the table.", + "start_idx": 1488, + "end_idx": 1569 + }, + { + "text": "Put the green bag of chips to the left of the green coffee cup with the left hand facing backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green coffee cup with its front facing backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Have the left arm set the green bag of chips to the left of the green coffee cup, front turned backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "With the left hand, position the green bag of chips left of the green coffee cup so the front faces backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Place the green bag of chips to the left of the green coffee cup with its front facing backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Set the green bag of chips left of the green coffee cup, front facing backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Position the green bag of chips to the left of the green coffee cup with the front turned backwards.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the green coffee cup.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "With the left hand, set the green bag of chips left of the green coffee cup.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Have the left arm position the green bag of chips to the left of the green coffee cup.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Put the green bag of chips to the left of the green coffee cup.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Arrange the green bag of chips left of the green coffee cup.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Using the left hand, put the green bag of chips to the left of the green coffee cup.", + "start_idx": 1569, + "end_idx": 1665 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand from the top around the entire object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Using the left hand, pick up the blue stuffed animal from the table from the top around the entire object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Have the left arm take the blue stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "The blue stuffed animal should be grasped from the table with the left hand from above around the entire object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Pick up the blue stuffed animal from the table from the top around the entire object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Take the blue stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "From above, grasp the blue stuffed animal on the table around the entire object.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Pick up the blue stuffed animal from the table with the left hand.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Using the left hand, take the blue stuffed animal from the table.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Have the left arm grasp the blue stuffed animal from the table.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Pick up the blue stuffed animal from the table.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Take the blue stuffed animal from the table.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "The blue stuffed animal should be grasped from the table.", + "start_idx": 1665, + "end_idx": 1806 + }, + { + "text": "Put the blue stuffed animal in front of the green bag of chips with the left hand facing bottom right from the front.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Using the left hand, place the blue stuffed animal in front of the green bag of chips, oriented toward the bottom right from the front.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Have the left arm set the blue stuffed animal in front of the green bag of chips with its front facing bottom right.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "With the left hand, position the blue stuffed animal before the green bag of chips so the front points bottom right.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Place the blue stuffed animal in front of the green bag of chips with its front facing bottom right.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Set the blue stuffed animal before the green bag of chips, oriented bottom right from the front.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Position the blue stuffed animal in front of the green bag of chips, front facing bottom right.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Using the left hand, put the blue stuffed animal in front of the green bag of chips.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "With the left hand, place the blue stuffed animal before the green bag of chips.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Have the left arm set the blue stuffed animal in front of the green bag of chips.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Put the blue stuffed animal in front of the green bag of chips.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Set the blue stuffed animal before the green bag of chips.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Position the blue stuffed animal in front of the green bag of chips.", + "start_idx": 1806, + "end_idx": 1890 + }, + { + "text": "Pick up the screwdriver from the table with the left hand using a side grip from the top at the bottom.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Using the left hand, take the screwdriver from the table with a side grip from the top at the bottom.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Have the left arm pick up the screwdriver from the table, approaching from above and gripping its bottom from the side.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "With the left hand, grasp the screwdriver from the table by the bottom using a side hold from the top.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Pick up the screwdriver from the table with a side grip from the top at the bottom.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Grab the screwdriver from the table, using a side hold from above at its bottom.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Take the screwdriver from the table by its bottom with a side grasp from the top.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Using the left hand, pick up the screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Have the left arm take the screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "With the left hand, grasp the screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Pick up the screwdriver from the table from the top at the bottom.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "From above, take the screwdriver from the table at its bottom.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Pick up the screwdriver from the table.", + "start_idx": 1890, + "end_idx": 2016 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed animal with the left hand facing top left by the tip.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Using the left hand, place the screwdriver to the left of the blue stuffed animal with its tip facing top left.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Have the left arm set the screwdriver left of the blue stuffed animal, oriented top left at the tip.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "With the left hand, position the screwdriver to the left of the blue stuffed animal so the tip points top left.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Place the screwdriver to the left of the blue stuffed animal with the tip facing top left.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Set the screwdriver left of the blue stuffed animal, with the tip oriented top left.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Position the screwdriver to the left of the blue stuffed animal so its tip points top left.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Using the left hand, put the screwdriver to the left of the blue stuffed animal.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "With the left hand, set the screwdriver left of the blue stuffed animal.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Have the left arm place the screwdriver to the left of the blue stuffed animal.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Put the screwdriver to the left of the blue stuffed animal.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Set the screwdriver left of the blue stuffed animal.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Position the screwdriver to the left of the blue stuffed animal.", + "start_idx": 2016, + "end_idx": 2175 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Using the left hand, return to the home position.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Have the left arm move back to its home position.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Return to the home position.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Move back to home.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Go to the home position.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Head back to home.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Bring the arm to its home position.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Resume the home position.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Move to home.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Return home.", + "start_idx": 2175, + "end_idx": 2235 + }, + { + "text": "Go back to the home position.", + "start_idx": 2175, + "end_idx": 2235 + } + ] + }, + "2026-04-23-03-48-33-728000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 325, + "annotations": [ + { + "text": "Pick up the white cup from the table with the left hand from the side at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, take the white cup from the table from the side at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "From the side at the middle, have the left hand grasp the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "The left hand should pick the white cup up from the table with a side approach at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the white cup from the table from the side at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "From the side at the middle, grasp the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Take the white cup from the table with a side approach at the middle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the left hand, pick up the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the left hand take the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "The left hand should grasp the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the left hand, get the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "From the side at the middle, pick up the white cup from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Put the white cup to the right of the blue screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Using the left hand, place the white cup to the right of the blue screwdriver right side up, with the front as the reference point.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Have the left arm set the white cup down to the right of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "With the left hand, position the white cup to the right of the blue screwdriver so it is right side up using the front as the reference point.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Place the white cup to the right of the blue screwdriver right side up, with the front as the reference point.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Set the white cup to the right of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Position the white cup to the right of the blue screwdriver with its front as the reference point, right side up.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Using the left hand, place the white cup to the right of the blue screwdriver.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Have the left arm set the white cup down to the right of the blue screwdriver.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "With the left hand, position the white cup to the right of the blue screwdriver.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Put the white cup to the right of the blue screwdriver.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Set the white cup down to the right of the blue screwdriver.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Position the white cup to the right of the blue screwdriver.", + "start_idx": 150, + "end_idx": 285 + }, + { + "text": "Pick up the blue marker from the table with the left hand from the top at the middle.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Using the left hand, take the blue marker from the table from the top at the middle.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Have the left arm grasp the blue marker on the table from above at its middle.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "With the left hand, collect the blue marker from the table by approaching from the top at the center.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Pick up the blue marker from the table from the top at the middle.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Take the blue marker off the table from above at its middle.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Grasp the blue marker from the table at the center from the top.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Take the blue marker from the table.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Grasp the blue marker off the table.", + "start_idx": 285, + "end_idx": 378 + }, + { + "text": "Place the blue marker between the carrot and the blue screwdriver with the left hand facing forwards with the tip as the reference point.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Using the left hand, set the blue marker between the carrot and the blue screwdriver, facing forwards from the tip.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Have the left arm place the blue marker between the carrot and the blue screwdriver with the tip pointing forwards.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "With the left hand, position the blue marker between the carrot and the blue screwdriver so the tip faces forwards.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Place the blue marker between the carrot and the blue screwdriver with the tip facing forwards.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Set the blue marker between the carrot and the blue screwdriver, oriented forwards from the tip.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Position the blue marker between the carrot and the blue screwdriver so it faces forwards at the tip.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Using the left hand, place the blue marker between the carrot and the blue screwdriver.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Have the left arm set the blue marker between the carrot and the blue screwdriver.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "With the left hand, position the blue marker between the carrot and the blue screwdriver.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Place the blue marker between the carrot and the blue screwdriver.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Set the blue marker between the carrot and the blue screwdriver.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Position the blue marker between the carrot and the blue screwdriver.", + "start_idx": 378, + "end_idx": 534 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Using the left hand, pick up the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Have the left arm take the carrot from the table by its bottom with a side grasp from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "With the left hand, grasp the carrot from the table at the bottom using a side hold from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Pick up the carrot from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Take the carrot from the table by the bottom with a side grasp from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Grasp the carrot from the table at its bottom from a diagonal angle using a side hold.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Pick up the carrot from the table with the left hand from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Take the carrot from the table with the left hand at the bottom.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Grasp the carrot from the table from a diagonal angle.", + "start_idx": 534, + "end_idx": 633 + }, + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Using the left hand, take the blue marker from the table with a side grip at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Have the left arm grasp the blue marker from the table with a side hold at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "With the left hand, secure the blue marker from the table using a lateral grip at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Take the blue marker from the table with a side hold at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "From the table, grasp the blue marker with a lateral grip at the top.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Using the left hand, pick up the blue marker from the table.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Have the left arm take the blue marker from the table.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "With the left hand, grasp the blue marker from the table.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Pick up the blue marker from the table with the left hand.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Using the left hand, take the blue marker from the table.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Grab the blue marker from the table.", + "start_idx": 753, + "end_idx": 927 + }, + { + "text": "Put the blue marker in front of the blue screwdriver with the left hand facing top right with the tip as the reference point.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Using the left hand, place the blue marker in front of the blue screwdriver with the tip facing the top right.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Have the left arm put the blue marker in front of the blue screwdriver, oriented top right from the tip.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "With the left hand, set the blue marker in front of the blue screwdriver so its tip points to the top right.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Place the blue marker in front of the blue screwdriver with the tip facing the top right.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Set the blue marker in front of the blue screwdriver, oriented top right at the tip.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Position the blue marker in front of the blue screwdriver so the tip points toward the top right.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Put the blue marker in front of the blue screwdriver.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Place the blue marker in front of the blue screwdriver.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Set the blue marker in front of the blue screwdriver.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Have the left arm place the blue marker in front of the blue screwdriver.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Using the left hand, put the blue marker in front of the blue screwdriver.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "With the left hand, position the blue marker in front of the blue screwdriver.", + "start_idx": 927, + "end_idx": 1071 + }, + { + "text": "Pick up the white cup from the table with the left hand by the left side using a lip grasp from the top.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Using the left hand, take the white cup from the table by its left side with a lip grasp from the top.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Have the left arm grasp the white cup from the table at the left side using a top lip grip.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "With the left hand, pick the white cup off the table by the left side in a lip grasp from above.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Pick up the white cup from the table by the left side using a lip grasp from the top.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Take the white cup off the table at its left side with a top lip grip.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Grasp the white cup from the table by the left side using a lip hold from above.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Have the left arm take the white cup off the table.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Pick up the white cup from the table by the left side from the top.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Take the white cup off the table with the left hand.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Grasp the white cup from the table by the left side.", + "start_idx": 1320, + "end_idx": 1458 + }, + { + "text": "Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue screwdriver, right side up with the front as the reference point.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Have the left arm set the white cup left of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "With the left hand, position the white cup to the blue screwdriver's left, oriented right side up using the front as the reference point.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Place the white cup to the left of the blue screwdriver, keeping it right side up with the front as the reference point.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Set the white cup left of the blue screwdriver, oriented right side up relative to the front.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Position the white cup to the left of the blue screwdriver with the front as the orientation reference, right side up.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Using the left hand, put the white cup to the left of the blue screwdriver.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Have the left arm place the white cup left of the blue screwdriver.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "With the left hand, set the white cup to the blue screwdriver's left.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Place the white cup to the left of the blue screwdriver.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Set the white cup left of the blue screwdriver.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Position the white cup to the blue screwdriver's left.", + "start_idx": 1458, + "end_idx": 1557 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from above by grasping the entire object.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "From the top, have the left hand seize the gray stuffed animal on the table with a whole-object grasp.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "With the left arm, retrieve the gray stuffed animal from the table by grasping the entire object from above.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Pick up the gray stuffed animal from the table from above by grasping the entire object.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Take the gray stuffed animal from the table with a whole-object grasp from the top.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "From above, retrieve the gray stuffed animal from the table by holding the entire object.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table by grasping the entire object.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a full-object hold.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table while holding the whole object.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Retrieve the gray stuffed animal from the table.", + "start_idx": 1557, + "end_idx": 1701 + }, + { + "text": "Put the gray stuffed animal in front of the white cup with the left hand facing forwards.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Using the left hand, place the gray stuffed animal in front of the white cup facing forwards.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Have the left arm put the gray stuffed animal in front of the white cup with its front facing forward.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "With the left hand, set the gray stuffed animal before the white cup so it faces forwards.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Place the gray stuffed animal in front of the white cup facing forwards.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Set the gray stuffed animal before the white cup with its front facing forward.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Put the gray stuffed animal in front of the white cup so it faces forward.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Using the left hand, place the gray stuffed animal in front of the white cup.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "With the left hand, set the gray stuffed animal before the white cup.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Have the left arm put the gray stuffed animal in front of the white cup.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Position the gray stuffed animal in front of the white cup.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Put the gray stuffed animal before the white cup.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Set the gray stuffed animal in front of the white cup.", + "start_idx": 1701, + "end_idx": 1821 + }, + { + "text": "Pick up the carrot from the table with the left hand from the top at the middle.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Using the left hand, take the carrot from the table from the top at the middle.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Have the left arm grasp the carrot from the table from above at its middle.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "With the left hand, pick the carrot up from the table, contacting it from the top at the middle.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Pick up the carrot from the table from the top at the middle.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Take the carrot from the table from above at its middle.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Grasp the carrot from the table at the middle from the top.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Pick up the carrot from the table with the left hand.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Using the left hand, take the carrot from the table.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Have the left arm grasp the carrot from the table.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Retrieve the carrot from the table.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Get the carrot from the table from above.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "With the left hand, collect the carrot from the table from above.", + "start_idx": 1821, + "end_idx": 1944 + }, + { + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Using the left hand, pick up the blue marker from the table at a diagonal angle by grasping the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Have the left arm take the blue marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "With the left hand, retrieve the blue marker from the table on a diagonal approach, gripping the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Pick up the blue marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Retrieve the blue marker from the table on a diagonal approach by holding the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Take the blue marker from the table at a diagonal angle, with your grasp at the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Get the blue marker from the table, grasping the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Using the left hand, pick up the blue marker from the table by grasping the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "With the left hand, take the blue marker from the table, holding its middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Have the left arm retrieve the blue marker from the table by the middle.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Pick up the blue marker from the table.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Get the blue marker from the table.", + "start_idx": 2058, + "end_idx": 2178 + }, + { + "text": "Put the blue marker to the right of the blue screwdriver with the left hand facing forwards with the tip as the reference point.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Using the left hand, place the blue marker to the right of the blue screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Have the left arm set the blue marker to the right of the blue screwdriver, with the tip defining a forward-facing orientation.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "With the left hand, position the blue marker right of the blue screwdriver so it faces forwards using the tip as the reference point.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Place the blue marker to the right of the blue screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Set the blue marker right of the blue screwdriver with a forward-facing orientation based on the tip.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Position the blue marker to the right of the blue screwdriver so it faces forwards, using the tip as the reference point.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Move the blue marker to the right of the blue screwdriver.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Arrange the blue marker right of the blue screwdriver.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Set the blue marker to the right of the blue screwdriver.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Using the left hand, place the blue marker to the right of the blue screwdriver.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Have the left arm position the blue marker right of the blue screwdriver.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "With the left hand, move the blue marker to the right of the blue screwdriver.", + "start_idx": 2178, + "end_idx": 2259 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from the top at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the table with a top hold at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table by grasping it from above at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Take the gray stuffed animal from the table with a top grasp at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Retrieve the gray stuffed animal from the table by grasping it from above at the middle.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Retrieve the gray stuffed animal from the table.", + "start_idx": 2259, + "end_idx": 2358 + }, + { + "text": "Put the gray stuffed animal behind the blue screwdriver with the left hand facing top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the blue screwdriver with its front facing top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the blue screwdriver, front pointed toward the top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the blue screwdriver so the front faces top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Place the gray stuffed animal behind the blue screwdriver with its front facing top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Set the gray stuffed animal behind the blue screwdriver, front toward the top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Position the gray stuffed animal behind the blue screwdriver so it faces top left.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Using the left hand, put the gray stuffed animal behind the blue screwdriver.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Have the left arm place the gray stuffed animal behind the blue screwdriver.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "With the left hand, set the gray stuffed animal behind the blue screwdriver.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Place the gray stuffed animal behind the blue screwdriver.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Set the gray stuffed animal behind the blue screwdriver.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Position the gray stuffed animal behind the blue screwdriver.", + "start_idx": 2358, + "end_idx": 2409 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip from the top at the right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip from the top at the right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Have the left arm grasp the white cup from the table by the top right side using a lip grip.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "With the left hand, secure the white cup from the table using a lip grasp at the top on the right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Pick up the white cup from the table using a lip grip from the top at the right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Grasp the white cup from the table with a lip hold at the top right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "The white cup from the table should be picked up with a lip grip from the top at the right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Have the left arm collect the white cup from the table.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "With the left hand, grasp the white cup from the table from the top at the right side.", + "start_idx": 2409, + "end_idx": 2490 + }, + { + "text": "Put the white cup in front of the blue screwdriver with the left hand right side up with the front as the orientation reference point.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Using the left hand, place the white cup in front of the blue screwdriver right side up, with the front as the orientation reference point.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Have the left arm set the white cup in front of the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "With the left hand, position the white cup before the blue screwdriver in a right-side-up orientation using the front as the reference point.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Place the white cup in front of the blue screwdriver right side up, with the front as the orientation reference point.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Set the white cup before the blue screwdriver, keeping it right side up relative to the front.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Position the white cup in front of the blue screwdriver with the front as the orientation reference point, right side up.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Using the left hand, put the white cup in front of the blue screwdriver.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Have the left arm place the white cup before the blue screwdriver.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "With the left hand, set the white cup in front of the blue screwdriver.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Put the white cup in front of the blue screwdriver.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Set the white cup before the blue screwdriver.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Position the white cup in front of the blue screwdriver.", + "start_idx": 2490, + "end_idx": 2547 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at the left side using a lip grip.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Using the left hand, take the white cup from the table from the top at its left side with a lip grip.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Have the left arm grasp the white cup from the table at the left side from above using a lip grasp.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "With the left hand, secure the white cup from the table by the left side from the top using a lip hold.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Pick up the white cup from the table from the top at the left side using a lip grip.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Take the white cup from the table at the left side from above with a lip grasp.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Grasp the white cup from the table from the top at its left side using a lip hold.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "With the left hand, take the white cup from the table from above.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Have the left arm grasp the white cup from the table at the left side.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Pick up the white cup from the table from the top at the left side.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Take the white cup from the table with the left hand.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 2787, + "end_idx": 2892 + }, + { + "text": "Put the white cup to the left of the gray stuffed animal with the left hand right side up with the front as the reference point.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the white cup to the left of the gray stuffed animal right side up with the front as the reference point.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the white cup to the left of the gray stuffed animal, keeping it right side up relative to the front.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the white cup to the left of the gray stuffed animal in a right-side-up orientation using the front as reference.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Place the white cup to the left of the gray stuffed animal right side up with the front as the reference point.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Set the white cup to the left of the gray stuffed animal, keeping it right side up relative to the front.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Position the white cup to the left of the gray stuffed animal with the front as the reference point and the cup right side up.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Using the left hand, place the white cup to the left of the gray stuffed animal.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Have the left arm set the white cup to the left of the gray stuffed animal.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "With the left hand, position the white cup to the left of the gray stuffed animal.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Put the white cup to the left of the gray stuffed animal.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Set the white cup to the left of the gray stuffed animal.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Position the white cup to the left of the gray stuffed animal.", + "start_idx": 2892, + "end_idx": 3000 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "At a diagonal angle, have the right hand pick up the gray stuffed animal from the table by the middle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "With the right hand, grasp the middle of the gray stuffed animal on the table and raise it diagonally.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Take the gray stuffed animal from the table by the middle at a diagonal angle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "From the table, grasp the middle of the gray stuffed animal at a diagonal angle and pick it up.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Have the right hand take the gray stuffed animal from the table by the middle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the table and pick it up.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Take the gray stuffed animal from the table with the right hand.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Grasp the gray stuffed animal from the table by the middle.", + "start_idx": 1071, + "end_idx": 1224 + }, + { + "text": "Put the gray stuffed animal in front of the beige bowl with the right hand facing forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Using the right hand, place the gray stuffed animal in front of the beige bowl facing forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Have the right arm set the gray stuffed animal in front of the beige bowl with its front facing forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "With the right hand, position the gray stuffed animal before the beige bowl so it faces forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Place the gray stuffed animal in front of the beige bowl facing forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Set the gray stuffed animal before the beige bowl with its front facing forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Position the gray stuffed animal in front of the beige bowl so it faces forwards.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Using the right hand, put the gray stuffed animal in front of the beige bowl.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Have the right arm place the gray stuffed animal before the beige bowl.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "With the right hand, set the gray stuffed animal in front of the beige bowl.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Put the gray stuffed animal in front of the beige bowl.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Set the gray stuffed animal before the beige bowl.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Position the gray stuffed animal in front of the beige bowl.", + "start_idx": 1224, + "end_idx": 1320 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a lip grip at the right side with a diagonal pick angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip at the right side and a diagonal pick angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "With a diagonal approach, have the right hand grasp the beige bowl from the table by its right side using a lip grip.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "The right hand should take the beige bowl from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Pick up the beige bowl from the table with a lip grip at the right side and a diagonal pick angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Take the beige bowl from the table by its right side using a lip grasp with a diagonal approach.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Grasp the beige bowl from the table on the right side with a lip grip at a diagonal angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a lip grip.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Have the right hand take the beige bowl from the table by its right side.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "With the right hand, grasp the beige bowl from the table using a lip grip.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Pick up the beige bowl from the table at the right side with a diagonal pick angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Using the right hand, take the beige bowl from the table at the right side with a diagonal angle.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 2547, + "end_idx": 2676 + }, + { + "text": "Put the beige bowl to the right of the blue marker with the right hand.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Using the right hand, place the beige bowl to the right of the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Have the right arm set the beige bowl to the right of the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "With the right hand, position the beige bowl on the blue marker's right side.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Place the beige bowl to the right of the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Set the beige bowl on the right side of the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Position the beige bowl to the blue marker's right.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Using the right hand, put the beige bowl by the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "With the right hand, place the beige bowl beside the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Have the right arm set the beige bowl next to the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Put the beige bowl beside the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Arrange the beige bowl next to the blue marker.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "The beige bowl goes on the blue marker's right side.", + "start_idx": 2676, + "end_idx": 2739 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "With the right gripper, go to home.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Move back to the home position.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Return to home.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Go to the home position.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Head to home.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Resume the home position.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Move to home.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Back to the home position.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Go home.", + "start_idx": 2739, + "end_idx": 2787 + }, + { + "text": "Return to the home pose.", + "start_idx": 2739, + "end_idx": 2787 + } + ] + }, + "2026-04-23-03-52-30-479000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Using the left hand, take the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "From a diagonal angle, have the left hand grasp the blue marker off the table with a side hold at the bottom.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "With the left hand, secure the blue marker from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Take the blue marker from the table with a side grip at the bottom from a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "From a diagonal angle, grasp the blue marker off the table with a side hold at the bottom.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Secure the blue marker from the table by its bottom using a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Using the left hand, pick up the blue marker from the table with a side grip at the bottom.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "With the left hand, take the blue marker off the table using a side hold at the bottom.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Have the left hand grasp the blue marker from the table by its bottom with a side grasp.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Pick up the blue marker from the table with the left hand from a diagonal angle.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Take the blue marker off the table with the left hand.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Grasp the blue marker from the table using a side grip.", + "start_idx": 0, + "end_idx": 201 + }, + { + "text": "Put the blue marker in front of the beige bowl with the left hand with its tip facing bottom right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Using the left hand, place the blue marker in front of the beige bowl with its tip pointed toward the bottom right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Have the left arm set the blue marker in front of the beige bowl, tip facing bottom right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "With the left hand, position the blue marker in front of the beige bowl so its tip faces the bottom right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Place the blue marker in front of the beige bowl with its tip facing bottom right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Set the blue marker in front of the beige bowl with the tip pointed bottom right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Position the blue marker in front of the beige bowl so the tip faces toward the lower right.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Using the left hand, put the blue marker in front of the beige bowl.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "With the left hand, place the blue marker in front of the beige bowl.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Have the left arm set the blue marker in front of the beige bowl.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Place the blue marker in front of the beige bowl.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Set the blue marker in front of the beige bowl.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Position the blue marker in front of the beige bowl.", + "start_idx": 201, + "end_idx": 369 + }, + { + "text": "Pick up the carrot from the table with the left hand at a diagonal angle from the middle.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Have the left arm take the carrot from the table with a diagonal middle grasp.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "With the left hand, grasp the carrot from the table diagonally at its middle.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle from the middle.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Take the carrot from the table with a diagonal grasp from the middle.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Grasp the carrot from the table diagonally at its middle.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Take the carrot from the table.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Grasp the carrot from the table.", + "start_idx": 369, + "end_idx": 534 + }, + { + "text": "Put the carrot in front of the blue screwdriver with the left hand facing backwards.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Using the left hand, place the carrot in front of the blue screwdriver with its tip facing backwards.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Have the left arm set the carrot before the blue screwdriver, tip oriented backward.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "With the left hand, position the carrot in front of the blue screwdriver so the tip points backward.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Place the carrot in front of the blue screwdriver with its tip facing backwards.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Set the carrot before the blue screwdriver, with the tip oriented backward.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Position the carrot in front of the blue screwdriver so its tip faces backward.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Using the left hand, put the carrot in front of the blue screwdriver.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Have the left arm place the carrot before the blue screwdriver.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "With the left hand, set the carrot in front of the blue screwdriver.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Place the carrot in front of the blue screwdriver.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Set the carrot before the blue screwdriver.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Position the carrot in front of the blue screwdriver.", + "start_idx": 534, + "end_idx": 663 + }, + { + "text": "Pick up the carrot from the table with the left hand using a side grip at the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the carrot from the table with a side grip at the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Have the left arm grasp the carrot from the table with a side hold at its top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "With the left hand, secure the carrot from the table using a side grasp on the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Pick up the carrot from the table using a side grip at the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Take the carrot from the table with a side hold at the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Grasp the carrot from the table with a side grasp on the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Using the left hand, pick up the carrot from the table.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Have the left arm take the carrot from the table.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "With the left hand, grasp the carrot from the table.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Pick up the carrot from the table.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the carrot from the table.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Grab the carrot from the table with a side grip at the top.", + "start_idx": 1041, + "end_idx": 1143 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top around the entire object.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table from the top around the entire object.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "From the top, have the left hand grasp the gray stuffed animal on the table around the entire object.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table by securing the entire object from above.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top around the entire object.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "From above, grasp the gray stuffed animal on the table around the entire object.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Take the gray stuffed animal from the table by holding the entire object from the top.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Have the left hand take the gray stuffed animal from the table.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "From above, take the gray stuffed animal from the table.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 1287, + "end_idx": 1434 + }, + { + "text": "Put the gray stuffed animal to the left of the carrot with the left hand facing forwards.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the carrot with it facing forwards.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Have the left arm set the gray stuffed animal to the carrot's left side, facing front.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "With the left hand, position the gray stuffed animal left of the carrot, oriented forwards.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Place the gray stuffed animal to the left of the carrot with it facing forwards.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Set the gray stuffed animal on the left side of the carrot, facing forwards.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Position the gray stuffed animal left of the carrot with the front facing forward.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Place the gray stuffed animal to the left of the carrot.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Set the gray stuffed animal on the carrot's left side.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Position the gray stuffed animal left of the carrot.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the carrot.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Have the left arm set the gray stuffed animal on the carrot's left side.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Put the gray stuffed animal beside the carrot on its left.", + "start_idx": 1434, + "end_idx": 1536 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at the right side using a lip grip.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Using the left hand, pick up the white cup from the table from the top at the right side with a lip grip.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Have the left arm take the white cup from the table by grasping its right side from above using a lip grasp.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "With a lip grip, the left hand should collect the white cup from the table from the top on the right side.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Pick up the white cup from the table from the top at the right side using a lip grip.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Take the white cup from the table by grasping it from above on the right side with a lip grasp.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "From the table, collect the white cup at its right side from the top using a lip grip.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a lip grip.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Have the left arm take the white cup from the table using a lip grasp.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "With the left hand, collect the white cup from the table using a lip grip.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Using the left hand, pick up the white cup from the table from the top at the right side.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Pick up the white cup from the table from the top at the right side.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 1536, + "end_idx": 1665 + }, + { + "text": "Put the white cup behind the blue screwdriver with the left hand right side up with the front as the orientation reference point.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Using the left hand, place the white cup behind the blue screwdriver right side up, with the front as the reference point.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Have the left arm set the white cup behind the blue screwdriver in an upright orientation, referencing the front.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "With the left hand, position the white cup behind the blue screwdriver so it stays right side up relative to the front.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Place the white cup behind the blue screwdriver right side up, with the front as the reference point.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Set the white cup behind the blue screwdriver in an upright orientation using the front as the reference point.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Position the white cup behind the blue screwdriver so it is right side up relative to the front.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Using the left hand, put the white cup behind the blue screwdriver.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Have the left arm place the white cup behind the blue screwdriver.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "With the left hand, set the white cup behind the blue screwdriver.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Put the white cup behind the blue screwdriver.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Position the white cup behind the blue screwdriver.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Set the white cup behind the blue screwdriver.", + "start_idx": 1665, + "end_idx": 1782 + }, + { + "text": "Pick up the white cup from the table with the left hand using a lip grip from the top at the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Using the left hand, take the white cup from the table with a lip grip from the top at the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Have the left arm grasp the white cup from the table with a lip hold from above on the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "With the left hand, secure the white cup from the table using a top lip grip on its right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Pick up the white cup from the table using a lip grip from the top at the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Grasp the white cup from the table with a lip hold from above on the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "The white cup from the table should be taken with a top lip grip at its right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Have the left arm take the white cup from the table.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "With the left hand, grasp the white cup from the table.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Pick up the white cup from the table with the left hand from the top at the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Using the left hand, take the white cup from the table from above on the right side.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Grasp the white cup from the table with the left hand at the right side from the top.", + "start_idx": 2460, + "end_idx": 2673 + }, + { + "text": "Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the reference point.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue screwdriver, right side up relative to the front.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Have the left arm set the white cup left of the blue screwdriver with its right side up, using the front as reference.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "With the left hand, position the white cup to the left of the blue screwdriver so it is right side up from the front.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Place the white cup to the left of the blue screwdriver, right side up relative to the front.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Set the white cup left of the blue screwdriver with its right side up, using the front as reference.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Position the white cup to the left of the blue screwdriver so it is right side up from the front.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Using the left hand, place the white cup to the left of the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "With the left hand, set the white cup left of the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Have the left arm position the white cup to the left of the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Put the white cup to the left of the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Set the white cup left of the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Position the white cup to the left of the blue screwdriver.", + "start_idx": 2673, + "end_idx": 2796 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Have the right arm take the beige bowl from the table with a diagonal grasp on its right lip.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "With the right hand, grasp the beige bowl from the table at the right lip using a diagonal hold.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Pick up the beige bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Take the beige bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Grasp the beige bowl from the table at the right lip with a diagonal hold.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Using the right hand, pick up the beige bowl from the table.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Have the right arm take the beige bowl from the table.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "With the right hand, grasp the beige bowl from the table.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Pick up the beige bowl from the table on the right side.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "From the table, take the beige bowl with the right hand.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Grasp the beige bowl from the table.", + "start_idx": 663, + "end_idx": 804 + }, + { + "text": "Put the beige bowl to the right side of the table with the right hand.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Using the right hand, place the beige bowl on the table's right side, right side up relative to the front.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Have the right arm set the beige bowl on the right side of the table, keeping it right side up toward the front.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "With the right hand, position the beige bowl at the table's right side, upright with respect to the front.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Place the beige bowl on the right side of the table.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Set the beige bowl at the table's right side.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "The beige bowl goes on the right side of the table.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Move the beige bowl to the table's right side.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Using the right hand, place the beige bowl on the right side of the table.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Have the right arm set the beige bowl at the table's right side.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "With the right hand, move the beige bowl to the table's right side.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Put the beige bowl on the table's right side, right side up relative to the front.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Position the beige bowl at the table's right side, upright with respect to the front.", + "start_idx": 804, + "end_idx": 876 + }, + { + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Using the right hand, take the blue marker from the table with a side grip at the bottom from the top.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Have the right arm grasp the blue marker from the table from the top, holding its bottom with a side grasp.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "With the right hand, seize the blue marker from the table from above using a side hold on the bottom.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Pick up the blue marker from the table using a side grip at the bottom from the top.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "From above, grasp the blue marker from the table with a side hold at the bottom.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Take the blue marker from the table, approaching from the top with a side grasp on the bottom.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Using the right hand, pick up the blue marker from the table with a side grip.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Have the right arm take the blue marker from the table using a side grasp.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "With the right hand, grasp the blue marker from the table with a lateral hold.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Pick up the blue marker from the table from the top.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "From above, take the blue marker from the table.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Have the right arm grasp the blue marker from the table.", + "start_idx": 876, + "end_idx": 984 + }, + { + "text": "Put the blue marker inside the beige bowl with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Using the right hand, place the blue marker in the beige bowl with the tip facing bottom right.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Have the right hand set the blue marker inside the beige bowl so the tip points bottom right.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "With the right hand, position the blue marker in the beige bowl, tip oriented toward the bottom right.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Put the blue marker inside the beige bowl with the tip facing bottom right.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Place the blue marker into the beige bowl with the tip pointed bottom right.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Set the blue marker in the beige bowl so its tip faces bottom right.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Using the right hand, put the blue marker inside the beige bowl.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "With the right hand, place the blue marker into the beige bowl.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Have the right hand set the blue marker in the beige bowl.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Put the blue marker in the beige bowl.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Place the blue marker into the beige bowl.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Set the blue marker inside the beige bowl.", + "start_idx": 983, + "end_idx": 1041 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Have the right hand pick the gray stuffed animal up from the table with a diagonal approach at its middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the table diagonally by the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal approach at the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Retrieve the gray stuffed animal from the table diagonally, holding the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table, grasping the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "With the right hand, take the gray stuffed animal from the table by the middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Have the right hand retrieve the gray stuffed animal from the table at its middle.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Take the gray stuffed animal from the table diagonally.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Get the gray stuffed animal from the table.", + "start_idx": 1782, + "end_idx": 1995 + }, + { + "text": "Put the gray stuffed animal to the right of the beige bowl with the right hand facing forwards with the front as the orientation reference point.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the beige bowl with the front facing forwards.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Have the right arm set the gray stuffed animal to the right of the beige bowl, front pointed forwards.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "With the right hand, position the gray stuffed animal to the right of the beige bowl so its front faces forwards.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Place the gray stuffed animal to the right of the beige bowl with the front facing forwards.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Set the gray stuffed animal to the right of the beige bowl so the front points forwards.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Position the gray stuffed animal to the right of the beige bowl, front facing forwards.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the beige bowl.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Have the right arm set the gray stuffed animal to the right of the beige bowl.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "With the right hand, position the gray stuffed animal to the right of the beige bowl.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Place the gray stuffed animal to the right of the beige bowl.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Set the gray stuffed animal to the right of the beige bowl.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Have the gray stuffed animal placed to the right of the beige bowl.", + "start_idx": 1995, + "end_idx": 2070 + }, + { + "text": "Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Using the right hand, take the beige bowl from the table with a diagonal lip grasp on its right side.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Have the right arm pick the beige bowl up from the table using a diagonal grasp on the bowl's right lip.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "With the right hand, grasp the beige bowl from the table at the right side using a diagonal lip hold.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Pick up the beige bowl from the table using a diagonal lip grasp at the right side.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Take the beige bowl from the table with a diagonal lip hold on its right side.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Grasp the beige bowl from the table at the right side with a diagonal lip grip.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Pick up the beige bowl from the table with the right hand.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Using the right hand, take the beige bowl from the table.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Have the right arm grasp the beige bowl from the table.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Pick up the beige bowl from the table.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "With the right hand, pick up the beige bowl from the table.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Take the beige bowl from the table at the right side.", + "start_idx": 2070, + "end_idx": 2142 + }, + { + "text": "Put the beige bowl behind the gray stuffed animal with the right hand.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Using the right hand, place the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Have the right arm set the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "With the right hand, position the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Place the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Set the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Position the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Put the beige bowl behind the gray stuffed animal.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Behind the gray stuffed animal, place the beige bowl.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Using the right hand, place the beige bowl.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Have the right arm set the beige bowl down.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "With the right hand, position the beige bowl.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Place the beige bowl.", + "start_idx": 2142, + "end_idx": 2235 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Using the right hand, pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Have the right arm take the carrot from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "With the right hand, retrieve the carrot from the table diagonally by the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Pick up the carrot from the table at a diagonal angle, grasping the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Retrieve the carrot from the table with a diagonal pickup at the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Take the carrot from the table diagonally, holding the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Using the right hand, pick up the carrot from the table, grasping the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "With the right hand, take the carrot from the table by the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Have the right arm retrieve the carrot from the table while holding its middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Pick up the carrot from the table with the right hand at a diagonal angle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Take the carrot from the table diagonally with the right hand.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Get the carrot from the table by the middle.", + "start_idx": 2235, + "end_idx": 2331 + }, + { + "text": "Put the carrot to the left of the beige bowl with the right hand with its tip facing bottom right.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Using the right hand, place the carrot to the left of the beige bowl with its tip pointing to the bottom right.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Have the right arm set the carrot left of the beige bowl, tip oriented toward the bottom right.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "With the right hand, position the carrot on the left side of the beige bowl, keeping its tip aimed bottom right.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Place the carrot to the left of the beige bowl.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Set the carrot on the left side of the beige bowl.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Position the carrot left of the beige bowl.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Using the right hand, place the carrot to the left of the beige bowl.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Have the right arm set the carrot beside the beige bowl on its left.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "With the right hand, position the carrot on the beige bowl's left side.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Place the carrot to the left of the beige bowl with its tip pointing bottom right.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Set the carrot on the left side of the beige bowl, tip facing the bottom right.", + "start_idx": 2331, + "end_idx": 2460 + }, + { + "text": "Position the carrot left of the beige bowl with the tip aimed toward the bottom right.", + "start_idx": 2331, + "end_idx": 2460 + } + ] + }, + "2026-04-23-03-58-10-520000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm grasp the canned goods from the table using a top side hold at a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, seize the canned goods from the table by the top with a side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the canned goods from the table with a top side grasp from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the canned goods from the table at the top with a side hold from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip at the top.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp at the top.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, grasp the canned goods from the table from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, pick up the canned goods from the table at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the canned goods from the table with the left hand from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the canned goods from the table at the top from a diagonal angle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the canned goods to the bottom left of the white coffee cup with the left hand.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Using the left hand, place the canned goods at the bottom left of the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Have the left arm set the canned goods down at the white coffee cup's bottom-left side.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "With the left hand, position the canned goods just below and left of the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Place the canned goods at the bottom left of the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Set the canned goods down just below and left of the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Position the canned goods at the white coffee cup's bottom-left side.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Leave the canned goods by the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Put the canned goods next to the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Set the canned goods down near the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Place the canned goods by the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Using the left hand, place the canned goods by the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Have the left arm set the canned goods down near the white coffee cup.", + "start_idx": 99, + "end_idx": 207 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from the side at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Using the left hand, take the blue soda can from the table by grasping it from the side at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Have the left arm pick up the blue soda can from the table with a side grasp at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "With the left hand, collect the blue soda can from the table from the side at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Pick up the blue soda can from the table from the side at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "From the table, grasp the blue soda can from the side at the middle.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Using the left hand, take the blue soda can from the table.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Get the blue soda can from the table.", + "start_idx": 207, + "end_idx": 381 + }, + { + "text": "Put the blue soda can to the top left of the canned goods with the left hand.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Using the left hand, place the blue soda can at the top left of the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Have the left arm set the blue soda can in the top-left spot beside the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "With the left hand, position the blue soda can to the upper left of the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Place the blue soda can at the top left of the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Set the blue soda can in the top-left area near the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Position the blue soda can to the upper left of the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Put the blue soda can beside the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Move the blue soda can near the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Arrange the blue soda can by the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Place the blue soda can next to the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Set the blue soda can at the top left of the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Position the blue soda can in the upper-left spot by the canned goods.", + "start_idx": 381, + "end_idx": 501 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "With the left arm, grasp the blue soda can off the table using a side hold at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Have the left hand secure the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Grasp the blue soda can off the table with a side hold at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Using a side grip, pick up the blue soda can from the table with the left hand.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "With the left hand, take the blue soda can off the table using a side hold.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side grasp.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "From a diagonal angle, take the blue soda can off the table with the left hand.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1299, + "end_idx": 1464 + }, + { + "text": "Put the blue soda can to the right of the canned goods with the left hand.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Place the blue soda can to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Set the blue soda can down to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Position the blue soda can on the right side of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Move the blue soda can to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Arrange the blue soda can to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "The blue soda can goes to the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Put the blue soda can by the right side of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Set the blue soda can on the right of the canned goods.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Place the blue soda can beside the canned goods on the right.", + "start_idx": 1464, + "end_idx": 1659 + }, + { + "text": "Pick up the canned goods from the table with the left hand using a side grip at the top diagonally.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Using the left hand, take the canned goods from the table with a side grasp at the top diagonally.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Have the left arm pick up the canned goods from the table, gripping the top from the side on a diagonal.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "With the left hand, collect the canned goods from the table using a diagonal side hold at the top.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top diagonally.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Take the canned goods from the table with a side grasp at the top diagonally.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Collect the canned goods from the table with a diagonal side hold at the top.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the canned goods from the table with a side grip.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Have the left arm take the canned goods from the table using a side grasp.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "With the left hand, collect the canned goods from the table using a side hold.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Using the left hand, pick up the canned goods from the table diagonally.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Have the left arm take the canned goods from the table at the top diagonal.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2325, + "end_idx": 2472 + }, + { + "text": "Put the canned goods to the bottom left of the blue soda can with the left hand.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Using the left hand, place the canned goods at the bottom left of the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Have the left arm set the canned goods down at the blue soda can's bottom-left side.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "With the left hand, position the canned goods to the lower left of the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Place the canned goods at the bottom left of the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Set the canned goods down to the lower left of the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Position the canned goods on the bottom-left side of the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Arrange the canned goods at the blue soda can's lower-left side.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "The canned goods go at the bottom left of the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Move the canned goods to the blue soda can's lower-left side.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Put the canned goods beside the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Set the canned goods down next to the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Position the canned goods by the blue soda can.", + "start_idx": 2472, + "end_idx": 2580 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip from the top at the right side.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a lip grip from the top at the right side.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table using a lip grasp from above on its right side.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "With the right hand, secure the white coffee cup from the table by its right side using a top lip hold.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grip from the top at the right side.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Grasp the white coffee cup from the table with a lip hold from above on its right side.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "The white coffee cup from the table should be taken with a top lip grasp at the right side.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 558, + "end_idx": 852 + }, + { + "text": "Put the white coffee cup to the right of the pink coffee cup with the handle facing bottom left right side up using the right arm.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the pink coffee cup, handle facing bottom left and right side up.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink coffee cup with its handle pointing bottom left, upright.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the pink coffee cup, keeping it right side up and the handle facing bottom left.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Place the white coffee cup to the right of the pink coffee cup with the handle facing bottom left and right side up.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Set the white coffee cup to the right of the pink coffee cup, upright with its handle pointing bottom left.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Position the white coffee cup to the right of the pink coffee cup, keeping the handle toward bottom left and the cup right side up.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the pink coffee cup.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink coffee cup.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the pink coffee cup.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Place the white coffee cup to the right of the pink coffee cup.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Set the white coffee cup to the right of the pink coffee cup.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Position the white coffee cup to the right of the pink coffee cup.", + "start_idx": 852, + "end_idx": 972 + }, + { + "text": "Pick up the pink coffee cup from the table with the right hand from the top at the right side using a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Using the right hand, take the pink coffee cup from the table from the top at the right side with a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Have the right arm grasp the pink coffee cup from the table at the right side from above using a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "With the right hand, secure the pink coffee cup from the table via a lip grasp at the cup's right side from the top.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Pick up the pink coffee cup from the table from the top at the right side using a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Take the pink coffee cup from the table at the right side from above with a lip grasp.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Grasp the pink coffee cup from the table on its right side from the top using a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the pink coffee cup from the table with a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Have the right arm take the pink coffee cup from the table using a lip grasp.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "With the right hand, grasp the pink coffee cup from the table using a lip grip.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Pick up the pink coffee cup from the table from the top at the right side.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Take the pink coffee cup from the table on its right side from above.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Using the right hand, pick up the pink coffee cup from the table.", + "start_idx": 1065, + "end_idx": 1119 + }, + { + "text": "Put the pink coffee cup to the top right of the white coffee cup with the handle facing backwards right side up using the right arm.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Using the right arm, place the pink coffee cup at the white coffee cup's top right, with its handle facing backward and upright.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Have the right arm set the pink coffee cup to the upper right of the white coffee cup, handle pointed backward and right side up.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "With the right arm, position the pink coffee cup top-right of the white coffee cup, keeping the handle facing back and the cup upright.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Place the pink coffee cup to the top right of the white coffee cup with the handle facing backward and upright.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Set the pink coffee cup at the upper right of the white coffee cup, with the handle pointing backward and the cup right side up.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Position the pink coffee cup top-right of the white coffee cup, keeping the handle directed backward and upright.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Using the right arm, put the pink coffee cup to the top right of the white coffee cup.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Have the right arm place the pink coffee cup at the upper right of the white coffee cup.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "With the right arm, set the pink coffee cup top-right of the white coffee cup.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Put the pink coffee cup to the top right of the white coffee cup.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Using the right arm, place the pink coffee cup by the white coffee cup.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Set the pink coffee cup by the white coffee cup.", + "start_idx": 1119, + "end_idx": 1299 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grasp from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grasp from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Have the right arm take the white coffee cup from the table using a top-right lip grasp.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "With the right hand, grasp the white coffee cup on the table by the lip from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Pick up the white coffee cup from the table using a lip grasp from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Take the white coffee cup from the table with a lip grasp from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Grasp the white coffee cup from the table by the lip from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grasp.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Have the right arm take the white coffee cup from the table using a lip hold.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table by the lip.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table from the top at the right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Have the right arm take the white coffee cup from the table at the top-right.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1659, + "end_idx": 1809 + }, + { + "text": "Put the white coffee cup to the bottom right of the pink coffee cup with the handle facing bottom left using the right hand.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Using the right hand, place the white coffee cup at the bottom right of the pink coffee cup, with its handle pointing bottom left.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Have the right hand set the white coffee cup down bottom-right of the pink coffee cup, handle oriented toward the bottom left.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "With the right hand, position the white coffee cup to the lower right of the pink coffee cup so the handle faces bottom left.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Place the white coffee cup at the bottom right of the pink coffee cup, with the handle pointing bottom left.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Set the white coffee cup down to the lower right of the pink coffee cup, with its handle facing bottom left.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Position the white coffee cup bottom-right of the pink coffee cup, handle directed toward the bottom left.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Move the white coffee cup to the bottom right of the pink coffee cup.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Put the white coffee cup down to the lower right of the pink coffee cup.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Set the white coffee cup at the bottom right of the pink coffee cup.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Using the right hand, place the white coffee cup at the bottom right of the pink coffee cup.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "With the right hand, set the white coffee cup down to the lower right of the pink coffee cup.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Have the right hand position the white coffee cup bottom-right of the pink coffee cup.", + "start_idx": 1809, + "end_idx": 2034 + }, + { + "text": "Pick up the blue soda can from the table with the right hand from the side at the middle.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Using the right hand, take the blue soda can from the table from the side at the middle.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Have the right arm grasp the blue soda can on the table with a side approach at its middle.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "With the right hand, pick the blue soda can up from the table by its middle from the side.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Pick up the blue soda can from the table from the side at the middle.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the middle.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Grasp the blue soda can on the table from the side at its middle.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Using the right hand, take the blue soda can from the table.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Have the right arm grasp the blue soda can on the table.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Take the blue soda can from the table from the side.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "With the right hand, pick up the blue soda can from the table from the side.", + "start_idx": 2034, + "end_idx": 2202 + }, + { + "text": "Put the blue soda can to the left of the pink coffee cup with the right hand.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Using the right hand, place the blue soda can to the left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Have the right arm set the blue soda can left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "With the right hand, position the blue soda can on the left side of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Place the blue soda can to the left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Set the blue soda can left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Position the blue soda can on the left side of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "The blue soda can goes to the left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Move the blue soda can to the left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Arrange the blue soda can left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Put the blue soda can on the left side of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Set the blue soda can to the cup's left side.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Place the soda can left of the pink coffee cup.", + "start_idx": 2202, + "end_idx": 2325 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table with a lip grasp on its right side at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "With the right hand, secure the white coffee cup from the table by its lip from the right at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Pick up the white coffee cup from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Take the white coffee cup from the table by its lip from the right at a diagonal angle.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Grasp the white coffee cup from the table on the right side at a diagonal angle using a lip grasp.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table with a lip grip.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "With the right hand, take the white coffee cup from the table using a lip grasp.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Have the right arm collect the white coffee cup from the table with a lip hold.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Take the white coffee cup from the table.", + "start_idx": 2580, + "end_idx": 2802 + }, + { + "text": "Put the white coffee cup to the right of the pink coffee cup with the handle facing bottom right right side up with the right hand.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the pink coffee cup, handle facing bottom right and right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink coffee cup with its handle pointed bottom right, right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the pink coffee cup, keeping the handle toward the bottom right and the cup upright.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Place the white coffee cup to the right of the pink coffee cup with the handle facing bottom right and right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Set the white coffee cup to the right of the pink coffee cup, handle facing bottom right and upright.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Position the white coffee cup to the right of the pink coffee cup with its handle toward the bottom right, right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the pink coffee cup.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink coffee cup.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the pink coffee cup.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Put the white coffee cup with the handle facing bottom right and right side up.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Set the white coffee cup upright with its handle toward the bottom right.", + "start_idx": 2802, + "end_idx": 2901 + }, + { + "text": "Using the right hand, place the white coffee cup upright.", + "start_idx": 2802, + "end_idx": 2901 + } + ] + }, + "2026-04-23-04-03-27-173000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the pink mug from the table with the right hand from the side by the handle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, take the pink mug from the table from the side by the handle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right arm grasp the pink mug on the table by the handle from the side.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, seize the pink mug from the table at the handle from the side.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the pink mug from the table from the side by the handle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the pink mug from the table by the handle from the side.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the pink mug on the table at the handle from the side.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, pick up the pink mug from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right arm take the pink mug from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, grasp the pink mug on the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the pink mug from the table with the right hand.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the pink mug from the table using the right hand.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the pink mug on the table with the right hand.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the pink mug to the right of the white coffee cup with the handle facing bottom right right side up using the right arm.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Using the right arm, place the pink mug to the right of the white coffee cup, right side up, with its handle facing bottom right.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Have the right arm set the pink mug to the right of the white coffee cup with the handle pointing bottom right, keeping it upright.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "With the right arm, position the pink mug upright to the right of the white coffee cup, its handle oriented toward the bottom right.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Place the pink mug to the right of the white coffee cup, right side up, with the handle facing bottom right.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Set the pink mug to the right of the white coffee cup upright, with its handle pointing bottom right.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Position the pink mug to the right of the white coffee cup with the handle toward the bottom right, keeping it right side up.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Using the right arm, put the pink mug to the right of the white coffee cup.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Have the right arm place the pink mug to the right of the white coffee cup.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "With the right arm, set the pink mug to the right of the white coffee cup.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Put the pink mug to the right of the white coffee cup.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Set the pink mug beside the white coffee cup.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Position the pink mug to the right of the white coffee cup with the right arm.", + "start_idx": 99, + "end_idx": 219 + }, + { + "text": "Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Using the right hand, take the pink mug from the table with a diagonal lip grasp on the right.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Have the right arm pick up the pink mug from the table via a right-side diagonal lip grasp.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "With the right hand, grasp the pink mug from the table using the lip on its right at a diagonal angle.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Pick up the pink mug from the table using a diagonal lip grasp on the right.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Take the pink mug from the table with a right-side diagonal lip grasp.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Grasp the pink mug from the table via the lip on the right at a diagonal angle.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Using the right hand, pick up the pink mug from the table.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "With the right hand, take the pink mug from the table.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Have the right arm grasp the pink mug from the table.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Pick up the pink mug from the table with the right hand.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Using the right hand, take the pink mug from the table.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Grasp the pink mug from the table.", + "start_idx": 537, + "end_idx": 735 + }, + { + "text": "Put the pink mug in front of the blue soda can with the handle facing bottom left using the right hand.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Using the right hand, place the pink mug in front of the blue soda can with the handle pointing to the bottom left.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Have the right arm set the pink mug before the blue soda can, keeping the handle oriented bottom left.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "With the right hand, position the pink mug in front of the blue soda can so its handle faces the lower left.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Place the pink mug in front of the blue soda can with the handle pointing to the bottom left.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Set the pink mug before the blue soda can, with its handle facing the lower left.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Position the pink mug in front of the blue soda can, handle toward the bottom left.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Using the right hand, put the pink mug in front of the blue soda can.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "With the right hand, set the pink mug before the blue soda can.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Have the right arm place the pink mug in front of the blue soda can.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Put the pink mug in front of the blue soda can.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Set the pink mug before the blue soda can.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Position the pink mug in front of the blue soda can.", + "start_idx": 735, + "end_idx": 936 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand by the handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Using the right hand, take the white coffee cup from the table by its handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "With the right hand, secure the white coffee cup from the table by the handle using a side approach.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Take the white coffee cup from the table at the handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "From the table, grasp the white coffee cup by its handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Get hold of the white coffee cup from the table by the handle from the side.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "With the right hand, take the white coffee cup from the table.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Have the right arm retrieve the white coffee cup from the table.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "From the table, grasp the white coffee cup by its handle.", + "start_idx": 936, + "end_idx": 1134 + }, + { + "text": "Put the white coffee cup to the right of the canned goods with the right hand right side up with the front facing backwards.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the canned goods, right side up, with the front facing backward.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the canned goods upright, with its front pointed backward.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "With the right hand, position the white coffee cup to the right of the canned goods so it stays right side up and faces backward.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Place the white coffee cup to the right of the canned goods, right side up, with the front facing backward.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Set the white coffee cup to the right of the canned goods upright with its front facing backward.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Position the white coffee cup to the right of the canned goods so it is right side up and facing backward.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Using the right hand, place the white coffee cup to the right of the canned goods.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "With the right hand, set the white coffee cup to the right of the canned goods.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Have the right arm position the white coffee cup to the right of the canned goods.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Put the white coffee cup to the right of the canned goods.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Set the white coffee cup to the right of the canned goods.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Position the white coffee cup to the right of the canned goods.", + "start_idx": 1134, + "end_idx": 1284 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand from the side by the handle.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Using the right hand, take the white coffee cup from the table from the side by the handle.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Have the right arm grasp the white coffee cup from the table at the handle from the side.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "With the right hand, pick the white coffee cup off the table by its handle from the side.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Pick up the white coffee cup from the table from the side by the handle.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "From the side, grasp the white coffee cup from the table by the handle.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Take the white coffee cup off the table using the handle from the side.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Have the right arm take the white coffee cup off the table.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Take the white coffee cup off the table.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 1671, + "end_idx": 1824 + }, + { + "text": "Put the white coffee cup in front of the blue soda can with the handle facing bottom right using the right hand.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Using the right hand, place the white coffee cup in front of the blue soda can with the handle pointing to the bottom right.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Have the right arm set the white coffee cup before the blue soda can, keeping the handle directed toward the lower right.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "With the right hand, position the white coffee cup in front of the blue soda can so the handle faces bottom right.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Place the white coffee cup in front of the blue soda can with the handle facing bottom right.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Set the white coffee cup before the blue soda can, with the handle pointing to the lower right.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Position the white coffee cup in front of the blue soda can, keeping the handle directed bottom right.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Using the right hand, put the white coffee cup in front of the blue soda can.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Have the right arm place the white coffee cup before the blue soda can.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "With the right hand, position the white coffee cup in front of the blue soda can.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Put the white coffee cup in front of the blue soda can.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Set the white coffee cup before the blue soda can.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Position the white coffee cup in front of the blue soda can.", + "start_idx": 1824, + "end_idx": 1941 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Have the right arm grasp the blue soda can from the table from the side at its top.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "With the right hand, seize the blue soda can from the table by its top using a lateral grip.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side hold.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Take the blue soda can from the table by the top with a lateral grasp.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "With the right hand, pick up the blue soda can from the table.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Using the right hand, grasp the blue soda can from the table.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Have the robot grasp the blue soda can from the table.", + "start_idx": 1941, + "end_idx": 2097 + }, + { + "text": "Put the blue soda can to the right of the white coffee cup with the right hand.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Have the right arm set the blue soda can to the right of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Place the blue soda can to the right of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Set the blue soda can on the right side of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "The blue soda can goes to the right of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Position the blue soda can to the right of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Arrange the blue soda can on the right side of the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Put the blue soda can beside the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Place the blue soda can next to the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Set the blue soda can by the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Position the blue soda can beside the white coffee cup.", + "start_idx": 2097, + "end_idx": 2229 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Have the right arm pick up the blue soda can from the table with a lateral grip at the top diagonal.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "With the right hand, grasp the blue soda can from the table using a side hold at the top on a diagonal.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top diagonal.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Take the blue soda can from the table using a lateral grasp at the top diagonally.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Pick up the blue soda can from the table at the top diagonally.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "From the table, take the blue soda can with the right hand.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table at the top diagonally.", + "start_idx": 2622, + "end_idx": 2733 + }, + { + "text": "Put the blue soda can to the right of the canned goods with the right hand.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Have the right arm set the blue soda can to the right of the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Place the blue soda can to the right of the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Set the blue soda can on the right side of the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "The blue soda can goes to the right of the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Move the blue soda can beside the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Using the right hand, place the blue soda can beside the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "With the right hand, set the blue soda can next to the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Have the right arm move the blue soda can beside the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Place the blue soda can next to the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Set the blue soda can beside the canned goods.", + "start_idx": 2733, + "end_idx": 2832 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand by the handle from the side.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table by its handle from the side.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Have the right arm take hold of the white coffee cup from the table at the handle from a side approach.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "With the right hand, pick the white coffee cup up from the table using the handle from the side.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Take the white coffee cup from the table by its handle from the side.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Grasp the white coffee cup from the table at the handle from a side angle.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Grab the white coffee cup from the table by the handle.", + "start_idx": 2832, + "end_idx": 2949 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from the side at the middle.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Using the left hand, take the blue soda can from the table from the side at the middle.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side pickup at the middle.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "With the left hand, collect the blue soda can from the table by grasping its middle from the side.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Pick up the blue soda can from the table from the side at the middle.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Take the blue soda can from the table by approaching from the side at the middle.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Grasp the blue soda can from the table at the middle from the side.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "From the side, pick up the blue soda can from the table with the left hand.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "At the middle, take the blue soda can from the table with the left hand.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "The blue soda can from the table should be grasped with the left hand.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Have the blue soda can from the table grasped from the side at the middle.", + "start_idx": 219, + "end_idx": 444 + }, + { + "text": "Put the blue soda can to the left of the canned goods with the left hand.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Have the left arm set the blue soda can to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Place the blue soda can to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Set the blue soda can on the left side of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Position the blue soda can left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Move the blue soda can to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Transfer the blue soda can to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "The blue soda can goes to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Put the blue soda can on the left side of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Arrange the blue soda can to the left of the canned goods.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Place the blue soda can beside the canned goods on the left side.", + "start_idx": 444, + "end_idx": 537 + }, + { + "text": "Pick up the pink mug from the table with the left hand from the side by the handle.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Using the left hand, take the pink mug from the table by the handle from the side.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Have the left arm grasp the pink mug on the table at the handle from the side.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "With the left hand, collect the pink mug from the table using a side hold on the handle.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Pick up the pink mug from the table by the handle from the side.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Take the pink mug from the table at the handle from the side.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "From the table, grasp the pink mug by the handle from the side.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Pick up the pink mug from the table with the left hand.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Using the left hand, take the pink mug from the table.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Have the left arm collect the pink mug from the table.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Using the left hand, grasp the pink mug from the table by the handle.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "From the table, take the pink mug by the handle.", + "start_idx": 1284, + "end_idx": 1479 + }, + { + "text": "Put the pink mug to the left of the blue soda can with the left hand right side up with the front facing backwards.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Using the left hand, place the pink mug to the left of the blue soda can, upright with the front facing backward.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Have the left arm set the pink mug left of the blue soda can, keeping it right side up and its front facing backwards.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "With the left hand, position the pink mug on the blue soda can's left side, right side up with the front pointed backward.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Place the pink mug to the left of the blue soda can, right side up with the front facing backwards.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Set the pink mug on the left side of the blue soda can, upright with its front facing backward.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Position the pink mug left of the blue soda can, keeping it upright and the front directed backwards.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Using the left hand, put the pink mug to the left of the blue soda can.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Have the left arm place the pink mug on the left side of the blue soda can.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "With the left hand, set the pink mug left of the blue soda can.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Put the pink mug to the left of the blue soda can.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Place the pink mug on the left side of the blue soda can.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Set the pink mug left of the blue soda can.", + "start_idx": 1479, + "end_idx": 1671 + }, + { + "text": "Pick up the pink mug from the table with the left hand by the handle from the side.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Using the left hand, take the pink mug from the table by its handle from the side.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Have the left arm grasp the pink mug on the table at the handle with a side approach.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "With the left hand, seize the pink mug from the table by the handle using a side pickup.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Pick up the pink mug from the table by the handle from the side.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Take the pink mug from the table at the handle with a side grasp.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "From the table, collect the pink mug by its handle from the side.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Pick up the pink mug from the table with the left hand.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Using the left hand, take the pink mug from the table.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Have the left arm retrieve the pink mug from the table.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Using the left hand, grasp the pink mug from the table.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Take the pink mug from the table by its handle.", + "start_idx": 2229, + "end_idx": 2394 + }, + { + "text": "Put the pink mug to the bottom left of the white coffe cup with the front right side up using the left hand.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Using the left hand, place the pink mug at the bottom left of the white coffee cup with its front right side up.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Have the left arm set the pink mug down bottom-left of the white coffee cup, front right side up.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "With the left hand, position the pink mug to the lower left of the white coffee cup, keeping the front right side up.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Place the pink mug at the bottom left of the white coffee cup with its front right side up.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Set the pink mug down to the lower left of the white coffee cup, front right side up.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Position the pink mug bottom-left of the white coffee cup with the front right side up.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Using the left hand, place the pink mug at the bottom left of the white coffee cup.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "With the left hand, set the pink mug down to the lower left of the white coffee cup.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Have the left arm position the pink mug bottom-left of the white coffee cup.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Place the pink mug at the bottom left of the white coffee cup.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Set the pink mug down to the lower left of the white coffee cup.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Position the pink mug bottom-left of the white coffee cup.", + "start_idx": 2394, + "end_idx": 2547 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "With the left arm, go to home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Return to the home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Move back to the home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Go to the home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Head to home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Resume the home position.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Return home.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Move to home.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Go back home.", + "start_idx": 2547, + "end_idx": 2622 + }, + { + "text": "Have the arm return to home position.", + "start_idx": 2547, + "end_idx": 2622 + } + ] + }, + "2026-04-23-05-00-08-228000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm take the croissant from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the croissant from the table diagonally by grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the croissant from the table at a diagonal angle, grasping the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Retrieve the croissant from the table with a diagonal approach at its middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the croissant from the table diagonally, holding the middle.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "With the left hand, retrieve the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Pick up the croissant from the table with the left hand.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Take the croissant from the table with the left arm.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Get the croissant from the table.", + "start_idx": 0, + "end_idx": 105 + }, + { + "text": "Put the croissant to the left of the cabbage with the left hand.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Using the left hand, place the croissant to the left of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Have the left arm set the croissant on the cabbage's left side.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "With the left hand, position the croissant left of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Place the croissant to the left of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Set the croissant on the left side of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Position the croissant left of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Move the croissant to the cabbage's left.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Arrange the croissant to the left of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Leave the croissant on the left side of the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Using the left hand, place the croissant by the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "With the left hand, set the croissant next to the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Have the left arm move the croissant beside the cabbage.", + "start_idx": 105, + "end_idx": 216 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal lip grasp on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Have the left arm pick up the white mug from the table using a diagonal lip grip on its left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "With the left hand, grasp the white mug from the table by the lip at a diagonal angle on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Pick up the white mug from the table using a diagonal lip grasp on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Take the white mug from the table with a diagonal lip grip on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "The white mug should be picked up from the table by the lip at a diagonal angle on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Take the white mug from the table using a diagonal grasp on the left side.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 459, + "end_idx": 630 + }, + { + "text": "Put the white mug in front of the cabbage with the handle facing forwards right side up with the left hand.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Using the left hand, place the white mug in front of the cabbage with the handle facing forward and upright.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Have the left arm set the white mug down in front of the cabbage, handle pointed forward, right side up.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "With the left hand, position the white mug before the cabbage so the handle faces forward and the mug stays upright.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Place the white mug in front of the cabbage with the handle facing forward and upright.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Set the white mug down in front of the cabbage, keeping the handle forward and the mug right side up.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Position the white mug before the cabbage with its handle toward the front and upright.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "With the left hand, put the white mug in front of the cabbage.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Using the left hand, set the white mug down before the cabbage.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Have the left arm place the white mug in front of the cabbage.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Place the white mug in front of the cabbage.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Set the white mug down before the cabbage.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Position the white mug in front of the cabbage.", + "start_idx": 630, + "end_idx": 723 + }, + { + "text": "Pick up the croissant from the table with the left hand from the top at the middle.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Using the left hand, pick up the croissant from the table from the top at the middle.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Have the left arm take the croissant from the table with a top grasp at its middle.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "With the left hand, grasp the croissant from the table from above at the center.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Take the croissant from the table from above at its center.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Grasp the croissant from the table at the middle from the top.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Using the left hand, pick up the croissant from the table.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Have the left arm take the croissant from the table.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "With the left hand, grasp the croissant from the table.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Remove the croissant from the table.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Take the croissant from the table.", + "start_idx": 723, + "end_idx": 867 + }, + { + "text": "Put the croissant in front of the pink stuffed animal and to the right of the white mug with the left hand.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Using the left hand, place the croissant in front of the pink stuffed animal and to the right of the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Have the left arm set the croissant down in front of the pink stuffed animal, right of the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "With the left hand, position the croissant ahead of the pink stuffed animal and on the white mug's right side.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Place the croissant in front of the pink stuffed animal and to the right of the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Set the croissant down in front of the pink stuffed animal and right of the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Position the croissant ahead of the pink stuffed animal and on the right side of the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "The croissant goes in front of the pink stuffed animal and to the right of the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "In front of the pink stuffed animal and to the right of the white mug, place the croissant.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Put the croissant by the pink stuffed animal and the white mug with the left hand.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Using the left hand, set the croissant beside the pink stuffed animal and the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "With the left hand, place the croissant near the pink stuffed animal and the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Have the left arm put the croissant next to the pink stuffed animal and the white mug.", + "start_idx": 867, + "end_idx": 978 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grasp from the top at the left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grasp from the top at the left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Have the left arm grasp the white mug from the table by the lip from the top-left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "With the left hand, secure the white mug from the table using a top-left lip grip.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Pick up the white mug from the table using a lip grasp from the top at the left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Take the white mug from the table with a lip grip from the top-left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "From the table, grasp the white mug by the lip at the top-left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "With the left hand, take the white mug from the table.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Have the left arm collect the white mug from the table.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "From the table, grasp the white mug at the top-left.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 1836, + "end_idx": 1980 + }, + { + "text": "Put the white mug to the left of the croissant with the left hand right side up with the front facing forwards.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Using the left hand, place the white mug left of the croissant, upright, with its front facing forward.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Have the left arm set the white mug to the croissant's left, right side up, front forward.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "With the left hand, position the white mug left of the croissant, upright and facing forward.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Place the white mug to the left of the croissant, right side up, with the front facing forward.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Set the white mug left of the croissant, upright, front facing forward.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Position the white mug to the croissant's left, with its front facing forward and right side up.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Using the left hand, put the white mug to the left of the croissant.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Have the left arm place the white mug left of the croissant.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "With the left hand, set the white mug to the croissant's left.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Put the white mug to the left of the croissant.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Place the white mug left of the croissant with its front facing forward.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Set the white mug to the croissant's left, upright.", + "start_idx": 1980, + "end_idx": 2157 + }, + { + "text": "Pick up the cabbage from the table with the left hand from the top at the middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Using the left hand, pick up the cabbage from the table from the top at the middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Have the left arm grasp the cabbage from the table with a top pickup at the middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "With the left hand, take the cabbage from the table by approaching from the top at its middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Pick up the cabbage from the table from the top at the middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Take the cabbage from the table with a top approach at the middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "The cabbage from the table should be grasped from the top at its middle.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Have the left arm take the cabbage from the table.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "With the left hand, grasp the cabbage from the table.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "From the table, take the cabbage.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "The cabbage from the table should be grasped.", + "start_idx": 2157, + "end_idx": 2370 + }, + { + "text": "Return to home with the left hand.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Using the left hand, move back to the home position.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Have the left arm return to its home position.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "With the left arm, go back to home.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Return to the home position.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Move back to home.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Go to the home position.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Reset to home.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Bring the arm to home.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Head back to home position.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Move to home.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Reset the arm position.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Travel back to the home pose.", + "start_idx": 2493, + "end_idx": 2553 + }, + { + "text": "Pick up the bag of juice from the table with the right hand using a side grip at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Using the right hand, take the bag of juice from the table with a side grip at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Have the right hand grasp the bag of juice from the table from the side at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "With the right hand, pick the bag of juice up from the table using a side hold at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Take the bag of juice from the table with a side grip at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Grasp the bag of juice from the table from the side at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "The bag of juice from the table should be picked up with a side grip at the top.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Using the right hand, take the bag of juice from the table.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Have the right hand grasp the bag of juice from the table.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "With the right hand, pick up the bag of juice from the table.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Take the bag of juice from the table with the right hand.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Grasp the bag of juice from the table from the side.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "The bag of juice from the table should be picked up.", + "start_idx": 216, + "end_idx": 378 + }, + { + "text": "Put the bag of juice on the top side of the table with the right hand right side up.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Using the right hand, place the bag of juice on the top side of the table right side up.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Have the right hand set the bag of juice onto the table's top side with its right side up.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "With the right hand, position the bag of juice on the top side of the table in a right-side-up orientation.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Place the bag of juice on the top side of the table right side up.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Set the bag of juice on the top side of the table with its right side up.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Position the bag of juice on the table's top side right side up.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Using the right hand, place the bag of juice on the top side of the table.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "With the right hand, set the bag of juice onto the table's top side.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Have the right hand position the bag of juice on the top side of the table.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Put the bag of juice on the top side of the table.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Set the bag of juice on the table's top side.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Place the bag of juice onto the top side of the table.", + "start_idx": 378, + "end_idx": 459 + }, + { + "text": "Pick up the pink stuffed from the table with the right hand from the top at the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Using the right hand, pick up the pink stuffed from the table from the top at the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Have the right hand take the pink stuffed from the table with a top grasp on the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "With the right hand, grasp the pink stuffed from the table from above around the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Pick up the pink stuffed from the table from the top at the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Take the pink stuffed from the table with a top grasp on the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "From above, grasp the pink stuffed from the table around the entire object.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Pick up the pink stuffed from the table with the right hand.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Have the right hand take the pink stuffed from the table.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "With the right hand, grasp the pink stuffed from the table.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Pick up the pink stuffed from the table.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Take the pink stuffed from the table.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "The pink stuffed from the table should be grasped.", + "start_idx": 978, + "end_idx": 1134 + }, + { + "text": "Pick up the croissant from the table with the right hand from the top at the middle.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Using the right hand, pick up the croissant from the table from the top at the middle.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Have the right arm take the croissant from the table, contacting it from above at its center.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "With the right hand, grasp the croissant from the table at the middle from the top.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Pick up the croissant from the table from the top at the middle.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Take the croissant from the table at the middle from above.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Grasp the croissant from the table from the top at its center.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Using the right hand, pick up the croissant from the table.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Have the right arm take the croissant from the table.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "With the right hand, grasp the croissant from the table.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Pick up the croissant from the table.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Take the croissant from the table with the right hand.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Grasp the croissant from the table from above at the middle.", + "start_idx": 1251, + "end_idx": 1413 + }, + { + "text": "Place the croissant in front of the pink stuffed animal with the right hand.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Using the right hand, set the croissant in front of the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Have the right arm place the croissant before the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "With the right hand, position the croissant in front of the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Place the croissant in front of the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Put the croissant before the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Position the croissant in front of the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Set the croissant before the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Move the croissant to a spot in front of the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Have the croissant placed in front of the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Using the right hand, place the croissant by the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "With the right hand, put the croissant near the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Have the right arm move the croissant beside the pink stuffed animal.", + "start_idx": 1413, + "end_idx": 1524 + }, + { + "text": "Pick up the bag of juice from the table with the right hand using a side grip at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Using the right hand, take the bag of juice from the table with a side grasp at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Have the right hand pick up the bag of juice from the table, grasping it from the side at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "With the right hand, collect the bag of juice from the table using a side hold at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Pick up the bag of juice from the table using a side grasp at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Take the bag of juice from the table with a side hold at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "The bag of juice from the table should be picked up with a side grip at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Using the right hand, pick up the bag of juice from the table.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Have the right hand take the bag of juice from the table.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "The bag of juice from the table should be grasped with the right hand.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "With the right hand, pick up the bag of juice from the table at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Pick up the bag of juice from the table with the right hand.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Take the bag of juice from the table at the top right diagonal.", + "start_idx": 1524, + "end_idx": 1656 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Using the right hand, take the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Have the right arm pick up the pink stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "With the right hand, collect the pink stuffed animal from the table at a diagonal angle using an entire-object grip.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Take the pink stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Get the pink stuffed animal from the table at a diagonal angle using an entire-object grip.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table, grasping the entire object.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table using an entire-object grip.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Have the right arm take the pink stuffed animal from the table with a full-object grasp.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "With the right hand, remove the pink stuffed animal from the table diagonally.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 2553, + "end_idx": 2670 + }, + { + "text": "Put the pink stuffed animal to the right of the bag of juice with the right hand facing forwards from the front.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the bag of juice, facing forwards from the front.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Have the right arm set the pink stuffed animal to the right of the bag of juice with its front facing forward.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "With the right hand, position the pink stuffed animal to the right of the bag of juice so the front faces forwards.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Place the pink stuffed animal to the right of the bag of juice with its front facing forward.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Set the pink stuffed animal to the right of the bag of juice, facing forwards from the front.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Position the pink stuffed animal to the right of the bag of juice so it faces forward from the front.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the bag of juice.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "With the right hand, set the pink stuffed animal to the right of the bag of juice.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Have the right arm position the pink stuffed animal to the right of the bag of juice.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Put the pink stuffed animal to the right of the bag of juice.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Set the pink stuffed animal to the right of the bag of juice.", + "start_idx": 2670, + "end_idx": 2814 + }, + { + "text": "Position the pink stuffed animal to the right of the bag of juice.", + "start_idx": 2670, + "end_idx": 2814 + } + ] + }, + "2026-04-24-03-44-57-502000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 273, + "annotations": [ + { + "text": "Pick up the yellow stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "From the table, have the left hand grasp the yellow stuffed animal at the middle from above.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "With the left hand, take the yellow stuffed animal off the table by gripping it from the top at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Take the yellow stuffed animal off the table from above at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Grasp the yellow stuffed animal from the table at the middle from the top.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Remove the yellow stuffed animal from the table by the middle from above.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Get the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "With the left hand, take the yellow stuffed animal off the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Have the left hand grasp the yellow stuffed animal from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 0, + "end_idx": 102 + }, + { + "text": "Put the yellow stuffed animal to the left of the small white coffee cup with the left hand facing top left from the front.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the small white coffee cup, facing top left from the front.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Have the left arm set the yellow stuffed animal to the left of the small white coffee cup with its front facing top left.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "With the left hand, position the yellow stuffed animal left of the small white coffee cup so the front points top left.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Place the yellow stuffed animal to the left of the small white coffee cup with its front facing top left.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Set the yellow stuffed animal left of the small white coffee cup, oriented top left from the front.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Position the yellow stuffed animal to the left of the small white coffee cup, front facing top left.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "With the left hand, place the yellow stuffed animal to the left of the small white coffee cup.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Using the left hand, set the yellow stuffed animal left of the small white coffee cup.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Have the left arm position the yellow stuffed animal to the left of the small white coffee cup.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Place the yellow stuffed animal to the left of the small white coffee cup.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Set the yellow stuffed animal left of the small white coffee cup.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Have the yellow stuffed animal placed to the left of the small white coffee cup.", + "start_idx": 102, + "end_idx": 165 + }, + { + "text": "Pick up the coffee pod from the table with the left hand using a side grip from the top.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Using the left hand, take the coffee pod from the table with a side grip from the top.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Have the left arm grasp the coffee pod from the table from the top using a side hold.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "With the left hand, secure the coffee pod from the table by its top with a side grasp.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Pick up the coffee pod from the table using a side grip from the top.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Grasp the coffee pod from the table from the top with a side hold.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Take the coffee pod from the table by the top using a side grasp.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Have the left arm take the coffee pod from the table.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "With the left hand, grasp the coffee pod from the table.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Pick up the coffee pod from the table with the left hand from the top.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "From the top, take the coffee pod from the table with the left hand.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Using the left hand, grasp the coffee pod from the table.", + "start_idx": 968, + "end_idx": 1170 + }, + { + "text": "Put the coffee pod to the left of the yellow stuffed animal with the left hand right side up with the front as the reference point.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Using the left hand, place the coffee pod to the left of the yellow stuffed animal right side up with the front as the reference point.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Have the left arm set the coffee pod left of the yellow stuffed animal, keeping it right side up relative to the front.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "With the left hand, position the coffee pod to the left of the yellow stuffed animal in a right-side-up orientation using the front as reference.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Place the coffee pod to the left of the yellow stuffed animal right side up with the front as the reference point.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Set the coffee pod left of the yellow stuffed animal, keeping it right side up relative to the front.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Position the coffee pod to the left of the yellow stuffed animal with the front as the reference point, right side up.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Using the left hand, place the coffee pod to the left of the yellow stuffed animal.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Set the coffee pod left of the yellow stuffed animal with the left hand.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Have the left arm position the coffee pod to the left of the yellow stuffed animal.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Place the coffee pod to the left of the yellow stuffed animal.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Put the coffee pod left of the yellow stuffed animal.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Position the coffee pod to the left of the yellow stuffed animal.", + "start_idx": 1170, + "end_idx": 1278 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Using the left hand, take the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Have the left arm grasp the yellow stuffed animal on the table at its middle from above.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "With the left hand, collect the yellow stuffed animal from the table by gripping the middle from the top.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Take the yellow stuffed animal from the table by grasping it at the middle from above.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Get the yellow stuffed animal off the table with a top hold at the middle.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Have the left arm take the yellow stuffed animal from the table.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "With the left hand, get the yellow stuffed animal off the table.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Take the yellow stuffed animal off the table.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Have the left arm pick up the yellow stuffed animal from the table from above.", + "start_idx": 1278, + "end_idx": 1431 + }, + { + "text": "Place the yellow stuffed animal to the left of the coffee pod with the left hand facing top left with the front as the reference point.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the coffee pod, facing top left relative to the front.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Have the left arm set the yellow stuffed animal to the left of the coffee pod with its front facing the top left.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "With the left hand, position the yellow stuffed animal to the left of the coffee pod so the front points top left.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Place the yellow stuffed animal to the left of the coffee pod with its front facing the top left.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Set the yellow stuffed animal to the left of the coffee pod, oriented top left from the front.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Position the yellow stuffed animal to the left of the coffee pod so the front faces top left.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the coffee pod.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "With the left hand, set the yellow stuffed animal to the left of the coffee pod.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Have the left arm position the yellow stuffed animal to the left of the coffee pod.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Place the yellow stuffed animal to the left of the coffee pod.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Set the yellow stuffed animal to the left of the coffee pod.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Position the yellow stuffed animal to the left of the coffee pod.", + "start_idx": 1431, + "end_idx": 1545 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Have the left arm grasp the yellow stuffed animal from the table at the middle from above.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "With the left hand, take the yellow stuffed animal from the table by approaching from the top at its middle.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Pick up the yellow stuffed animal from the table from the top at the middle.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Take the yellow stuffed animal from the table at the middle from above.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Grasp the yellow stuffed animal from the table from the top at its middle.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Using the left hand, pick up the yellow stuffed animal from the table.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "With the left hand, take the yellow stuffed animal from the table.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Have the left arm grasp the yellow stuffed animal from the table.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Grasp the yellow stuffed animal from the table.", + "start_idx": 2262, + "end_idx": 2352 + }, + { + "text": "Put the yellow stuffed animal to the left of the silver bowl with the left hand facing top right from the front.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Using the left hand, place the yellow stuffed animal to the left of the silver bowl, facing top right from the front.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Have the left arm set the yellow stuffed animal left of the silver bowl with its front facing the top right.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "With the left hand, position the yellow stuffed animal to the left of the silver bowl so the front points top right.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Place the yellow stuffed animal to the left of the silver bowl with its front facing top right.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Set the yellow stuffed animal left of the silver bowl, oriented top right from the front.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Position the yellow stuffed animal to the left of the silver bowl so it faces top right from the front.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "With the left hand, place the yellow stuffed animal to the left of the silver bowl.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Using the left hand, set the yellow stuffed animal left of the silver bowl.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Have the left arm position the yellow stuffed animal to the left of the silver bowl.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Place the yellow stuffed animal to the left of the silver bowl.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Set the yellow stuffed animal left of the silver bowl.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Have the yellow stuffed animal positioned to the left of the silver bowl.", + "start_idx": 2352, + "end_idx": 2541 + }, + { + "text": "Pick up the coffee pod from the table with the left hand using a side grip at the top from the top.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Using the left hand, take the coffee pod from the table with a side grasp at the top from above.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Have the left arm pick the coffee pod up from the table using a side hold on the top from the top.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "With the left hand, retrieve the coffee pod from the table in a side grip at the top, approaching from above.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Pick up the coffee pod from the table using a side grip at the top from the top.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Take the coffee pod from the table with a side grasp at the top from above.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Retrieve the coffee pod from the table in a side hold on the top from above.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Using the left hand, pick up the coffee pod from the table.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Have the left arm take the coffee pod from the table.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "With the left hand, retrieve the coffee pod from the table.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Pick up the coffee pod from the table with the left hand from the top.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Take the coffee pod from the table with the left hand at the top.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Using the left hand, grasp the coffee pod from the table.", + "start_idx": 2541, + "end_idx": 2796 + }, + { + "text": "Return the left arm to home.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Move the left arm back to its home position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Have the left arm go to the home position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Send the left arm to home.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Move the arm back to its home position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Have the arm return to home.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Send the arm to the home position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Bring the arm home.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Return the arm to its starting position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Move back to home.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Go to the home position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Return to home.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Head back to the home position.", + "start_idx": 2871, + "end_idx": 3000 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top at the right side using a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Using the right hand, take the white cup from the table from the top at the right side with a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Have the right arm grasp the white cup from the table at the right side from above using a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "With a lip grip, the right hand should pick the white cup from the table from the top on its right side.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Pick up the white cup from the table from the top at the right side using a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Grasp the white cup from the table at the right side from above with a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Take the white cup from the table on its right side from the top using a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Using the right hand, pick up the white cup from the table with a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Have the right arm take the white cup from the table using a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "With the right hand, grasp the white cup from the table using a lip grip.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Using the right hand, pick up the white cup from the table from the top at the right side.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "From above at the right side, grasp the white cup from the table.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Pick up the white cup from the table.", + "start_idx": 165, + "end_idx": 336 + }, + { + "text": "Put the white cup between the small white cup and the green bag of chips with the right hand right side up front.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Using the right hand, place the white cup between the small white cup and the green bag of chips, right side up with the front facing forward.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Have the right hand set the white cup between the small white cup and the green bag of chips, keeping it upright with the front forward.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "With the right hand, position the white cup between the small white cup and the green bag of chips so it is right side up and front-facing.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Place the white cup between the small white cup and the green bag of chips, keeping it right side up with the front facing forward.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Set the white cup between the small white cup and the green bag of chips, upright with the front forward.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Position the white cup between the small white cup and the green bag of chips so it stays right side up and front-facing.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Using the right hand, place the white cup between the small white cup and the green bag of chips.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Have the right hand set the white cup between the small white cup and the green bag of chips.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "With the right hand, position the white cup between the small white cup and the green bag of chips.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Put the white cup between the small white cup and the green bag of chips.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Set the white cup between the small white cup and the green bag of chips.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Position the white cup between the small white cup and the green bag of chips.", + "start_idx": 336, + "end_idx": 495 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at a diagonal angle from the top of the object.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Using the right hand, take the green bag of chips from the table at a diagonal angle from the top of the object.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table diagonally from the top of the object.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "With the right hand, retrieve the green bag of chips from the table using a diagonal top approach.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal angle from the top of the object.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Take the green bag of chips from the table diagonally from the top of the object.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Retrieve the green bag of chips from the table with a diagonal approach from the top.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "With the right hand, take the green bag of chips from the table.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Have the right hand retrieve the green bag of chips from the table.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Get the green bag of chips from the table.", + "start_idx": 495, + "end_idx": 606 + }, + { + "text": "Put the green bag of chips in front of the white cup with the right hand facing bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Using the right hand, place the green bag of chips in front of the white cup, facing bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Have the right arm set the green bag of chips before the white cup with its orientation toward the bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "With the right hand, position the green bag of chips in front of the white cup so it faces bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Place the green bag of chips in front of the white cup, facing bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Set the green bag of chips before the white cup with the front toward the bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Position the green bag of chips in front of the white cup so it points bottom left.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Using the right hand, put the green bag of chips in front of the white cup.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "With the right hand, set the green bag of chips before the white cup.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Have the right arm place the green bag of chips in front of the white cup.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Put the green bag of chips in front of the white cup.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Set the green bag of chips before the white cup.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Position the green bag of chips in front of the white cup.", + "start_idx": 606, + "end_idx": 741 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a diagonal lip grasp on the right side.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Have the right arm pick up the silver bowl from the table via a diagonal grasp on its right lip.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "With the right hand, retrieve the silver bowl from the table by grasping the right side lip diagonally.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp on the right side.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Take the silver bowl from the table with a diagonal grasp on the right lip.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Retrieve the silver bowl from the table by grasping the right-side lip diagonally.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Pick up the silver bowl from the table with the right hand.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Using the right hand, take the silver bowl from the table.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Have the right arm retrieve the silver bowl from the table.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "With the right hand, pick up the silver bowl from the table.", + "start_idx": 741, + "end_idx": 873 + }, + { + "text": "Put the silver bowl to the right of the white cup with the right hand right side up.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the white cup, right side up.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Have the right arm set the silver bowl to the right of the white cup with its right side up.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "With the right hand, position the silver bowl to the right of the white cup in a right-side-up orientation.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Place the silver bowl to the right of the white cup, right side up.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Set the silver bowl to the right of the white cup with its right side up.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Position the silver bowl to the right of the white cup in a right-side-up position.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the white cup.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "With the right hand, set the silver bowl to the right of the white cup.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Have the right arm position the silver bowl to the right of the white cup.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Place the silver bowl to the right of the white cup.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Set the silver bowl to the right of the white cup.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Position the silver bowl to the right of the white cup.", + "start_idx": 873, + "end_idx": 969 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand from the top at the top of the object.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Using the right hand, take the green bag of chips from the table from above at the top of the object.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table at its top from the top.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "With the right hand, pick up the green bag of chips from the table by approaching from above and grasping the top.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Pick up the green bag of chips from the table from above at the top of the object.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Take the green bag of chips from the table by grasping its top from above.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Grasp the green bag of chips from the table at the top, approaching from the top.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Use the right hand to take the green bag of chips from the table.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Have the right hand pick up the green bag of chips from the table.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 1545, + "end_idx": 1683 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl with the right hand facing backwards.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the silver bowl with its front facing backwards.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the silver bowl, front facing backward.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the silver bowl so the front faces backwards.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Place the green bag of chips to the right of the silver bowl with its front facing backwards.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Set the green bag of chips to the right of the silver bowl, front facing backward.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Position the green bag of chips to the right of the silver bowl so it faces backwards.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the silver bowl.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "With the right hand, set the green bag of chips to the right of the silver bowl.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Have the right arm position the green bag of chips to the right of the silver bowl.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Place the green bag of chips to the right of the silver bowl.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Using the right hand, put the green bag of chips to the right of the silver bowl.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Arrange the green bag of chips to the right of the silver bowl.", + "start_idx": 1683, + "end_idx": 1827 + }, + { + "text": "Pick up the white cup from the table with the right hand using a lip grip from the top right.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grip at the top right.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Have the right arm grasp the white cup from the table by the top-right lip.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "With the right hand, secure the white cup from the table using a lip hold on its top-right side.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Pick up the white cup from the table with a lip grip at the top right.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Take the white cup from the table by the top-right lip.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Grasp the white cup from the table at the top right.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "With the right hand, pick up the white cup from the table.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Using the right hand, take the white cup from the table.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Have the right arm collect the white cup from the table.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 1827, + "end_idx": 2019 + }, + { + "text": "Put the white cup in front of the small white coffee cup with the right hand right side up front.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Using the right hand, place the white cup in front of the small white coffee cup, right side up and facing front.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "With the right hand, set the white cup before the small white coffee cup, keeping it upright with the front facing forward.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Have the right arm position the white cup in front of the small white coffee cup, right side up with its front to the front.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Place the white cup in front of the small white coffee cup, right side up with the front facing front.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Set the white cup before the small white coffee cup, upright and front-facing.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Position the white cup in front of the small white coffee cup, keeping it right side up.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Arrange the white cup before the small white coffee cup with its front facing front.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Move the white cup in front of the small white coffee cup.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Put the white cup before the small white coffee cup.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Have the white cup placed in front of the small white coffee cup.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Place the white cup in front of the small white coffee cup, right side up.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Set the white cup before the small white coffee cup with its front facing front.", + "start_idx": 2019, + "end_idx": 2178 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Using the right hand, return to the home position.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Have the right arm move back to home.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "With the right hand, go to the home pose.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Return to the home position.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Move back to home.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Go to the home pose.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Resume the home position.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Back to home.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Return home.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Move to home.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Head to the home position.", + "start_idx": 2178, + "end_idx": 2262 + }, + { + "text": "Adopt the home pose.", + "start_idx": 2178, + "end_idx": 2262 + } + ] + }, + "2026-04-24-03-47-18-893000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 297, + "annotations": [ + { + "text": "Pick up the white cup from the table with the left hand using a top lip grasp on the left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Using the left hand, pick up the white cup from the table with a top lip grasp on the left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Have the left arm take the white cup from the table using a top lip hold on its left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "With the left hand, grasp the white cup from the table by the top lip on the left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Pick up the white cup from the table using a top lip grasp on the left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Take the white cup from the table by the top lip on its left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Grasp the white cup from the table at the top lip on the left side.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Using the left hand, take the white cup from the table.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Have the left arm grasp the white cup from the table.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Using the left hand, pick up the white cup from the table.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Take the white cup from the table.", + "start_idx": 411, + "end_idx": 606 + }, + { + "text": "Put the white cup to the left of the white mug with the left hand right side up with the front as the reference point.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Using the left hand, place the white cup to the left of the white mug, right side up with the front as the reference point.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Have the left arm set the white cup left of the white mug, keeping it right side up relative to its front.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "With the left hand, position the white cup to the white mug's left, oriented right side up using the front as reference.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Place the white cup to the left of the white mug.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Set the white cup left of the white mug.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Position the white cup to the white mug's left side.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Arrange the white cup to the left of the white mug.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Using the left hand, place the white cup to the left of the white mug.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Have the left arm set the white cup left of the white mug.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "With the left hand, position the white cup to the white mug's left.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Place the white cup left of the white mug, keeping it right side up.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Set the white cup to the left of the white mug, oriented right side up relative to its front.", + "start_idx": 606, + "end_idx": 792 + }, + { + "text": "Pick up the white cup from the table with the left hand from the middle using a side grasp.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Using the left hand, take the white cup from the table at its middle with a side grasp.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Have the left arm pick the white cup off the table by the middle using a lateral grasp.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "With the left hand, seize the white cup from the table at the middle using a side hold.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Pick up the white cup from the table from the middle using a side grasp.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Take the white cup off the table at its middle with a side grasp.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "From the table, grasp the white cup by the middle using a side hold.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Pick up the white cup from the table with the left hand from the middle.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Have the left arm take the white cup off the table by the middle.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "With the left hand, grasp the white cup from the table at its middle.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Pick up the white cup from the table with the left hand.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Using the left hand, take the white cup off the table.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "From the table, pick up the white cup by the middle.", + "start_idx": 1806, + "end_idx": 2103 + }, + { + "text": "Put the white cup in front of the white mug with the left hand right side up front.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Using the left hand, place the white cup in front of the white mug right side up with its front facing forward.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Have the left arm set the white cup in front of the white mug, keeping it upright and front-facing.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "With the left hand, position the white cup before the white mug right side up, front facing front.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Place the white cup in front of the white mug right side up with its front facing forward.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Set the white cup before the white mug upright and front-facing.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Position the white cup in front of the white mug with the front facing front and the right side up.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Using the left hand, place the white cup in front of the white mug.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Have the left arm set the white cup before the white mug.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "With the left hand, position the white cup in front of the white mug.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Put the white cup in front of the white mug.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Set the white cup before the white mug.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Position the white cup in front of the white mug.", + "start_idx": 2103, + "end_idx": 2214 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the right side with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grip at the right side and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Have the right arm grasp the silver bowl from the table on its right side with a lip hold at a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "With the right hand, retrieve the silver bowl from the table by its right side using a lip grasp and a diagonal approach.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the right side and a diagonal pick angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Take the silver bowl from the table by its right side with a lip grasp and a diagonal approach.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Retrieve the silver bowl from the table with a lip hold on the right side at a diagonal angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Have the right arm take the silver bowl from the table.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "With the right hand, grasp the silver bowl from the table.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Pick up the silver bowl from the table with the right hand at the right side with a diagonal pick angle.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grip.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Grasp the silver bowl from the table on its right side with a diagonal approach.", + "start_idx": 0, + "end_idx": 122 + }, + { + "text": "Put the silver bowl behind the green bag of chips with the right hand.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the silver bowl behind the green bag of chips upright.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Have the right arm set the silver bowl behind the green bag of chips, right side up.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "With the right hand, position the silver bowl behind the green bag of chips so it stays upright.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Place the silver bowl behind the green bag of chips upright.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Set the silver bowl behind the green bag of chips.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Position the silver bowl behind the green bag of chips.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Place the silver bowl behind the green bag of chips with the right hand.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Set the silver bowl behind the green bag of chips using the right hand.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Have the right arm place the silver bowl behind the green bag of chips.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Put the silver bowl behind the green bag of chips.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Move the silver bowl behind the green bag of chips.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Transfer the silver bowl behind the green bag of chips.", + "start_idx": 122, + "end_idx": 216 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Using the right hand, take the yellow stuffed animal from the table with a side grip at the bottom and a diagonal pick angle.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Have the right hand grasp the yellow stuffed animal from the table with a bottom side hold at a diagonal angle.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "With the right hand, collect the yellow stuffed animal from the table using a side grasp at the bottom on a diagonal pick angle.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Pick up the yellow stuffed animal from the table using a side grip at the bottom with a diagonal pick angle.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Take the yellow stuffed animal from the table with a side hold at the bottom and a diagonal approach.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Grasp the yellow stuffed animal from the table with a side grip at the bottom on a diagonal.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Take the yellow stuffed animal from the table.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Grasp the yellow stuffed animal from the table.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table with a diagonal pick angle.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "With the right hand, take the yellow stuffed animal from the table using a side grip.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Pick up the yellow stuffed animal from the table with a side grip at the bottom.", + "start_idx": 216, + "end_idx": 342 + }, + { + "text": "Put the yellow stuffed animal to the right of the white cup with the right hand facing bottom right with the front as the reference point.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Using the right hand, place the yellow stuffed animal to the right of the white cup, with its front facing the bottom right.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Have the right arm set the yellow stuffed animal to the right of the white cup, front pointed toward the bottom right.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "With the right hand, position the yellow stuffed animal to the right of the white cup so the front faces bottom right.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Place the yellow stuffed animal to the right of the white cup with its front facing the bottom right.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Set the yellow stuffed animal to the right of the white cup, with the front directed toward the bottom right.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Position the yellow stuffed animal to the right of the white cup so its front points bottom right.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Using the right hand, place the yellow stuffed animal to the right of the white cup.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "With the right hand, set the yellow stuffed animal to the right of the white cup.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Have the right arm position the yellow stuffed animal to the right of the white cup.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Put the yellow stuffed animal to the right of the white cup.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Place the yellow stuffed animal beside the white cup on its right side.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Set the yellow stuffed animal on the right side of the white cup.", + "start_idx": 342, + "end_idx": 411 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Using the right hand, take the yellow stuffed animal from the table at a diagonal angle, holding its middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Have the right hand pick the yellow stuffed animal up from the table on a diagonal, grasping the middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table diagonally by the middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Take the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Retrieve the yellow stuffed animal from the table diagonally, holding the middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Pick up the yellow stuffed animal from the table on a diagonal while gripping the middle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "With the right hand, take the yellow stuffed animal from the table.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Have the right hand retrieve the yellow stuffed animal from the table.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Pick up the yellow stuffed animal from the table.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Take the yellow stuffed animal from the table diagonally.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "With the right hand, pick up the yellow stuffed animal from the table at a diagonal angle.", + "start_idx": 792, + "end_idx": 936 + }, + { + "text": "Put the yellow stuffed animal to the right of the white mug with the right hand facing bottom right from the front.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Using the right hand, place the yellow stuffed animal to the right of the white mug, facing bottom right from the front.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Have the right arm set the yellow stuffed animal to the right of the white mug with its front facing bottom right.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "With the right hand, position the yellow stuffed animal to the right of the white mug so the front points bottom right.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Place the yellow stuffed animal to the right of the white mug.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Set the yellow stuffed animal to the right of the white mug.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "The yellow stuffed animal goes to the right of the white mug.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Using the right hand, place the yellow stuffed animal to the right of the white mug.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Have the right arm set the yellow stuffed animal to the right of the white mug.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "With the right hand, position the yellow stuffed animal to the right of the white mug.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Place the yellow stuffed animal to the right of the white mug, facing bottom right from the front.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Set the yellow stuffed animal to the right of the white mug with its front facing bottom right.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Position the yellow stuffed animal to the right of the white mug so the front points bottom right.", + "start_idx": 936, + "end_idx": 1044 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Using the right hand, take the green bag of chips from the table at a diagonal from the top of the object.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table with a diagonal approach at the top of the object.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "With the right hand, pick the green bag of chips up from the table, contacting it diagonally at the top.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal from the top of the object.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Take the green bag of chips from the table with a diagonal approach at the top of the object.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Grasp the green bag of chips from the table diagonally at the top of the object.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Using a diagonal approach, pick up the green bag of chips from the table.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "With contact at the top, take the green bag of chips from the table.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Use the right hand to take the green bag of chips from the table.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "With the right hand, pick up the green bag of chips from the table.", + "start_idx": 1044, + "end_idx": 1125 + }, + { + "text": "Put the green bag of chips to the right of the yellow stuffed animal with the right hand facing backwards.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the yellow stuffed animal with its front facing backwards.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the yellow stuffed animal, front facing backward.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the yellow stuffed animal so the front faces backwards.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Place the green bag of chips to the right of the yellow stuffed animal with its front facing backwards.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Set the green bag of chips to the right of the yellow stuffed animal, front facing backward.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Position the green bag of chips to the right of the yellow stuffed animal so the front faces backwards.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the yellow stuffed animal.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the yellow stuffed animal.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the yellow stuffed animal.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Place the green bag of chips to the right of the yellow stuffed animal.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Set the green bag of chips beside the yellow stuffed animal on its right side.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Position the green bag of chips on the right side of the yellow stuffed animal.", + "start_idx": 1125, + "end_idx": 1218 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grasp at the bottom right in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Using the right hand, take the silver bowl from the table with a lip grasp at the bottom right in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Have the right arm pick the silver bowl off the table using a bottom-right lip grasp in a diagonal approach.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "With the right hand, grasp the silver bowl from the table by the bottom right using a lip grip in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Pick up the silver bowl from the table using a lip grasp at the bottom right in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Take the silver bowl off the table with a lip grip at the bottom right in a diagonal approach.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Grasp the silver bowl from the table by the bottom right using a lip hold in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grasp.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Have the right arm take the silver bowl off the table using a lip grip.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "With the right hand, grasp the silver bowl from the table using a lip hold.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table at the bottom right in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Have the right arm take the silver bowl off the table at the bottom right in a diagonal approach.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Pick up the silver bowl from the table at the bottom right in a diagonal pick.", + "start_idx": 1218, + "end_idx": 1344 + }, + { + "text": "Put the silver bowl to the right of the green bag of chips with the right hand.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Have the right arm set the silver bowl down to the right of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "With the right hand, position the silver bowl on the right side of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Place the silver bowl to the right of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Set the silver bowl on the right side of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Position the silver bowl to the right of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "The silver bowl goes to the right of the green bag of chips.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Put the silver bowl with the right hand.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Using the right hand, set down the silver bowl.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Have the right arm place the silver bowl.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Set the silver bowl down.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Position the silver bowl there.", + "start_idx": 1344, + "end_idx": 1458 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Have the right hand take the yellow stuffed animal from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "With the right hand, retrieve the yellow stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Pick up the yellow stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Take the yellow stuffed animal from the table with a diagonal pickup, holding the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Retrieve the yellow stuffed animal from the table by grasping its middle at a diagonal angle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Using the right hand, pick up the yellow stuffed animal from the table, grasping the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "With the right hand, take the yellow stuffed animal from the table by the middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Have the right hand retrieve the yellow stuffed animal from the table, holding its middle.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Pick up the yellow stuffed animal from the table with the right hand.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Take the yellow stuffed animal from the table with the right hand.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Get the yellow stuffed animal from the table.", + "start_idx": 1458, + "end_idx": 1563 + }, + { + "text": "Place the yellow stuffed animal inside the silver bowl with the right hand facing bottom right from the front.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Using the right hand, place the yellow stuffed animal inside the silver bowl with its front facing bottom right.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Have the right arm put the yellow stuffed animal into the silver bowl, front oriented toward the bottom right.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "The yellow stuffed animal goes inside the silver bowl with the right hand, facing bottom right from the front.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Place the yellow stuffed animal inside the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Put the yellow stuffed animal into the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Set the yellow stuffed animal in the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Move the yellow stuffed animal into the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Using the right hand, place the yellow stuffed animal inside the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "With the right hand, put the yellow stuffed animal into the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Have the right arm set the yellow stuffed animal in the silver bowl.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Place the yellow stuffed animal inside the silver bowl with its front facing bottom right.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Put the yellow stuffed animal into the silver bowl, front facing bottom right.", + "start_idx": 1563, + "end_idx": 1626 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand from the top at the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table from the top at the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table with a top-down hold at the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "With the right hand, take the green bag of chips from the table by approaching from the top and gripping the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Pick up the green bag of chips from the table from the top at the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Take the green bag of chips from the table with a top approach at the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Grasp the green bag of chips from the table from above at the top of the object.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Have the right hand take the green bag of chips from the table.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 1626, + "end_idx": 1725 + }, + { + "text": "Put the green bag of chips to the right of the white mug with the right hand facing backwards.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the white mug with its front facing backwards.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the white mug, front oriented backward.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the white mug so the front faces backward.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Place the green bag of chips to the right of the white mug with its front facing backwards.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Set the green bag of chips to the right of the white mug with the front oriented backward.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Position the green bag of chips to the right of the white mug so it faces backwards.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the white mug.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "With the right hand, set the green bag of chips to the right of the white mug.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Have the right arm position the green bag of chips to the right of the white mug.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Put the green bag of chips to the right of the white mug.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Arrange the green bag of chips to the right of the white mug.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Using the right hand, move the green bag of chips to the white mug's right side.", + "start_idx": 1725, + "end_idx": 1806 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand from the top at the top of the object.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table from the top at the top of the object.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Have the right arm take the green bag of chips from the table with a top approach, grasping the top of the object.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table at the top of the object from above.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Pick up the green bag of chips from the table from the top at the top of the object.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Take the green bag of chips from the table with a top approach at the top of the object.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Grasp the green bag of chips from the table from above at the top of the object.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Using the right hand, take the green bag of chips from the table.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Have the right arm grasp the green bag of chips from the table.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 2214, + "end_idx": 2403 + }, + { + "text": "Put the green bag of chips to the left of the silver bowl with the right hand facing backwards.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Using the right hand, place the green bag of chips to the left of the silver bowl with its front facing backwards.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Have the right hand set the green bag of chips to the left of the silver bowl, front oriented backward.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "With the right hand, position the green bag of chips left of the silver bowl so the front faces backward.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Place the green bag of chips to the left of the silver bowl with its front facing backwards.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Set the green bag of chips left of the silver bowl with the front facing backward.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Position the green bag of chips to the left of the silver bowl, front facing backwards.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Using the right hand, place the green bag of chips to the left of the silver bowl.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Have the right hand set the green bag of chips left of the silver bowl.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "With the right hand, position the green bag of chips to the left of the silver bowl.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Put the green bag of chips to the left of the silver bowl.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Place the green bag of chips left of the silver bowl.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Set the green bag of chips to the left of the silver bowl.", + "start_idx": 2403, + "end_idx": 2478 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Have the right hand grasp the silver bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "With the right hand, take hold of the silver bowl from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Pick up the silver bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Take the silver bowl from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Grasp the silver bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Retrieve the silver bowl from the table at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "With the right hand, take the silver bowl from the table.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Have the right hand grasp the silver bowl from the table.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Pick up the silver bowl from the table at the bottom right diagonal.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 2478, + "end_idx": 2655 + }, + { + "text": "Place the silver bowl behind the green bag of chips with the right hand right side up.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Using the right hand, set the silver bowl behind the green bag of chips with its right side up.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Have the right hand place the silver bowl behind the green bag of chips, keeping it right side up.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "With the right hand, position the silver bowl behind the green bag of chips so it stays right side up.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Place the silver bowl behind the green bag of chips with its right side up.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Set the silver bowl behind the green bag of chips right side up.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Position the silver bowl behind the green bag of chips, keeping it upright.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Using the right hand, place the silver bowl behind the green bag of chips.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "With the right hand, set the silver bowl behind the green bag of chips.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Have the right hand position the silver bowl behind the green bag of chips.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Put the silver bowl behind the green bag of chips.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Place the silver bowl behind the green bag of chips.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Set the silver bowl behind the green bag of chips.", + "start_idx": 2655, + "end_idx": 2760 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand from the top at the top of the object.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Using the right hand, take the green bag of chips from the table from the top at the top of the object.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Have the right hand grasp the green bag of chips from the table from above at the top of the object.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "With the right hand, pick the green bag of chips up from the table by the top from above.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Pick up the green bag of chips from the table from the top at the top of the object.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Grab the green bag of chips from the table from above at the top of the object.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "The green bag of chips should be picked up from the table from the top at the top of the object.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "With the right hand, take the green bag of chips from the table.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Have the right hand grab the green bag of chips from the table.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand.", + "start_idx": 2760, + "end_idx": 2907 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 2760, + "end_idx": 2907 + } + ] + }, + "2026-04-24-03-50-07-606000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 260, + "annotations": [ + { + "text": "Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table at a diagonal from the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right hand take the green bag of chips from the table with a diagonal approach at the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table diagonally from the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the green bag of chips from the table at a diagonal from the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the green bag of chips from the table with a diagonal approach from the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the green bag of chips from the table diagonally at the top of the object.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the right hand take the green bag of chips from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the right hand, grasp the green bag of chips from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl with the right hand facing backwards.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the silver bowl with its front facing backward.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the silver bowl, front oriented backward.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the silver bowl so the front faces backward.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Place the green bag of chips to the right of the silver bowl with its front facing backward.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Set the green bag of chips to the right of the silver bowl, front facing backward.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Position the green bag of chips to the right of the silver bowl with the front turned backward.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Using the right hand, place the green bag of chips to the right of the silver bowl.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Have the right arm set the green bag of chips to the right of the silver bowl.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "With the right hand, position the green bag of chips to the right of the silver bowl.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Put the green bag of chips to the right of the silver bowl.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Arrange the green bag of chips to the right of the silver bowl.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Move the green bag of chips to the right of the silver bowl.", + "start_idx": 99, + "end_idx": 210 + }, + { + "text": "Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Using the right hand, take the white cup from the table with a diagonal lip grasp on the right side.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "With the right hand, secure the white cup from the table using a right-side diagonal lip grasp.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Have the right hand grasp the white cup from the table with a diagonal lip hold on its right side.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Pick up the white cup from the table using a diagonal lip grasp on the right side.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Take the white cup from the table with a right-side diagonal lip grasp.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Grasp the white cup from the table using a diagonal lip hold on the right side.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Using the right hand, pick up the white cup from the table.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "With the right hand, take the white cup from the table.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Have the right hand grasp the white cup from the table.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Take the white cup from the table using the right hand.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Grasp the white cup from the table.", + "start_idx": 210, + "end_idx": 297 + }, + { + "text": "Put the white cup to the bottom right of the green bag of chips with the right hand right side up with the front as the orientation reference point.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Using the right hand, place the white cup at the bottom right of the green bag of chips, right side up with the front as reference.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Have the right arm set the white cup bottom-right of the green bag of chips, keeping it right side up relative to the front.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "With the right hand, position the white cup to the bottom right of the green bag of chips, oriented right side up using the front as the reference point.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Place the white cup at the bottom right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Set the white cup to the bottom right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Position the white cup bottom-right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Using the right hand, put the white cup to the bottom right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Have the right arm place the white cup at the bottom right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "With the right hand, set the white cup bottom-right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Arrange the white cup right side up at the bottom right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "The white cup goes to the bottom right of the green bag of chips, with the front as the reference point.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Using the right hand, place the white cup at the bottom right of the green bag of chips.", + "start_idx": 297, + "end_idx": 423 + }, + { + "text": "Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Using the right hand, take the coffee pod from the table at a diagonal angle, grasping its middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Have the right arm pick the coffee pod up from the table with a diagonal approach at the middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "With the right hand, retrieve the coffee pod from the table, contacting the middle at a diagonal angle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Pick up the coffee pod from the table at a diagonal angle, grasping the middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Take the coffee pod from the table at a diagonal angle by the middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "From the table, retrieve the coffee pod with a diagonal approach at its middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Have the right arm take the coffee pod from the table.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "With the right hand, retrieve the coffee pod from the table.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Pick up the coffee pod from the table with the right hand.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Take the coffee pod from the table at a diagonal angle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "From the table, retrieve the coffee pod by the middle.", + "start_idx": 423, + "end_idx": 585 + }, + { + "text": "Put the coffee pod in front of the silver bowl with the right hand right side up with the front as the orientation reference point.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Using the right hand, place the coffee pod in front of the silver bowl right side up, with the front as the orientation reference point.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Have the right arm set the coffee pod in front of the silver bowl, keeping it right side up relative to its front.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "With the right hand, position the coffee pod before the silver bowl in a right-side-up orientation using the front as reference.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Place the coffee pod in front of the silver bowl right side up, with the front as the orientation reference point.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Set the coffee pod before the silver bowl, keeping it right side up relative to the front.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Position the coffee pod in front of the silver bowl with its front used as the orientation reference point.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Using the right hand, place the coffee pod in front of the silver bowl.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "With the right hand, set the coffee pod before the silver bowl.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Have the right arm position the coffee pod in front of the silver bowl.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Put the coffee pod in front of the silver bowl.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Place the coffee pod before the silver bowl.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Set the coffee pod in front of the silver bowl.", + "start_idx": 585, + "end_idx": 699 + }, + { + "text": "Pick up the white cup from the table with the right hand from the top at the right side using a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Using the right hand, take the white cup from the table from the top at its right side with a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "From the table, have the right hand grasp the white cup at the right side from above using a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "The white cup should be picked from the table with the right hand, contacting the top-right area with a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Pick up the white cup from the table from the top at the right side using a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Take the white cup from the table at the right side from above with a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Grasp the white cup from the table on its right side from the top using a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "With the right hand, pick up the white cup from the table using a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Using the right hand, take the white cup from the table with a lip grasp.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Have the right hand collect the white cup from the table with a lip grip.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Pick up the white cup from the table with the right hand.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Take the white cup from the table from the top at the right side.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "The white cup should be grasped from the table.", + "start_idx": 1179, + "end_idx": 1347 + }, + { + "text": "Put the white cup to the bottom right of the white coffee cup with the right hand right side up with the front as the reference point.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Using the right hand, place the white cup at the bottom right of the white coffee cup, right side up with the front as reference.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Have the right arm set the white cup bottom-right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "With the right hand, position the white cup to the bottom right of the white coffee cup, oriented right side up from the front reference.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Place the white cup at the bottom right of the white coffee cup, right side up with the front as the reference point.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Set the white cup to the bottom right of the white coffee cup, keeping it right side up relative to the front.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Position the white cup bottom-right of the white coffee cup, with the front as reference and right side up.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Using the right hand, place the white cup at the bottom right of the white coffee cup.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Have the right arm set the white cup bottom-right of the white coffee cup.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "With the right hand, position the white cup to the bottom right of the white coffee cup.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Place the white cup at the bottom right of the white coffee cup.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Set the white cup to the bottom right of the white coffee cup.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Have the white cup placed bottom-right of the white coffee cup.", + "start_idx": 1347, + "end_idx": 1458 + }, + { + "text": "Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Using the right hand, take the green bag of chips from the table with a diagonal top grasp.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Have the right hand pick the green bag of chips up from the table at a diagonal from the top.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "With the right hand, secure the green bag of chips from the table by grasping diagonally from the top.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Pick up the green bag of chips from the table with a diagonal top grasp.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Take the green bag of chips from the table by grasping it diagonally from the top.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Grab the green bag of chips from the table at a diagonal from the top.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Using the right hand, pick up the green bag of chips from the table.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Have the right hand take the green bag of chips from the table.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "With the right hand, grab the green bag of chips from the table.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Have the right hand pick up the green bag of chips from the table.", + "start_idx": 1458, + "end_idx": 1602 + }, + { + "text": "Put the green bag of chips to the left of the white coffee cup with the right hand facing backwards.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Using the right hand, place the green bag of chips to the left of the white coffee cup with its front facing backwards.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Have the right arm set the green bag of chips left of the white coffee cup, front oriented backward.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "With the right hand, position the green bag of chips to the left of the white coffee cup so the front faces backwards.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Place the green bag of chips to the left of the white coffee cup.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Set the green bag of chips left of the white coffee cup.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Position the green bag of chips to the left of the white coffee cup.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Using the right hand, put the green bag of chips to the left of the white coffee cup.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Have the right arm place the green bag of chips left of the white coffee cup.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "With the right hand, set the green bag of chips to the left of the white coffee cup.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Place the green bag of chips to the left of the white coffee cup with its front facing backwards.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Set the green bag of chips left of the white coffee cup, front facing backward.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Put the green bag of chips beside the white coffee cup on its left side.", + "start_idx": 1602, + "end_idx": 1728 + }, + { + "text": "Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Using the right hand, pick up the silver bowl from the table with a diagonal lip grasp on the right.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Have the right arm take the silver bowl from the table using a diagonal grasp on its right lip.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "With the right hand, grasp the silver bowl from the table at the right lip with a diagonal hold.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Pick up the silver bowl from the table using a diagonal lip grasp on the right.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Take the silver bowl from the table with a diagonal grasp at the right lip.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Grasp the silver bowl from the table at the bowl's right lip diagonally.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "With the right hand, pick up the silver bowl from the table.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Use the right hand to take the silver bowl from the table.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Have the right arm grasp the silver bowl from the table.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Pick up the silver bowl from the table.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Take the silver bowl from the table.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Grasp the silver bowl from the table.", + "start_idx": 1728, + "end_idx": 1887 + }, + { + "text": "Put the silver bowl to the right of the white cup with the right hand.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Using the right hand, place the silver bowl to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Have the right hand set the silver bowl down to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "With the right hand, position the silver bowl to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Place the silver bowl to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Set the silver bowl down to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Position the silver bowl to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "The silver bowl goes to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Put the silver bowl by the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Set the silver bowl next to the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Place the silver bowl beside the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Put the silver bowl to the right of the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Have the silver bowl placed beside the white cup.", + "start_idx": 1887, + "end_idx": 1995 + }, + { + "text": "Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table at a diagonal angle, grasping the middle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Have the right hand take the coffee pod from the table with a diagonal approach at its middle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "With the right hand, retrieve the coffee pod from the table by grasping its middle at a diagonal angle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Pick up the coffee pod from the table at a diagonal angle, grasping the middle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Retrieve the coffee pod from the table with a diagonal approach, holding the middle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Take the coffee pod from the table by grasping its middle at a diagonal angle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Using the right hand, pick up the coffee pod from the table.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Have the right hand take the coffee pod from the table.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "With the right hand, retrieve the coffee pod from the table.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Pick up the coffee pod from the table at a diagonal angle.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "At a diagonal angle, take the coffee pod from the table.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Pick up the coffee pod from the table.", + "start_idx": 1995, + "end_idx": 2157 + }, + { + "text": "Put the coffee pod behind the green bag of chips with the right hand right side up with the front as the orientation reference point.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Using the right hand, place the coffee pod behind the green bag of chips right side up, with the front as the orientation reference point.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Have the right hand set the coffee pod behind the green bag of chips, keeping it right side up relative to the front.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "With the right hand, position the coffee pod behind the green bag of chips in a right-side-up orientation using the front as reference.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Place the coffee pod behind the green bag of chips right side up, with the front as the orientation reference point.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Set the coffee pod behind the green bag of chips, keeping it right side up relative to the front.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Position the coffee pod behind the green bag of chips in a right-side-up orientation using the front as reference.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Using the right hand, put the coffee pod behind the green bag of chips.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Have the right hand place the coffee pod behind the green bag of chips.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "With the right hand, set the coffee pod behind the green bag of chips.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Put the coffee pod behind the green bag of chips.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Place the coffee pod behind the green bag of chips with the right hand.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Set the coffee pod behind the green bag of chips right side up.", + "start_idx": 2157, + "end_idx": 2250 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a top right lip grasp.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a top-right lip grasp.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table by the top-right lip.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "The white coffee cup should be grasped from the table with the right hand at the top-right lip.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "With the white coffee cup on the table, grasp it by the top-right lip.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Pick up the white coffee cup from the table using a top-right lip grasp.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Take the white coffee cup from the table by the top-right lip.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "The right hand should take the white coffee cup from the table.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Have the right arm retrieve the white coffee cup from the table.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Take the white coffee cup from the table with the right hand.", + "start_idx": 2496, + "end_idx": 2703 + }, + { + "text": "Put the white coffee cup to the top right of the coffee pod with the right hand right side up with the front as the reference point.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the white coffee cup at the coffee pod's top right, keeping it right side up relative to the front.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the white coffee cup to the top right of the coffee pod, upright with the front as reference.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Using the right hand, position the white coffee cup top right of the coffee pod, right side up based on the front.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Place the white coffee cup to the top right of the coffee pod.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Set the white coffee cup at the coffee pod's top right.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Position the white coffee cup to the top right of the coffee pod.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Move the white coffee cup to the top right of the coffee pod.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the white coffee cup to the top right of the coffee pod.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Using the right hand, set the white coffee cup at the coffee pod's top right.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Have the right arm position the white coffee cup to the top right of the coffee pod.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Place the white coffee cup right side up to the top right of the coffee pod.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Set the white coffee cup at the coffee pod's top right, upright with the front as the reference point.", + "start_idx": 2703, + "end_idx": 3000 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Using the left hand, take the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table at a diagonal angle by the handle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "With the left hand, secure the white coffee cup from the table via the handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Pick up the white coffee cup from the table by the handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Take the white coffee cup from the table using the handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Grasp the white coffee cup from the table by its handle at a diagonal angle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Remove the white coffee cup from the table by the handle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Take the white coffee cup from the table via the handle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Grasp the white coffee cup from the table at the handle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Using the left hand, pick up the white coffee cup from the table by the handle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "With the left hand, take the white coffee cup from the table.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Have the left arm grasp the white coffee cup from the table by its handle.", + "start_idx": 990, + "end_idx": 1035 + }, + { + "text": "Put the white coffee cup to the bottom left of the coffee pod with the handle facing bottom left right side up with the left hand.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Using the left hand, place the white coffee cup bottom-left of the coffee pod, with its handle pointing bottom-left and the cup right side up.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Have the left arm set the white coffee cup at the coffee pod's bottom-left, handle facing bottom-left, upright.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "With the left hand, position the white coffee cup to the bottom left of the coffee pod, keeping the handle toward bottom left and the cup right side up.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Place the white coffee cup to the bottom left of the coffee pod, with the handle facing bottom left and the cup right side up.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Set the white coffee cup at the bottom left of the coffee pod, with its handle pointing bottom left and upright.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Position the white coffee cup bottom-left of the coffee pod, handle toward bottom left and right side up.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Using the left hand, place the white coffee cup to the bottom left of the coffee pod.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Have the left arm set the white coffee cup at the coffee pod's bottom-left.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "With the left hand, position the white coffee cup bottom-left of the coffee pod.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Put the white coffee cup to the bottom left of the coffee pod.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Set the white coffee cup at the coffee pod's bottom-left.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Using the left hand, place the white coffee cup to the bottom left of the coffee pod, upright.", + "start_idx": 1035, + "end_idx": 1179 + }, + { + "text": "Pick up the green bag of chips from the table with the left hand from the top at the top of the object.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table from above at the top of the object.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Have the left arm take the green bag of chips from the table with a top grasp at the object's top.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table from the top at the top of the bag.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Pick up the green bag of chips from the table from above at the top of the object.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Take the green bag of chips from the table with a top grasp at the object's top.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Grasp the green bag of chips from the table from the top at the top of the bag.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Using the left hand, pick up the green bag of chips from the table.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Have the left arm take the green bag of chips from the table.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "With the left hand, grasp the green bag of chips from the table.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Pick up the green bag of chips from the table.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Take the green bag of chips from the table.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Grasp the green bag of chips from the table.", + "start_idx": 2250, + "end_idx": 2388 + }, + { + "text": "Place the green bag of chips to the left of the coffee pod with the left hand.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Using the left hand, set the green bag of chips to the left of the coffee pod, facing backward relative to its front.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Have the left arm place the green bag of chips to the coffee pod's left side with its front facing backward.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "With the left hand, position the green bag of chips left of the coffee pod, oriented backward from the front.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Place the green bag of chips to the left of the coffee pod, facing backward relative to its front.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Set the green bag of chips on the left side of the coffee pod with its front facing backward.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Position the green bag of chips to the coffee pod's left, with the front turned backward.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Using the left hand, place the green bag of chips to the left of the coffee pod.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "With the left hand, set the green bag of chips on the coffee pod's left side.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Have the left arm position the green bag of chips left of the coffee pod.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Place the green bag of chips to the left of the coffee pod.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Set the green bag of chips on the left side of the coffee pod.", + "start_idx": 2388, + "end_idx": 2496 + }, + { + "text": "Position the green bag of chips to the coffee pod's left.", + "start_idx": 2388, + "end_idx": 2496 + } + ] + }, + "2026-04-24-03-54-56-066000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 195, + "annotations": [ + { + "text": "Pick up the orange screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm grasp the orange screwdriver from the table at the middle from above.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "From the table, secure the orange screwdriver with the left hand using a top approach at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Pick up the orange screwdriver from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "From the table, take the orange screwdriver at the middle from above.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Grasp the orange screwdriver from the table with a top approach at the middle.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "With the left hand, pick up the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Have the left arm take the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Using the left hand, grasp the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Get the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "From the table, pick up the orange screwdriver.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 0, + "end_idx": 99 + }, + { + "text": "Put the orange screwdriver to the center of the table with the left hand with its tip facing bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Using the left hand, place the orange screwdriver at the table center with its tip pointing bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Have the left arm set the orange screwdriver in the center of the table, tip oriented toward the bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "With the left hand, position the orange screwdriver at the center of the table so its tip faces bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Place the orange screwdriver in the center of the table with its tip pointing bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Set the orange screwdriver at the table center with the tip facing bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Position the orange screwdriver in the center of the table so the tip points bottom left.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Using the left hand, put the orange screwdriver in the center of the table.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "With the left hand, set the orange screwdriver at the table center.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Have the left arm place the orange screwdriver in the center of the table.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Place the orange screwdriver at the center of the table.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Set the orange screwdriver in the table center.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Put the orange screwdriver at the center of the table.", + "start_idx": 99, + "end_idx": 234 + }, + { + "text": "Pick up the orange screwdriver from the table with the left hand from the top at the middle.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table from the top at the middle.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "From the top at the middle, have the left hand grasp the orange screwdriver from the table.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "With the left hand, seize the orange screwdriver from the table at its middle from above.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Pick up the orange screwdriver from the table from the top at the middle.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "From above at the middle, grasp the orange screwdriver from the table.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Take the orange screwdriver from the table at its middle from the top.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Get the orange screwdriver from the table using the left hand.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Have the left hand pick up the orange screwdriver from the table.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Using the left hand, take the orange screwdriver from the table.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Take the orange screwdriver from the table from above.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Get the orange screwdriver from the table at the middle.", + "start_idx": 942, + "end_idx": 1143 + }, + { + "text": "Put the orange screwdriver in front of the pink mug with the left hand facing top left with the tip as the reference point.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Using the left hand, place the orange screwdriver in front of the pink mug with the tip facing top left.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Have the left arm set the orange screwdriver in front of the pink mug, oriented top left at the tip.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "With the left hand, position the orange screwdriver in front of the pink mug so the tip points top left.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Place the orange screwdriver in front of the pink mug with the tip facing top left.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Set the orange screwdriver in front of the pink mug, with the tip oriented toward the top left.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Position the orange screwdriver in front of the pink mug so its tip points top left.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Using the left hand, put the orange screwdriver in front of the pink mug.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "With the left hand, place the orange screwdriver in front of the pink mug.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Have the left arm set the orange screwdriver in front of the pink mug.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Put the orange screwdriver in front of the pink mug.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Place the orange screwdriver in front of the pink mug.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Set the orange screwdriver in front of the pink mug.", + "start_idx": 1143, + "end_idx": 1398 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Using the left hand, take the red marker from the table by grasping it from the top at the middle.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Have the left arm pick the red marker up from the table with a top grasp at its middle.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "With the left hand, collect the red marker from the table, contacting it from above at the center.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Take the red marker from the table with a top grasp at the middle.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "From the table, collect the red marker by grasping it from above at the center.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Grab the red marker from the table at the middle.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "With the left hand, grab the red marker from the table.", + "start_idx": 1398, + "end_idx": 1590 + }, + { + "text": "Place the red marker to the left of the orange screwdriver with the left hand facing backwards with the tip as the reference point.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Using the left hand, set the red marker to the left of the orange screwdriver, facing backwards with the tip as the reference point.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Have the left arm place the red marker left of the orange screwdriver, oriented backwards relative to its tip.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "With the left hand, position the red marker to the orange screwdriver's left, with the tip serving as the reference point and facing backwards.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Place the red marker to the left of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Set the red marker left of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Position the red marker to the left of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Put the red marker on the left side of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Using the left hand, place the red marker to the left of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Have the left arm set the red marker left of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "With the left hand, position the red marker on the left side of the orange screwdriver.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Place the red marker left of the orange screwdriver, facing backwards with the tip as the reference point.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Set the red marker to the left of the orange screwdriver with the tip as the reference point, oriented backwards.", + "start_idx": 1590, + "end_idx": 1770 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand at the handle from the side.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Using the right hand, take the white coffee cup from the table by the handle from the side.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Have the right hand grasp the white coffee cup from the table at the handle with a side approach.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "With the right hand, collect the white coffee cup from the table, gripping the handle from the side.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Pick up the white coffee cup from the table at the handle from the side.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "From the table, grasp the white coffee cup by the handle from the side.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Take the white coffee cup from the table using the handle from the side.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Pick up the white coffee cup from the table.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "From the table, take the white coffee cup.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Grasp the white coffee cup from the table.", + "start_idx": 234, + "end_idx": 426 + }, + { + "text": "Put the white coffee cup to the right of the pink mug with the handle facing bottom right right side up using the right arm.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the pink mug, right side up, with the handle facing bottom right.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink mug with its handle pointing bottom right, keeping it right side up.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the pink mug so the handle faces bottom right and the cup remains upright.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Place the white coffee cup to the right of the pink mug with the handle facing bottom right, right side up.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Set the white coffee cup to the right of the pink mug, keeping it upright with the handle pointing bottom right.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Position the white coffee cup to the right of the pink mug so it is right side up and the handle faces bottom right.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the pink mug.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Have the right arm set the white coffee cup to the right of the pink mug.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the pink mug.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Put the white coffee cup to the right of the pink mug.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Set the white coffee cup beside the pink mug on its right side.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Position the white coffee cup on the right side of the pink mug.", + "start_idx": 426, + "end_idx": 639 + }, + { + "text": "Pick up the pink mug from the table by the handle from the side with the right hand.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Using the right hand, take hold of the pink mug by its handle from the side.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Have the right hand grasp the pink mug at the handle with a side approach.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "With the right hand, seize the pink mug by the handle from the side.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Pick up the pink mug by the handle from the side.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Take the pink mug at its handle from the side.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Grasp the pink mug by the handle using a side approach.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "The pink mug should be picked up by the handle from the side.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Using the right hand, pick up the pink mug by the handle.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Have the right hand take the pink mug at the handle.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "With the right hand, grasp the pink mug by its handle.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Pick up the pink mug by the handle.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Take hold of the pink mug at the handle.", + "start_idx": 639, + "end_idx": 774 + }, + { + "text": "Pick up the pink mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Using the right hand, take the pink mug from the table at a diagonal angle by the handle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Have the right arm pick the pink mug off the table, gripping the handle at a diagonal angle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "With the right hand, grasp the pink mug from the table by its handle at a diagonal angle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Take the pink mug from the table by the handle at a diagonal angle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Grasp the pink mug off the table at a diagonal angle by the handle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "The pink mug should be picked up from the table by the handle at a diagonal angle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Using the right hand, pick up the pink mug from the table by the handle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "With the right hand, take the pink mug off the table by its handle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Have the right arm grasp the pink mug from the table by the handle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Using the right hand, pick up the pink mug from the table at a diagonal angle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "With the right hand, take the pink mug off the table at a diagonal angle.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Pick up the pink mug from the table.", + "start_idx": 1770, + "end_idx": 2025 + }, + { + "text": "Put the pink mug to the right of the pink bowl with the handle facing backwards right side up using the right hand.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Using the right hand, place the pink mug to the right of the pink bowl with its handle facing backward and upright.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Have the right hand set the pink mug down to the right of the pink bowl, upright with the handle pointing backward.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "With the right hand, position the pink mug to the right of the pink bowl so the handle faces back and the mug stays right side up.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Place the pink mug to the right of the pink bowl with its handle facing backward and upright.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Set the pink mug down to the right of the pink bowl, keeping it upright with the handle pointing backward.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Position the pink mug to the right of the pink bowl so the handle faces back and it remains right side up.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Using the right hand, put the pink mug to the right of the pink bowl.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Have the right hand place the pink mug beside the pink bowl on its right side.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Set the pink mug to the right of the pink bowl with the right hand.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Put the pink mug to the right of the pink bowl.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Place the pink mug beside the pink bowl on its right side.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Position the pink mug on the right side of the pink bowl.", + "start_idx": 2025, + "end_idx": 2238 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Using the right hand, take the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Have the right arm pick up the white coffee cup from the table by the handle with a diagonal grasp.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table at the handle in a diagonal grip.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Pick up the white coffee cup from the table with a diagonal grasp at the handle.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Take the white coffee cup from the table by the handle using a diagonal grip.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Grasp the white coffee cup from the table at the handle with a diagonal hold.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Using the right hand, pick up the white coffee cup from the table.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Have the right arm take the white coffee cup from the table.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Take the white coffee cup from the table at the handle.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Get the white coffee cup from the table.", + "start_idx": 2238, + "end_idx": 2388 + }, + { + "text": "Put the white coffee cup to the right of the pink mug with the handle facing backwards right side up using the right arm.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the pink mug, upright with its handle facing back.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Have the right arm set the white coffee cup to the pink mug's right side, right side up and with the handle toward the back.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the pink mug so it stays upright and the handle points backward.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Place the white coffee cup to the right of the pink mug, upright with its handle facing back.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Set the white coffee cup on the right side of the pink mug, right side up with the handle toward the rear.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Position the white coffee cup to the right of the pink mug, keeping it upright and the handle pointed backward.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "The white coffee cup goes to the right of the pink mug.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Place the white coffee cup to the right of the pink mug.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Set the white coffee cup on the right side of the pink mug.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Using the right arm, place the white coffee cup to the right of the pink mug.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Have the right arm set the white coffee cup on the pink mug's right side.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "With the right arm, position the white coffee cup to the right of the pink mug.", + "start_idx": 2388, + "end_idx": 2505 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Have the right hand grasp the pink bowl from the table using a lip hold at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "With the right hand, take hold of the pink bowl from the table in a lip grip at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right diagonal using a lip grip.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "From the table, collect the pink bowl with the right hand using a lip grip.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Use the right hand to pick up the pink bowl from the table.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "With the right hand, take the pink bowl from the table.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Pick up the pink bowl from the table at the bottom right diagonal.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "From the table, grasp the pink bowl.", + "start_idx": 2505, + "end_idx": 2700 + }, + { + "text": "Put the pink bowl to the right of the orange screwdriver with the right hand.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Have the right arm set the pink bowl to the right of the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the pink bowl on the orange screwdriver's right side.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Place the pink bowl to the right of the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Set the pink bowl on the right side of the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Position the pink bowl to the orange screwdriver's right.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the pink bowl by the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "With the right hand, set the pink bowl next to the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Have the right arm place the pink bowl beside the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Place the pink bowl by the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Set the pink bowl beside the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + }, + { + "text": "Position the pink bowl next to the orange screwdriver.", + "start_idx": 2700, + "end_idx": 3000 + } + ] + }, + "2026-04-24-04-01-56-892000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 234, + "annotations": [ + { + "text": "Pick up the pink mug from the table by the handle from the side with the right hand.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the right hand, take hold of the pink mug by its handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the right arm grasp the pink mug at the handle with a side approach.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the right hand, seize the pink mug by the handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the pink mug by the handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the pink mug at its handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Grasp the pink mug by the handle using a side approach.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "The pink mug should be picked up by the handle from the side.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Using the right hand, pick up the pink mug by the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "With the right hand, take the pink mug at the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Have the right arm grasp the pink mug by its handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Pick up the pink mug by the handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Take the pink mug at its handle.", + "start_idx": 0, + "end_idx": 129 + }, + { + "text": "Put the pink mug in front of the asparagus with the right hand right side up with the front facing bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Using the right hand, place the pink mug in front of the asparagus, right side up, with the front facing bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Have the right arm set the pink mug in front of the asparagus, keeping it upright and the front pointed toward the bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "With the right hand, position the pink mug before the asparagus so it stays right side up and its front faces bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Place the pink mug in front of the asparagus, right side up, with the front facing bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Set the pink mug before the asparagus, upright, with the front oriented toward the bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Position the pink mug in front of the asparagus so it remains right side up and the front points bottom right.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Using the right hand, put the pink mug in front of the asparagus.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "With the right hand, place the pink mug before the asparagus.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Have the right arm set the pink mug in front of the asparagus.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Put the pink mug in front of the asparagus.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Set the pink mug before the asparagus.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Position the pink mug in front of the asparagus.", + "start_idx": 129, + "end_idx": 255 + }, + { + "text": "Pick up the orange screwdriver from the table with the right hand from the top at the middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Using the right hand, take the orange screwdriver from the table by grasping it from the top at the middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Have the right arm pick up the orange screwdriver from the table with a top grasp at its middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "The orange screwdriver from the table should be grasped with the right hand from above at the middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Pick up the orange screwdriver from the table from the top at the middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Take the orange screwdriver from the table with a top grasp at the middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Grasp the orange screwdriver from the table from above at its middle.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "With the right hand, pick up the orange screwdriver from the table.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Use the right hand to take the orange screwdriver from the table.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Have the right arm grasp the orange screwdriver from the table.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Pick up the orange screwdriver from the table.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Take the orange screwdriver from the table.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "The orange screwdriver from the table should be picked up.", + "start_idx": 876, + "end_idx": 1041 + }, + { + "text": "Put the orange screwdriver in front of the asparagus with the right hand with the tip facing top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Using the right hand, place the orange screwdriver in front of the asparagus with its tip facing the top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Have the right arm set the orange screwdriver in front of the asparagus, tip oriented toward the top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "With the right hand, position the orange screwdriver in front of the asparagus so the tip points top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Place the orange screwdriver in front of the asparagus with its tip facing the top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Set the orange screwdriver in front of the asparagus with the tip pointing to the top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Position the orange screwdriver in front of the asparagus so its tip is directed top left.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Using the right hand, put the orange screwdriver in front of the asparagus.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "With the right hand, place the orange screwdriver in front of the asparagus.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Have the right arm set the orange screwdriver in front of the asparagus.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Put the orange screwdriver in front of the asparagus.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Set the orange screwdriver in front of the asparagus.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Position the orange screwdriver in front of the asparagus.", + "start_idx": 1041, + "end_idx": 1170 + }, + { + "text": "Pick up the asparagus from the table with the right hand from the top at the middle.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Using the right hand, pick up the asparagus from the table from the top at the middle.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Have the right arm take the asparagus from the table, grasping it at the middle from above.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "With the right hand, grasp the asparagus from the table at its middle from the top.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Pick up the asparagus from the table from the top at the middle.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Take the asparagus from the table at the middle from above.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Grasp the asparagus from the table at its middle from the top.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Using the right hand, pick up the asparagus from the table.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Have the right arm take the asparagus from the table.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "With the right hand, grasp the asparagus from the table.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Pick up the asparagus from the table.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "From the table, take the asparagus.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Get the asparagus from the table.", + "start_idx": 1170, + "end_idx": 1314 + }, + { + "text": "Put the asparagus to the right of the orange screwdriver with the right hand facing forwards with the tip as the reference point.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Using the right hand, place the asparagus to the right of the orange screwdriver, facing forwards with the tip as the reference point.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Have the right arm set the asparagus to the right of the orange screwdriver with the tip pointing forwards.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "With the right hand, position the asparagus to the right of the orange screwdriver so the tip faces forwards.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Place the asparagus to the right of the orange screwdriver with the tip facing forwards.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Set the asparagus to the right of the orange screwdriver, oriented forward from the tip.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Position the asparagus to the right of the orange screwdriver so its tip points forwards.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Using the right hand, put the asparagus to the right of the orange screwdriver.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Have the right arm place the asparagus to the right of the orange screwdriver.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "With the right hand, set the asparagus to the right of the orange screwdriver.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Put the asparagus to the right of the orange screwdriver.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "To the right of the orange screwdriver, place the asparagus.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Have the asparagus positioned to the right of the orange screwdriver.", + "start_idx": 1314, + "end_idx": 1434 + }, + { + "text": "Pick up the white coffee cup from the table with the right hand using a side grasp at the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Using the right hand, take hold of the white coffee cup on the table with a side grasp at the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Have the right hand pick up the white coffee cup from the table by the handle with a side grip.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "The white coffee cup on the table should be grasped with the right hand using a side hold on the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Take the white coffee cup from the table at the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Grasp the white coffee cup from the table and pick it up.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "The white coffee cup from the table should be picked up.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "With the right hand, pick up the white coffee cup from the table.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Have the right hand take the white coffee cup from the table.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Using the right hand, grasp the white coffee cup from the table.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Pick up the white coffee cup from the table with a side grasp at the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "The white coffee cup from the table should be taken with a side hold on the handle.", + "start_idx": 1434, + "end_idx": 1659 + }, + { + "text": "Put the white coffee cup behind the asparagus with the handle facing bottom right right side up using the right arm.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Using the right arm, place the white coffee cup behind the asparagus, right side up, with its handle facing bottom right.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Have the right arm set the white coffee cup behind the asparagus with the handle pointed bottom right and the cup right side up.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "With the right arm, position the white coffee cup behind the asparagus so the handle faces bottom right, right side up.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Place the white coffee cup behind the asparagus with the handle facing bottom right, right side up.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Set the white coffee cup behind the asparagus so its handle points bottom right, right side up.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "The white coffee cup goes behind the asparagus with the handle directed bottom right, right side up.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Using the right arm, put the white coffee cup behind the asparagus.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "With the right arm, place the white coffee cup behind the asparagus.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Have the right arm position the white coffee cup behind the asparagus.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Put the white coffee cup behind the asparagus.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Set the white coffee cup behind the asparagus.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "The white coffee cup should be placed behind the asparagus.", + "start_idx": 1659, + "end_idx": 1875 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the top with a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Using the right hand, take the asparagus from the table with a side grip at the top and a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Have the right hand grasp the asparagus from the table from the top with a side hold at a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "With the right hand, secure the asparagus from the table using a side grasp at the top on a diagonal.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Pick up the asparagus from the table using a side grip at the top with a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Take the asparagus from the table with a side grasp at the top and a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Grasp the asparagus from the table from the top using a side hold at a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Pick up the asparagus from the table with the right hand using a side grip at the top.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "With the right hand, take the asparagus from the table using a side grasp at the top.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Have the right hand grasp the asparagus from the table at the top with a side hold.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Using the right hand, pick up the asparagus from the table at the top with a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Pick up the asparagus from the table with a side grip at the top.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "From the table, take the asparagus with the right hand at the top with a diagonal angle.", + "start_idx": 2340, + "end_idx": 2499 + }, + { + "text": "Put the asparagus to the right of the pink mug with the right hand facing top left from the front.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Using the right hand, place the asparagus to the right of the pink mug, facing top left from the front.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Have the right arm set the asparagus to the right of the pink mug with its front facing top left.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "With the right hand, position the asparagus to the right of the pink mug so the front points top left.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Place the asparagus to the right of the pink mug, facing top left from the front.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Set the asparagus to the right of the pink mug with its front facing top left.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Position the asparagus to the right of the pink mug so the front points top left.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Using the right hand, put the asparagus to the right of the pink mug.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "With the right hand, place the asparagus to the right of the pink mug.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Have the right arm position the asparagus to the right of the pink mug.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Put the asparagus to the right of the pink mug.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Set the asparagus to the right of the pink mug.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Position the asparagus to the right of the pink mug.", + "start_idx": 2499, + "end_idx": 2604 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side with the right hand.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Using the right hand, take hold of the white coffee cup by its handle from the side.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Have the right arm grasp the white coffee cup at the handle with a side approach.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "With the right hand, pick the white coffee cup up by the handle from the side.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Pick up the white coffee cup from the table by the handle from the side.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Take the white coffee cup from the table by its handle with a side grasp.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Grasp the white coffee cup by the handle from the side.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "The white coffee cup should be picked up by the handle from the side.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Pick up the white coffee cup from the table by the handle.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Using the right hand, take the white coffee cup by its handle.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "With the right hand, grasp the white coffee cup from the table.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Take the white coffee cup from the table by its handle.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "The white coffee cup should be picked up from the table.", + "start_idx": 2604, + "end_idx": 2772 + }, + { + "text": "Put the white coffee cup behind the orange screwdriver with the handle facing backwards right side up using the right hand.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Using the right hand, place the white coffee cup behind the orange screwdriver with the handle facing backward and upright.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Have the right hand set the white coffee cup behind the orange screwdriver, keeping it right side up with the handle pointed backward.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "With the right hand, position the white coffee cup behind the orange screwdriver so the handle faces backward and the cup stays upright.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Place the white coffee cup behind the orange screwdriver with the handle facing backward and upright.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Set the white coffee cup behind the orange screwdriver, keeping the handle pointed backward and the cup right side up.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Position the white coffee cup behind the orange screwdriver so it is upright and its handle faces backward.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Using the right hand, put the white coffee cup behind the orange screwdriver.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "With the right hand, place the white coffee cup behind the orange screwdriver.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Have the right hand set the white coffee cup behind the orange screwdriver.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Put the white coffee cup behind the orange screwdriver.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Set the white coffee cup behind the orange screwdriver.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Position the white coffee cup behind the orange screwdriver.", + "start_idx": 2772, + "end_idx": 3000 + }, + { + "text": "Pick up the pink mug from the table with the left hand using a lip grip at the top left from the top.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Using the left hand, pick up the pink mug from the table with a lip grip at the top left from above.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Have the left hand take the pink mug from the table using a lip grasp at the mug's top left from the top.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "With the left hand, grasp the pink mug from the table by its top-left lip from above.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Pick up the pink mug from the table with a lip grip at the top left from above.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Take the pink mug from the table by the top-left lip from the top.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Grasp the pink mug from the table at the top left with a lip hold from above.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Using the left hand, pick up the pink mug from the table with a lip grip.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Let the left hand take the pink mug from the table using a lip grasp.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "With the left hand, grasp the pink mug from the table by the lip.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Pick up the pink mug from the table with the left hand.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Take the pink mug from the table from above.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Have the left hand take the pink mug from the table.", + "start_idx": 255, + "end_idx": 432 + }, + { + "text": "Put the pink mug to the right of the pink bowl with the handle facing top right right side up using the left hand.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Using the left hand, place the pink mug to the right of the pink bowl with the handle pointing to the top right, right side up.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Have the left hand set the pink mug on the right side of the pink bowl, keeping it upright and with the handle aimed top right.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "With the left hand, position the pink mug to the right of the pink bowl, upright, handle directed toward the top right.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Place the pink mug to the right of the pink bowl with the handle facing top right, right side up.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Set the pink mug on the right side of the pink bowl, keeping the handle toward the top right and the mug upright.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Position the pink mug to the right of the pink bowl, upright with its handle pointing top right.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Using the left hand, put the pink mug to the right of the pink bowl.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "With the left hand, place the pink mug on the right side of the pink bowl.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Have the left hand set the pink mug to the right of the pink bowl.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Put the pink mug to the right of the pink bowl.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Place the pink mug on the right side of the pink bowl.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Have the pink mug positioned beside the pink bowl on its right side.", + "start_idx": 432, + "end_idx": 576 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Using the left hand, take the red marker from the table with a top grasp at the middle.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Have the left arm pick the red marker up from the table, contacting it from above at its midpoint.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "With the left hand, grasp the red marker from the table from the top at the center.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Take the red marker from the table with a top grasp at the middle.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Grasp the red marker from the table from above at its midpoint.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 576, + "end_idx": 729 + }, + { + "text": "Place the red marker behind the pink mug with the left hand with its tip facing bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Using the left hand, set the red marker behind the pink mug with its tip pointing to the bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Have the left arm place the red marker behind the pink mug, tip oriented toward the bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "With the left hand, position the red marker behind the pink mug so the tip faces bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Place the red marker behind the pink mug with its tip facing bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Set the red marker behind the pink mug, with the tip directed bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Position the red marker behind the pink mug so its tip points bottom right.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Using the left hand, place the red marker behind the pink mug.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "With the left hand, set the red marker behind the pink mug.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Have the left arm position the red marker behind the pink mug.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Place the red marker behind the pink mug.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Set the red marker behind the pink mug.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Position the red marker behind the pink mug.", + "start_idx": 729, + "end_idx": 876 + }, + { + "text": "Pick up the pink mug from the table with the left hand using a lip grip from the top left.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Using the left hand, take the pink mug from the table with a lip grip at the top left.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Have the left arm grasp the pink mug from the table with a lip hold on the top-left side.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "With the left hand, secure the pink mug from the table using the lip at the top left.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Pick up the pink mug from the table using a lip grip from the top left.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Take the pink mug from the table with a lip hold at the top left.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Grasp the pink mug from the table at the top left using the lip.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "With the left hand, pick up the pink mug from the table.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Using the left arm, take the pink mug from the table.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Have the left hand grasp the pink mug from the table.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Pick up the pink mug from the table with the left hand from the top left.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "From the top left, take the pink mug from the table with the left hand.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Using the lip grip, pick up the pink mug from the table.", + "start_idx": 1875, + "end_idx": 2118 + }, + { + "text": "Put the pink mug in front of the orange screwdriver with the handle facing top right right side up with the front as the reference using the left hand.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Using the left hand, place the pink mug in front of the orange screwdriver, right side up, with its handle pointing to the top right from the front.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Have the left arm set the pink mug in front of the orange screwdriver, keeping it upright and the handle aimed top right relative to the front.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "With the left hand, position the pink mug before the orange screwdriver, right side up, with the handle directed toward the top right using the front as reference.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Place the pink mug in front of the orange screwdriver, right side up, with the handle pointing top right from the front.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Set the pink mug in front of the orange screwdriver, upright, with its handle aimed toward the top right relative to the front.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Position the pink mug before the orange screwdriver, keeping it right side up and the handle oriented to the top right from the front.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Using the left hand, put the pink mug in front of the orange screwdriver.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Have the left arm place the pink mug before the orange screwdriver.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "With the left hand, set the pink mug in front of the orange screwdriver.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Set the pink mug in front of the orange screwdriver.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Place the pink mug before the orange screwdriver.", + "start_idx": 2118, + "end_idx": 2340 + }, + { + "text": "Have the pink mug placed in front of the orange screwdriver.", + "start_idx": 2118, + "end_idx": 2340 + } + ] + }, + "2026-04-24-04-07-53-200000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 195, + "annotations": [ + { + "text": "Pick up the cabbage from the table with the left hand from the top at the middle.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Using the left hand, take the cabbage from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Have the left arm grasp the cabbage on the table from above at its middle.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "With the left hand, collect the cabbage from the table by approaching the top center.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Pick up the cabbage from the table from the top at the middle.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Take the cabbage off the table from above at the middle.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Grasp the cabbage on the table at its top center.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Using the left hand, pick up the cabbage from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "With the left hand, take the cabbage off the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Have the left arm grasp the cabbage on the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Take the cabbage off the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Grasp the cabbage on the table.", + "start_idx": 0, + "end_idx": 162 + }, + { + "text": "Put the cabbage to the bottom left of the white mug with the left hand facing top right from the front.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Using the left hand, place the cabbage at the bottom left of the white mug, facing top right from the front.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Have the left arm set the cabbage to the white mug's bottom-left, with its front facing the top right.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "With the left hand, position the cabbage bottom-left of the white mug so the front faces top right.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Place the cabbage at the bottom left of the white mug, facing top right from the front.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Set the cabbage to the white mug's bottom-left with its front oriented toward the top right.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Position the cabbage bottom-left of the white mug so the front points top right.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Using the left hand, put the cabbage at the bottom left of the white mug.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "With the left arm, place the cabbage to the white mug's bottom-left.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Have the left hand position the cabbage at the mug's bottom-left.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Put the cabbage at the bottom left of the white mug.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Set the cabbage to the white mug's bottom-left.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Position the cabbage by the white mug's bottom-left.", + "start_idx": 162, + "end_idx": 303 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle from the side.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Using the left hand, take the white mug from the table by its handle from the side.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Have the left arm grasp the white mug on the table at the handle with a side approach.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "With the left hand, seize the white mug from the table via the handle from the side.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Pick up the white mug from the table by the handle from the side.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Take the white mug from the table at the handle from the side.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "From the table, grasp the white mug by its handle from the side.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Have the left arm take the white mug from the table by the handle.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Take the white mug from the table by its handle.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "From the table, grasp the white mug.", + "start_idx": 864, + "end_idx": 1062 + }, + { + "text": "Place the white mug to the left of the green mug with the handle facing bottom left right side up using the left hand.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Using the left hand, set the white mug to the left of the green mug, handle pointing bottom left and right side up.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Have the left arm place the white mug left of the green mug with the handle facing bottom left, keeping it upright.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "With the left hand, position the white mug to the green mug's left, handle oriented bottom left and the mug right side up.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Place the white mug to the left of the green mug with the handle facing bottom left and right side up.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Set the white mug left of the green mug, with its handle pointing bottom left and the mug upright.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Position the white mug to the left of the green mug, keeping the handle facing bottom left and the mug right side up.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Using the left hand, place the white mug to the left of the green mug.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Have the left arm set the white mug left of the green mug.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "With the left hand, position the white mug to the green mug's left.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Place the white mug to the left of the green mug.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Using the left hand, set the white mug to the left of the green mug.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Have the white mug placed to the left of the green mug.", + "start_idx": 1062, + "end_idx": 1191 + }, + { + "text": "Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Using the left hand, pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Have the left arm take the cabbage from the table with a diagonal approach and a middle grasp.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "With the left hand, retrieve the cabbage from the table diagonally by holding its middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Pick up the cabbage from the table at a diagonal angle, grasping the middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Take the cabbage from the table with a diagonal approach, holding the middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Retrieve the cabbage from the table diagonally with a middle grasp.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Using the left hand, pick up the cabbage from the table, grasping the middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Have the left arm take the cabbage from the table by the middle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "With the left hand, collect the cabbage from the table.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Pick up the cabbage from the table.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Get the cabbage from the table at a diagonal angle.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Remove the cabbage from the table with a middle grasp.", + "start_idx": 1191, + "end_idx": 1338 + }, + { + "text": "Put the cabbage in front of the white mug with the left hand facing forwards with the front as the reference point.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Using the left hand, place the cabbage in front of the white mug, facing forwards with the front as the reference point.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Have the left arm set the cabbage in front of the white mug with its front used as the reference point, facing forwards.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "With the left hand, position the cabbage in front of the white mug so it faces forwards, using the front as the reference point.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Place the cabbage in front of the white mug so it faces forwards, using the front as the reference point.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Set the cabbage in front of the white mug with its front as the reference point, facing forwards.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Position the cabbage in front of the white mug, oriented forwards relative to its front.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Using the left hand, put the cabbage in front of the white mug.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "With the left hand, place the cabbage in front of the white mug.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Have the left arm position the cabbage in front of the white mug.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Put the cabbage in front of the white mug.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Set the cabbage in front of the white mug.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Position the cabbage in front of the white mug.", + "start_idx": 1338, + "end_idx": 1473 + }, + { + "text": "Pick up the white mug from the table with the left hand from the side by the handle.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Using the left hand, pick up the white mug from the table from the side by the handle.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Have the left arm take the white mug off the table, approaching from the side and grasping the handle.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "With the left hand, retrieve the white mug from the table via the handle from a side approach.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Pick up the white mug from the table from the side by the handle.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Take the white mug off the table by the handle, approaching from the side.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Grasp the white mug from the table at the handle from the side.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Have the left arm take the white mug off the table.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "With the left hand, retrieve the white mug from the table.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Take the white mug off the table from the side.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 1860, + "end_idx": 2223 + }, + { + "text": "Put the white mug to the left of the cabbage with the left hand right side up with the front facing backwards.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Using the left hand, place the white mug to the left of the cabbage upright with its front facing backward.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Have the left arm set the white mug left of the cabbage, right side up and facing backward at the front.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "With the left hand, position the white mug to the cabbage's left, upright with the front oriented backward.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Place the white mug to the left of the cabbage right side up with the front facing backward.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Set the white mug left of the cabbage upright, with its front pointing backward.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Position the white mug to the cabbage's left with the front facing backward.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Put the white mug to the left of the cabbage with its front oriented backward.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Using the left hand, place the white mug to the left of the cabbage.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Have the left arm set the white mug left of the cabbage.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "With the left hand, position the white mug to the cabbage's left.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Place the white mug to the left of the cabbage.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Set the white mug left of the cabbage.", + "start_idx": 2223, + "end_idx": 2415 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Have the right arm take the blue screwdriver from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Pick up the blue screwdriver from the table at a diagonal angle, grasping the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Take the blue screwdriver from the table with a diagonal pickup, holding the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Retrieve the blue screwdriver from the table diagonally by the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table, grasping the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "With the right hand, take the blue screwdriver from the table by the middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Have the right arm retrieve the blue screwdriver from the table, holding its middle.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Take the blue screwdriver from the table.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Have the right arm pick up the blue screwdriver from the table.", + "start_idx": 303, + "end_idx": 495 + }, + { + "text": "Put the blue screwdriver in front of the green mug with the right hand with its tip facing top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Using the right hand, place the blue screwdriver in front of the green mug with its tip pointing to the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Have the right arm set the blue screwdriver in front of the green mug, tip oriented toward the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "With the right hand, position the blue screwdriver before the green mug so the tip faces top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Place the blue screwdriver in front of the green mug with its tip pointing to the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Set the blue screwdriver before the green mug, with the tip directed toward the top right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Position the blue screwdriver in front of the green mug so its tip faces the upper right.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Using the right hand, put the blue screwdriver in front of the green mug.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "With the right hand, place the blue screwdriver before the green mug.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Have the right arm set the blue screwdriver in front of the green mug.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Put the blue screwdriver in front of the green mug.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Place the blue screwdriver before the green mug.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Set the blue screwdriver in front of the green mug.", + "start_idx": 495, + "end_idx": 645 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Using the right hand, take the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Have the right hand collect the pink stuffed animal from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table diagonally while holding the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Retrieve the pink stuffed animal from the table with a diagonal pickup while holding the whole object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Take the pink stuffed animal from the table diagonally, grasping the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table, grasping the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table while holding the whole object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Have the right hand retrieve the pink stuffed animal from the table, enclosing the entire object.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "From the table, take the pink stuffed animal with the right hand at a diagonal angle.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Using the right hand, retrieve the pink stuffed animal from the table.", + "start_idx": 645, + "end_idx": 798 + }, + { + "text": "Put the pink stuffed animal to the right of the blue screwdriver with the right hand facing forwards.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the blue screwdriver, facing forwards.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Have the right arm set the pink stuffed animal to the right of the blue screwdriver with its front facing forward.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "With the right hand, position the pink stuffed animal to the right of the blue screwdriver so it faces forwards.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Place the pink stuffed animal to the right of the blue screwdriver, facing forwards.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Set the pink stuffed animal to the right of the blue screwdriver with the front facing forward.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Position the pink stuffed animal to the right of the blue screwdriver so it faces forwards.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Using the right hand, place the pink stuffed animal to the right of the blue screwdriver.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Have the right arm set the pink stuffed animal to the right of the blue screwdriver.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "With the right hand, position the pink stuffed animal to the right of the blue screwdriver.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Place the pink stuffed animal to the right of the blue screwdriver.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Set the pink stuffed animal to the right of the blue screwdriver.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Position the pink stuffed animal to the right of the blue screwdriver.", + "start_idx": 798, + "end_idx": 864 + }, + { + "text": "Pick up the blue screwdriver from the table with the right hand from the top at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Using the right hand, take the blue screwdriver from the table from the top at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Have the right arm grasp the blue screwdriver on the table with a top pick at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "With the right hand, retrieve the blue screwdriver from the table by grasping it from the top at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Pick up the blue screwdriver from the table from the top at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Take the blue screwdriver off the table from the top at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Grasp the blue screwdriver on the table from the top at the middle.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Using the right hand, pick up the blue screwdriver from the table.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Have the right arm take the blue screwdriver from the table.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "With the right hand, grasp the blue screwdriver on the table.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Pick up the blue screwdriver from the table.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Take the blue screwdriver off the table.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Have the right arm pick up the blue screwdriver from the table.", + "start_idx": 1473, + "end_idx": 1689 + }, + { + "text": "Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Have the right arm take the pink stuffed animal from the table with a diagonal pickup, enclosing the whole object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "With the right hand, retrieve the pink stuffed animal from the table diagonally using a whole-object grasp.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Pick up the pink stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Take the pink stuffed animal from the table with a diagonal approach, holding the entire object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Retrieve the pink stuffed animal from the table diagonally with a full-object grasp.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table, grasping the entire object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table, holding the whole object.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Have the right arm retrieve the pink stuffed animal from the table with a full-object grasp.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Using the right hand, pick up the pink stuffed animal from the table at a diagonal angle.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "With the right hand, take the pink stuffed animal from the table diagonally.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Pick up the pink stuffed animal from the table.", + "start_idx": 2415, + "end_idx": 2613 + }, + { + "text": "Return to home with the right hand.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Using the right hand, move back to the home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Have the right arm return to its home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "With the right hand, go to home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Return to the home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Move back to home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Go to the home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Have the arm return home.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Return home.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Move to home position.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Go home.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Bring the arm back home.", + "start_idx": 2757, + "end_idx": 2841 + }, + { + "text": "Back to the home position.", + "start_idx": 2757, + "end_idx": 2841 + } + ] + }, + "2026-04-24-04-17-50-937000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 351, + "annotations": [ + { + "text": "Pick up the juice pouch from the white plate with the right hand using a side grip at the bottom from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the right hand, take the juice pouch from the white plate with a side grasp at the bottom from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the right arm pick the juice pouch off the white plate using a side grip on the bottom from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "With the right hand, grasp the juice pouch from the white plate by the bottom using a side hold from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the juice pouch from the white plate using a side grip at the bottom from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Take the juice pouch off the white plate with a side grasp on the bottom from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Grasp the juice pouch from the white plate by the bottom from the side.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the juice pouch from the white plate with the right hand.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Using the right hand, take the juice pouch from the white plate.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the right arm grasp the juice pouch off the white plate.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Pick up the juice pouch from the white plate.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Take the juice pouch off the white plate.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Have the right hand take the juice pouch from the white plate.", + "start_idx": 0, + "end_idx": 108 + }, + { + "text": "Put the juice pouch between the green bowl and the white plate with the right hand right side up.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the juice pouch between the green bowl and the white plate right side up.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Have the right arm set the juice pouch between the green bowl and the white plate with its right side up.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "With the right hand, position the juice pouch right side up between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Place the juice pouch between the green bowl and the white plate right side up.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Set the juice pouch right side up between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Position the juice pouch between the green bowl and the white plate with its right side up.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Using the right hand, put the juice pouch between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Have the right arm place the juice pouch between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "With the right hand, set the juice pouch between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Put the juice pouch right side up between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Using the right hand, place the juice pouch between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Have the right arm position the juice pouch between the green bowl and the white plate.", + "start_idx": 108, + "end_idx": 216 + }, + { + "text": "Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Using the right hand, take the juice pouch from the table with a side grasp at the top diagonally.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Have the right arm pick the juice pouch off the table in a diagonal top side grip.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table using a side hold at the top on a diagonal.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Pick up the juice pouch from the table using a side grip at the top diagonally.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Take the juice pouch off the table with a side grasp at the top diagonally.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Retrieve the juice pouch from the table in a diagonal side hold at the top.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Using the right hand, pick up the juice pouch from the table with a side grip.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Have the right arm take the juice pouch off the table using a side grasp.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "With the right hand, retrieve the juice pouch from the table in a side hold.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Pick up the juice pouch from the table diagonally at the top.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Take the juice pouch off the table from the top on a diagonal.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Retrieve the juice pouch from the table with the right hand.", + "start_idx": 645, + "end_idx": 819 + }, + { + "text": "Place the juice pouch on top of the white plate with the right hand right side up with the front as the orientation reference point.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Using the right hand, set the juice pouch on top of the white plate right side up, with the front as the orientation reference point.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Have the right arm place the juice pouch onto the white plate, keeping it right side up relative to the front.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "With the right hand, position the juice pouch atop the white plate in a right-side-up orientation using the front as reference.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Place the juice pouch on top of the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Set the juice pouch onto the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Put the juice pouch atop the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Position the juice pouch on the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Using the right hand, place the juice pouch on top of the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Have the right arm set the juice pouch onto the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "With the right hand, put the juice pouch atop the white plate.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Place the juice pouch on top of the white plate right side up.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Set the juice pouch onto the white plate with the front as the orientation reference point.", + "start_idx": 819, + "end_idx": 924 + }, + { + "text": "Pick up the juice pouch from the white plate with the right hand using a side grip at the top from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Using the right hand, take the juice pouch from the white plate with a side grip at the top from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Have the right arm grasp the juice pouch from the white plate at the top with a side hold from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "With the right hand, retrieve the juice pouch from the white plate, gripping its top from a diagonal angle using a side grasp.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Take the juice pouch from the white plate with a side grip at the top from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Grasp the juice pouch from the white plate at the top with a side hold from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "The juice pouch from the white plate should be picked up with a side grasp at the top from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Use the right hand to pick up the juice pouch from the white plate.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Have the right arm take the juice pouch from the white plate.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "With the right hand, retrieve the juice pouch from the white plate.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Pick up the juice pouch from the white plate with the right hand.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Using the right hand, grasp the juice pouch from the white plate from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Take the juice pouch from the white plate at the top from a diagonal angle.", + "start_idx": 1710, + "end_idx": 1848 + }, + { + "text": "Put the juice pouch to the left of the white plate with the right hand right side up with the front as the reference point.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the white plate, right side up with the front as the reference point.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Have the right arm set the juice pouch to the left of the white plate, keeping it right side up relative to the front.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "With the right hand, position the juice pouch to the left of the white plate in a right-side-up orientation using the front as reference.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Place the juice pouch to the left of the white plate, right side up with the front as the reference point.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Set the juice pouch to the left of the white plate, keeping it right side up relative to the front.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Position the juice pouch to the left of the white plate in a right-side-up orientation based on the front.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Using the right hand, place the juice pouch to the left of the white plate.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "With the right hand, set the juice pouch to the left of the white plate.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Have the right arm position the juice pouch to the left of the white plate.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Put the juice pouch to the left of the white plate.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Place the juice pouch beside the white plate on its left.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Set the juice pouch on the left side of the white plate.", + "start_idx": 1848, + "end_idx": 1956 + }, + { + "text": "Pick up the doritos from the table with the left hand at a diagonal angle grasping the top of the object.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Using the left hand, pick up the doritos from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Have the left arm take the doritos from the table with a diagonal approach, holding the top of the object.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "With the left hand, retrieve the doritos from the table diagonally by grasping the top.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Pick up the doritos from the table at a diagonal angle, grasping the top of the object.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Retrieve the doritos from the table diagonally while holding the top of the object.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Take the doritos from the table with a diagonal approach, grasping the top.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "With the left hand, retrieve the doritos from the table.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Take the doritos from the table.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Retrieve the doritos from the table.", + "start_idx": 216, + "end_idx": 336 + }, + { + "text": "Put the doritos on top of the pink plate with the left hand facing top left from the front.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Using the left hand, place the doritos on top of the pink plate facing the top left from the front.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Have the left arm set the doritos on the pink plate with the front oriented toward the top left.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "With the left hand, position the doritos atop the pink plate so they face top left from the front.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Place the doritos on top of the pink plate facing the top left from the front.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Set the doritos atop the pink plate with the front toward the top left.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Position the doritos on the pink plate so the front points top left.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Put the doritos on top of the pink plate with the left hand.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Using the left hand, place the doritos atop the pink plate.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Have the left arm set the doritos on the pink plate.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Put the doritos on top of the pink plate.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Set the doritos atop the pink plate.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Position the doritos on the pink plate.", + "start_idx": 336, + "end_idx": 411 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom right from the top.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a lip hold on the bottom-right area from above.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "With the left hand, take the green bowl off the table using a lip grasp at the bottom right from the top.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Pick up the green bowl from the table using a lip grip at the bottom right from the top.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "From the table, grasp the green bowl with a lip hold at the bottom right from above.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Take the green bowl off the table with a lip grasp on the bottom-right part from the top.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip grasp.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Have the left hand grasp the green bowl from the table with a lip hold.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom right from the top.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "From the table, take the green bowl with the left hand at the bottom right from above.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 411, + "end_idx": 534 + }, + { + "text": "Put the green bowl to the left of the pink plate with the left hand.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Using the left hand, place the green bowl to the left of the pink plate, right side up with the front oriented correctly.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Have the left arm set the green bowl to the left of the pink plate, keeping it right side up relative to the front.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "With the left hand, position the green bowl to the left of the pink plate in a right-side-up orientation from the front.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Place the green bowl to the left of the pink plate, keeping it right side up relative to the front.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Set the green bowl to the left of the pink plate in a right-side-up orientation from the front.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Position the green bowl to the left of the pink plate, right side up with the front aligned.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Using the left hand, put the green bowl to the left of the pink plate.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "With the left hand, place the green bowl to the left of the pink plate.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Have the left arm position the green bowl to the left of the pink plate.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Put the green bowl to the left of the pink plate.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Set the green bowl to the left of the pink plate.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Position the green bowl to the left of the pink plate.", + "start_idx": 534, + "end_idx": 645 + }, + { + "text": "Pick up the doritos from the pink plate with the left hand from the top of the object using a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Using the left hand, take the doritos from the pink plate from the top of the object with a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Have the left arm grasp the doritos from the pink plate at the top of the object using a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "With the left hand, collect the doritos from the pink plate by picking from the top with a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Pick up the doritos from the pink plate from the top of the object using a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Take the doritos from the pink plate by picking from the top with a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Grasp the doritos from the pink plate at the top of the object with a top pick.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Using the left hand, pick up the doritos from the pink plate.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Have the left arm take the doritos from the pink plate.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "With the left hand, grasp the doritos from the pink plate.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Pick up the doritos from the pink plate.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Take the doritos from the pink plate.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Grasp the doritos from the pink plate.", + "start_idx": 924, + "end_idx": 1026 + }, + { + "text": "Put the doritos to the right of the pink plate with the left hand facing left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Using the left hand, place the doritos to the right of the pink plate with the front facing left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Have the left arm set the doritos to the right of the pink plate so the front points left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "With the left hand, position the doritos to the right of the pink plate, front facing left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Place the doritos to the right of the pink plate with the front facing left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Set the doritos to the right of the pink plate so the front points left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Position the doritos to the right of the pink plate, front facing left.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Using the left hand, place the doritos to the right of the pink plate.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "With the left hand, set the doritos to the right of the pink plate.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Have the left arm position the doritos to the right of the pink plate.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Place the doritos to the right of the pink plate.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Set the doritos to the right of the pink plate.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Position the doritos to the right of the pink plate.", + "start_idx": 1026, + "end_idx": 1101 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the right side with a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Have the left arm take the green bowl from the table with a lip grasp on the right side at a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "With the left hand, grasp the green bowl from the table by its right side using a lip grip at a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the right side and a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Take the green bowl from the table using a lip grasp on the right side at a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Grasp the green bowl from the table by the right side with a lip grip at a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "With the left hand, grasp the green bowl from the table with a lip hold.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the right side with a diagonal angle.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Take the green bowl from the table with the left hand at a diagonal angle on the right side.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 1101, + "end_idx": 1188 + }, + { + "text": "Put the green bowl in front of the pink plate with the left hand.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Using the left hand, place the green bowl in front of the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Have the left arm set the green bowl in front of the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "With the left hand, position the green bowl before the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Place the green bowl in front of the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Set the green bowl before the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Position the green bowl in front of the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Move the green bowl to the front of the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Using the left hand, put the green bowl by the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Have the left arm place the green bowl next to the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Set the green bowl by the pink plate with the left hand.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Place the green bowl by the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Put the green bowl next to the pink plate.", + "start_idx": 1188, + "end_idx": 1281 + }, + { + "text": "Pick up the pink plate from the table with the left hand from the top at the left side using a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Using the left hand, take the pink plate from the table from the top at the left side with a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Have the left arm grasp the pink plate from the table at the left side from above using a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "With a lip grip, the left hand should collect the pink plate from the table from the top on its left side.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Pick up the pink plate from the table from the top at the left side using a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Take the pink plate from the table at the left side from above with a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Grasp the pink plate from the table on the left side from the top using a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Have the left arm collect the pink plate from the table with a lip grip.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Using the left hand, pick up the pink plate from the table from the top at the left side.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "From above at the plate's left side, grasp the pink plate from the table with the left hand.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 1281, + "end_idx": 1413 + }, + { + "text": "Put the pink plate on the top left side of green bowl with the left hand right side up.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Using the left hand, place the pink plate on the top left side of the green bowl, right side up.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Have the left arm set the pink plate on the green bowl's top left side with its right side up.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "With the left hand, position the pink plate on the top left of the green bowl so it stays right side up.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Place the pink plate on the top left side of the green bowl.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Set the pink plate on the green bowl's top left side.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Position the pink plate on the top left of the green bowl.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Using the left hand, put the pink plate on the top left side of the green bowl.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Have the left arm place the pink plate on the green bowl's top left side.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "With the left hand, set the pink plate on the top left of the green bowl.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Put the pink plate on the green bowl's top left side.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Arrange the pink plate on the top left of the green bowl.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Rest the pink plate on the top left side of the green bowl.", + "start_idx": 1413, + "end_idx": 1536 + }, + { + "text": "Pick up the doritos from the table with the left hand from the top grasping the entire object.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Using the left hand, take the doritos from the table with a top grasp around the entire object.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Have the left arm pick the doritos up from the table by grasping the whole object from above.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "With the left hand, collect the doritos from the table using a top hold on the entire object.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Pick up the doritos from the table with a top grasp around the entire object.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Take the doritos from the table by grasping the whole object from above.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "From the table, collect the doritos with a top hold on the entire object.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "With the left hand, collect the doritos from the table.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Pick up the doritos from the table.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "From the table, take the doritos.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Have the left arm pick up the doritos from the table with a top grasp.", + "start_idx": 1536, + "end_idx": 1644 + }, + { + "text": "Put the doritos to the right of the green bowl with the left hand facing top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Using the left hand, place the doritos to the right of the green bowl with the front facing top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Have the left arm set the doritos to the right of the green bowl, oriented with the front toward the top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "With the left hand, position the doritos to the right of the green bowl so the front points top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Place the doritos to the right of the green bowl with the front facing top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Set the doritos to the right of the green bowl with the front oriented toward the top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Position the doritos to the right of the green bowl, front pointing top left.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Using the left hand, put the doritos to the right of the green bowl.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "With the left hand, place the doritos to the right of the green bowl.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Have the left arm set the doritos to the right of the green bowl.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Put the doritos to the right of the green bowl.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Set the doritos to the right of the green bowl.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Position the doritos to the right of the green bowl.", + "start_idx": 1644, + "end_idx": 1710 + }, + { + "text": "Pick up the doritos from the table with the left hand using a side grip at the bottom left from the top.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Using the left hand, pick up the doritos from the table with a side grip at the bottom left from the top.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Have the left arm take the doritos from the table with a side grasp at the bottom left from above.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "With the left hand, grasp the doritos from the table using a side hold at the bottom left from the top.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Pick up the doritos from the table with a side grip at the bottom left from the top.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Take the doritos from the table using a side grasp at the bottom left from above.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Grasp the doritos from the table with a side hold at the bottom left from the top.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "With the left hand, grasp the doritos from the table.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Pick up the doritos from the table at the bottom left from the top.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "From above, take the doritos from the table at the bottom left.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Get the doritos from the table.", + "start_idx": 1956, + "end_idx": 2088 + }, + { + "text": "Put the doritos to the left of the juice pouch with the left hand facing left from the front.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Using the left hand, place the doritos to the left of the juice pouch, facing left from the front.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Have the left arm set the doritos left of the juice pouch with the front facing left.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "With the left hand, position the doritos to the juice pouch's left side, oriented leftward from the front.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Place the doritos to the left of the juice pouch with the front facing left.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Set the doritos left of the juice pouch, facing left from the front.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Position the doritos to the left of the juice pouch so the front points left.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Using the left hand, put the doritos to the left of the juice pouch.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "With the left hand, set the doritos to the juice pouch's left side.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Have the left arm position the doritos left of the juice pouch.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Put the doritos to the left of the juice pouch.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Set the doritos on the left side of the juice pouch.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Have the doritos placed to the left of the juice pouch.", + "start_idx": 2088, + "end_idx": 2166 + }, + { + "text": "Pick up the green bowl from the table with the left hand using a lip grip at the bottom right from the top.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Have the left arm take the green bowl from the table using a lip grasp at the bottom right from above.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "With the left hand, grasp the green bowl from the table by the bottom-right edge using a lip grip from the top.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Pick up the green bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Take the green bowl from the table using a lip grasp at the bottom right from above.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Grasp the green bowl from the table by the bottom-right area with a lip grip from the top.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Using the left hand, pick up the green bowl from the table with a lip grip.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "With the left hand, take the green bowl from the table using a lip grasp.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Have the left arm grasp the green bowl from the table with a lip grip.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Using the left hand, pick up the green bowl from the table at the bottom right from the top.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "With the left hand, take the green bowl from the table at the bottom right from above.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Pick up the green bowl from the table.", + "start_idx": 2166, + "end_idx": 2256 + }, + { + "text": "Put the green bowl between the pink plate and the doritos with the left hand.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Using the left hand, place the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Have the left arm set the green bowl down between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "With the left hand, position the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Place the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Set the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Position the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Put the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Arrange the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Using the left hand, put the green bowl in place between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "With the left hand, set the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Have the left arm place the green bowl between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "The green bowl goes between the pink plate and the doritos.", + "start_idx": 2256, + "end_idx": 2334 + }, + { + "text": "Pick up the doritos from the table with the left hand from the top by grasping the entire object.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Using the left hand, take the doritos from the table from above by grasping the whole object.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Have the left arm pick the doritos up from the table with a full-object grasp from the top.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "With the left hand, collect the doritos from the table by approaching from above and enclosing the entire object.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Pick up the doritos from the table from the top by grasping the entire object.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Take the doritos from the table from above with a whole-object grasp.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "From above, grasp the entire doritos object and remove it from the table.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Using the left hand, pick up the doritos from the table.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Have the left arm take the doritos from the table.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "With the left hand, remove the doritos from the table.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Pick up the doritos from the table with the left hand from the top.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Take the doritos from the table with the left hand from above.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "From the table, collect the doritos with the left hand.", + "start_idx": 2334, + "end_idx": 2448 + }, + { + "text": "Put the doritos in front of the pink plate with the left hand facing left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Using the left hand, place the doritos in front of the pink plate facing left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Have the left arm set the doritos before the pink plate with the object facing left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "With the left hand, position the doritos in front of the pink plate so they face left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Place the doritos in front of the pink plate facing left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Set the doritos before the pink plate facing left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Position the doritos in front of the pink plate with the front facing left.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Put the doritos in front of the pink plate with the left hand.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Using the left hand, place the doritos before the pink plate.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Have the left arm set the doritos in front of the pink plate.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Put the doritos in front of the pink plate.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Set the doritos before the pink plate.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Place the doritos by the pink plate.", + "start_idx": 2448, + "end_idx": 2580 + }, + { + "text": "Pick up the juice pouch from the table with the left hand using a side grip from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Using the left hand, pick up the juice pouch from the table with a side grip from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Have the left hand grasp the juice pouch from the table using a side grasp at the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "With the left hand, take the juice pouch from the table by applying a side hold from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Pick up the juice pouch from the table using a side grip from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Take the juice pouch from the table with a side grasp from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Grasp the juice pouch from the table with a side hold at the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Pick up the juice pouch from the table with the left hand.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Using the left hand, take the juice pouch from the table.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Have the left hand grasp the juice pouch from the table.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Pick up the juice pouch from the table from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "From the top, take the juice pouch from the table.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "With the left hand, pick up the juice pouch from the table from the top.", + "start_idx": 2580, + "end_idx": 2712 + }, + { + "text": "Place the juice pouch on the center of the table with the left hand right side up.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Using the left hand, set the juice pouch on the center of the table right side up.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Have the left arm place the juice pouch at the table's center with its right side up.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "With the left hand, position the juice pouch on the center of the table upright on its right side.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Place the juice pouch on the center of the table right side up.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Set the juice pouch at the table's center with its right side up.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Position the juice pouch on the center of the table upright.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Using the left hand, place the juice pouch on the center of the table.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Have the left arm set the juice pouch at the table's center.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "With the left hand, position the juice pouch at the center of the table.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Place the juice pouch on the center of the table.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Set the juice pouch at the table's center.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Position the juice pouch at the center of the table.", + "start_idx": 2712, + "end_idx": 2823 + }, + { + "text": "Pick up the juice pouch from table with the left hand using a side grip from the top.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Using the left hand, take the juice pouch from the table with a side grip from the top.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Have the left arm pick up the juice pouch from the table using a side grasp at the top.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "With the left hand, grasp the juice pouch from the table from the top using a side hold.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Pick up the juice pouch from the table using a side grip from the top.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Take the juice pouch from the table with a side grasp at the top.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Grasp the juice pouch from the table from the top with a side hold.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "With the left hand, pick up the juice pouch from the table using a side grip.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Have the left arm take the juice pouch from the table with a side grasp.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Using the left hand, grasp the juice pouch from the table with a side hold.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Pick up the juice pouch from the table with the left hand.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "Take the juice pouch from the table from the top.", + "start_idx": 2823, + "end_idx": 2970 + }, + { + "text": "With the left hand, pick up the juice pouch from the table from the top.", + "start_idx": 2823, + "end_idx": 2970 + } + ] + }, + "2026-04-24-04-34-32-314000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 286, + "annotations": [ + { + "text": "Pick up the brown stuffed animal from the table with the left hand from the top at the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table by grasping it from the top around the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm pick up the brown stuffed animal from the table with a top grasp on the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table by taking it from the top at the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the brown stuffed animal from the table from the top at the entire object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the brown stuffed animal from the table with a top grasp on the whole object.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "From the table, collect the brown stuffed animal by grasping the entire object from above.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Retrieve the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "With the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Using the left hand, retrieve the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 114 + }, + { + "text": "Put the brown stuffed animal to the left of the eggplant with the left hand facing bottom left from the front.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the eggplant, facing bottom left from the front.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Have the left arm put the brown stuffed animal to the eggplant's left with its front facing bottom left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "With the left hand, set the brown stuffed animal left of the eggplant so the front points bottom left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Place the brown stuffed animal to the left of the eggplant.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Set the brown stuffed animal on the left side of the eggplant.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Position the brown stuffed animal to the eggplant's left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the eggplant.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Have the left arm set the brown stuffed animal on the left side of the eggplant.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "With the left hand, position the brown stuffed animal to the eggplant's left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Place the brown stuffed animal to the left of the eggplant, with its front facing bottom left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Set the brown stuffed animal on the left side of the eggplant, front facing bottom left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Position the brown stuffed animal to the eggplant's left with the front oriented bottom left.", + "start_idx": 114, + "end_idx": 180 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Have the left hand take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "With the left arm, grasp the eggplant from the table at the middle on a diagonal angle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Grasp the eggplant from the table at the middle on a diagonal angle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Using the left hand, pick up the eggplant from the table.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Have the left hand take the eggplant from the table.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "With the left arm, grasp the eggplant from the table.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Grasp the eggplant from the table.", + "start_idx": 180, + "end_idx": 267 + }, + { + "text": "Put the eggplant to the left of the brown stuffed animal with the left hand facing top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Using the left hand, place the eggplant to the left of the brown stuffed animal with its tip facing the top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Have the left arm set the eggplant to the left of the brown stuffed animal, tip oriented toward the top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "With the left hand, position the eggplant left of the brown stuffed animal so the tip points to the top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Place the eggplant to the left of the brown stuffed animal with its tip facing the top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Set the eggplant left of the brown stuffed animal, with the tip directed toward the top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Position the eggplant to the left of the brown stuffed animal, tip pointing top left.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Using the left hand, place the eggplant to the left of the brown stuffed animal.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Have the left arm set the eggplant left of the brown stuffed animal.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "With the left hand, position the eggplant to the left of the brown stuffed animal.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Put the eggplant to the left of the brown stuffed animal.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Set the eggplant to the left of the brown stuffed animal.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Position the eggplant left of the brown stuffed animal.", + "start_idx": 267, + "end_idx": 363 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Have the left arm pick the blue soda can off the table using a side hold on its top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from the side at the top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Take the blue soda can off the table with a side grasp at the top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Grasp the blue soda can from the table from the side at the top.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Have the left arm take the blue soda can off the table.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Have the left arm pick up the blue soda can from the table.", + "start_idx": 363, + "end_idx": 537 + }, + { + "text": "Put the blue soda can to the right of the brown stuffed animal with the left hand.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Place the blue soda can to the right of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Set the blue soda can on the right side of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Position the blue soda can to the right of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "The blue soda can goes to the right of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Put the blue soda can beside the brown stuffed animal on its right side.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Place the blue soda can next to the brown stuffed animal, on the right.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Set the blue soda can down by the brown stuffed animal, to its right.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Have the blue soda can placed to the right of the brown stuffed animal.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "The task is to position the blue soda can on the brown stuffed animal's right side.", + "start_idx": 537, + "end_idx": 690 + }, + { + "text": "Pick up the canned goods from the table with the left hand from the side at the middle.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Using the left hand, take the canned goods from the table from the side at the middle.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Have the left arm grasp the canned goods from the table with a side approach at the middle.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "From the side at the middle, the left hand should collect the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Pick up the canned goods from the table from the side at the middle.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Take the canned goods from the table with a side approach at the middle.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "From the side at the middle, grasp the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Retrieve the canned goods from the table from the side at the middle.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "With the left arm, take the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Have the left hand collect the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Get the canned goods from the table.", + "start_idx": 690, + "end_idx": 930 + }, + { + "text": "Put the canned goods to the right of the blue soda can with the left hand.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Using the left hand, place the canned goods to the right of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Have the left arm set the canned goods to the right of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "With the left hand, position the canned goods on the right side of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Place the canned goods to the right of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Set the canned goods on the right side of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Put the canned goods beside the blue soda can on its right.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Position the canned goods to the right of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Arrange the canned goods on the blue soda can's right side.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "The canned goods go to the right of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Move the canned goods beside the blue soda can, on the right.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Transfer the canned goods to the blue soda can's right side.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Set down the canned goods just right of the blue soda can.", + "start_idx": 930, + "end_idx": 1068 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Have the left hand take the brown stuffed animal from the table with a diagonal pickup, holding its middle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "With the left hand, grasp the middle of the brown stuffed animal on the table and raise it at a diagonal angle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the middle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Take the brown stuffed animal from the table with a diagonal pickup, holding the middle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Grasp the middle of the brown stuffed animal on the table and pick it up at a diagonal angle.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Have the left hand take the brown stuffed animal from the table.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "With the left hand, grasp the brown stuffed animal on the table and pick it up.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Take the brown stuffed animal from the table.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Grasp the brown stuffed animal on the table and pick it up.", + "start_idx": 1068, + "end_idx": 1221 + }, + { + "text": "Put the brown stuffed animal to the right of the canned goods with the left hand facing bottom left with the front as reference.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the right of the canned goods with its front facing bottom left.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Have the left arm set the brown stuffed animal to the right of the canned goods, front oriented toward the bottom left.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "With the left hand, position the brown stuffed animal to the right of the canned goods so the front points bottom left.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Place the brown stuffed animal to the right of the canned goods with its front facing bottom left.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Set the brown stuffed animal to the right of the canned goods with the front oriented toward the bottom left.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Position the brown stuffed animal to the right of the canned goods so its front points bottom left.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the right of the canned goods.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "With the left hand, set the brown stuffed animal to the right of the canned goods.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Have the left arm position the brown stuffed animal to the right of the canned goods.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Place the brown stuffed animal to the right of the canned goods.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Set the brown stuffed animal to the right of the canned goods.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Have the brown stuffed animal placed to the right of the canned goods.", + "start_idx": 1221, + "end_idx": 1428 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Using the left hand, pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Have the left arm take the eggplant from the table with a diagonal approach at its middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "With the left hand, secure the eggplant from the table by the middle at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Pick up the eggplant from the table at a diagonal angle, grasping the middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Take the eggplant from the table by the middle with a diagonal approach.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Remove the eggplant from the table at a diagonal angle while holding its middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Pick up the eggplant from the table with the left hand, grasping the middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Using the left hand, take the eggplant from the table at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Have the left arm pick up the eggplant from the table.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Pick up the eggplant from the table with the left hand at a diagonal angle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Take the eggplant from the table with the left hand.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Remove the eggplant from the table by the middle.", + "start_idx": 1428, + "end_idx": 1575 + }, + { + "text": "Put the eggplant in front of the brown stuffed animal with the left hand facing forwards with the tip forwards.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Using the left hand, place the eggplant in front of the brown stuffed animal with the tip facing forwards.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Have the left arm set the eggplant in front of the brown stuffed animal, oriented tip-forward.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "With the left hand, position the eggplant before the brown stuffed animal so it faces forwards at the tip.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Place the eggplant in front of the brown stuffed animal with the tip facing forwards.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Set the eggplant before the brown stuffed animal, oriented with the tip forwards.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Position the eggplant in front of the brown stuffed animal so the tip points forwards.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Using the left hand, put the eggplant in front of the brown stuffed animal.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Have the left arm place the eggplant before the brown stuffed animal.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "With the left hand, set the eggplant in front of the brown stuffed animal.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Place the eggplant in front of the brown stuffed animal.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Set the eggplant before the brown stuffed animal.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Position the eggplant in front of the brown stuffed animal.", + "start_idx": 1575, + "end_idx": 1674 + }, + { + "text": "Pick up the canned goods from the table with the left hand at a diagonal from the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the canned goods from the table at a diagonal from the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Have the left arm take the canned goods from the table with a diagonal grasp at the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "With the left hand, collect the canned goods from the table, approaching diagonally at the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Pick up the canned goods from the table at a diagonal from the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Take the canned goods from the table with a diagonal grasp at the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "From the table, collect the canned goods diagonally at the middle.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Using the left hand, pick up the canned goods from the table.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Have the left arm take the canned goods from the table.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "With the left hand, collect the canned goods from the table.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "From the table, collect the canned goods.", + "start_idx": 1674, + "end_idx": 1842 + }, + { + "text": "Put the canned goods behind the brown stuffed animal with the left hand.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Using the left hand, place the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Have the left arm set the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "With the left hand, position the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Put the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Place the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Set the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "The canned goods should go behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Move the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Arrange the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Behind the brown stuffed animal, place the canned goods.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Put the canned goods behind the brown stuffed animal there.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Position the canned goods behind the brown stuffed animal.", + "start_idx": 1842, + "end_idx": 2001 + }, + { + "text": "Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Using the left hand, take the blue soda can from the table at a diagonal angle, grasping its middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Have the left arm pick up the blue soda can from the table with a diagonal approach at the middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "With the left hand, collect the blue soda can from the table, contacting the middle at a diagonal angle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Pick up the blue soda can from the table at a diagonal angle, grasping the middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Take the blue soda can from the table with a diagonal approach at its middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "From the table, collect the blue soda can at a diagonal angle by the middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "With the left hand, collect the blue soda can from the table.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "From the table, grasp the blue soda can at the middle.", + "start_idx": 2415, + "end_idx": 2577 + }, + { + "text": "Put the blue soda can behind the eggplant and to the left of the canned goods with the left hand.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Using the left hand, place the blue soda can behind the eggplant and left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Have the left arm set the blue soda can behind the eggplant and to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "With the left hand, position the blue soda can behind the eggplant and to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Place the blue soda can behind the eggplant and to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Set the blue soda can behind the eggplant and left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "The blue soda can goes behind the eggplant and to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Position the blue soda can behind the eggplant and to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Put the blue soda can left of the canned goods and behind the eggplant.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Move the blue soda can so it ends up behind the eggplant and to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Behind the eggplant and left of the canned goods, place the blue soda can.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Using the left hand, put the blue soda can behind the eggplant.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "With the left hand, place the blue soda can to the left of the canned goods.", + "start_idx": 2577, + "end_idx": 2718 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand diagonally grasping the entire object.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Using the right hand, take the brown stuffed animal from the table with a diagonal grasp around the whole object.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Have the right arm pick up the brown stuffed animal from the table, grasping the entire object diagonally.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "With the right hand, collect the brown stuffed animal from the table by diagonally holding the whole object.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Pick up the brown stuffed animal from the table with a diagonal grasp around the whole object.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Grab the brown stuffed animal from the table by diagonally grasping the entire object.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Take the brown stuffed animal from the table, holding the whole object at a diagonal.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Pick up the brown stuffed animal from the table.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Bring the brown stuffed animal off the table.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Remove the brown stuffed animal from the table.", + "start_idx": 2001, + "end_idx": 2148 + }, + { + "text": "Put the brown stuffed animal to the right of the eggplant with the right hand facing bottom left from the front.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the eggplant, facing bottom left from the front.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Have the right arm set the brown stuffed animal to the eggplant's right side with its front facing bottom left.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "With the right hand, position the brown stuffed animal right of the eggplant so the front points bottom left.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Place the brown stuffed animal to the right of the eggplant, facing bottom left from the front.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Set the brown stuffed animal on the eggplant's right side with the front facing bottom left.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Position the brown stuffed animal right of the eggplant so it faces bottom left from the front.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Using the right hand, put the brown stuffed animal to the right of the eggplant.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Have the right arm place the brown stuffed animal on the eggplant's right side.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "With the right hand, position the brown stuffed animal right of the eggplant.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Put the brown stuffed animal to the right of the eggplant.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Set the brown stuffed animal on the eggplant's right side.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Position the brown stuffed animal right of the eggplant.", + "start_idx": 2148, + "end_idx": 2208 + }, + { + "text": "Pick up the canned goods from the table with the right hand from the side at the middle.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Using the right hand, take the canned goods from the table from the side at the middle.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Have the right hand grasp the canned goods on the table with a side approach at the middle.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "From the side at the middle, the right hand should pick up the canned goods from the table.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Pick up the canned goods from the table from the side at the middle.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "From the side at the middle, take the canned goods off the table.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Grasp the canned goods on the table from the side at the middle.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Remove the canned goods from the table with a side pickup at the middle.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "The canned goods should be taken from the table with the right hand.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "With the right hand, grasp the canned goods on the table.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Take the canned goods off the table.", + "start_idx": 2208, + "end_idx": 2325 + }, + { + "text": "Put the canned goods behind the brown stuffed animal with the right hand.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Using the right hand, place the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Have the right arm set the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "With the right hand, position the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Place the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Set the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Position the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "The canned goods go behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Move the canned goods behind the brown stuffed animal.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Using the right hand, place the canned goods.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Have the right arm set the canned goods down.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "With the right hand, position the canned goods.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Put the canned goods down.", + "start_idx": 2325, + "end_idx": 2415 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Using the right hand, take the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Have the right arm pick the brown stuffed animal up from the table diagonally with a whole-object grasp.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "With the right hand, collect the brown stuffed animal from the table at a diagonal angle using an all-over grasp.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Take the brown stuffed animal from the table diagonally with a whole-object grasp.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "From the table, collect the brown stuffed animal at a diagonal angle with an all-over grasp.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "From the table, collect the brown stuffed animal with the right hand at a diagonal angle.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Pick up the brown stuffed animal from the table with the right hand.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Take the brown stuffed animal from the table diagonally.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "From the table, collect the brown stuffed animal.", + "start_idx": 2718, + "end_idx": 2886 + }, + { + "text": "Put the brown stuffed animal to the right of the canned goods with the right hand facing bottom left with the front as the reference point.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the canned goods, oriented bottom left relative to its front.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Have the right arm set the brown stuffed animal to the right of the canned goods with its front facing bottom left.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "With the right hand, position the brown stuffed animal to the right of the canned goods, front pointing bottom left.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Place the brown stuffed animal to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Set the brown stuffed animal to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "The brown stuffed animal goes to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Move the brown stuffed animal to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Using the right hand, place the brown stuffed animal to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "With the right hand, set the brown stuffed animal to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Have the right arm move the brown stuffed animal to the right of the canned goods.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Position the brown stuffed animal to the right of the canned goods with its front facing bottom left.", + "start_idx": 2886, + "end_idx": 2952 + }, + { + "text": "Arrange the brown stuffed animal to the right of the canned goods, front directed bottom left.", + "start_idx": 2886, + "end_idx": 2952 + } + ] + }, + "2026-04-24-04-37-15-697000": { + "embodiment": "eva_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 3000, + "num_annotations": 259, + "annotations": [ + { + "text": "Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table diagonally, holding the entire object.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Take the brown stuffed animal from the table with a diagonal approach and a full-object hold.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Retrieve the brown stuffed animal from the table diagonally while holding the whole object.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Using the right hand, pick up the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Have the right arm take the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "With the right hand, retrieve the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Take the brown stuffed animal from the table with the right hand.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Get the brown stuffed animal from the table.", + "start_idx": 0, + "end_idx": 150 + }, + { + "text": "Put the brown stuffed animal in front of the blue soda can with the right hand facing left with the front as the reference point.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Using the right hand, place the brown stuffed animal in front of the blue soda can with its front facing left.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Have the right arm set the brown stuffed animal in front of the blue soda can, front oriented to the left.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "With the right hand, position the brown stuffed animal before the blue soda can so the front points left.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Place the brown stuffed animal in front of the blue soda can with its front facing left.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Set the brown stuffed animal before the blue soda can, with the front oriented left.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Position the brown stuffed animal in front of the blue soda can so its front faces left.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Using the right hand, put the brown stuffed animal in front of the blue soda can.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "With the right hand, place the brown stuffed animal before the blue soda can.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Have the right arm position the brown stuffed animal in front of the blue soda can.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Put the brown stuffed animal in front of the blue soda can.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Set the brown stuffed animal before the blue soda can.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Position the brown stuffed animal in front of the blue soda can.", + "start_idx": 150, + "end_idx": 255 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top diagonally.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Have the right arm pick the blue soda can up from the table in a diagonal top side grip.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "With the right hand, grasp the blue soda can from the table using a side hold at the top on a diagonal.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top diagonally.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Take the blue soda can from the table with a diagonal side grasp at the top.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Grasp the blue soda can from the table in a side hold at the top diagonal.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "With the right hand, take the blue soda can from the table using a side grasp.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Have the right arm grasp the blue soda can from the table with a side hold.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Pick up the blue soda can from the table diagonally at the top.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Take the blue soda can from the table from the top on a diagonal.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Grasp the blue soda can from the table with the right hand.", + "start_idx": 255, + "end_idx": 447 + }, + { + "text": "Put the blue soda can to the bottom left of the brown stuffed animal with the right hand.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Using the right hand, place the blue soda can at the bottom left of the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Have the right arm set the blue soda can down at the brown stuffed animal's bottom-left side.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "With the right hand, position the blue soda can in the bottom-left spot relative to the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Place the blue soda can at the bottom left of the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Set the blue soda can down at the brown stuffed animal's bottom-left side.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Position the blue soda can in the bottom-left area next to the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "The blue soda can goes at the bottom left of the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Place the blue soda can beside the brown stuffed animal with the right hand.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "With the right hand, set the blue soda can next to the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Have the right arm place the blue soda can by the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Put the blue soda can beside the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Set down the blue soda can next to the brown stuffed animal.", + "start_idx": 447, + "end_idx": 588 + }, + { + "text": "Pick up the canned goods from the table with the right hand from the side at the middle.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Using the right hand, take the canned goods from the table from the side at the middle.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Have the right arm grasp the canned goods from the table with a side approach at the middle.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "With the right hand, pick the canned goods up from the table by the middle from the side.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Pick up the canned goods from the table from the side at the middle.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Take the canned goods from the table with a side approach at the middle.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Grasp the canned goods from the table at the middle from the side.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Have the right arm take the canned goods from the table.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "With the right hand, grasp the canned goods from the table.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Using the right hand, take the canned goods from the table from the side.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "From the side, grasp the canned goods from the table.", + "start_idx": 1374, + "end_idx": 1551 + }, + { + "text": "Put the canned goods to the right of the brown stuffed animal with the right hand.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Using the right hand, place the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Have the right arm set the canned goods down to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "With the right hand, position the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Place the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Set the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Position the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Move the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Arrange the canned goods to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Get the canned goods placed to the right of the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Put the canned goods beside the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Set the canned goods next to the brown stuffed animal.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Position the canned goods on the brown stuffed animal's right side.", + "start_idx": 1551, + "end_idx": 1701 + }, + { + "text": "Pick up the canned goods from the table with the right hand using a side grip at the top.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Using the right hand, take hold of the canned goods from the table with a side grasp at the top.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Have the right arm pick the canned goods up from the table using a top side grip.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "With the right hand, seize the canned goods from the table by the top with a side hold.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Pick up the canned goods from the table using a side grip at the top.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Take the canned goods from the table with a top side grasp.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Grab the canned goods from the table by the top with a side hold.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Using the right hand, pick up the canned goods from the table.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "The canned goods from the table should be picked up with the right hand.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "With the right arm, take the canned goods from the table.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Pick up the canned goods from the table.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Take the canned goods from the table.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Have the canned goods picked up from the table.", + "start_idx": 2592, + "end_idx": 2775 + }, + { + "text": "Put the canned goods to the right of the eggplant with the right hand.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Using the right hand, place the canned goods to the eggplant's right.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Have the right arm set the canned goods on the right side of the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "With the right hand, position the canned goods just right of the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Place the canned goods to the right of the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Set the canned goods on the eggplant's right side.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Position the canned goods just to the right of the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Move the canned goods to the right of the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Arrange the canned goods on the right side of the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Transfer the canned goods beside the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Put the canned goods next to the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Set the canned goods by the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Place the canned goods beside the eggplant.", + "start_idx": 2775, + "end_idx": 2847 + }, + { + "text": "Pick up the eggplant from the table with the left hand from the top at the middle.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Using the left hand, pick up the eggplant from the table from the top at the middle.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "From the table, have the left hand grasp the eggplant at the middle from above.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "The left hand should take the eggplant from the table with a top grasp at the middle.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Pick up the eggplant from the table from the top at the middle.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Take the eggplant from the table at the middle from above.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Grasp the eggplant from the table with a top hold at the middle.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Pick up the eggplant from the table with the left hand.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "With the left hand, take the eggplant from the table.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Have the left hand grasp the eggplant from the table.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Pick up the eggplant from the table.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Take the eggplant from the table.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "From the table, grasp the eggplant.", + "start_idx": 588, + "end_idx": 774 + }, + { + "text": "Put the eggplant to the left of the blue soda can with the left hand facing forwards with the tip as the orientation reference point.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Using the left hand, place the eggplant to the left of the blue soda can, facing forwards with the tip as the reference point.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Have the left arm set the eggplant to the left of the blue soda can with its tip serving as the reference, facing forwards.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "With the left hand, position the eggplant to the left of the blue soda can so the tip is the orientation reference and it faces forwards.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Place the eggplant to the left of the blue soda can, facing forwards with the tip as the orientation reference point.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Set the eggplant to the left of the blue soda can with the tip as the reference point, facing forwards.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Position the eggplant to the left of the blue soda can so it faces forwards, using the tip as the reference point.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Using the left hand, place the eggplant to the left of the blue soda can.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Have the left arm set the eggplant to the left of the blue soda can.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "With the left hand, position the eggplant to the left of the blue soda can.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Place the eggplant to the left of the blue soda can.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Set the eggplant to the left of the blue soda can.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Position the eggplant to the left of the blue soda can.", + "start_idx": 774, + "end_idx": 906 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from the side at the middle.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Using the left hand, take the blue soda can from the table from the side at the middle.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side approach at the middle.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "From the side at the middle, the left hand should seize the blue soda can from the table.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Pick up the blue soda can from the table from the side at the middle.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "From the side at the middle, grasp the blue soda can from the table.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Take the blue soda can from the table with a side approach at the middle.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "The blue soda can from the table should be grasped.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 906, + "end_idx": 1056 + }, + { + "text": "Put the blue soda can to the left of the eggplant with the left hand.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "With the left hand, position the blue soda can to the eggplant's left.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Place the blue soda can to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Set the blue soda can down to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Position the blue soda can on the left side of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Move the blue soda can to the eggplant's left.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Leave the blue soda can to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Arrange the blue soda can to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "The blue soda can goes to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Set down the blue soda can to the left of the eggplant.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Place the blue soda can on the eggplant's left side.", + "start_idx": 1056, + "end_idx": 1182 + }, + { + "text": "Pick up the brown stuff toy from the table with the left hand from the top by grasping the entire object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Using the left hand, take the brown stuffed toy from the table from the top, grasping the whole object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Have the left arm pick up the brown stuffed toy from the table with a top-down grasp around the entire object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "With the left hand, retrieve the brown stuffed toy from the table by taking it from above and holding the full object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Pick up the brown stuffed toy from the table from the top by grasping the entire object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "From above, pick up the brown stuffed toy from the table while holding the whole object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Take the brown stuffed toy from the table with a top-down grasp on the entire object.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Using the left hand, pick up the brown stuffed toy from the table.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "The brown stuffed toy from the table should be picked up with the left hand.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Have the left arm take the brown stuffed toy from the table.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Pick up the brown stuffed toy from the table.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Take the brown stuffed toy from the table from the top.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Get the brown stuffed toy from the table with the left hand.", + "start_idx": 1182, + "end_idx": 1299 + }, + { + "text": "Place the brown stuffed animal to the right of the eggplant with the left hand facing bottom left from the front.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Using the left hand, set the brown stuffed animal to the right of the eggplant, facing bottom left from the front.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Have the left arm place the brown stuffed animal to the eggplant's right with its front facing bottom left.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "With the left hand, position the brown stuffed animal on the right side of the eggplant, front facing bottom left.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Place the brown stuffed animal to the right of the eggplant, facing bottom left from the front.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Set the brown stuffed animal on the eggplant's right side with its front facing bottom left.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Position the brown stuffed animal to the right of the eggplant, front facing bottom left.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the right of the eggplant.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Have the left arm set the brown stuffed animal on the right side of the eggplant.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "With the left hand, position the brown stuffed animal to the eggplant's right.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Place the brown stuffed animal to the right of the eggplant.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Set the brown stuffed animal on the eggplant's right side.", + "start_idx": 1299, + "end_idx": 1374 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Have the left arm pick up the brown stuffed animal from the table by grasping it from above around the entire object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "With the left hand, retrieve the brown stuffed animal from the table using a top hold on the full object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Pick up the brown stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Take the brown stuffed animal from the table by grasping it from above around the entire object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Retrieve the brown stuffed animal from the table using a top hold on the full object.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "From the table, pick up the brown stuffed animal.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Get the brown stuffed animal from the table.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Take the brown stuffed animal off the table.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand.", + "start_idx": 1701, + "end_idx": 1884 + }, + { + "text": "Put the brown stuffed animal in front of the eggplant with the left hand facing bottom right from the front.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Using the left hand, place the brown stuffed animal in front of the eggplant facing bottom right from the front.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Have the left arm set the brown stuffed animal in front of the eggplant, oriented bottom right from the front.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "With the left hand, position the brown stuffed animal in front of the eggplant so it faces bottom right from the front.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Place the brown stuffed animal in front of the eggplant facing bottom right from the front.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Set the brown stuffed animal in front of the eggplant with its front facing bottom right.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Position the brown stuffed animal in front of the eggplant, oriented bottom right from the front.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Using the left hand, put the brown stuffed animal in front of the eggplant.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Have the left arm place the brown stuffed animal in front of the eggplant.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "With the left hand, set the brown stuffed animal in front of the eggplant.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Put the brown stuffed animal in front of the eggplant.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Place the brown stuffed animal in front of the eggplant with the left hand.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Set the brown stuffed animal in front of the eggplant from the left hand.", + "start_idx": 1884, + "end_idx": 1980 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from the side at the middle.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Using the left hand, take the blue soda can from the table from the side at the middle.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side approach at the middle.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "With the left hand, secure the blue soda can from the table by the middle from the side.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Pick up the blue soda can from the table from the side at the middle.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Take the blue soda can from the table with a side approach at the middle.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Grasp the blue soda can from the table at the middle from the side.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "From the table, collect the blue soda can from the side.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Get the blue soda can from the table.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "From the table, grasp the blue soda can with the left hand.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1980, + "end_idx": 2124 + }, + { + "text": "Put the blue soda can behind the eggplant with the left hand.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Using the left hand, place the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Have the left arm set the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "With the left hand, position the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Place the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Set the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Position the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Move the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Transfer the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Arrange the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Put the blue soda can by the back of the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Leave the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Rest the blue soda can behind the eggplant.", + "start_idx": 2124, + "end_idx": 2289 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Using the left hand, take the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Have the left arm pick the brown stuffed animal up from the table diagonally with a whole-object grasp.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "With the left hand, retrieve the brown stuffed animal from the table at a diagonal angle using an entire-object hold.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Pick up the brown stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Take the brown stuffed animal from the table diagonally with a whole-object grasp.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Retrieve the brown stuffed animal from the table at a diagonal angle using an entire-object hold.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Using the left hand, pick up the brown stuffed animal from the table, grasping the entire object.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "With the left hand, collect the brown stuffed animal from the table at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Have the left arm take the brown stuffed animal from the table diagonally.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Pick up the brown stuffed animal from the table with the left hand at a diagonal angle.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Using the left hand, get the brown stuffed animal from the table.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Grab the brown stuffed animal from the table.", + "start_idx": 2289, + "end_idx": 2496 + }, + { + "text": "Place the brown stuffed animal to the left of the eggplant with the left hand facing backwards relative to the front.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the eggplant with its front facing backward.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Have the left arm set the brown stuffed animal to the eggplant's left, oriented backward relative to the front.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "With the left hand, position the brown stuffed animal left of the eggplant so the front faces backward.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Place the brown stuffed animal to the left of the eggplant with its front facing backward.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Set the brown stuffed animal to the eggplant's left, oriented backward relative to the front.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Position the brown stuffed animal left of the eggplant so it faces backward from the front.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Put the brown stuffed animal to the left of the eggplant.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Arrange the brown stuffed animal to the eggplant's left.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Leave the brown stuffed animal on the left side of the eggplant.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Using the left hand, place the brown stuffed animal to the left of the eggplant.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "Have the left arm set the brown stuffed animal to the eggplant's left.", + "start_idx": 2496, + "end_idx": 2592 + }, + { + "text": "With the left hand, put the brown stuffed animal on the left side of the eggplant.", + "start_idx": 2496, + "end_idx": 2592 + } + ] + }, + "2026-04-25-21-14-12-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 9147, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-26-00-04-43-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 8370, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-26-00-17-53-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 8605, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-26-01-39-50-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 9686, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-26-02-11-35-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 11425, + "num_annotations": 4728, + "annotations": [ + { + "text": "Pick up the gray stuffed animal from the table with the left hand.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Have the left hand take hold of the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "With the left hand, grasp the gray stuffed animal on the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Retrieve the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Get the gray stuffed animal off the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Bring the gray stuffed animal off the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Remove the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Take hold of the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Collect the gray stuffed animal from the table.", + "start_idx": 0, + "end_idx": 48 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the left hand facing forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Have the left arm set the gray stuffed animal atop the pink plate with its front facing forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate so it faces forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Set the gray stuffed animal atop the pink plate with its front facing forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Position the gray stuffed animal on the pink plate facing forwards.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the left hand.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Using the left hand, place the gray stuffed animal atop the pink plate.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Have the left arm set the gray stuffed animal on the pink plate.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Set the gray stuffed animal atop the pink plate.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Position the gray stuffed animal on the pink plate.", + "start_idx": 48, + "end_idx": 78 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Have the left arm grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "With the left hand, collect the white mug from the table using a diagonal approach at the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "With the left hand, take the white mug from the table by the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Have the left arm grasp the white mug from the table at a diagonal angle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "The white mug from the table, pick it up with the left hand at a diagonal angle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 78, + "end_idx": 102 + }, + { + "text": "Put the white mug to the left of the pink plate with the handle facing backwards right side up with the left hand.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Using the left hand, place the white mug left of the pink plate with its handle pointing backward, right side up.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Have the left arm set the white mug to the left of the pink plate, keeping the handle facing backward and the mug upright.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "With the left hand, position the white mug left of the pink plate so the handle faces the back and it stays right side up.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Place the white mug to the left of the pink plate with the handle facing backward and right side up.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Set the white mug left of the pink plate, keeping the handle pointed backward and the mug upright.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Position the white mug to the left of the pink plate with its handle toward the back, upright.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Have the left arm set the white mug left of the pink plate.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "With the left hand, position the white mug beside the pink plate on its left.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Put the white mug to the left of the pink plate.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Set the white mug on the left side of the pink plate.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Using the left hand, place the white mug beside the pink plate on its left.", + "start_idx": 102, + "end_idx": 144 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "With the left hand, collect the blue soda can from the table in a side grasp from the top.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Take the blue soda can from the table with a side hold from the top.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Grasp the blue soda can from the table from the top with a side grip.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "With the left hand, take the blue soda can from the table.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Have the left arm grasp the blue soda can from the table.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "From the table, take the blue soda can using a side grip from the top.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Get the blue soda can from the table.", + "start_idx": 207, + "end_idx": 231 + }, + { + "text": "Put the blue soda can to the left of the white mug with the left hand.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "With the left hand, position the blue soda can left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Place the blue soda can to the left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Set the blue soda can down left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Position the blue soda can to the white mug's left.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "The blue soda can goes to the left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Put the blue soda can beside the white mug on its left side.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Move the blue soda can to a spot left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Arrange the blue soda can on the left side of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Place the blue soda can left of the white mug.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Set the blue soda can to the mug's left.", + "start_idx": 231, + "end_idx": 264 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate at a diagonal angle with a whole-object grasp.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "At a diagonal angle, have the left hand pick the gray stuffed animal up from the pink plate while grasping the entire object.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate diagonally using a full-body hold.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate at a diagonal angle while grasping the entire object.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Remove the gray stuffed animal from the pink plate diagonally with a grasp around the whole object.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Take the gray stuffed animal off the pink plate at a diagonal angle using the entire object grip.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Grasp the gray stuffed animal from the pink plate with the left hand.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Have the left hand take the gray stuffed animal from the pink plate.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Using the left hand, remove the gray stuffed animal from the pink plate.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate at a diagonal angle.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "At a diagonal angle, take the gray stuffed animal from the pink plate.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate.", + "start_idx": 315, + "end_idx": 351 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl with the left hand facing top right with the front as reference.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Using the left hand, set the gray stuffed animal inside the pink bowl with its front facing the top right.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Have the left arm place the gray stuffed animal into the pink bowl, front oriented toward the top right.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "With the left hand, position the gray stuffed animal in the pink bowl so the front points top right.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl with its front facing the top right.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Put the gray stuffed animal into the pink bowl, oriented with the front toward the top right.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Set the gray stuffed animal in the pink bowl so the front faces top right.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the pink bowl.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "With the left hand, put the gray stuffed animal into the pink bowl.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Have the left arm set the gray stuffed animal in the pink bowl.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Put the gray stuffed animal into the pink bowl.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Set the gray stuffed animal in the pink bowl.", + "start_idx": 351, + "end_idx": 369 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left using a diagonal pick angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "With the left hand, collect the pink plate from the table using a lip grasp on the bottom left with a diagonal approach.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Take the pink plate from the table with a lip hold at the bottom left using a diagonal angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Grasp the pink plate from the table with a lip grasp on the bottom left at a diagonal pick angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grasp.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Have the left arm collect the pink plate from the table with a lip hold.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the bottom left using a diagonal pick angle.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "From the table, grasp the pink plate with the left hand at the bottom left on a diagonal.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Use the left hand to take the pink plate from the table.", + "start_idx": 369, + "end_idx": 405 + }, + { + "text": "Put the pink plate behind the white mug with the left hand right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Using the left hand, place the pink plate behind the white mug right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Have the left arm set the pink plate behind the white mug, keeping it right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "With the left hand, position the pink plate behind the white mug so it stays right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Place the pink plate behind the white mug right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Set the pink plate behind the white mug right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Position the pink plate behind the white mug right side up.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Using the left hand, put the pink plate behind the white mug.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Have the left arm place the pink plate behind the white mug.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "With the left hand, set the pink plate behind the white mug.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Put the pink plate behind the white mug.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Place the pink plate behind the white mug.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Set the pink plate behind the white mug.", + "start_idx": 405, + "end_idx": 426 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Have the left arm grasp the blue soda can off the table using a top side hold.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "With the left hand, secure the blue soda can from the table in a side grasp at the top.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Take the blue soda can off the table with a side hold at the top.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Grasp the blue soda can from the table in a side grip at the top.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Have the left arm take the blue soda can off the table.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Using the left hand, take the blue soda can from the table.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 426, + "end_idx": 450 + }, + { + "text": "Place the blue soda can on top of the pink plate with the left hand.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Using the left hand, set the blue soda can on top of the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Have the left arm place the blue soda can atop the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "With the left hand, position the blue soda can on the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Place the blue soda can on top of the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Set the blue soda can atop the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Position the blue soda can on the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Put the blue soda can onto the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "The blue soda can goes on top of the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Have the blue soda can placed on the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Move the blue soda can onto the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Transfer the blue soda can to the top of the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Rest the blue soda can on the pink plate.", + "start_idx": 450, + "end_idx": 474 + }, + { + "text": "Pick up the white mug from the table with the left hand from the top at the left side using a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Using the left hand, take the white mug from the table from the top at the left side with a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Have the left arm grasp the white mug on the table from above on its left side using a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "With a lip grip, the left hand should retrieve the white mug from the table from the top at the left side.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Pick up the white mug from the table from the top at the left side using a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "From above at the left side, grasp the white mug from the table with a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Take the white mug off the table from the top at the left side with a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "With the left hand, collect the white mug from the table using a lip grip.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Have the left arm take the white mug from the table with a lip grasp.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Using the left hand, grasp the white mug from the table from the top at the left side.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "From the top at the left side, pick up the white mug from the table.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 474, + "end_idx": 498 + }, + { + "text": "Put the white mug to the right of the pink plate with the handle facing backwards right side up with the left hand.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Using the left hand, place the white mug to the right of the pink plate, handle facing backward and upright.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Have the left arm set the white mug to the pink plate's right, with the handle pointing backward and the mug right side up.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "With the left hand, position the white mug on the right side of the pink plate, upright with its handle facing back.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Place the white mug to the right of the pink plate, with the handle facing backward and right side up.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Set the white mug on the pink plate's right side, handle pointing backward and upright.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Position the white mug to the right of the pink plate, upright with its handle toward the back.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Put the white mug to the right of the pink plate.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Set the white mug on the right side of the pink plate.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Place the white mug beside the pink plate on its right.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Position the white mug to the right of the pink plate with the left hand.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "With the left hand, put the white mug beside the pink plate on its right.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Have the left arm place the white mug to the pink plate's right.", + "start_idx": 498, + "end_idx": 537 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a diagonal grasp at the handle.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Have the left arm take the white mug from the table by the handle with a diagonal grasp.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "With the left hand, grasp the white mug from the table at the handle on a diagonal.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Pick up the white mug from the table using a diagonal grasp at the handle.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Take the white mug from the table by the handle with a diagonal grasp.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Grasp the white mug from the table at the handle in a diagonal hold.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 648, + "end_idx": 678 + }, + { + "text": "Place the white mug in front of the pink bowl with the handle facing backwards right side up with the left hand.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Using the left hand, set the white mug in front of the pink bowl with the handle facing backward, right side up.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Have the left arm place the white mug before the pink bowl, keeping it upright and the handle pointing backward.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "With the left hand, position the white mug in front of the pink bowl so the handle faces backward and the mug stays right side up.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Place the white mug in front of the pink bowl with the handle facing backward, right side up.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Set the white mug before the pink bowl, keeping it upright with the handle pointing backward.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Position the white mug in front of the pink bowl so it is right side up and the handle faces backward.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Using the left hand, place the white mug in front of the pink bowl.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "With the left hand, set the white mug before the pink bowl.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Have the left arm put the white mug in front of the pink bowl.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Place the white mug in front of the pink bowl.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Set the white mug before the pink bowl.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Put the white mug in front of the pink bowl.", + "start_idx": 678, + "end_idx": 714 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Have the left arm grasp the blue soda can from the table by the top with a side hold.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "With the left hand, secure the blue soda can from the table using a side grasp at its top.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side hold.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Using the left hand, collect the blue soda can from the table.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 714, + "end_idx": 741 + }, + { + "text": "Put the blue soda can to the left of the white mug with the left hand.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "With the left hand, position the blue soda can left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Place the blue soda can to the left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Set the blue soda can down left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Position the blue soda can to the left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Leave the blue soda can on the left side of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "The blue soda can goes to the left of the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Place the blue soda can by the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Set the blue soda can next to the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Put the blue soda can beside the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Position the blue soda can near the white mug.", + "start_idx": 741, + "end_idx": 777 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip grasp on the bottom left from above.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Have the left hand secure the pink plate from the table with a lip hold at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the bottom left from above.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "With the left hand, take the pink plate from the table.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "From above, take the pink plate from the table with the left hand at the bottom left.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Pick up the pink plate from the table at the bottom left from the top.", + "start_idx": 777, + "end_idx": 801 + }, + { + "text": "Put the pink plate to the left of the pink bowl with the left hand right side up.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Using the left hand, place the pink plate to the left of the pink bowl right side up.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Have the left arm set the pink plate down to the left of the pink bowl, keeping it right side up.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "With the left hand, position the pink plate to the left of the pink bowl in an upright orientation.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Place the pink plate to the left of the pink bowl right side up.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Set the pink plate to the left of the pink bowl, keeping it right side up.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Position the pink plate to the left of the pink bowl in a right-side-up orientation.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "With the left hand, put the pink plate to the left of the pink bowl.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Using the left hand, set the pink plate down to the left of the pink bowl.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Have the left arm place the pink plate to the left of the pink bowl.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Put the pink plate to the left of the pink bowl.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Set the pink plate down to the left of the pink bowl.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Position the pink plate to the left of the pink bowl.", + "start_idx": 801, + "end_idx": 837 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side grip.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "With the left hand, collect the blue soda can from the table in a side grasp from the top.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Grasp the blue soda can from the table from the top with a side hold.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 897, + "end_idx": 927 + }, + { + "text": "Put the blue soda can in the center of the table with the left hand.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Using the left hand, place the blue soda can in the center of the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Have the left arm set the blue soda can at the table's center.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "With the left hand, position the blue soda can in the middle of the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Place the blue soda can in the center of the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Set the blue soda can at the center of the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "The blue soda can goes in the middle of the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Put the blue soda can on the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Set the blue soda can down on the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Place the blue soda can with the left hand.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "With the left hand, put the blue soda can on the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Set the blue soda can on the table with the left hand.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "The blue soda can should be placed on the table.", + "start_idx": 927, + "end_idx": 954 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom left, approaching diagonally.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "With the left hand, take the pink bowl from the table by its bottom-left edge using a lip grip at a diagonal angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Take the pink bowl from the table using a lip grasp at the bottom left with a diagonal approach.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-left area with a lip hold and a diagonal pick angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "With the left hand, grasp the pink bowl from the table in a lip hold.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left with a diagonal pick angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "With the left hand, take the pink bowl from the table from the bottom-left area at a diagonal angle.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 954, + "end_idx": 981 + }, + { + "text": "Put the pink bowl to the left of the pink plate with the left hand.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Have the left arm set the pink bowl on the left side of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "With the left hand, position the pink bowl left of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Place the pink bowl to the left of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Set the pink bowl on the left side of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Position the pink bowl left of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Move the pink bowl to the left of the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Arrange the pink bowl beside the pink plate on its left.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Using the left hand, place the pink bowl by the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Have the left arm set the pink bowl beside the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Place the pink bowl beside the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Set the pink bowl next to the pink plate.", + "start_idx": 981, + "end_idx": 1011 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grip from the top at the left.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Have the left arm grasp the white mug from the table using a lip hold from the top-left side.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "With the left hand, pick the white mug up from the table in a top-left lip grip.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Take the white mug from the table using a lip grip from the top at the left.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Grasp the white mug from the table with a lip hold from the top-left side.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "The white mug should be picked up from the table using a lip grip at the top left.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Have the left arm take the white mug from the table using a lip hold.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "With the left hand, grasp the white mug from the table using the lip grip.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "From the table, collect the white mug with the left hand.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Pick up the white mug from the table from the top at the left.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "The white mug should be taken from the table.", + "start_idx": 1011, + "end_idx": 1041 + }, + { + "text": "Place the white mug in front of the pink plate with the handle facing backwards using the left hand.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Using the left hand, set the white mug in front of the pink plate with the handle facing backward.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Have the left arm place the white mug before the pink plate, handle pointed backward.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "With the left hand, position the white mug in front of the pink plate so the handle faces back.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Place the white mug in front of the pink plate with the handle facing backward.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Set the white mug before the pink plate with the handle pointed backward.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Position the white mug in front of the pink plate, handle facing back.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Using the left hand, place the white mug in front of the pink plate.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "With the left hand, set the white mug before the pink plate.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Have the left arm position the white mug in front of the pink plate.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Place the white mug before the pink plate.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Set the white mug in front of the pink plate.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Using the left hand, place the white mug before the pink plate.", + "start_idx": 1041, + "end_idx": 1083 + }, + { + "text": "Pick up the gray stuffed animal from the pink bowl with the left hand from the top around the entire object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Using the left hand, take the gray stuffed animal out of the pink bowl from the top around the entire object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Have the left arm remove the gray stuffed animal from the pink bowl with a top grasp around the whole object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the pink bowl from above around the entire object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Pick up the gray stuffed animal from the pink bowl from the top around the entire object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Take the gray stuffed animal out of the pink bowl with a top grasp around the whole object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Remove the gray stuffed animal from the pink bowl from above around the entire object.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink bowl.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Have the left arm take the gray stuffed animal out of the pink bowl.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "With the left hand, remove the gray stuffed animal from the pink bowl.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Pick up the gray stuffed animal from the pink bowl with the left hand.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Take the gray stuffed animal out of the pink bowl with the left hand.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Remove the gray stuffed animal from the pink bowl using the left hand.", + "start_idx": 1137, + "end_idx": 1170 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with the left hand facing forwards with the front as the orientation reference point.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Using the left hand, set the gray stuffed animal on top of the pink plate with its front facing forwards.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Have the left arm place the gray stuffed animal onto the pink plate, front oriented forwards.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate so the front faces forwards.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with its front facing forwards.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Set the gray stuffed animal onto the pink plate with the front facing forwards.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Position the gray stuffed animal on top of the pink plate so its front points forwards.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Have the left arm set the gray stuffed animal onto the pink plate.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Set the gray stuffed animal onto the pink plate.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Have the gray stuffed animal placed on the pink plate.", + "start_idx": 1170, + "end_idx": 1194 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Have the left arm take the pink bowl from the table by the bottom left using a lip grasp on a diagonal angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "With the left hand, retrieve the pink bowl from the table via a lip grip at the bottom left with a diagonal approach.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal pick angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Take the pink bowl from the table by the bottom left using a lip grasp on a diagonal angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Retrieve the pink bowl from the table with a lip grip at the bottom left and a diagonal approach.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Have the left arm retrieve the pink bowl from the table with a lip hold.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table at the bottom left with a diagonal pick angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "With the left hand, take the pink bowl from the table from the bottom left on a diagonal angle.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 1194, + "end_idx": 1233 + }, + { + "text": "Put the pink bowl to the left of the blue soda can with the left hand.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Have the left arm set the pink bowl down to the left of the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "With the left hand, position the pink bowl left of the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Place the pink bowl to the left of the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Set the pink bowl down left of the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Position the pink bowl to the blue soda can's left side.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Using the left hand, put the pink bowl by the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Have the left arm place the pink bowl beside the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "With the left hand, set the pink bowl next to the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Put the pink bowl beside the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Set the pink bowl by the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Position the pink bowl next to the blue soda can.", + "start_idx": 1233, + "end_idx": 1263 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "With the left hand, secure the blue soda can from the table by a side grasp at the top.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side grip.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Grasp the blue soda can from the table using a side grip.", + "start_idx": 1263, + "end_idx": 1287 + }, + { + "text": "Put the blue soda can in front of the red marker with the left hand.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Using the left hand, place the blue soda can in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Have the left arm set the blue soda can down in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "With the left hand, position the blue soda can before the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Place the blue soda can in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Set the blue soda can down in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Position the blue soda can before the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Put the blue soda can ahead of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "The blue soda can goes in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Move the blue soda can to a spot in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "In front of the red marker, place the blue soda can.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Set the blue soda can before the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Have the blue soda can placed in front of the red marker.", + "start_idx": 1287, + "end_idx": 1323 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Using the left hand, pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Have the left arm take the white mug from the table by its handle at a diagonal angle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "With the left hand, grasp the white mug from the table by the handle, keeping a diagonal angle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Retrieve the white mug from the table using the handle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "From the table, pick up the white mug.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "With the left hand, take the white mug from the table by the handle.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Have the left arm grasp the white mug from the table.", + "start_idx": 1323, + "end_idx": 1353 + }, + { + "text": "Put the white mug to the right of the pink bowl with the handle facing backwards right side up with the left hand.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Using the left hand, place the white mug to the right of the pink bowl with the handle pointing backward, upright.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Have the left arm set the white mug upright to the right of the pink bowl, with its handle facing the back.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "With the left hand, position the white mug to the pink bowl's right, right side up and with the handle oriented backward.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Place the white mug to the right of the pink bowl with the handle facing backward, right side up.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Set the white mug upright to the right of the pink bowl, with its handle pointing backward.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Position the white mug to the pink bowl's right with the handle oriented toward the back, right side up.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Put the white mug to the right of the pink bowl.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Place the white mug by the right side of the pink bowl.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Set the white mug to the pink bowl's right.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Using the left hand, place the white mug to the right of the pink bowl.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "With the left hand, set the white mug by the right side of the pink bowl.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Have the left arm position the white mug to the pink bowl's right.", + "start_idx": 1353, + "end_idx": 1395 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Have the left arm take the pink bowl from the table by gripping its bottom lip from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "With the left hand, grasp the pink bowl off the table using a lip grasp at the bottom from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Take the pink bowl off the table with a lip grasp at the bottom from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Grasp the pink bowl from the table by the bottom lip from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip at the bottom.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp at the bottom.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "With the left hand, grasp the pink bowl off the table by its bottom lip.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Have the left arm take the pink bowl off the table from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Pick up the pink bowl from the table from a diagonal angle.", + "start_idx": 1395, + "end_idx": 1416 + }, + { + "text": "Put the pink bowl in front of the pink plate with the left hand.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Using the left hand, place the pink bowl in front of the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Have the left arm set the pink bowl before the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "With the left hand, position the pink bowl in front of the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Place the pink bowl in front of the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Set the pink bowl before the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Position the pink bowl in front of the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Put the pink bowl by the front of the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Using the left hand, place the pink bowl by the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Set the pink bowl next to the pink plate with the left hand.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Place the pink bowl by the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Put the pink bowl in front of the pink plate using the arm.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Have the left arm place the pink bowl by the pink plate.", + "start_idx": 1416, + "end_idx": 1455 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand at a diagonal angle grasping the middle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Have the left arm pick the gray stuffed animal off the pink plate with a diagonal approach at the middle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate, contacting its middle at a diagonal angle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate at a diagonal angle, grasping the middle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Take the gray stuffed animal off the pink plate with a diagonal approach at the middle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate, holding its middle at a diagonal angle.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Have the left arm take the gray stuffed animal off the pink plate.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Take the gray stuffed animal off the pink plate.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate.", + "start_idx": 1512, + "end_idx": 1539 + }, + { + "text": "Put the gray stuffed animal inside the pink bowl with the left hand facing top left with the front as reference.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the pink bowl with the front facing top left.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Have the left arm set the gray stuffed animal into the pink bowl, front oriented toward the top left.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "With the left hand, position the gray stuffed animal in the pink bowl so its front points top left.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl with the front facing top left.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Set the gray stuffed animal into the pink bowl with its front toward the top left.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Position the gray stuffed animal in the pink bowl, front pointing to the top left.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Using the left hand, put the gray stuffed animal inside the pink bowl.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Have the left arm place the gray stuffed animal into the pink bowl.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "With the left hand, set the gray stuffed animal in the pink bowl.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Put the gray stuffed animal inside the pink bowl.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Set the gray stuffed animal into the pink bowl.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Position the gray stuffed animal in the pink bowl.", + "start_idx": 1539, + "end_idx": 1566 + }, + { + "text": "Pick up the white mug from the table with the left hand from the top at the left side using a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Using the left hand, pick up the white mug from the table from the top at the left side with a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Have the left arm take the white mug from the table by grasping its left side from above with a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "With the left hand, grasp the white mug from the table at the left side from the top using a lip grasp.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Pick up the white mug from the table from the top at the left side with a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Grasp the white mug from the table at the left side from above using a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Take the white mug from the table by the left side from the top with a lip grasp.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Have the left arm take the white mug from the table using a lip grasp.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "With the left hand, grasp the white mug from the table using a lip grip.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Using the left hand, pick up the white mug from the table from the top at the left side.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Have the left arm take the white mug from the table by the left side from above.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "With the left hand, grasp the white mug from the table from the top at the left side.", + "start_idx": 1566, + "end_idx": 1602 + }, + { + "text": "Put the white mug to the left of the pink plate with the left hand right side up with the front facing bottom left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate, right side up, with the front facing bottom left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Have the left arm set the white mug left of the pink plate, keeping it upright and the front pointed bottom left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "With the left hand, position the white mug to the pink plate's left, right side up and with the front toward bottom left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Place the white mug to the left of the pink plate, right side up, with the front facing bottom left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Set the white mug left of the pink plate, keeping it upright with the front toward bottom left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Position the white mug to the left of the pink plate, with the front pointed bottom left and right side up.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Using the left hand, put the white mug to the left of the pink plate.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Have the left arm place the white mug left of the pink plate.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "With the left hand, position the white mug to the pink plate's left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Put the white mug to the left of the pink plate.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Set the white mug left of the pink plate.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Place the white mug to the pink plate's left.", + "start_idx": 1602, + "end_idx": 1620 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the left side with a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the left side and a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "With the left hand, secure the pink plate from the table using the lip grasp on its left side at a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the left side with a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Take the pink plate from the table with a lip hold on the left side at a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Grasp the pink plate from the table using a lip grasp at the left side with a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip at the left side.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grasp on the left side.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Have the left arm pick up the pink plate from the table at the left side with a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the left side with a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Pick up the pink plate from the table with the left hand at the left side with a diagonal angle.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Take the pink plate from the table using a lip grip at the left side.", + "start_idx": 1674, + "end_idx": 1713 + }, + { + "text": "Put the pink plate in front of the white mug with the left hand right side up.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Using the left hand, place the pink plate in front of the white mug right side up.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Have the left arm set the pink plate down in front of the white mug with its right side up.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "With the left hand, position the pink plate in front of the white mug so it stays right side up.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Place the pink plate in front of the white mug right side up.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Set the pink plate down in front of the white mug with its right side up.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Position the pink plate in front of the white mug upright.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Using the left hand, put the pink plate in front of the white mug.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "With the left arm, place the pink plate in front of the white mug.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Have the left hand set the pink plate down in front of the white mug.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Put the pink plate in front of the white mug.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Set the pink plate down in front of the white mug.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Position the pink plate in front of the white mug.", + "start_idx": 1713, + "end_idx": 1770 + }, + { + "text": "Pick up the gray stuffed animal from the pink bowl with the left hand from the top around the entire object.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink bowl from the top around the entire object.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Have the left arm take the gray stuffed animal out of the pink bowl with a top grasp around the whole object.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the pink bowl from above around the entire object.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Pick up the gray stuffed animal from the pink bowl from the top around the entire object.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Take the gray stuffed animal out of the pink bowl from above around the whole object.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Grasp the gray stuffed animal from the pink bowl around the entire object from the top.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink bowl.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Have the left arm take the gray stuffed animal out of the pink bowl.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the pink bowl.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Pick up the gray stuffed animal from the pink bowl.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Take the gray stuffed animal out of the pink bowl.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Grasp the gray stuffed animal from the pink bowl.", + "start_idx": 1833, + "end_idx": 1860 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the left hand facing forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Have the left arm set the gray stuffed animal atop the pink plate with its front facing forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate so the front faces forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Set the gray stuffed animal atop the pink plate with its front facing forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Position the gray stuffed animal on the pink plate facing forwards.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Using the left hand, put the gray stuffed animal on top of the pink plate.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "With the left hand, set the gray stuffed animal atop the pink plate.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Have the left arm place the gray stuffed animal on the pink plate.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Set the gray stuffed animal atop the pink plate.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Have the gray stuffed animal placed on the pink plate.", + "start_idx": 1860, + "end_idx": 1884 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Have the left arm grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "With the left hand, collect the white mug from the table, approaching diagonally at the handle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "The white mug from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "With the left hand, take the white mug from the table.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Have the left arm pick up the white mug from the table at a diagonal angle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "The white mug from the table should be picked up.", + "start_idx": 1884, + "end_idx": 1923 + }, + { + "text": "Put the white mug to the left of the pink plate with the handle facing backwards right side up with the front as the orientation reference using the left hand.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate, handle facing backward, right side up, with the front as reference.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Have the left arm set the white mug left of the pink plate, upright, with its handle pointing backward relative to the front.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "With the left hand, position the white mug to the pink plate's left, right side up, using the front as the orientation reference and the handle facing backward.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Place the white mug to the left of the pink plate, with the handle facing backward, right side up, using the front as reference.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Set the white mug left of the pink plate, upright, with its handle pointing backward relative to the front.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Position the white mug to the left of the pink plate, handle facing backward and right side up.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Have the left arm set the white mug to the pink plate's left.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "With the left hand, position the white mug left of the pink plate.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Place the white mug to the left of the pink plate.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Set the white mug to the pink plate's left with the handle facing backward and right side up.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Using the left hand, place the white mug left of the pink plate, with the handle facing backward and right side up.", + "start_idx": 1922, + "end_idx": 1952 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left, angled diagonally.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom-left lip hold at a diagonal angle.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp on the bottom left in a diagonal orientation.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Take the pink bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Grasp the pink bowl from the table using a lip hold on the bottom left at a diagonal angle.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "The pink bowl should be picked up from the table with a bottom-left lip grasp, diagonally oriented.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Have the left arm pick up the pink bowl from the table with a lip hold.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Take the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "The pink bowl should be grasped from the table with a lip grip.", + "start_idx": 1952, + "end_idx": 1976 + }, + { + "text": "Put the pink bowl behind the pink plate with the left hand.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Using the left hand, place the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Have the left arm set the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "With the left hand, position the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Place the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Set the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Position the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Move the pink bowl behind the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Using the left hand, place the pink bowl by the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "With the left hand, set the pink bowl near the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Have the left arm position the pink bowl by the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Put the pink bowl by the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Set the pink bowl near the pink plate.", + "start_idx": 1977, + "end_idx": 1995 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand from the top at the middle.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate from the top at the middle.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Have the left arm grasp the gray stuffed animal on the pink plate with a top hold at its middle.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the pink plate by grasping it from above at the center.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate from the top at the middle.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Take the gray stuffed animal from the pink plate with a top grasp at the middle.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Grasp the gray stuffed animal from the pink plate from above at its center.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "With the left hand, take the gray stuffed animal from the pink plate.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Have the left arm collect the gray stuffed animal from the pink plate.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Take the gray stuffed animal from the pink plate.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Grasp the gray stuffed animal from the pink plate.", + "start_idx": 1995, + "end_idx": 2031 + }, + { + "text": "Place the gray stuffed animal to the right of the pink plate with the left hand facing forwards.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Using the left hand, set the gray stuffed animal to the right of the pink plate facing forwards.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Have the left arm place the gray stuffed animal to the right of the pink plate with its front facing forward.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "With the left hand, position the gray stuffed animal to the right of the pink plate so it faces forwards.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Place the gray stuffed animal to the right of the pink plate facing forwards.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate with its front facing forward.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Position the gray stuffed animal to the right of the pink plate so it faces forwards.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the right of the pink plate.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "With the left hand, set the gray stuffed animal to the right of the pink plate.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Have the left arm position the gray stuffed animal to the right of the pink plate.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Place the gray stuffed animal to the right of the pink plate.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Position the gray stuffed animal to the right of the pink plate.", + "start_idx": 2031, + "end_idx": 2058 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Using the left hand, pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Have the left arm take the white mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "With the left hand, retrieve the white mug from the table by its handle at a diagonal angle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Retrieve the white mug from the table, grasping the handle at a diagonal angle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Have the left arm take the white mug from the table by its handle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "With the left hand, retrieve the white mug from the table.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Grab the white mug from the table.", + "start_idx": 2118, + "end_idx": 2151 + }, + { + "text": "Place the white mug to the right of the gray stuffed animal with the left hand right side up with the front facing backwards.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Using the left hand, set the white mug to the right of the gray stuffed animal right side up with its front facing backward.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Have the left arm place the white mug to the right of the gray stuffed animal upright, with the front pointed backward.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "With the left hand, position the white mug to the right of the gray stuffed animal right side up and facing backward at the front.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Place the white mug to the right of the gray stuffed animal right side up with the front facing backward.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Set the white mug to the right of the gray stuffed animal upright, with its front toward the back.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Position the white mug to the right of the gray stuffed animal with the front facing backward and right side up.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Using the left hand, place the white mug to the right of the gray stuffed animal.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Have the left arm set the white mug to the right of the gray stuffed animal.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "With the left hand, position the white mug to the right of the gray stuffed animal.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Place the white mug to the right of the gray stuffed animal.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Set the white mug to the right of the gray stuffed animal right side up.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Position the white mug to the right of the gray stuffed animal with its front facing backward.", + "start_idx": 2151, + "end_idx": 2190 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a diagonal approach and a full-object grasp.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table diagonally while holding the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal approach and a full-object hold.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Retrieve the gray stuffed animal from the table diagonally while grasping the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table, grasping the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a full-object grasp.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table by holding the entire object.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table at a diagonal angle.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a diagonal approach.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Pick up the gray stuffed animal from the table diagonally.", + "start_idx": 2244, + "end_idx": 2280 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the left hand facing forwards.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Have the left arm set the gray stuffed animal atop the pink plate with its front facing forward.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate so the front faces forwards.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Set the gray stuffed animal atop the pink plate with the front facing forward.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Position the gray stuffed animal on the pink plate facing forwards.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Have the left arm set the gray stuffed animal atop the pink plate.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Set the gray stuffed animal atop the pink plate.", + "start_idx": 2280, + "end_idx": 2310 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip from the top at the bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip from the top at the bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Have the left arm grasp the red marker from the table using a side hold from above at its bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "With the left hand, secure the red marker from the table in a side grasp, approaching from the top at the bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Pick up the red marker from the table using a side grip from the top at the bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Take the red marker from the table with a side grasp from above at the bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "From the table, grasp the red marker in a side hold from the top at its bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a side grip.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "With the left hand, grasp the red marker from the table from the top at the bottom.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "From the table, take the red marker using a side grip.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 2376, + "end_idx": 2412 + }, + { + "text": "Put the red marker to the right of the pink plate with the left hand with its tip facing top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Using the left hand, place the red marker to the right of the pink plate with its tip pointing top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Have the left arm set the red marker to the right of the pink plate, tip oriented toward the top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "With the left hand, position the red marker to the right of the pink plate so its tip faces the top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Place the red marker to the right of the pink plate with its tip pointing top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Set the red marker to the right of the pink plate, keeping the tip aimed top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Position the red marker to the right of the pink plate so the tip faces top left.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Using the left hand, place the red marker to the right of the pink plate.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Have the left arm set the red marker to the right of the pink plate.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "With the left hand, position the red marker to the right of the pink plate.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Put the red marker to the right of the pink plate.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Set the red marker beside the pink plate on its right side.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Position the red marker on the right side of the pink plate.", + "start_idx": 2412, + "end_idx": 2445 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a top lip grasp at the bottom.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a top lip grasp at the bottom.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Have the left arm pick the pink bowl up from the table using a lip grasp on its bottom edge from above.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom lip from the top.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Pick up the pink bowl from the table using a top lip grasp at the bottom.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Take the pink bowl from the table with a lip grasp at the bottom.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Grasp the pink bowl from the table at the bottom lip from above.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "With the left hand, pick up the pink bowl from the table.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Using the left hand, grasp the pink bowl from the table.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 2445, + "end_idx": 2478 + }, + { + "text": "Put the pink bowl to the right of the red marker with the left hand.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Using the left hand, place the pink bowl to the right of the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Have the left arm set the pink bowl on the right side of the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "With the left hand, position the pink bowl just right of the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Place the pink bowl to the right of the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Set the pink bowl on the right side of the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Position the pink bowl just to the right of the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Move the pink bowl to the red marker's right.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Using the left hand, place the pink bowl by the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Have the left arm set the pink bowl beside the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Put the pink bowl next to the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Place the pink bowl beside the red marker with the left hand.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Set the pink bowl near the red marker.", + "start_idx": 2478, + "end_idx": 2517 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Using the left hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "From the table, have the left hand take the red marker with a top grasp at the middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "With the left hand, grasp the red marker off the table from above at its middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "From the table, take the red marker with a top grasp at the middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Grasp the red marker off the table from above at its middle.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Using the left hand, take the red marker from the table.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Have the left hand grasp the red marker off the table.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Take the red marker off the table.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 2517, + "end_idx": 2556 + }, + { + "text": "Put the red marker behind the pink plate with the left hand with its tip facing top right.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Using the left hand, place the red marker behind the pink plate with its tip pointing to the top right.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Have the left arm set the red marker behind the pink plate so the tip faces the upper right.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "With the left hand, position the red marker behind the pink plate, tip oriented toward the top right.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Place the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Set the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Position the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Arrange the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Using the left hand, put the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Have the left arm place the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Set the red marker behind the pink plate with its tip pointing to the top right.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Position the red marker behind the pink plate so the tip faces the upper right.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Using the left hand, arrange the red marker behind the pink plate.", + "start_idx": 2556, + "end_idx": 2589 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand at a diagonal angle grasping the entire object.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Have the left arm pick up the gray stuffed animal from the pink plate on a diagonal, holding the whole object.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the pink plate in a diagonal orientation using a whole-object grasp.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate at a diagonal angle, grasping the entire object.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Take the gray stuffed animal from the pink plate on a diagonal with a full-object hold.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate at a diagonal angle while holding the whole object.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Have the left arm take the gray stuffed animal from the pink plate.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Take the gray stuffed animal from the pink plate at a diagonal angle.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate, grasping the entire object.", + "start_idx": 2589, + "end_idx": 2631 + }, + { + "text": "Put the gray stuffed animal between the pink plate and the pink bowl with the left hand facing forwards.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Using the left hand, place the gray stuffed animal between the pink plate and the pink bowl facing forwards.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Have the left arm set the gray stuffed animal between the pink plate and the pink bowl with its front facing forward.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "With the left hand, position the gray stuffed animal between the pink plate and the pink bowl so it faces forwards.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Place the gray stuffed animal between the pink plate and the pink bowl facing forwards.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Set the gray stuffed animal between the pink plate and the pink bowl with its front facing forward.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Position the gray stuffed animal between the pink plate and the pink bowl so it faces forwards.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Using the left hand, put the gray stuffed animal between the pink plate and the pink bowl.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "With the left arm, place the gray stuffed animal between the pink plate and the pink bowl.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Have the left hand set the gray stuffed animal between the pink plate and the pink bowl.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Put the gray stuffed animal between the pink plate and the pink bowl.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Set the gray stuffed animal between the pink plate and the pink bowl.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Place the gray stuffed animal between the pink plate and the pink bowl.", + "start_idx": 2631, + "end_idx": 2655 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "With the left arm, grasp the blue soda can from the table by its top using a side grip at a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Have the left hand pick the blue soda can off the table with a side hold on the top from a diagonal approach.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top from a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Grasp the blue soda can off the table by the top with a side hold from a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp at the top from a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "With the left hand, pick up the blue soda can from the table using a side grip.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Using the left hand, take the blue soda can from the table by the top.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a side hold.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Pick up the blue soda can from the table with the left hand from a diagonal angle.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Take the blue soda can from the table with the left hand.", + "start_idx": 2727, + "end_idx": 2766 + }, + { + "text": "Put the blue soda can between the gray stuffed animal and the pink bowl with the left hand.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Using the left hand, place the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Have the left arm set the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "With the left hand, position the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Put the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Place the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Set the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Position the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Move the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "The blue soda can goes between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Arrange the blue soda can between the gray stuffed animal and the pink bowl.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Put the blue soda can between the gray stuffed animal and the pink bowl without specifying an arm.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Place the blue soda can between the gray stuffed animal and the pink bowl, arm unspecified.", + "start_idx": 2766, + "end_idx": 2802 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Have the left arm take the gray stuffed animal off the table by grasping it from above around the whole object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table using a top hold on the entire object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Take the gray stuffed animal off the table by grasping it from above around the whole object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "The gray stuffed animal should be picked up from the table using a top hold on the entire object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Have the left arm take the gray stuffed animal off the table.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "The gray stuffed animal should be picked up from the table.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Have the left arm pick up the gray stuffed animal from the table with a grasp around the entire object.", + "start_idx": 2802, + "end_idx": 2835 + }, + { + "text": "Put the gray stuffed animal to the right of the red marker with the left hand facing forwards with the front as the reference point.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the right of the red marker, facing forwards with the front as the reference point.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Have the left arm set the gray stuffed animal to the right of the red marker, with its front oriented forward.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "With the left hand, position the gray stuffed animal to the right of the red marker so the front faces forwards.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Place the gray stuffed animal to the right of the red marker, facing forwards with the front as the reference point.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Set the gray stuffed animal to the right of the red marker with its front facing forward.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Position the gray stuffed animal to the right of the red marker, front facing forwards.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the right of the red marker.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "With the left hand, set the gray stuffed animal to the right of the red marker.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Have the left arm position the gray stuffed animal to the right of the red marker.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Put the gray stuffed animal to the right of the red marker.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Place the gray stuffed animal to the right of the red marker with the left hand.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Set the gray stuffed animal to the right of the red marker, facing forwards.", + "start_idx": 2835, + "end_idx": 2862 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip from the top at the left.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Have the left arm take the pink plate from the table using a lip grasp from the top-left edge.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "With the left hand, grasp the pink plate from the table by its left side from above using a lip hold.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top at the left.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Take the pink plate from the table with a lip grasp from above on the left side.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Grasp the pink plate from the table by the left edge from the top using a lip hold.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Have the left arm take the pink plate from the table with a lip grasp.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Using the left hand, grasp the pink plate from the table with a lip hold.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "With the left hand, pick up the pink plate from the table from the top at the left.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Have the left arm take the pink plate from the table by its left side from above.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Grasp the pink plate from the table.", + "start_idx": 2862, + "end_idx": 2898 + }, + { + "text": "Put the pink plate to the left of the blue soda can with the left hand right side up front.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue soda can, right side up with the front facing forward.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Have the left arm set the pink plate left of the blue soda can, keeping it right side up and front-facing.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue soda can in a right-side-up orientation with the front at the front.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Place the pink plate to the left of the blue soda can, right side up with the front facing forward.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Set the pink plate left of the blue soda can, keeping it right side up and front-facing.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Position the pink plate to the left of the blue soda can in a right-side-up orientation with the front at the front.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue soda can.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Have the left arm set the pink plate left of the blue soda can.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "With the left hand, position the pink plate to the left of the blue soda can.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Put the pink plate to the left of the blue soda can.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Place the pink plate left of the blue soda can.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Set the pink plate to the left of the blue soda can.", + "start_idx": 2898, + "end_idx": 2943 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Using the left hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Have the left arm take the red marker from the table, grasping it from above at its middle.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "With the left hand, grasp the red marker from the table at the middle from the top.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Grasp the red marker from the table from above at its middle.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Take the red marker from the table, contacting it at the middle from the top.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Using the left hand, take the red marker from the table.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 2943, + "end_idx": 2979 + }, + { + "text": "Place the red marker on top of the pink plate with the left hand with its tip facing top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Using the left hand, set the red marker on top of the pink plate with its tip pointing to the top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Have the left arm place the red marker atop the pink plate, keeping the tip directed toward the top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "With the left hand, position the red marker on the pink plate so its tip faces the top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Place the red marker on top of the pink plate with its tip facing the top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Set the red marker atop the pink plate with the tip pointing top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Position the red marker on the pink plate so the tip is directed to the top right.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Using the left hand, place the red marker on top of the pink plate.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Have the left arm set the red marker atop the pink plate.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "With the left hand, position the red marker on the pink plate.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Put the red marker on top of the pink plate.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Set the red marker atop the pink plate.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Position the red marker on the pink plate.", + "start_idx": 2979, + "end_idx": 3009 + }, + { + "text": "Pick up the red marker from the pink plate with the left hand from the top at the middle.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Using the left hand, take the red marker from the pink plate from the top at the middle.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "With the left arm, grasp the red marker off the pink plate using a top approach at its middle.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Have the left hand retrieve the red marker from the pink plate by grasping it from above at the center.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Pick up the red marker from the pink plate from the top at the middle.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Take the red marker off the pink plate with a top grasp at the middle.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Retrieve the red marker from the pink plate by approaching from above at its center.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "With the left hand, pick up the red marker from the pink plate.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Using the left arm, take the red marker off the pink plate.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Have the left hand grasp the red marker from the pink plate.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Pick up the red marker from the pink plate.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Take the red marker off the pink plate.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Retrieve the red marker from the pink plate.", + "start_idx": 3063, + "end_idx": 3102 + }, + { + "text": "Put the red marker to the left of the gray stuffed animal with the left hand with its tip facing top left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Using the left hand, place the red marker to the left of the gray stuffed animal with its tip pointing to the top left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Have the left arm set the red marker left of the gray stuffed animal, tip oriented toward the upper left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "With the left hand, position the red marker on the gray stuffed animal's left side, keeping the tip aimed top left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Place the red marker to the left of the gray stuffed animal with its tip facing top left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Set the red marker on the left side of the gray stuffed animal, with the tip directed upper left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Position the red marker left of the gray stuffed animal, tip pointing top left.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Using the left hand, put the red marker to the left of the gray stuffed animal.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "With the left hand, place the red marker on the left side of the gray stuffed animal.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Have the left arm set the red marker left of the gray stuffed animal.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Move the red marker to the left of the gray stuffed animal.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Set the red marker on the left side of the gray stuffed animal.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Have the red marker placed left of the gray stuffed animal.", + "start_idx": 3102, + "end_idx": 3129 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Have the left arm grasp the blue soda can on the table using a top side hold.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "With the left hand, seize the blue soda can from the table in a side grasp at the top.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Take the blue soda can from the table with a side hold from the top.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "From the table, grasp the blue soda can with a side grip at the top.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Using the left hand, take the blue soda can from the table.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Have the left arm grasp the blue soda can on the table.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "From the table, take the blue soda can.", + "start_idx": 3192, + "end_idx": 3216 + }, + { + "text": "Put the blue soda can on top of the pink plate with the left hand.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Using the left hand, place the blue soda can onto the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Have the left arm set the blue soda can on top of the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "With the left hand, position the blue soda can atop the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Place the blue soda can on top of the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Set the blue soda can onto the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "The blue soda can goes on top of the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Put the blue soda can atop the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Position the blue soda can on the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Place the blue soda can on top of the pink plate with the hand provided.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Set the blue soda can on the pink plate using the available hand.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Put the blue soda can onto the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Have the blue soda can placed on top of the pink plate.", + "start_idx": 3216, + "end_idx": 3258 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table by grasping it from above around the whole object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table using a top hold on the entire object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Take the gray stuffed animal from the table by grasping it from above around the whole object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "From the table, retrieve the gray stuffed animal using a top hold on the entire object.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Have the left arm collect the gray stuffed animal from the table.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "From the table, retrieve the gray stuffed animal.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 3258, + "end_idx": 3276 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl with the left hand facing top right from the front.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the pink bowl facing top right from the front.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Have the left arm put the gray stuffed animal into the pink bowl with its front facing the top right.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "With the left hand, deposit the gray stuffed animal in the pink bowl so the front points top right.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl facing top right from the front.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Put the gray stuffed animal into the pink bowl with its front toward the top right.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Set the gray stuffed animal in the pink bowl so it faces top right from the front.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the pink bowl.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "With the left hand, put the gray stuffed animal into the pink bowl.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Have the left arm set the gray stuffed animal in the pink bowl.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Put the gray stuffed animal into the pink bowl.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Set the gray stuffed animal in the pink bowl.", + "start_idx": 3276, + "end_idx": 3297 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom from the top.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Have the left arm pick the red marker up from the table using a side grasp on the bottom from above.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "With the left hand, grasp the red marker from the table in a side hold at the bottom from the top.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from the top.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Grasp the red marker from the table with a side hold at the bottom from above.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "The red marker from the table should be picked up using a side grasp at the bottom from the top.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Have the left arm grasp the red marker from the table.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Using a side grip at the bottom, pick up the red marker from the table.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "The red marker from the table should be grasped at the bottom from the top.", + "start_idx": 3363, + "end_idx": 3399 + }, + { + "text": "Put the red marker to the left of the pink plate with the left hand facing the tip top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Using the left hand, place the red marker to the left of the pink plate with the tip facing the top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Have the left arm set the red marker left of the pink plate, oriented with its tip toward the top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "With the left hand, position the red marker to the left of the pink plate so the tip points top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Place the red marker to the left of the pink plate with the tip facing the top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Set the red marker left of the pink plate, with its tip pointed toward the top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Position the red marker to the left of the pink plate so its tip faces the top right.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Using the left hand, put the red marker to the left of the pink plate.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "With the left hand, place the red marker left of the pink plate.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Have the left arm position the red marker to the left of the pink plate.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Put the red marker to the left of the pink plate.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Set the red marker left of the pink plate.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Position the red marker to the left of the pink plate.", + "start_idx": 3399, + "end_idx": 3426 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Have the left arm pick up the blue soda can from the table using a top side grasp.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "With the left hand, grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Grasp the blue soda can from the table from the top with a side hold.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Grasp the blue soda can from the table using a side grip.", + "start_idx": 3492, + "end_idx": 3525 + }, + { + "text": "Put the blue soda can to the left of the red marker with the left hand.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Have the left arm set the blue soda can to the left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "With the left hand, position the blue soda can left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Place the blue soda can to the left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Set the blue soda can left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Position the blue soda can to the red marker's left.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Move the blue soda can to the left side of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Arrange the blue soda can left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "The blue soda can goes to the left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Put the blue soda can beside the red marker on its left side.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Set the blue soda can down to the left of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Place the blue soda can on the left side of the red marker.", + "start_idx": 3525, + "end_idx": 3564 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grip from the top at the left.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "With the left hand, grasp the white mug from the table using the lip grip at the mug's left side from above.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Have the left arm pick the white mug up from the table with a lip grasp from the top-left.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Pick up the white mug from the table using a lip grip from the top at the left.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Take the white mug from the table with a lip grasp from above on the left side.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Grasp the white mug from the table with the lip grip at the left from the top.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Using the left hand, pick up the white mug from the table with a lip grip.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Have the left arm take the white mug from the table using a lip grasp.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Have the left arm pick up the white mug from the table.", + "start_idx": 3564, + "end_idx": 3585 + }, + { + "text": "Put the white mug on top of the pink plate with the left hand right side up with the front facing backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Using the left hand, place the white mug on top of the pink plate right side up with the front facing backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Have the left arm set the white mug atop the pink plate, keeping it right side up and the front facing backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "With the left hand, position the white mug on the pink plate upright, with the front directed backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Place the white mug on top of the pink plate right side up with the front facing backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Set the white mug atop the pink plate, keeping it upright and the front facing backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Position the white mug on the pink plate with its front facing backwards and right side up.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Using the left hand, put the white mug on top of the pink plate.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Have the left arm place the white mug atop the pink plate.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "With the left hand, set the white mug on the pink plate.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Put the white mug on top of the pink plate.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Place the white mug on the pink plate right side up.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Set the white mug atop the pink plate with the front facing backwards.", + "start_idx": 3585, + "end_idx": 3630 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Using the left hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Have the left arm take the red marker off the table, grasping it from the top at its middle.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "With the left hand, grasp the red marker on the table from above at the center.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Take the red marker off the table from above at its center.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Grasp the red marker from the table at the middle from the top.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Have the left arm take the red marker off the table.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "With the left hand, grasp the red marker on the table.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Remove the red marker from the table.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Take the red marker off the table.", + "start_idx": 3690, + "end_idx": 3720 + }, + { + "text": "Put the red marker to the right of the pink plate with the handle facing backwards with the left hand.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "With the left hand, place the red marker to the right of the pink plate, handle facing backwards.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Have the left arm set the red marker to the right of the pink plate with its handle pointing backward.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Using the left hand, position the red marker right of the pink plate so the handle faces backwards.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Place the red marker to the right of the pink plate with the handle facing backwards.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Set the red marker right of the pink plate, with its handle pointing backward.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Position the red marker to the pink plate's right with the handle facing backwards.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "With the left hand, place the red marker to the right of the pink plate.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Using the left hand, set the red marker right of the pink plate.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Have the left arm position the red marker to the right of the pink plate.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Put the red marker to the right of the pink plate.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Set the red marker to the pink plate's right.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Using the left hand, place the red marker to the right of the pink plate.", + "start_idx": 3720, + "end_idx": 3756 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Have the left arm grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "With the left hand, seize the blue soda can from the table by the top with a side grasp.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Take the blue soda can from the table by the top using a side hold.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Grasp the blue soda can from the table at the top with a side grasp.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "With the left hand, pick up the blue soda can from the table.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "The blue soda can from the table should be taken with the left hand.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Using the left hand, grasp the blue soda can from the table.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Take the blue soda can from the table by the top.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Grasp the blue soda can from the table at the top.", + "start_idx": 3828, + "end_idx": 3858 + }, + { + "text": "Put the blue soda can to the left of the pink plate with the left hand.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Place the blue soda can to the left of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Set the blue soda can down to the left of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Position the blue soda can on the left side of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Leave the blue soda can to the left of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Move the blue soda can beside the pink plate on its left side.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Put the blue soda can next to the pink plate on the left.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "The blue soda can goes to the left of the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Using the left hand, place the blue soda can by the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Have the left arm put the blue soda can beside the pink plate.", + "start_idx": 3858, + "end_idx": 3885 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left from the top.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left from the top.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a lip hold at the bottom left from above.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Have the left arm pick the pink bowl from the table with a lip grasp on the bottom-left area from the top.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left from the top.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold at the bottom left from above.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Take the pink bowl from the table with a lip grasp on the bottom-left area from the top.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by lip grasp.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Take the pink bowl from the table with the left hand.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Using a lip grip, grasp the pink bowl from the table.", + "start_idx": 3885, + "end_idx": 3909 + }, + { + "text": "Place the pink bowl on top of the pink plate with the left hand.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Using the left hand, set the pink bowl on top of the pink plate upright.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Have the left arm place the pink bowl onto the pink plate with the bowl right side up.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "With the left hand, position the pink bowl on the pink plate in an upright orientation.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Place the pink bowl on top of the pink plate upright.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Set the pink bowl onto the pink plate with the bowl right side up.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Position the pink bowl on the pink plate in an upright position.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "With the left hand, place the pink bowl on top of the pink plate.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Using the left hand, set the pink bowl onto the pink plate.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Have the left arm position the pink bowl on the pink plate.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Put the pink bowl on top of the pink plate.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Set the pink bowl onto the pink plate.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Position the pink bowl on the pink plate.", + "start_idx": 3909, + "end_idx": 3936 + }, + { + "text": "Pick up the pink bowl from the pink plate with the left hand using a lip grip at the bottom left from the top.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Using the left hand, take the pink bowl from the pink plate with a lip grip at the bottom left from the top.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Have the left arm grasp the pink bowl off the pink plate using a lip hold at the bottom left from above.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "With the left hand, remove the pink bowl from the pink plate by the bottom-left lip from the top.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Pick up the pink bowl from the pink plate with a lip grip at the bottom left from the top.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Take the pink bowl off the pink plate using a lip hold at the bottom left from above.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Remove the pink bowl from the pink plate with a lip grasp at the bottom left from the top.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "With the left hand, pick up the pink bowl from the pink plate using a lip grip.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Using the left hand, take the pink bowl from the pink plate with a lip hold.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Have the left arm remove the pink bowl from the pink plate with a lip grasp.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Pick up the pink bowl from the pink plate with the left hand at the bottom left from the top.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Take the pink bowl off the pink plate from above at the bottom left.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Using the left hand, remove the pink bowl from the pink plate.", + "start_idx": 3987, + "end_idx": 4023 + }, + { + "text": "Put the pink bowl to the left of the blue soda can with the left hand.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Using the left hand, place the pink bowl to the left of the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Have the left arm set the pink bowl down left of the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "With the left hand, position the pink bowl on the left side of the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Place the pink bowl to the left of the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Set the pink bowl down left of the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Position the pink bowl on the left side of the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Using the left hand, place the pink bowl by the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Have the left arm set the pink bowl next to the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "With the left hand, position the pink bowl beside the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Put the pink bowl by the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Set the pink bowl beside the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Position the pink bowl next to the blue soda can.", + "start_idx": 4023, + "end_idx": 4053 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side grip.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "With the left hand, seize the blue soda can from the table by applying a side grasp at the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Using the left hand, collect the blue soda can from the table from the top.", + "start_idx": 4053, + "end_idx": 4071 + }, + { + "text": "Place the blue soda can behind the pink bowl with the left hand.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Using the left hand, set the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Have the left arm place the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "With the left hand, position the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Place the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Set the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Position the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Put the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Move the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "The blue soda can goes behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Arrange the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Behind the pink bowl, place the blue soda can.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Deposit the blue soda can behind the pink bowl.", + "start_idx": 4070, + "end_idx": 4101 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by the bottom-left edge using a lip grasp at a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip hold on the bottom left at a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom left and a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Take the pink bowl from the table by the bottom-left edge using a lip grasp at a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip hold.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Take the pink bowl from the table with the left hand from the bottom-left side at a diagonal angle.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "With the left hand, grasp the pink bowl from the table at the bottom left on a diagonal.", + "start_idx": 4101, + "end_idx": 4113 + }, + { + "text": "Dump the gray stuffed animal from the pink bowl to the left of the pink plate with the left hand.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Using the left hand, dump the gray stuffed animal from the pink bowl to the left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Have the left arm empty the gray stuffed animal out of the pink bowl onto the area left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "With the left hand, tip the gray stuffed animal from the pink bowl so it ends up left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Dump the gray stuffed animal from the pink bowl to the left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Empty the gray stuffed animal out of the pink bowl onto the left side of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "The gray stuffed animal should be dumped from the pink bowl to the spot left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Pour the gray stuffed animal out of the pink bowl, placing it to the left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "From the pink bowl, dump the gray stuffed animal beside the pink plate on its left side.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Transfer the gray stuffed animal out of the pink bowl to the area left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Move the gray stuffed animal from the pink bowl to the left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Send the gray stuffed animal from the pink bowl to a position left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "The gray stuffed animal goes from the pink bowl to the left of the pink plate.", + "start_idx": 4113, + "end_idx": 4152 + }, + { + "text": "Put the pink bowl to the right of the red marker with the left hand.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Using the left hand, place the pink bowl to the right of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Have the left arm set the pink bowl on the right side of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "With the left hand, position the pink bowl just right of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Place the pink bowl to the right of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Set the pink bowl on the right side of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Position the pink bowl just to the right of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "The pink bowl goes to the right of the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Arrange the pink bowl beside the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Using the left hand, place the pink bowl by the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Have the left arm set the pink bowl next to the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Put the pink bowl beside the red marker with the left hand.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "With the left hand, position the pink bowl next to the red marker.", + "start_idx": 4152, + "end_idx": 4176 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from the top at the middle.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Have the left arm grasp the gray stuffed animal on the table from above at its middle.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "With the left hand, pick the gray stuffed animal up from the table, contacting it from the top at the center.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the middle.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "From above at the middle, grasp the gray stuffed animal from the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Take the gray stuffed animal off the table from the top at its middle.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "With the left arm, take the gray stuffed animal from the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Have the left hand grasp the gray stuffed animal on the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Take the gray stuffed animal off the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 4230, + "end_idx": 4263 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the left hand facing forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Have the left arm set the gray stuffed animal atop the pink plate with its front facing forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate so it faces forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate facing forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Set the gray stuffed animal atop the pink plate with its front facing forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Position the gray stuffed animal on the pink plate facing forwards.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Have the left arm set the gray stuffed animal atop the pink plate.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Set the gray stuffed animal atop the pink plate.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Arrange the gray stuffed animal on the pink plate.", + "start_idx": 4263, + "end_idx": 4278 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "With the left hand, collect the blue soda can off the table using a side grasp at the top.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Take the blue soda can off the table with a side grasp from the top.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Have the left arm take the blue soda can off the table.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Using the left hand, get the blue soda can from the table.", + "start_idx": 4278, + "end_idx": 4314 + }, + { + "text": "Put the blue soda can to the left of the pink plate with the left hand.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "With your left hand, position the blue soda can left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Place the blue soda can to the left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Set the blue soda can down left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Position the blue soda can to the left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "The blue soda can goes to the left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Arrange the blue soda can left of the pink plate.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Move the blue soda can beside the pink plate on its left side.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Put the blue soda can next to the pink plate on the left.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "To the left of the pink plate, place the blue soda can.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Have the blue soda can placed on the pink plate's left side.", + "start_idx": 4314, + "end_idx": 4344 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "With the left hand, take the red marker from the table using a side grasp at the bottom from a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Using the left hand, retrieve the red marker from the table with a side hold on the bottom at a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Have the left arm pick the red marker off the table with a side grip at the bottom from a diagonal approach.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Take the red marker off the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Retrieve the red marker from the table with a side hold on the bottom from a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "With the left hand, pick up the red marker from the table using a side grip at the bottom.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grasp at the bottom.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Have the left arm retrieve the red marker off the table with a side hold on the bottom.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "With the left hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Using the left hand, take the red marker off the table from a diagonal approach.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Have the left arm retrieve the red marker from the table.", + "start_idx": 4404, + "end_idx": 4434 + }, + { + "text": "Put the red marker to the left of the blue soda can with the left hand facing forwards with the tip facing forwards.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue soda can with its tip pointing forward.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Have the left arm set the red marker left of the blue soda can, oriented forward with the tip facing forward.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "With the left hand, position the red marker to the left of the blue soda can so the tip faces forward.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Place the red marker to the left of the blue soda can with its tip pointing forward.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Set the red marker left of the blue soda can, keeping the tip facing forward.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Position the red marker to the left of the blue soda can with the tip oriented forward.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Put the red marker to the left of the blue soda can.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Set the red marker left of the blue soda can.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Position the red marker beside the blue soda can on its left side.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue soda can.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Have the left arm set the red marker beside the blue soda can on its left side.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "With the left hand, position the red marker on the left side of the blue soda can.", + "start_idx": 4434, + "end_idx": 4473 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grasp at the top.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Have the left arm pick up the blue soda can from the table using a side grip on its top.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "With the left hand, grasp the blue soda can from the table by the top with a side hold.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Take the blue soda can from the table with a side grasp on its top.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Grasp the blue soda can from the table by the top using a side hold.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "With the left hand, pick up the blue soda can from the table.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Using the left hand, take the blue soda can from the table.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Have the left arm grasp the blue soda can from the table.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Using a side grip at the top, take the blue soda can from the table.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 4473, + "end_idx": 4497 + }, + { + "text": "Place the blue soda can on the top side of the table with the left hand.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Using the left hand, set the blue soda can on the top side of the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Have the left arm place the blue soda can onto the table's top side.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "With the left hand, position the blue soda can on the top surface of the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Place the blue soda can on the top side of the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Set the blue soda can onto the table's top side.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Position the blue soda can on the top surface of the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Put the blue soda can on the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Move the blue soda can onto the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Rest the blue soda can on the table.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Place the blue soda can there.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Set the blue soda can down.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Position the blue soda can on it.", + "start_idx": 4497, + "end_idx": 4533 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grip from the top at the left.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Have the left arm grasp the white mug from the table using a lip hold from the top-left side.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "The white mug should be picked from the table with the left hand in a top-left lip grasp.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Pick up the white mug from the table using a lip grip from the top at the left.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Take the white mug from the table with a lip hold from the top at the left.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Grasp the white mug from the table from the top-left side using a lip grip.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "With the left hand, pick up the white mug from the table using a lip grip.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Have the left arm take the white mug from the table with a lip hold.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "The white mug should be grasped from the table with the left hand using a lip grip.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Take the white mug from the table from the top at the left.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "The white mug should be picked up from the table.", + "start_idx": 4596, + "end_idx": 4635 + }, + { + "text": "Put the white mug between the red marker and the pink plate with the handle facing backwards using the left hand.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Using the left hand, place the white mug between the red marker and the pink plate with the handle facing backward.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Have the left arm set the white mug between the red marker and the pink plate, handle pointing backward.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "With the left hand, position the white mug between the red marker and the pink plate so its handle faces backward.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Place the white mug between the red marker and the pink plate with the handle facing backward.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Set the white mug between the red marker and the pink plate with its handle pointing backward.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Position the white mug between the red marker and the pink plate, keeping the handle toward the back.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Using the left hand, put the white mug between the red marker and the pink plate.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "With the left hand, place the white mug between the red marker and the pink plate.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Have the left arm set the white mug between the red marker and the pink plate.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Put the white mug between the red marker and the pink plate.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Place the white mug between the red marker and the pink plate.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Set the white mug between the red marker and the pink plate.", + "start_idx": 4635, + "end_idx": 4671 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "With the left hand, seize the blue soda can from the table in a side grasp at the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Take the blue soda can from the table with a side hold from the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Grasp the blue soda can from the table in a side grip at the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "The blue soda can should be taken from the table with the left hand.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 4671, + "end_idx": 4704 + }, + { + "text": "Put the blue soda can behind the pink plate with the left hand.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Using the left hand, place the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Have the left arm set the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "With the left hand, position the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Move the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "The blue soda can goes behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Arrange the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Take the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Transfer the blue soda can behind the pink plate.", + "start_idx": 4704, + "end_idx": 4734 + }, + { + "text": "Pick up the white mug from the table with the left hand using a side grip at the top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Using the left hand, take the white mug from the table with a side grip at the top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Have the left hand grasp the white mug from the table from the side at its top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "With the left hand, secure the white mug from the table using a side hold on the top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Pick up the white mug from the table using a side grip at the top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Grasp the white mug from the table from the side at its top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Take the white mug from the table with a side hold on the top.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "With the left hand, pick up the white mug from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Have the left hand take the white mug from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Using the left hand, grasp the white mug from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 4734, + "end_idx": 4770 + }, + { + "text": "Put the white mug behind the pink bowl with the left hand right side up with the front facing backwards.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the left hand, place the white mug behind the pink bowl upright with its front facing backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the left arm set the white mug behind the pink bowl right side up, front pointed backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the left hand, position the white mug behind the pink bowl so it stays upright and faces backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Place the white mug behind the pink bowl upright with its front facing backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Set the white mug behind the pink bowl right side up, front pointed backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Position the white mug behind the pink bowl so it is upright and facing backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Using the left hand, put the white mug behind the pink bowl.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Have the left arm place the white mug behind the pink bowl.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "With the left hand, set the white mug behind the pink bowl.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Put the white mug behind the pink bowl.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Place the white mug behind the pink bowl upright.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Set the white mug behind the pink bowl facing backward.", + "start_idx": 4770, + "end_idx": 4803 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Using the left hand, take the red marker from the table at a diagonal angle, grasping its middle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Have the left arm pick the red marker up from the table on a diagonal, holding it at the center.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by its middle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Take the red marker from the table on a diagonal, holding the center.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Retrieve the red marker from the table diagonally by its middle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Take the red marker from the table at a diagonal angle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Using the left hand, pick up the red marker at a diagonal angle.", + "start_idx": 4863, + "end_idx": 4887 + }, + { + "text": "Put the red marker on the right side of the table with the left hand with its tip facing bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Using the left hand, place the red marker on the right side of the table with its tip pointing to the bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Have the left arm set the red marker on the table's right side, tip oriented toward the bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "With the left hand, position the red marker on the right side of the table, keeping its tip aimed bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Place the red marker on the right side of the table with its tip pointing to the bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Set the red marker on the table's right side, with the tip directed toward the bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Position the red marker on the right side of the table, tip aimed bottom right.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Using the left hand, put the red marker on the right side of the table.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Have the left arm place the red marker on the table's right side.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "With the left hand, set the red marker on the right side of the table.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Put the red marker on the right side of the table.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Set the red marker on the table's right side.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Position the red marker on the right side of the table.", + "start_idx": 4887, + "end_idx": 4938 + }, + { + "text": "Pick up the white mug from the table with the left hand from the top at the left side using a lip grip.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Using the left hand, pick up the white mug from the table from the top at the left side with a lip grip.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Have the left arm take the white mug from the table by grasping its left side from above with a lip grasp.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "With the left hand, retrieve the white mug from the table using a lip grip from the top on the left side.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Pick up the white mug from the table from the top at the left side using a lip grip.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "From above at the left side, take the white mug from the table with a lip grasp.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "The white mug from the table should be picked up at the left side from the top using a lip grip.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "With the left hand, pick up the white mug from the table using a lip grip.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Using the left hand, take the white mug from the table from the top at the left side.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Have the left arm pick up the white mug from the table from above on the left side.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Take the white mug from the table from the top at the left side.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "The white mug from the table should be picked up.", + "start_idx": 5064, + "end_idx": 5106 + }, + { + "text": "Put the white mug behind the pink bowl with the left hand right side up with the front facing backwards.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Using the left hand, place the white mug behind the pink bowl, right side up with its front facing backward.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Have the left arm set the white mug behind the pink bowl, keeping it upright and with the front oriented backward.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "With the left hand, position the white mug behind the pink bowl so it stays right side up and faces backward from the front.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Place the white mug behind the pink bowl, right side up with the front facing backward.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Set the white mug behind the pink bowl, keeping it upright and the front pointed backward.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Position the white mug behind the pink bowl so it is right side up with its front toward the back.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Using the left hand, put the white mug behind the pink bowl.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "With the left hand, place the white mug behind the pink bowl.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Have the left arm position the white mug behind the pink bowl.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Put the white mug behind the pink bowl.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Set the white mug behind the pink bowl.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Position the white mug behind the pink bowl.", + "start_idx": 5106, + "end_idx": 5160 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Have the left arm take the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the bottom-left edge in a diagonal lip hold.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Take the pink bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Grasp the pink bowl from the table with the left hand.", + "start_idx": 5229, + "end_idx": 5259 + }, + { + "text": "Put the pink bowl behind the pink plate with the left hand.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Using the left hand, place the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Have the left arm set the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "With the left hand, position the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Place the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Set the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Position the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Move the pink bowl behind the pink plate.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Using the left hand, put the pink bowl down.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "With the left hand, place the pink bowl in position.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Have the left arm move the pink bowl over.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Put the pink bowl down.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Set the pink bowl in place.", + "start_idx": 5259, + "end_idx": 5274 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip from the top at the left.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Have the left arm grasp the pink plate from the table using a lip hold from the top-left edge.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "With the left hand, secure the pink plate from the table by its top-left lip.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top at the left.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Take the pink plate from the table with a lip hold from the top-left side.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Grasp the pink plate from the table by the top-left lip.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "With the left hand, pick up the pink plate from the table using a lip grip.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip hold.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Have the left arm grasp the pink plate from the table by the lip.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Pick up the pink plate from the table with the left hand from the top at the left.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Take the pink plate from the table with the left hand at the top-left edge.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Grasp the pink plate from the table from the top-left side.", + "start_idx": 5274, + "end_idx": 5295 + }, + { + "text": "Put the pink plate in front of the white mug with the left hand right side up front.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Using the left hand, place the pink plate in front of the white mug, right side up with the front facing forward.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Have the left arm set the pink plate in front of the white mug, keeping it right side up and its front forward.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "With the left hand, position the pink plate in front of the white mug so it stays right side up with the front at the front.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Place the pink plate in front of the white mug, keeping it right side up with the front facing forward.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Set the pink plate in front of the white mug, oriented right side up with its front forward.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Position the pink plate in front of the white mug so it is right side up and front-facing.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Using the left hand, put the pink plate in front of the white mug.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "With the left hand, place the pink plate in front of the white mug.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Have the left arm position the pink plate in front of the white mug.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Put the pink plate in front of the white mug.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Set the pink plate in front of the white mug.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Position the pink plate in front of the white mug.", + "start_idx": 5295, + "end_idx": 5340 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal grasp at the handle.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Have the left arm pick up the white mug from the table by the handle in a diagonal grasp.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "With the left hand, grasp the white mug from the table at the handle with a diagonal hold.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Pick up the white mug from the table with a diagonal grasp at the handle.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Take the white mug from the table by the handle in a diagonal grasp.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Grasp the white mug from the table at the handle with a diagonal hold.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 5445, + "end_idx": 5460 + }, + { + "text": "Put the white mug to the left of the pink plate with the handle facing backwards right side up with the left hand.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate with the handle facing backward, right side up.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Have the left arm set the white mug left of the pink plate, keeping it upright and the handle pointing backward.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "With the left hand, position the white mug on the pink plate's left side, upright with its handle facing backward.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Place the white mug to the left of the pink plate with the handle facing backward, right side up.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Set the white mug on the left side of the pink plate, upright with the handle pointing backward.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Position the white mug left of the pink plate, keeping the handle facing backward and the mug right side up.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Place the white mug to the left of the pink plate.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Set the white mug on the left side of the pink plate.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Position the white mug left of the pink plate.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Have the left arm set the white mug on the pink plate's left side.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "With the left hand, position the white mug left of the pink plate.", + "start_idx": 5460, + "end_idx": 5484 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Have the left arm grasp the blue soda can from the table with a top side hold.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "With the left hand, retrieve the blue soda can from the table using a side grasp at the top.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "From the table, take the blue soda can.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Have the left arm retrieve the blue soda can from the table.", + "start_idx": 5532, + "end_idx": 5556 + }, + { + "text": "Put the blue soda can to the right of the pink bowl with the left hand.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Using the left hand, place the blue soda can to the right of the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Have the left arm set the blue soda can down to the right of the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "With the left hand, position the blue soda can on the right side of the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Place the blue soda can to the right of the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Set the blue soda can on the right side of the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Position the blue soda can right of the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Put the blue soda can beside the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Move the blue soda can next to the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Arrange the blue soda can on the pink bowl's right side.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Using the left hand, place the blue soda can beside the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "With the left hand, set the blue soda can next to the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Have the left arm position the blue soda can beside the pink bowl.", + "start_idx": 5556, + "end_idx": 5583 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left from the top.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left from the top.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold at the bottom left from above.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp on the bottom-left area from the top.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left from the top.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom left from above.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Grasp the pink bowl from the table at the bottom-left area from the top using a lip grasp.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using a lip grasp.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left from the top.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Take the pink bowl from the table at the bottom-left area from above with the left hand.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "With the left hand, secure the pink bowl from the table at the bottom left from the top.", + "start_idx": 5583, + "end_idx": 5604 + }, + { + "text": "Put the pink bowl between the pink plate and the red marker with the left hand.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Using the left hand, place the pink bowl between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Have the left arm set the pink bowl between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "With the left hand, position the pink bowl between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Place the pink bowl between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Set the pink bowl between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Position the pink bowl between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "The pink bowl goes between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Put the pink bowl between the pink plate and the red marker, right side up.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Set the pink bowl upright between the pink plate and the red marker.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Position the pink bowl between the pink plate and the red marker with its front facing forward.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Place the pink bowl between the pink plate and the red marker, right side up and facing front.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Have the bowl set between the pink plate and the red marker upright and facing front.", + "start_idx": 5604, + "end_idx": 5628 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand from the top grasping the entire object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate with a top grasp around the whole object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "From above, have the left hand collect the gray stuffed animal off the pink plate, grasping the entire object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate by grasping it from the top across the whole object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with a top grasp around the whole object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "From above, collect the gray stuffed animal off the pink plate, grasping the entire object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate by grasping the whole object from the top.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Take the gray stuffed animal from the pink plate.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Remove the gray stuffed animal from the pink plate.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Get the gray stuffed animal off the pink plate.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "With the left hand, take the gray stuffed animal from the pink plate.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Using the left hand, remove the gray stuffed animal from the pink plate.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Collect the gray stuffed animal from the pink plate by grasping the entire object.", + "start_idx": 5685, + "end_idx": 5706 + }, + { + "text": "Put the gray stuffed animal behind the pink plate with the left hand facing top left from the front.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the pink plate so it faces top left from the front.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the pink plate, oriented top left from the front.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the pink plate facing the top left from the front.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Place the gray stuffed animal behind the pink plate so it faces top left from the front.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Set the gray stuffed animal behind the pink plate with its front facing top left.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Position the gray stuffed animal behind the pink plate oriented toward the top left from the front.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Put the gray stuffed animal behind the pink plate.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Place the gray stuffed animal behind the pink plate.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Set the gray stuffed animal behind the pink plate.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the pink plate.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the pink plate.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the pink plate.", + "start_idx": 5706, + "end_idx": 5730 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip from the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip from the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "With the left hand, grasp the pink plate off the table using a lip grasp at the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Have the left arm pick the pink plate up from the table with a lip hold from the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Take the pink plate off the table with a lip grasp at the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Grasp the pink plate from the table with a lip hold from the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "The pink plate should be picked up from the table at the top left.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "With the left arm, take the pink plate off the table.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Take the pink plate off the table.", + "start_idx": 5793, + "end_idx": 5826 + }, + { + "text": "Put the pink plate in front of the pink bowl with the left hand right side up.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Using the left hand, place the pink plate in front of the pink bowl right side up.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Have the left arm set the pink plate in front of the pink bowl with its right side facing up.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "With the left hand, position the pink plate right side up in front of the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Place the pink plate in front of the pink bowl right side up.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Set the pink plate in front of the pink bowl with its right side up.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Position the pink plate in front of the pink bowl upright.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Using the left hand, put the pink plate in front of the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "With the left hand, place the pink plate before the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Have the left arm set the pink plate in front of the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Put the pink plate in front of the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Set the pink plate before the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Position the pink plate in front of the pink bowl.", + "start_idx": 5826, + "end_idx": 5862 + }, + { + "text": "Pick up the white mug from the table by the handle from the top with the left hand.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle from the top.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "From the table, have the left hand grasp the white mug at the handle from above.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "With the left hand, take hold of the white mug on the table by its handle from the top.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Pick up the white mug from the table by the handle from the top.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Take the white mug from the table by its handle from above.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Grasp the white mug on the table at the handle from the top.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "With the left hand, pick up the white mug from the table.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Have the left hand take the white mug from the table.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Using the left hand, grasp the white mug on the table.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "From the table, grasp the white mug.", + "start_idx": 5919, + "end_idx": 5940 + }, + { + "text": "Place the white mug to the left of the pink plate with the handle facing backwards with the left hand right side up front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Using the left hand, set the white mug to the left of the pink plate, right side up, with the handle facing backward toward the front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Have the left arm place the white mug left of the pink plate with its handle facing backward, right side up at the front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "With the left hand, position the white mug to the pink plate's left, upright, with the handle pointing backward relative to the front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Place the white mug to the left of the pink plate with the handle facing backward, right side up at the front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Set the white mug left of the pink plate, upright, with the handle facing backward toward the front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Position the white mug to the left of the pink plate, right side up, handle facing backward at the front.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Have the left arm set the white mug left of the pink plate.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "With the left hand, position the white mug to the pink plate's left.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Place the white mug to the left of the pink plate.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Set the white mug left of the pink plate.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Have the white mug placed to the left of the pink plate.", + "start_idx": 5940, + "end_idx": 5943 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top around the entire object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from above around the whole object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the table from the top around the entire object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "With the left hand, seize the gray stuffed animal from the table via a top hold around the whole object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top around the entire object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Take the gray stuffed animal from the table from above around the whole object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Grasp the gray stuffed animal from the table with a top hold around the entire object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Get hold of the gray stuffed animal from the table from the top around the whole object.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the table.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 5943, + "end_idx": 5970 + }, + { + "text": "Place the gray stuffed animal inside the white mug with the left hand right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the white mug right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Have the left arm put the gray stuffed animal into the white mug with its front right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "With the left hand, set the gray stuffed animal in the white mug so it is right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Place the gray stuffed animal inside the white mug right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Put the gray stuffed animal into the white mug with its front right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Set the gray stuffed animal in the white mug right side up.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the white mug.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Have the left arm put the gray stuffed animal into the white mug.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "With the left hand, set the gray stuffed animal in the white mug.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Place the gray stuffed animal inside the white mug.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Put the gray stuffed animal into the white mug.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Set the gray stuffed animal in the white mug.", + "start_idx": 5970, + "end_idx": 5994 + }, + { + "text": "Pick up the blue soda can from the pink plate with the left hand using a side grip from the top.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Using the left hand, take the blue soda can from the pink plate with a side grip from the top.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Have the left arm grasp the blue soda can off the pink plate using a side hold from above.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "With the left hand, seize the blue soda can from the pink plate by a side grasp at the top.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Pick up the blue soda can from the pink plate using a side grip from the top.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Take the blue soda can off the pink plate with a side hold from above.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Grasp the blue soda can from the pink plate by the side at the top.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Using the left hand, pick up the blue soda can from the pink plate.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Have the left arm take the blue soda can off the pink plate.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "With the left hand, grasp the blue soda can from the pink plate.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Pick up the blue soda can from the pink plate with the left hand.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Take the blue soda can off the pink plate from the top.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Grasp the blue soda can from the pink plate using a side grip.", + "start_idx": 6054, + "end_idx": 6075 + }, + { + "text": "Put the blue soda can to the left of the pink bowl with the left hand.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Using the left hand, place the blue soda can to the left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Have the left arm set the blue soda can down to the left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "With the left hand, position the blue soda can on the left side of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Place the blue soda can to the left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Set the blue soda can on the left side of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Position the blue soda can left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Arrange the blue soda can to the left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "The blue soda can goes to the left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Place the blue soda can beside the pink bowl on its left side.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Set the blue soda can down left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Put the blue soda can on the left side of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Have the blue soda can placed to the left of the pink bowl.", + "start_idx": 6075, + "end_idx": 6114 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip from the top at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip from the top at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Have the left arm pick the pink plate off the table using a top lip grasp at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "With the left hand, grasp the pink plate from the table using a lip hold from above at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "From the table, take the pink plate with a lip grasp from above at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Grasp the pink plate off the table with a top lip hold at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Have the left arm take the pink plate off the table.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Pick up the pink plate from the table with the left hand from the top at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "From the table, take the pink plate with the left hand at the bottom left.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 6180, + "end_idx": 6198 + }, + { + "text": "Put the pink plate to the right of the blue soda can with the left hand right side up with the front as the orientation reference point.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Using the left hand, place the pink plate to the right of the blue soda can, right side up with the front as the reference point.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Have the left arm set the pink plate to the right of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "With the left hand, position the pink plate to the right of the blue soda can so it is right side up using the front as the orientation reference.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Place the pink plate to the right of the blue soda can, right side up with the front as the orientation reference point.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Set the pink plate to the right of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Position the pink plate to the right of the blue soda can so the front serves as the reference and it stays right side up.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Using the left hand, place the pink plate to the right of the blue soda can.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Have the left arm set the pink plate to the right of the blue soda can.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "With the left hand, position the pink plate to the right of the blue soda can.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Place the pink plate to the right of the blue soda can.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Set the pink plate to the right of the blue soda can.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Position the pink plate to the right of the blue soda can.", + "start_idx": 6198, + "end_idx": 6231 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal grasp at the handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Have the left hand grasp the white mug from the table diagonally by its handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "With the left hand, pick the white mug off the table using a diagonal handle grasp.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Pick up the white mug from the table using a diagonal grasp at the handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Grasp the white mug from the table diagonally at the handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Take the white mug off the table with a diagonal grip on the handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Retrieve the white mug from the table by the handle.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Have the left hand take the white mug off the table.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Remove the white mug from the table.", + "start_idx": 6285, + "end_idx": 6318 + }, + { + "text": "Dump the gray stuffed animal from the white mug in front of the blue soda can with the left hand.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Using the left hand, dump the gray stuffed animal out of the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Have the left arm empty the gray stuffed animal from the white mug positioned in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "With the left hand, remove the gray stuffed animal by dumping it from the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Dump the gray stuffed animal out of the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Empty the gray stuffed animal from the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "The gray stuffed animal should be dumped from the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Remove the gray stuffed animal from the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Tip out the gray stuffed animal from the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Pour the gray stuffed animal out of the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Get the gray stuffed animal out of the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "From the white mug in front of the blue soda can, dump the gray stuffed animal.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "The gray stuffed animal needs to come out of the white mug in front of the blue soda can.", + "start_idx": 6318, + "end_idx": 6336 + }, + { + "text": "Put the white mug to the left of the blue soda can with the handle facing backwards right side up using the left hand.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Using the left hand, place the white mug left of the blue soda can, handle facing backward and right side up.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Have the left arm set the white mug to the left of the blue soda can with its handle pointing backward, upright.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "With the left hand, position the white mug left of the blue soda can so the handle faces back and the mug stays right side up.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Place the white mug to the left of the blue soda can.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Set the white mug left of the blue soda can.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "The white mug goes to the left of the blue soda can.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Put the white mug to the left of the blue soda can using the left hand.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Using the left hand, set the white mug left of the blue soda can.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Have the left arm place the white mug to the left of the blue soda can.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Position the white mug with its handle facing backward and right side up.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Set the white mug upright with the handle pointing backward.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Place the white mug to the left of the blue soda can, right side up.", + "start_idx": 6336, + "end_idx": 6375 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Using the left hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Have the left arm grasp the red marker on the table from above at its middle.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "With the left hand, take the red marker off the table by grasping it from the top at the center.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Take the red marker off the table from above at its middle.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Grasp the red marker on the table at the center from the top.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "From the table, collect the red marker.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Remove the red marker from the table.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Have the left arm take the red marker off the table.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "With the left hand, remove the red marker from the table.", + "start_idx": 6375, + "end_idx": 6402 + }, + { + "text": "Put the red marker in front of the white mug with the left hand with its tip facing bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Using the left hand, place the red marker in front of the white mug with its tip pointing bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Have the left arm set the red marker in front of the white mug, tip oriented toward the bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "With the left hand, position the red marker before the white mug so the tip faces bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Place the red marker in front of the white mug with its tip pointing bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Set the red marker before the white mug, with the tip oriented toward the bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Position the red marker in front of the white mug so its tip faces bottom left.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Using the left hand, put the red marker in front of the white mug.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Have the left arm place the red marker before the white mug.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "With the left hand, position the red marker in front of the white mug.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Place the red marker in front of the white mug.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Set the red marker before the white mug.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Position the red marker in front of the white mug.", + "start_idx": 6402, + "end_idx": 6435 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grip at the handle.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Using the left hand, take hold of the white mug from the table with a diagonal grip at the handle.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Have the left arm pick up the white mug from the table by its handle in a diagonal grasp.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "With the left hand, grasp the white mug from the table at the handle using a diagonal hold.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Pick up the white mug from the table using a diagonal grip at the handle.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Grasp the white mug from the table by the handle with a diagonal hold.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Take the white mug from the table with a diagonal grasp on the handle.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Using the left hand, take the white mug from the table.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 6435, + "end_idx": 6456 + }, + { + "text": "Put the white mug on top of the pink plate with the left hand right side up with the front facing backwards.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Using the left hand, place the white mug on top of the pink plate right side up with the front facing backward.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Have the left arm set the white mug onto the pink plate upright, with the front oriented toward the back.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "With the left hand, position the white mug atop the pink plate right side up, front facing backwards.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Place the white mug on top of the pink plate right side up with the front facing backwards.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Set the white mug onto the pink plate upright, with the front facing backward.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Position the white mug atop the pink plate with its front oriented to the back.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Using the left hand, put the white mug on top of the pink plate.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Have the left arm place the white mug onto the pink plate.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "With the left hand, set the white mug atop the pink plate.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Put the white mug on top of the pink plate.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Set the white mug onto the pink plate.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Position the white mug atop the pink plate.", + "start_idx": 6456, + "end_idx": 6495 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "With the left hand, seize the blue soda can from the table by its top with a side grasp.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Get the blue soda can from the table by the top with a side hold.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Pick up the blue soda can from the table with the left hand.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Get the blue soda can from the table.", + "start_idx": 6555, + "end_idx": 6570 + }, + { + "text": "Put the blue soda can in front of the pink plate with the left hand.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Have the left arm set the blue soda can down in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "With your left hand, position the blue soda can before the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Place the blue soda can in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Set the blue soda can down in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "The blue soda can goes in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Position the blue soda can before the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Arrange the blue soda can in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Put the blue soda can before the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Set the blue soda can in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Have the can placed in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Move the blue soda can to a spot in front of the pink plate.", + "start_idx": 6570, + "end_idx": 6597 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Have the left hand pick up the gray stuffed animal from the table by grasping it from above across the entire object.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table using a top hold on the whole object.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "From above, grasp the entire gray stuffed animal and remove it from the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Take the gray stuffed animal off the table using a top hold on the whole object.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Pick the gray stuffed animal up from the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Grab the gray stuffed animal from the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Remove the gray stuffed animal from the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "With the left hand, take the gray stuffed animal off the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Have the left hand remove the gray stuffed animal from the table.", + "start_idx": 6597, + "end_idx": 6618 + }, + { + "text": "Put the gray stuffed animal behind the red marker with the left hand facing bottom right from the front.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the red marker with its front facing bottom right.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the red marker, front pointed toward the bottom right.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the red marker so the front faces bottom right.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Place the gray stuffed animal behind the red marker with its front facing bottom right.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Set the gray stuffed animal behind the red marker, with the front oriented toward the bottom right.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Position the gray stuffed animal behind the red marker so its front points bottom right.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Using the left hand, put the gray stuffed animal behind the red marker.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Have the left arm place the gray stuffed animal behind the red marker.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "With the left hand, set the gray stuffed animal behind the red marker.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Place the gray stuffed animal behind the red marker.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Set the gray stuffed animal behind the red marker.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Position the gray stuffed animal behind the red marker.", + "start_idx": 6618, + "end_idx": 6645 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Using the left hand, take the red marker from the table from the top at the middle.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Have the left arm grasp the red marker on the table with a top hold at its middle.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "With the left hand, secure the red marker from the table by grasping it from above at the center.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Take the red marker off the table by grasping it from above at the center.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Grasp the red marker from the table with a top hold at its middle.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "With the left hand, grasp the red marker off the table.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Grasp the red marker off the table.", + "start_idx": 6645, + "end_idx": 6672 + }, + { + "text": "Put the red marker in front of the pink bowl with the left hand with its tip facing bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Using the left hand, place the red marker in front of the pink bowl with its tip pointing to the bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Have the left arm set the red marker in front of the pink bowl, tip directed bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "With the left hand, position the red marker before the pink bowl so its tip faces the bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Place the red marker in front of the pink bowl with its tip pointing to the bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Set the red marker before the pink bowl, keeping its tip directed bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Position the red marker in front of the pink bowl so the tip faces bottom left.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Using the left hand, put the red marker in front of the pink bowl.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "With the left hand, place the red marker before the pink bowl.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Have the left arm set the red marker in front of the pink bowl.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Put the red marker in front of the pink bowl.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Set the red marker before the pink bowl.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Position the red marker in front of the pink bowl.", + "start_idx": 6672, + "end_idx": 6705 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip from the top.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Using the left hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Have the left arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "With the left hand, seize the blue soda can from the table in a side grasp at the top.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Take the blue soda can from the table with a side hold from the top.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "From the table, grasp the blue soda can with a side grip at the top.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "From the table, take the blue soda can.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Have the left arm pick up the blue soda can from the table.", + "start_idx": 6771, + "end_idx": 6789 + }, + { + "text": "Put the blue soda can in front of the gray stuffed animal with the left hand.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Using the left hand, place the blue soda can in front of the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Have the left arm set the blue soda can down in front of the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "With the left hand, position the blue soda can before the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Place the blue soda can in front of the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Set the blue soda can down before the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "The blue soda can goes in front of the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Position the blue soda can in front of the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "In front of the gray stuffed animal, place the blue soda can.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Set the blue soda can before the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Put the blue soda can by the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Place the blue soda can near the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Have the blue soda can placed in front of the gray stuffed animal.", + "start_idx": 6789, + "end_idx": 6822 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Have the left arm take the red marker from the table with a diagonal pickup, holding it at the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "With the left hand, retrieve the red marker from the table diagonally by the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Take the red marker from the table with a diagonal pickup, holding the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Retrieve the red marker from the table diagonally by the middle.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Have the left arm take the red marker from the table.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "With the left hand, retrieve the red marker from the table.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Retrieve the red marker from the table.", + "start_idx": 6822, + "end_idx": 6846 + }, + { + "text": "Put the red marker in front of the pink plate with the left hand facing bottom right with the tip as the reference point.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Using the left hand, place the red marker in front of the pink plate with the tip facing bottom right.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Have the left arm set the red marker in front of the pink plate, oriented bottom right from the tip.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "With the left hand, position the red marker before the pink plate so its tip points bottom right.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Place the red marker in front of the pink plate with its tip facing bottom right.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Set the red marker before the pink plate with the tip oriented toward bottom right.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Position the red marker in front of the pink plate, with the tip pointing bottom right.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Using the left hand, put the red marker in front of the pink plate.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "With the left hand, place the red marker before the pink plate.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Have the left arm set the red marker in front of the pink plate.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Put the red marker in front of the pink plate.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Place the red marker before the pink plate.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Set the red marker in front of the pink plate.", + "start_idx": 6846, + "end_idx": 6861 + }, + { + "text": "Pick up the white mug from the pink plate with the left hand at a diagonal angle by the handle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Using the left hand, take the white mug from the pink plate at a diagonal angle by the handle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Have the left arm grasp the white mug from the pink plate by the handle at a diagonal angle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "With the left hand, collect the white mug from the pink plate, approaching diagonally at the handle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Pick up the white mug from the pink plate at a diagonal angle by the handle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Take the white mug from the pink plate by the handle at a diagonal angle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Grasp the white mug from the pink plate by the handle at a diagonal angle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Using the left hand, pick up the white mug from the pink plate by the handle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "With the left hand, remove the white mug from the pink plate by the handle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Have the left arm take the white mug from the pink plate at a diagonal angle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Pick up the white mug from the pink plate with the left hand at a diagonal angle.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Take the white mug from the pink plate.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Remove the white mug from the pink plate with the left hand.", + "start_idx": 6861, + "end_idx": 6882 + }, + { + "text": "Put the white mug between the blue soda can and the red marker with the handle facing backwards right side up using the left hand.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Using the left hand, place the white mug between the blue soda can and the red marker, with its handle facing backward and upright.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Have the left arm set the white mug between the blue soda can and the red marker, keeping it right side up with the handle to the back.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "With the left hand, position the white mug between the blue soda can and the red marker so the handle points backward and the mug stays upright.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Place the white mug between the blue soda can and the red marker, with its handle facing backward and upright.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Set the white mug between the blue soda can and the red marker, keeping it right side up with the handle to the back.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Position the white mug between the blue soda can and the red marker so the handle points backward and the mug remains upright.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Using the left hand, put the white mug between the blue soda can and the red marker.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "With the left hand, place the white mug between the blue soda can and the red marker.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Have the left arm position the white mug between the blue soda can and the red marker.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Put the white mug between the blue soda can and the red marker.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Set the white mug between the blue soda can and the red marker.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Position the white mug between the blue soda can and the red marker.", + "start_idx": 6882, + "end_idx": 6930 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Using the left hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Have the left hand take the red marker from the table, grasping it from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "With the left hand, collect the red marker from the table by gripping it from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Take the red marker from the table from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "The red marker from the table should be picked up from the top at the middle.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "With the left hand, collect the red marker from the table.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Pick up the red marker from the table with the left hand.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Take the red marker from the table with the left hand.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "The red marker from the table should be picked up with the left hand.", + "start_idx": 7086, + "end_idx": 7113 + }, + { + "text": "Put the red marker behind the white mug with the left hand facing backwards with the tip as the orientation reference point.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Using the left hand, place the red marker behind the white mug with the tip facing backward.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Have the left arm position the red marker behind the white mug, oriented backward from the tip.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "With the left hand, set the red marker behind the white mug so the tip points backward.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Place the red marker behind the white mug with the tip facing backward.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Set the red marker behind the white mug, oriented backward from the tip.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Position the red marker behind the white mug so the tip points backward.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Put the red marker behind the white mug.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Place the red marker behind the white mug.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Set the red marker behind the white mug.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Using the left hand, put the red marker behind the white mug.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Have the left arm place the red marker behind the white mug.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Position the red marker behind the white mug with the left hand.", + "start_idx": 7113, + "end_idx": 7149 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Have the left arm grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "With the left hand, retrieve the white mug from the table using the handle at a diagonal angle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "The white mug from the table should be picked up by the handle at a diagonal angle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "With the left hand, collect the white mug from the table by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Have the left arm take the white mug from the table by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Using the left hand, pick up the white mug from the table at a diagonal angle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "With the left hand, grasp the white mug from the table at a diagonal angle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Pick up the white mug from the table by the handle.", + "start_idx": 7218, + "end_idx": 7251 + }, + { + "text": "Place the white mug between the red marker and the pink bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Using the left hand, set the white mug between the red marker and the pink bowl, handle facing backward and right side up.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Have the left hand place the white mug between the red marker and the pink bowl with its handle toward the back, upright.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "With the left hand, position the white mug between the red marker and the pink bowl, keeping the handle facing backward and the mug right side up.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Place the white mug between the red marker and the pink bowl with the handle facing backward and right side up.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Position the white mug between the red marker and the pink bowl, with its handle toward the back and upright.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Set the white mug between the red marker and the pink bowl, keeping the handle pointed backward and the mug upright.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Put the white mug between the red marker and the pink bowl.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Arrange the white mug between the red marker and the pink bowl.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "The white mug goes between the red marker and the pink bowl.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Using the left hand, place the white mug between the red marker and the pink bowl.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "With the left hand, put the white mug between the red marker and the pink bowl.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Have the left hand set the white mug between the red marker and the pink bowl.", + "start_idx": 7251, + "end_idx": 7302 + }, + { + "text": "Pick up the blue soda can from the table with the left hand using a side grip at the top.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Have the left arm grasp the blue soda can from the table by the top using a side hold.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "With the left hand, take the blue soda can off the table using a side grasp at the top.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side grasp.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Using the left hand, pick up the blue soda can from the table.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Have the left arm take the blue soda can from the table.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "With the left hand, grasp the blue soda can from the table.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 7302, + "end_idx": 7329 + }, + { + "text": "Put the blue soda can in front of the pink bowl with the left hand.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Using the left hand, place the blue soda can in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Have the left arm set the blue soda can in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "With the left hand, position the blue soda can in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Place the blue soda can in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Set the blue soda can in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Position the blue soda can in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Move the blue soda can to the space in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "The blue soda can should go in front of the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Put the blue soda can by the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Set the blue soda can near the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Place the blue soda can beside the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Move the blue soda can over by the pink bowl.", + "start_idx": 7329, + "end_idx": 7365 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip at the bottom from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Have the left arm pick up the red marker from the table with a side grasp on the bottom from above.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "With the left hand, grasp the red marker from the table using a side hold at the bottom from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Take the red marker from the table with a side grasp on the bottom from above.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Grasp the red marker from the table using a side hold at the bottom from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "With the left hand, take the red marker from the table using a side grasp on the bottom.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Have the left arm grasp the red marker from the table at the bottom with a side hold.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Using the left hand, pick up the red marker from the table from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "From above, take the red marker from the table with the left hand.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Pick up the red marker from the table at the bottom from the top.", + "start_idx": 7365, + "end_idx": 7401 + }, + { + "text": "Put the red marker to the left of the blue soda can with the left hand with its tip facing bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Using the left hand, place the red marker to the left of the blue soda can with its tip pointing bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Have the left arm set the red marker left of the blue soda can, tip oriented toward the bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "With the left hand, position the red marker to the left of the blue soda can so its tip faces bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Place the red marker to the left of the blue soda can.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Set the red marker left of the blue soda can.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Position the red marker to the left of the blue soda can.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Using the left hand, put the red marker to the left of the blue soda can.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Have the left arm place the red marker left of the blue soda can.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "With the left hand, move the red marker to the left of the blue soda can.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Place the red marker to the left of the blue soda can with its tip facing bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Set the red marker left of the blue soda can, tip pointing bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Position the red marker to the left of the blue soda can so the tip faces bottom left.", + "start_idx": 7401, + "end_idx": 7431 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the entire object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "From the top, have the left hand grasp the gray stuffed animal on the table around the entire object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table by approaching from above and holding the whole object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "From above, grasp the gray stuffed animal on the table around the entire object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Take the gray stuffed animal from the table by the whole object from the top.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Retrieve the gray stuffed animal from the table, grasping the entire object.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Have the left hand grasp the gray stuffed animal on the table.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 7431, + "end_idx": 7470 + }, + { + "text": "Put the gray stuffed animal inside the pink bowl with the left hand facing bottom left from the front.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the pink bowl facing bottom left from the front.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Have the left arm set the gray stuffed animal into the pink bowl with its front facing bottom left.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "With the left hand, position the gray stuffed animal in the pink bowl so the front points bottom left.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Place the gray stuffed animal inside the pink bowl facing bottom left from the front.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Set the gray stuffed animal into the pink bowl with its front facing bottom left.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Put the gray stuffed animal in the pink bowl so the front faces bottom left.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Using the left hand, place the gray stuffed animal inside the pink bowl.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Have the left arm put the gray stuffed animal into the pink bowl.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "With the left hand, set the gray stuffed animal in the pink bowl.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Put the gray stuffed animal inside the pink bowl.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Using the left hand, place the gray stuffed animal in the pink bowl.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Set the gray stuffed animal into the pink bowl facing bottom left from the front.", + "start_idx": 7470, + "end_idx": 7491 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "With the left hand, take the pink bowl from the table using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Using the left hand, grasp the pink bowl from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Have the left arm pick the pink bowl up from the table with a lip grip on the bottom-left area at a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left in a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom left at a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Grasp the pink bowl from the table with a lip grip on the bottom-left area in a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "With the left hand, pick up the pink bowl from the table using a lip grip.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip hold.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip grip.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left in a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Grasp the pink bowl from the table at the bottom left in a diagonal angle.", + "start_idx": 7706, + "end_idx": 7721 + }, + { + "text": "Dump the gray stuffed animal from the pink bowl on top of the pink plate with the left hand.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Using the left hand, dump the gray stuffed animal from the pink bowl onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Have the left arm tip the gray stuffed animal out of the pink bowl and onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "With the left hand, empty the gray stuffed animal from the pink bowl onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Dump the gray stuffed animal from the pink bowl onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Empty the gray stuffed animal out of the pink bowl and onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Transfer the gray stuffed animal from the pink bowl to the top of the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Move the gray stuffed animal out of the pink bowl and place it on the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Send the gray stuffed animal from the pink bowl onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Get the gray stuffed animal out of the pink bowl and onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Tip the gray stuffed animal from the pink bowl onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "The gray stuffed animal should go from the pink bowl onto the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Take the gray stuffed animal out of the pink bowl and set it on the pink plate.", + "start_idx": 7721, + "end_idx": 7757 + }, + { + "text": "Put the pink bowl behind the pink plate with the left hand.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Using the left hand, place the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Have the left arm set the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "With the left hand, position the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Place the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Set the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Position the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Move the pink bowl behind the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Using the left hand, place the pink bowl by the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Have the left arm set the pink bowl next to the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "With the left hand, position the pink bowl near the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Place the pink bowl by the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Set the pink bowl next to the pink plate.", + "start_idx": 7758, + "end_idx": 7812 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Using the left hand, take the pink plate from the table with a diagonal lip grasp on its left side.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a diagonal lip hold at the left edge.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "With the left hand, collect the pink plate from the table using a diagonal lip grip on the left side.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grasp on the left side.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Take the pink plate from the table with a diagonal lip grip at the left edge.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Grasp the pink plate from the table with a diagonal lip hold on its left side.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Retrieve the pink plate from the table by the left side with a diagonal lip grasp.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "With the left hand, pick up the pink plate from the table.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Use the left arm to take the pink plate from the table.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 7886, + "end_idx": 7922 + }, + { + "text": "Place the pink plate to the left of the gray stuffed animal with the left hand right side up with the front as the reference point.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Using the left hand, set the pink plate to the left of the gray stuffed animal, right side up with the front as the reference point.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "With the left hand, position the pink plate left of the gray stuffed animal, keeping it right side up relative to the front.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Have the left arm place the pink plate to the gray stuffed animal's left, oriented right side up using the front as the reference point.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Place the pink plate to the left of the gray stuffed animal, right side up with the front as the reference point.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Set the pink plate left of the gray stuffed animal, keeping it right side up relative to the front.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Position the pink plate to the left of the gray stuffed animal, with the front as the reference point and the plate right side up.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Using the left hand, place the pink plate to the left of the gray stuffed animal.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "With the left hand, set the pink plate left of the gray stuffed animal.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Have the left arm position the pink plate to the gray stuffed animal's left.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Put the pink plate to the left of the gray stuffed animal.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Arrange the pink plate to the gray stuffed animal's left.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Using the left hand, place the pink plate to the left of the gray stuffed animal, right side up.", + "start_idx": 7923, + "end_idx": 7968 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Have the left arm pick the gray stuffed animal up from the table, grasping it from above around the whole object.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table by grasping the entire object from the top.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Take the gray stuffed animal from the table by grasping it from above around the whole object.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "From the table, collect the gray stuffed animal with a top hold on the entire object.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Grasp the gray stuffed animal from the table and pick it up.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Get the gray stuffed animal off the table.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand.", + "start_idx": 7968, + "end_idx": 7992 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the left hand facing bottom left with the front as the reference point.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Using the left hand, place the gray stuffed animal on top of the pink plate with the front facing bottom left.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Have the left arm set the gray stuffed animal onto the pink plate, front oriented toward the bottom left.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "With the left hand, position the gray stuffed animal on the pink plate so its front points bottom left.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with the front facing bottom left.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Set the gray stuffed animal onto the pink plate, with its front directed toward the bottom left.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Position the gray stuffed animal on the pink plate so the front faces bottom left.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Using the left hand, put the gray stuffed animal on top of the pink plate.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "With the left hand, set the gray stuffed animal onto the pink plate.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Have the left arm place the gray stuffed animal on the pink plate.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Set the gray stuffed animal onto the pink plate.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Place the gray stuffed animal on the pink plate.", + "start_idx": 7991, + "end_idx": 8018 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "With the left arm, grasp the white mug from the table by the handle, keeping it diagonal.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Have the left hand pick the white mug off the table by its handle at a diagonal angle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Pick up the white mug from the table by the handle at a diagonal angle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Take the white mug off the table via the handle at a diagonal angle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Grasp the white mug from the table by its handle, held diagonally.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Using the left hand, take the white mug from the table by the handle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Have the left arm grasp the white mug off the table by its handle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "With the left hand, take the white mug from the table diagonally.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 8019, + "end_idx": 8049 + }, + { + "text": "Dump the red marker from the white mug to the left of the pink bowl with the left hand.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Using the left hand, tip out the red marker from the white mug beside the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Have the left arm empty the red marker out of the white mug positioned left of the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "With the left hand, pour the red marker from the white mug that is to the left of the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Tip the red marker out of the white mug to the left of the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Empty the red marker from the white mug beside the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Pour the red marker out of the white mug positioned left of the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "The red marker should be dumped from the white mug to the left of the pink bowl.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Remove the red marker from the white mug using the left hand.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "With the left hand, empty the red marker from the white mug.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Have the left arm dump the red marker out of the white mug.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Dump the red marker from the white mug.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Empty the red marker out of the white mug.", + "start_idx": 8049, + "end_idx": 8082 + }, + { + "text": "Place the white mug to the right of the pink plate with the left hand right side up with the front facing backwards.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Using the left hand, set the white mug to the right of the pink plate right side up with its front facing backward.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Have the left hand place the white mug to the pink plate's right, upright and with the front directed backward.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "With the left hand, position the white mug on the right side of the pink plate, right side up and facing backward.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Place the white mug to the right of the pink plate right side up with its front facing backward.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Set the white mug on the right side of the pink plate, upright with the front facing backward.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Position the white mug to the pink plate's right, right side up and with the front directed backward.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Using the left hand, place the white mug to the right of the pink plate.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Have the left hand set the white mug on the right side of the pink plate.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "With the left hand, position the white mug to the pink plate's right.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Place the white mug to the right of the pink plate.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Set the white mug on the right side of the pink plate.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Have the white mug placed to the pink plate's right.", + "start_idx": 8081, + "end_idx": 8132 + }, + { + "text": "Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Using the left hand, pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "At a diagonal angle, have the left hand take the red marker from the table by its middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "With the left hand, collect the red marker from the table, holding it at the middle on a diagonal.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Pick up the red marker from the table at a diagonal angle, grasping the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Take the red marker from the table at a diagonal angle by the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "The red marker should be picked up from the table on a diagonal, grasping its middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "With the left hand, pick up the red marker from the table, grasping the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Have the left hand take the red marker from the table by the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Using the left hand, collect the red marker from the table at a diagonal angle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "The red marker should be picked up from the table with the left hand on a diagonal.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Pick up the red marker from the table by the middle.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 8133, + "end_idx": 8163 + }, + { + "text": "Place the red marker inside the pink bowl with the left hand right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Using the left hand, set the red marker inside the pink bowl with its tip right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Have the left arm place the red marker into the pink bowl, keeping the tip right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "With the left hand, put the red marker in the pink bowl so the tip stays right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Place the red marker inside the pink bowl with its tip right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Put the red marker into the pink bowl, tip right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Set the red marker in the pink bowl with the tip facing right side up.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Using the left hand, place the red marker inside the pink bowl.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "With the left hand, put the red marker into the pink bowl.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Have the left arm set the red marker in the pink bowl.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Place the red marker inside the pink bowl.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Put the red marker into the pink bowl.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Set the red marker in the pink bowl.", + "start_idx": 8163, + "end_idx": 8196 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand using a side grip from the top at the bottom.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate with a side grip from above at the bottom.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the pink plate from the top at its bottom using a side hold.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate by approaching from above and gripping the bottom from the side.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate using a side grip from the top at the bottom.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "From the pink plate, grasp the gray stuffed animal with a side hold from above at its bottom.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Take the gray stuffed animal off the pink plate, using a side grasp from the top at the bottom.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink plate with a side grip.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Have the left arm take the gray stuffed animal from the pink plate.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "From the pink plate, collect the gray stuffed animal with the left hand.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Grasp the gray stuffed animal from the pink plate from the top at the bottom.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Take the gray stuffed animal from the pink plate using a side grip.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "With the left hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 8277, + "end_idx": 8307 + }, + { + "text": "Put the gray stuffed animal behind the pink plate with the left hand facing backwards with the front as the reference point.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the pink plate with its front facing backward.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the pink plate, oriented backward relative to its front.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the pink plate so the front faces backward.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Place the gray stuffed animal behind the pink plate with its front facing backward.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Set the gray stuffed animal behind the pink plate, with the front oriented backward.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Position the gray stuffed animal behind the pink plate so its front points backward.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the pink plate.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "With the left hand, set the gray stuffed animal behind the pink plate.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Have the left arm position the gray stuffed animal behind the pink plate.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Put the gray stuffed animal behind the pink plate.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Arrange the gray stuffed animal behind the pink plate.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Move the gray stuffed animal behind the pink plate.", + "start_idx": 8307, + "end_idx": 8337 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a diagonal lip grasp on the left side.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a diagonal lip grasp on the left side.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Have the left hand take the pink plate from the table using a diagonal grasp on its left edge.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "With the left hand, grasp the pink plate from the table by its left side using a diagonal lip hold.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Pick up the pink plate from the table using a diagonal lip grasp on the left side.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Take the pink plate from the table with a diagonal lip hold on the left side.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Grasp the pink plate from the table at the left side with a diagonal lip grip.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "From the table, pick up the pink plate.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Grasp the pink plate from the table.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "With the left hand, take the pink plate from the table.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 8337, + "end_idx": 8367 + }, + { + "text": "Put the pink plate to the right of the blue soda can with the left hand right side up with the front as the orientation reference point.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Using the left hand, place the pink plate to the right of the blue soda can, right side up with the front as the reference point.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Have the left arm set the pink plate to the right of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "With the left hand, position the pink plate to the right of the blue soda can in a right-side-up orientation using the front as the reference point.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Place the pink plate to the right of the blue soda can, right side up with the front as the reference point.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Set the pink plate to the right of the blue soda can, keeping it right side up relative to the front.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Position the pink plate to the right of the blue soda can in a right-side-up orientation using the front as the reference point.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Using the left hand, place the pink plate to the right of the blue soda can.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Have the left arm set the pink plate to the right of the blue soda can.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "With the left hand, position the pink plate to the right of the blue soda can.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Put the pink plate to the right of the blue soda can.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Place the pink plate to the right of the blue soda can with the front as the reference point.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Set the pink plate to the right of the blue soda can right side up.", + "start_idx": 8367, + "end_idx": 8433 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Using the left hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Have the left arm grasp the white mug from the table by the handle with a diagonal pickup.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "With the left hand, collect the white mug from the table via the handle at a diagonal angle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Grasp the white mug from the table via the handle with a diagonal pickup.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "With the left hand, take the white mug from the table by the handle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Have the left arm collect the white mug from the table by the handle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Using the left hand, pick up the white mug from the table at a diagonal angle.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "At a diagonal angle, take the white mug from the table with the left hand.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 8505, + "end_idx": 8532 + }, + { + "text": "Put the white mug between the gray stuffed animal and the pink bowl with the handle facing backwards using the left hand.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Using the left hand, place the white mug between the gray stuffed animal and the pink bowl with the handle facing backward.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Have the left arm set the white mug between the gray stuffed animal and the pink bowl, handle facing the back.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "With the left hand, position the white mug between the gray stuffed animal and the pink bowl so its handle points backward.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Place the white mug between the gray stuffed animal and the pink bowl with the handle facing backward.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Set the white mug between the gray stuffed animal and the pink bowl, with its handle toward the back.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Position the white mug between the gray stuffed animal and the pink bowl so the handle faces backward.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Using the left hand, put the white mug between the gray stuffed animal and the pink bowl.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "With the left hand, place the white mug between the gray stuffed animal and the pink bowl.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Have the left arm set the white mug between the gray stuffed animal and the pink bowl.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Put the white mug between the gray stuffed animal and the pink bowl.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Position the white mug between the gray stuffed animal and the pink bowl.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Set the white mug between the gray stuffed animal and the pink bowl.", + "start_idx": 8532, + "end_idx": 8571 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top around the entire object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from above around the whole object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table at the top around the entire object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Have the left arm pick up the gray stuffed animal from the table by approaching from above and enclosing the whole object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Pick up the gray stuffed animal from the table from above around the entire object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Take the gray stuffed animal from the table at the top around the whole object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Grasp the gray stuffed animal from the table from above around the entire object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Get the gray stuffed animal from the table by holding around the entire object.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the table.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Pick up the gray stuffed animal from the table from above.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Take the gray stuffed animal from the table with the left hand.", + "start_idx": 8571, + "end_idx": 8601 + }, + { + "text": "Put the gray stuffed animal in front of the pink bowl with the left hand facing backwards with the front as the orientation reference point.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Using the left hand, place the gray stuffed animal in front of the pink bowl with its front facing backward.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Have the left arm set the gray stuffed animal in front of the pink bowl, oriented backward relative to its front.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "With the left hand, position the gray stuffed animal in front of the pink bowl so the front faces backward.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Place the gray stuffed animal in front of the pink bowl with its front facing backward.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Set the gray stuffed animal in front of the pink bowl, oriented backward from the front.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Position the gray stuffed animal in front of the pink bowl so its front points backward.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Using the left hand, put the gray stuffed animal in front of the pink bowl.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "With the left hand, set the gray stuffed animal in front of the pink bowl.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Have the left arm place the gray stuffed animal in front of the pink bowl.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Put the gray stuffed animal in front of the pink bowl.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Place the gray stuffed animal in front of the pink bowl.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Set the gray stuffed animal in front of the pink bowl.", + "start_idx": 8601, + "end_idx": 8637 + }, + { + "text": "Pick up the white mug from the table with the left hand using a diagonal grasp at the handle.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Using the left hand, take the white mug from the table with a diagonal grasp on the handle.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Have the left arm pick the white mug up from the table by the handle with a diagonal grasp.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "With the left hand, grasp the white mug from the table at the handle in a diagonal hold.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Pick up the white mug from the table using a diagonal grasp at the handle.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Take the white mug from the table with a diagonal grip on the handle.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Grasp the white mug from the table by the handle with a diagonal hold.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Have the left arm pick up the white mug from the table by the handle.", + "start_idx": 8727, + "end_idx": 8757 + }, + { + "text": "Put the white mug to the left of the pink plate with the left hand right side up with the front facing backwards.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate, right side up, with the front facing backward.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Have the left arm set the white mug left of the pink plate, keeping it upright and oriented with its front backward.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "With the left hand, position the white mug on the left side of the pink plate, right side up and front facing backward.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Place the white mug to the left of the pink plate, right side up, with the front facing backward.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Set the white mug on the left side of the pink plate, keeping it upright with its front pointed backward.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Position the white mug left of the pink plate, right side up and front facing backward.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink plate.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "With the left hand, set the white mug on the left side of the pink plate.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Have the left arm position the white mug left of the pink plate.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Put the white mug to the left of the pink plate.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Arrange the white mug on the left of the pink plate.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "The white mug goes to the left of the pink plate.", + "start_idx": 8757, + "end_idx": 8811 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left, held at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Have the left arm grasp the pink bowl from the table by the bottom-left lip with a diagonal orientation.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "With the left hand, secure the pink bowl from the table using a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Take the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Grasp the pink bowl from the table by the bottom-left lip at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "The pink bowl from the table should be picked up with a lip grasp on the bottom left at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip grasp.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "With the left hand, grasp the pink bowl from the table by the lip.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Take the pink bowl from the table by the bottom left with a diagonal angle.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "The pink bowl from the table should be grasped with the left hand.", + "start_idx": 8925, + "end_idx": 8943 + }, + { + "text": "Dump the red marker from the pink bowl behind the gray stuffed animal with the left hand.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Using the left hand, empty the red marker out of the pink bowl behind the gray stuffed animal.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "With the left hand, tip the red marker from the pink bowl behind the gray stuffed animal.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Have the left arm remove the red marker from the pink bowl behind the gray stuffed animal by dumping it.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Empty the red marker out of the pink bowl behind the gray stuffed animal.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Tip the red marker from the pink bowl behind the gray stuffed animal.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Remove the red marker from the pink bowl behind the gray stuffed animal by dumping it.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "The red marker should be dumped from the pink bowl behind the gray stuffed animal.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Dump the red marker from the pink bowl.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Using the left hand, dump the red marker from the pink bowl.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "With the left hand, empty the red marker out of the pink bowl.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Dump the red marker from the bowl behind the gray stuffed animal.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "From the pink bowl behind the gray stuffed animal, dump the red marker.", + "start_idx": 8943, + "end_idx": 9000 + }, + { + "text": "Put the pink bowl behind the white mug with the left hand.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Using the left hand, place the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Have the left arm set the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "With the left hand, position the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Place the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Set the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Position the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Put the pink bowl behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Have the bowl placed behind the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Move the pink bowl behind the white mug with the left hand.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Using the left hand, set the pink bowl by the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Have the left arm place the pink bowl by the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Set the pink bowl by the white mug.", + "start_idx": 9000, + "end_idx": 9036 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the middle.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Using the left hand, take the red marker from the table from the top at the middle.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Have the left arm grasp the red marker on the table with a top hold at its middle.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "With the left hand, seize the red marker from the table by grasping it from above at the center.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Take the red marker off the table with a top grasp at the middle.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "From the table, grasp the red marker from above at its center.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "With the left hand, take the red marker from the table.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Have the left arm grab the red marker from the table.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Using the left hand, grasp the red marker on the table.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 9036, + "end_idx": 9060 + }, + { + "text": "Put the red marker behind the pink plate with the left hand with its tip facing bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Using the left hand, place the red marker behind the pink plate with its tip pointing to the bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Have the left arm set the red marker behind the pink plate, tip oriented bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "With the left hand, position the red marker behind the pink plate so its tip faces the bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Place the red marker behind the pink plate with its tip facing the bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Set the red marker behind the pink plate so the tip points bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Position the red marker behind the pink plate, with the marker tip aimed at the bottom left.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Using the left hand, put the red marker behind the pink plate.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "With the left hand, set the red marker behind the pink plate.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Have the left arm position the red marker behind the pink plate.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Place the red marker behind the pink plate.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Set the red marker behind the pink plate.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Position the red marker behind the pink plate.", + "start_idx": 9060, + "end_idx": 9093 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a top lip grasp on the left side.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Using the left hand, take the pink plate from the table with a top lip grasp on the left side.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Have the left arm pick up the pink plate from the table using a lip grasp at the top-left edge.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "With the left hand, grasp the pink plate from the table by the left side with a top lip hold.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Pick up the pink plate from the table using a top lip grasp on the left side.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the top-left edge.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Grasp the pink plate from the table by the left side with a top lip hold.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "The pink plate should be picked up from the table with a top lip grasp on the left side.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Have the left arm grasp the pink plate from the table.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "The pink plate should be taken from the table.", + "start_idx": 9093, + "end_idx": 9123 + }, + { + "text": "Put the pink plate right side up with the front facing to the right of the red marker using the left hand.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Using the left hand, place the pink plate upright with its front facing right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Have the left arm set the pink plate down right side up, front oriented toward the right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "With the left hand, position the pink plate so it is right side up and its front faces right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Place the pink plate upright with its front facing right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Set the pink plate down right side up with the front toward the right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Position the pink plate with its front facing right of the red marker, right side up.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Using the left hand, put the pink plate to the right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "With the left hand, place the pink plate by the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Have the left arm set the pink plate down to the right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Put the pink plate to the right of the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Set the pink plate down by the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Position the pink plate next to the red marker.", + "start_idx": 9123, + "end_idx": 9165 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grip from the top at the left.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Have the left arm grasp the white mug from the table using a lip hold from the top-left side.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "With the left hand, collect the white mug from the table by gripping the lip from above on the left.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Pick up the white mug from the table using a lip grip from the top at the left.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Take the white mug from the table with a lip hold from the top-left side.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Grasp the white mug from the table by the lip from above on the left.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Have the left arm pick up the white mug from the table from the top at the left.", + "start_idx": 9165, + "end_idx": 9207 + }, + { + "text": "Place the white mug in front of the red marker with the handle facing backwards right side up using the left hand.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Using the left hand, set the white mug in front of the red marker, upright with the handle facing backward.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Have the left arm place the white mug before the red marker, right side up and with its handle toward the back.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "With the left hand, position the white mug in front of the red marker so it stays upright and the handle points backward.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Place the white mug in front of the red marker.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Set the white mug before the red marker.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Position the white mug in front of the red marker.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Put the white mug in front of the red marker.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Place the white mug in front of the red marker with the handle facing backward.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Set the white mug before the red marker, upright.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Position the white mug in front of the red marker so the handle points backward.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Put the white mug before the red marker with the left hand.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Using the left hand, place the white mug in front of the red marker.", + "start_idx": 9207, + "end_idx": 9243 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip at the bottom left at a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "With the left hand, secure the pink bowl from the table using the lip grip at the bottom left on a diagonal.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom left with a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Take the pink bowl from the table with a lip hold on the bottom left at a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "The pink bowl should be grasped from the table with a lip grip at the bottom left diagonally.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using the lip grip.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Pick up the pink bowl from the table with the left hand at the bottom left with a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Take the pink bowl from the table with the left hand at a diagonal angle from the bottom left.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Grasp the pink bowl from the table at the bottom left with a diagonal angle.", + "start_idx": 9297, + "end_idx": 9315 + }, + { + "text": "Place the pink bowl behind the red marker with the left hand.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Using the left hand, set the pink bowl behind the red marker upright.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Have the left arm place the pink bowl behind the red marker right side up.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "With the left hand, position the pink bowl behind the red marker so it stays upright.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Place the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Set the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Position the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Move the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Put the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Using the left hand, place the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Have the left arm set the pink bowl behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Place the pink bowl behind the red marker upright.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Set the pink bowl upright behind the red marker.", + "start_idx": 9315, + "end_idx": 9333 + }, + { + "text": "Pick up the white mug from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Using the left hand, take the white mug from the table with a lip grip from the top at the left.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Have the left arm grasp the white mug from the table with a lip hold from the top-left side.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "With the left hand, seize the white mug from the table using the lip grasp at the left from above.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Pick up the white mug from the table using a lip grip from the top at the left.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Take the white mug from the table with a lip hold from above at the left.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Grasp the white mug from the table by the lip from the top-left area.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Pick up the white mug from the table from the top at the left.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "From above at the left, take the white mug from the table.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Get the white mug from the table with the left hand.", + "start_idx": 9375, + "end_idx": 9402 + }, + { + "text": "Put the white mug to the left of the red marker with the handle facing backwards right side up using the left hand.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Using the left hand, place the white mug to the left of the red marker with its handle facing backward, right side up.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Have the left arm set the white mug left of the red marker, upright with the handle pointing backward.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "With the left hand, position the white mug to the red marker's left, keeping it right side up and the handle facing back.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Place the white mug to the left of the red marker with the handle facing backward, right side up.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Set the white mug left of the red marker, upright with its handle pointing backward.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Position the white mug to the left of the red marker, keeping the handle facing back and the mug right side up.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Using the left hand, put the white mug to the left of the red marker.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Have the left arm place the white mug left of the red marker.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "With the left hand, position the white mug to the red marker's left.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Put the white mug to the left of the red marker.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Set the white mug left of the red marker.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Place the white mug to the red marker's left.", + "start_idx": 9402, + "end_idx": 9435 + }, + { + "text": "Pick up the red marker from the table with the left hand using a side grip from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Using the left hand, take the red marker from the table with a side grip from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Have the left hand grasp the red marker from the table using a side hold from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "With the left hand, collect the red marker from the table in a side grasp from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Pick up the red marker from the table using a side grip from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Take the red marker from the table with a side hold from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "From the table, grasp the red marker in a side grip from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Using the left hand, pick up the red marker from the table.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Have the left hand take the red marker from the table.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "With the left hand, grasp the red marker from the table.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Pick up the red marker from the table with the left hand from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Take the red marker from the table with the left hand.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "From the table, collect the red marker from the top at the bottom.", + "start_idx": 9489, + "end_idx": 9528 + }, + { + "text": "Place the red marker in front of the pink plate with the left hand with its tip facing bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Using the left hand, set the red marker in front of the pink plate with its tip pointing to the bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Have the left arm position the red marker in front of the pink plate, tip oriented bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "With the left hand, place the red marker before the pink plate so the tip faces the bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Place the red marker in front of the pink plate with its tip facing bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Set the red marker before the pink plate, with the tip pointing bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Position the red marker in front of the pink plate so its tip is directed to the bottom right.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Using the left hand, place the red marker in front of the pink plate.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "With the left hand, set the red marker before the pink plate.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Have the left arm position the red marker in front of the pink plate.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Put the red marker in front of the pink plate.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Place the red marker before the pink plate.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Set the red marker in front of the pink plate.", + "start_idx": 9528, + "end_idx": 9582 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Using the left hand, pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Have the left arm take the white mug from the table by its handle, keeping a diagonal angle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "With the left hand, grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Grasp the white mug from the table by its handle at a diagonal angle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Have the left arm take the white mug from the table by its handle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Take the white mug from the table by the handle.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Grasp the white mug from the table.", + "start_idx": 9636, + "end_idx": 9675 + }, + { + "text": "Put the white mug to the left of the red marker with the left hand right side up with the front facing bottom left.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Using the left hand, place the white mug left of the red marker, right side up, with its front facing bottom left.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Have the left arm set the white mug to the left of the red marker, keeping it upright and the front pointed bottom left.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "With the left hand, position the white mug left of the red marker, right side up and facing bottom left at the front.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Place the white mug to the left of the red marker, right side up, with the front facing bottom left.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Set the white mug left of the red marker, upright, with its front toward the bottom left.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Position the white mug to the left of the red marker, keeping it right side up and the front pointed bottom left.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Using the left hand, place the white mug to the left of the red marker.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Have the left arm set the white mug left of the red marker.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "With the left hand, position the white mug to the left of the red marker.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Place the white mug to the left of the red marker.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Set the white mug left of the red marker with the left hand.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Have the left arm place the white mug left of the red marker.", + "start_idx": 9675, + "end_idx": 9717 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle from the top.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle from the top.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Have the left arm take hold of the white mug on the table at the handle from above.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "With the left hand, grasp the white mug from the table using the handle from the top.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Pick up the white mug from the table by the handle from the top.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Take the white mug from the table by the handle from the top.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Grasp the white mug on the table at the handle from above.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Have the left arm take the white mug from the table at the handle.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "With the left hand, grasp the white mug from the table by the handle.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Pick up the white mug from the table with the left hand.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Take the white mug from the table using the left hand.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Have the left arm grasp the white mug from the table.", + "start_idx": 9858, + "end_idx": 9891 + }, + { + "text": "Put the white mug to the left of the gray stuffed animal with the handle facing left right side up using the left hand.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Using the left hand, place the white mug left of the gray stuffed animal, with the handle facing left and the mug right side up.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Have the left hand set the white mug to the left of the gray stuffed animal, keeping the handle pointed left and the mug upright.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "With the left hand, position the white mug left of the gray stuffed animal so its handle faces left and it remains right side up.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Place the white mug to the left of the gray stuffed animal with the handle facing left and right side up.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Set the white mug left of the gray stuffed animal, keeping the handle on the left and the mug upright.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Position the white mug to the left of the gray stuffed animal, with its handle facing left and the mug right side up.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Put the white mug to the left of the gray stuffed animal.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Set the white mug left of the gray stuffed animal.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Position the white mug beside the gray stuffed animal on its left side.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Place the white mug to the left of the gray stuffed animal using the left hand.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Using the left hand, set the white mug left of the gray stuffed animal.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Have the left hand place the white mug beside the gray stuffed animal on its left side.", + "start_idx": 9891, + "end_idx": 9924 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table from the top by grasping the entire object.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "From the table, have the left hand take the gray stuffed animal from above with a whole-object grasp.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the table via a top approach while holding the entire object.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top by grasping the entire object.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Take the gray stuffed animal from the table from above, grasping the entire object.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Retrieve the gray stuffed animal from the table with a top pick and a full-object hold.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Get the gray stuffed animal from the table using the entire object as the grasp point.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "From above, pick up the gray stuffed animal from the table.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Retrieve the gray stuffed animal from the table from the top.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "With the left hand, pick up the gray stuffed animal from the table from the top.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table by grasping the entire object.", + "start_idx": 9984, + "end_idx": 10011 + }, + { + "text": "Put the gray stuffed animal to the left of the pink plate with the left hand facing backwards relative to the front.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the pink plate, facing backwards relative to the front.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Have the left arm set the gray stuffed animal to the left of the pink plate with its front facing backward.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "With the left hand, position the gray stuffed animal left of the pink plate so it faces backwards relative to the front.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Place the gray stuffed animal to the left of the pink plate, facing backwards relative to the front.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Set the gray stuffed animal to the left of the pink plate with its front facing backward.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Position the gray stuffed animal left of the pink plate so it faces backwards relative to the front.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the pink plate.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "With the left hand, set the gray stuffed animal left of the pink plate.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Have the left arm position the gray stuffed animal to the left of the pink plate.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Place the gray stuffed animal to the left of the pink plate.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Set the gray stuffed animal left of the pink plate.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Have the gray stuffed animal placed to the left of the pink plate.", + "start_idx": 10011, + "end_idx": 10038 + }, + { + "text": "Pick up the white mug from the table with the left hand from the top by the handle.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Using the left hand, take the white mug from the table from the top by the handle.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Have the left arm grasp the white mug on the table by its handle from above.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "With the left hand, secure the white mug from the table at the handle using a top approach.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Pick up the white mug from the table from the top by the handle.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Take the white mug from the table by the handle from above.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "From the top, grasp the white mug from the table by the handle.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Using the left hand, pick up the white mug from the table.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Have the left arm take the white mug from the table by the handle.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "With the left hand, grasp the white mug from the table from above.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Take the white mug from the table with the left hand.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 10104, + "end_idx": 10128 + }, + { + "text": "Put the white mug to the left of the pink plate with the handle facing bottom right right side up using the left hand.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Using the left hand, place the white mug left of the pink plate, handle facing bottom right, right side up.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Have the left arm set the white mug to the left of the pink plate with its handle pointed bottom right, upright.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "With the left hand, position the white mug left of the pink plate so the handle faces bottom right and the mug stays right side up.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Place the white mug to the left of the pink plate with the handle facing bottom right, right side up.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Set the white mug left of the pink plate with its handle pointed bottom right and keep it upright.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Position the white mug to the left of the pink plate, handle facing bottom right, right side up.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Using the left hand, put the white mug to the left of the pink plate.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Have the left arm place the white mug left of the pink plate.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "With the left hand, set the white mug to the left of the pink plate.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Put the white mug to the left of the pink plate.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Place the white mug left of the pink plate.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Set the white mug to the left of the pink plate.", + "start_idx": 10128, + "end_idx": 10164 + }, + { + "text": "Pick up the white mug from the table with the left hand by the handle from the top.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Using the left hand, take the white mug from the table by its handle from above.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Have the left arm grasp the white mug on the table at the handle from the top.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "With the left hand, seize the white mug from the table via the handle from above.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Pick up the white mug from the table by the handle from the top.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Grasp the white mug on the table at the handle from above.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Take the white mug from the table using the handle from the top.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "With the left hand, pick up the white mug from the table.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Have the left arm take the white mug from the table.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Using the left hand, grasp the white mug on the table.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Take the white mug from the table with the left hand.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Grasp the white mug on the table by the handle.", + "start_idx": 10221, + "end_idx": 10263 + }, + { + "text": "Put the white mug to the left of the pink bowl with the handle facing backwards right side up using the left hand.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink bowl with the handle facing backward and upright.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Have the left arm set the white mug left of the pink bowl, right side up, with its handle pointing backward.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "With the left hand, position the white mug to the pink bowl's left, keeping it upright and the handle facing the back.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Place the white mug to the left of the pink bowl with the handle facing backward and right side up.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Set the white mug left of the pink bowl, upright with its handle pointing backward.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Position the white mug to the pink bowl's left, with the handle toward the back and the mug upright.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Put the white mug to the left of the pink bowl.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Set the white mug down to the left of the pink bowl.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Place the white mug on the left side of the pink bowl.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Have the white mug placed left of the pink bowl.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Using the left hand, place the white mug to the left of the pink bowl.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "With the left hand, set the white mug on the left side of the pink bowl.", + "start_idx": 10263, + "end_idx": 10290 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the left hand from the top at the middle.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the pink plate from the top at the middle.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Have the left arm grasp the gray stuffed animal from the pink plate at the middle from above.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate using a top approach at the middle.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate from the top at the middle.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Take the gray stuffed animal from the pink plate at the middle from above.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate using a top approach at the middle.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Have the left arm take the gray stuffed animal from the pink plate.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "With the left hand, retrieve the gray stuffed animal from the pink plate.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "From the pink plate, take the gray stuffed animal.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "The gray stuffed animal from the pink plate should be grasped.", + "start_idx": 10359, + "end_idx": 10398 + }, + { + "text": "Put the gray stuffed animal between the pink bowl and the pink plate with the left hand facing forwards.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Using the left hand, place the gray stuffed animal between the pink bowl and the pink plate facing forwards.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Have the left arm set the gray stuffed animal between the pink bowl and the pink plate, with its front facing forwards.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "With the left hand, position the gray stuffed animal between the pink bowl and the pink plate so it faces forwards.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Place the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Set the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Position the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Put the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Using the left hand, place the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Have the left arm set the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "With the left hand, position the gray stuffed animal between the pink bowl and the pink plate.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Place the gray stuffed animal between the pink bowl and the pink plate facing forwards.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Set the gray stuffed animal between the pink bowl and the pink plate with its front facing forwards.", + "start_idx": 10398, + "end_idx": 10428 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the entire object.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table with a top approach on the entire object.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table from above around the whole object.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "From above, take the gray stuffed animal from the table at the entire object.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Grasp the gray stuffed animal from the table around the whole object from the top.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "With the left hand, grasp the gray stuffed animal from the table.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 10500, + "end_idx": 10533 + }, + { + "text": "Put the gray stuffed animal to the left of the pink plate with the left hand facing forwards.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Using the left hand, place the gray stuffed animal to the left of the pink plate facing forwards.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Have the left arm set the gray stuffed animal to the left of the pink plate with its front facing forward.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "With the left hand, position the gray stuffed animal left of the pink plate so the front faces forward.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Place the gray stuffed animal to the left of the pink plate facing forwards.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Set the gray stuffed animal left of the pink plate with its front facing forward.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Position the gray stuffed animal to the left of the pink plate, facing forward.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Using the left hand, put the gray stuffed animal to the left of the pink plate.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "With the left hand, place the gray stuffed animal left of the pink plate.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Have the left arm set the gray stuffed animal to the left of the pink plate.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Put the gray stuffed animal to the left of the pink plate.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Using the left hand, position the gray stuffed animal left of the pink plate.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Set the gray stuffed animal to the left of the pink plate facing forwards.", + "start_idx": 10533, + "end_idx": 10563 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from the top.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from the top.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip grasp at the bottom left from above.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "With the left hand, secure the pink plate from the table using the lip at the bottom-left area from the top.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom left from the top.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Grasp the pink plate from the table with a lip hold at the bottom left from above.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Take the pink plate from the table, using the lip at the bottom-left area from the top.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Using the left hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "With the left hand, take the pink plate from the table using a lip grasp.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Have the left arm pick up the pink plate from the table with the lip.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Using the left hand, pick up the pink plate from the table at the bottom left from the top.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "From above at the bottom left, grasp the pink plate from the table with the left hand.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Pick up the pink plate from the table with the left hand.", + "start_idx": 10563, + "end_idx": 10596 + }, + { + "text": "Put the pink plate between the white mug and the gray stuffed animal with the left hand right side up with the front as the orientation reference.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Using the left hand, place the pink plate between the white mug and the gray stuffed animal right side up with the front as the orientation reference.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Have the left arm set the pink plate between the white mug and the gray stuffed animal, keeping it right side up relative to the front.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "With the left hand, position the pink plate between the white mug and the gray stuffed animal so it is right side up using the front as the reference.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Place the pink plate between the white mug and the gray stuffed animal right side up with the front as the orientation reference.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Set the pink plate between the white mug and the gray stuffed animal, keeping it right side up relative to the front.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Position the pink plate between the white mug and the gray stuffed animal with the front as the orientation reference, right side up.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Using the left hand, place the pink plate between the white mug and the gray stuffed animal.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Have the left arm set the pink plate between the white mug and the gray stuffed animal.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "With the left hand, position the pink plate between the white mug and the gray stuffed animal.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Put the pink plate between the white mug and the gray stuffed animal.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Arrange the pink plate between the white mug and the gray stuffed animal.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Place the pink plate between the white mug and the gray stuffed animal.", + "start_idx": 10596, + "end_idx": 10641 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top at the middle.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table from above at its middle.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "From the top, have the left hand grasp the gray stuffed animal on the table at the middle.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table by gripping its middle from above.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Pick up the gray stuffed animal from the table from above at the middle.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Take the gray stuffed animal from the table from the top at its middle.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "From above, grasp the gray stuffed animal on the table at the middle.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "With the left hand, take the gray stuffed animal from the table.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Have the left hand grasp the gray stuffed animal on the table.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Take the gray stuffed animal on the table.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Grasp the gray stuffed animal from the table.", + "start_idx": 10641, + "end_idx": 10680 + }, + { + "text": "Put the gray stuffed animal in front of the pink bowl with the left hand facing forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Using the left hand, place the gray stuffed animal in front of the pink bowl facing forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Have the left arm set the gray stuffed animal before the pink bowl with it facing forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "With the left hand, position the gray stuffed animal in front of the pink bowl so it faces forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Place the gray stuffed animal in front of the pink bowl facing forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Set the gray stuffed animal before the pink bowl with it facing forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Position the gray stuffed animal in front of the pink bowl so it faces forwards.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "With the left hand, put the gray stuffed animal in front of the pink bowl.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Using the left hand, set the gray stuffed animal before the pink bowl.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Have the left arm place the gray stuffed animal in front of the pink bowl.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Put the gray stuffed animal in front of the pink bowl.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Place the gray stuffed animal before the pink bowl.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Set the gray stuffed animal in front of the pink bowl.", + "start_idx": 10680, + "end_idx": 10710 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip at the bottom left from the top.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip at the bottom left from the top.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "From the top, have the left hand grasp the pink plate from the table with a lip hold at the bottom left.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "With the left hand, secure the pink plate from the table by its bottom-left edge using a lip grip from above.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Pick up the pink plate from the table with a lip grip at the bottom left from the top.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "From above, grasp the pink plate from the table at the bottom left with a lip hold.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Take the pink plate from the table by the bottom-left area using a lip grip from the top.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Using a lip grip, pick up the pink plate from the table at the bottom left from above.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "With the left hand, pick up the pink plate from the table from the top.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Using the left hand, take the pink plate from the table.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Have the left hand grasp the pink plate from the table.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Pick up the pink plate from the table from above.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Get the pink plate from the table.", + "start_idx": 10860, + "end_idx": 10899 + }, + { + "text": "Put the pink plate to the left of the blue soda can with the left hand right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Using the left hand, place the pink plate to the left of the blue soda can right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Have the left arm set the pink plate to the left of the blue soda can with its right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "With the left hand, position the pink plate left of the blue soda can, right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Place the pink plate to the left of the blue soda can right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Set the pink plate left of the blue soda can with its right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Position the pink plate to the left of the blue soda can, right side up.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Using the left hand, put the pink plate to the left of the blue soda can.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Have the left arm place the pink plate left of the blue soda can.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "With the left hand, set the pink plate to the left of the blue soda can.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Put the pink plate to the left of the blue soda can.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Set the pink plate left of the blue soda can.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Position the pink plate to the left of the blue soda can.", + "start_idx": 10899, + "end_idx": 10944 + }, + { + "text": "Pick up the white mug from the table with the left hand at a diagonal angle by the handle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Using the left hand, take the white mug from the table by the handle at a diagonal angle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Have the left arm grasp the white mug from the table at a diagonal angle, holding the handle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "With the left hand, seize the white mug from the table by its handle on a diagonal.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Pick up the white mug from the table by the handle at a diagonal angle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Take the white mug from the table at a diagonal angle by its handle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "From the table, grasp the white mug by the handle at a diagonal angle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Using the left hand, pick up the white mug from the table by the handle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Have the left arm take the white mug from the table by its handle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "With the left hand, grasp the white mug from the table.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "From the table, take the white mug with the left hand at a diagonal angle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 10944, + "end_idx": 10965 + }, + { + "text": "Put the white mug on top of the pink plate with the left hand right side up front and the handle facing backwards.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Using the left hand, place the white mug on top of the pink plate right side up with the front facing forward and the handle facing backwards.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Have the left arm set the white mug atop the pink plate, upright, with its front as the reference and the handle pointing backward.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "With the left hand, position the white mug on the pink plate right side up, keeping the front aligned and the handle toward the back.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Place the white mug on top of the pink plate right side up with the handle facing backwards.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Set the white mug atop the pink plate upright, with the handle toward the back.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Position the white mug on the pink plate right side up, handle pointing backward.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Using the left hand, put the white mug on top of the pink plate.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Have the left arm place the white mug atop the pink plate.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "With the left hand, set the white mug on the pink plate.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Put the white mug on top of the pink plate.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Set the white mug atop the pink plate.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Position the white mug on the pink plate.", + "start_idx": 10965, + "end_idx": 10998 + }, + { + "text": "Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Using the left hand, take the gray stuffed animal from the table with a top grasp around the whole object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Have the left arm pick up the gray stuffed animal from the table by grasping it from above around the entire object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table using an over-the-top hold on the whole object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Pick up the gray stuffed animal from the table with a top grasp around the entire object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "From the table, take the gray stuffed animal by grasping it from above around the whole object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "The gray stuffed animal from the table should be picked up with an overhand grasp on the entire object.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Using the left hand, pick up the gray stuffed animal from the table.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Have the left arm take the gray stuffed animal from the table.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "With the left hand, collect the gray stuffed animal from the table.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "From the table, take the gray stuffed animal.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "The gray stuffed animal from the table should be picked up.", + "start_idx": 11055, + "end_idx": 11085 + }, + { + "text": "Put the gray stuffed animal behind the pink plate with the left hand facing forwards.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Using the left hand, place the gray stuffed animal behind the pink plate facing forwards.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the pink plate with its front facing forward.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "With the left hand, position the gray stuffed animal behind the pink plate so it faces forwards.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Place the gray stuffed animal behind the pink plate facing forwards.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Set the gray stuffed animal behind the pink plate with its front facing forward.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Position the gray stuffed animal behind the pink plate so it faces forwards.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Using the left hand, put the gray stuffed animal behind the pink plate.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "With the left hand, place the gray stuffed animal behind the pink plate.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Have the left arm set the gray stuffed animal behind the pink plate.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Put the gray stuffed animal behind the pink plate.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Position the gray stuffed animal behind the pink plate.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Set the gray stuffed animal behind the pink plate.", + "start_idx": 11085, + "end_idx": 11112 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom left.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a diagonal lip grip at the bottom left.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a bottom-left diagonal lip hold.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "With the left hand, collect the pink bowl from the table using a diagonal lip grasp at the bottom left.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom left.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom left.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Grab the pink bowl from the table with a diagonal lip hold at the bottom left.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Have the left arm take the pink bowl from the table.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "With the left hand, grasp the pink bowl from the table.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Pick up the pink bowl from the table with the left hand.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Using the left hand, take the pink bowl from the table.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Get the pink bowl from the table.", + "start_idx": 11112, + "end_idx": 11142 + }, + { + "text": "Put the pink bowl between the gray stuffed animal and the blue soda can with the left hand.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Using the left hand, place the pink bowl between the gray stuffed animal and the blue soda can upright.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Have the left arm set the pink bowl upright between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "With the left hand, position the pink bowl between the gray stuffed animal and the blue soda can right side up.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Place the pink bowl upright between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Set the pink bowl between the gray stuffed animal and the blue soda can right side up.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Position the pink bowl right side up between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "With the left hand, put the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Using the left hand, set the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Have the left arm place the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Put the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Set the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Position the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 11142, + "end_idx": 11157 + }, + { + "text": "Pick up the white mug from the pink plate with the left hand using a lip grip from the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Using the left hand, take the white mug from the pink plate with a lip grip from the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Have the left arm grasp the white mug off the pink plate using a lip hold at the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "With the left hand, retrieve the white mug from the pink plate by its lip from the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Pick up the white mug from the pink plate with a lip grip from the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Take the white mug off the pink plate by its lip from the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Retrieve the white mug from the pink plate using a lip hold from the top left.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "With the left hand, pick up the white mug from the pink plate.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Using the left hand, take the white mug off the pink plate.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Have the left arm grasp the white mug from the pink plate.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Pick up the white mug from the pink plate with the left hand.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Using the left hand, remove the white mug from the pink plate.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Take the white mug from the pink plate.", + "start_idx": 11214, + "end_idx": 11250 + }, + { + "text": "Put the white mug behind the gray stuffed animal with the handle facing backwards right side up with the left hand.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Using the left hand, place the white mug behind the gray stuffed animal with the handle facing backward, right side up.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Have the left arm set the white mug behind the gray stuffed animal, keeping it upright with the handle pointing backward.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "With the left hand, position the white mug behind the gray stuffed animal so the handle faces backward and the mug stays right side up.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Place the white mug behind the gray stuffed animal with the handle facing backward, right side up.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Set the white mug behind the gray stuffed animal with the handle pointing backward and the mug upright.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Position the white mug behind the gray stuffed animal so it is right side up with the handle to the back.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Using the left hand, place the white mug behind the gray stuffed animal.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "With the left hand, set the white mug behind the gray stuffed animal.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Have the left arm position the white mug behind the gray stuffed animal.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Put the white mug behind the gray stuffed animal.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Set the white mug behind the gray stuffed animal with the left hand.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Place the white mug behind the gray stuffed animal upright.", + "start_idx": 11250, + "end_idx": 11268 + }, + { + "text": "Pick up the pink plate from the table with the left hand using a lip grip from the top at the left.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Using the left hand, take the pink plate from the table with a lip grip from the top at the left.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Have the left arm grasp the pink plate from the table with a lip hold from the top-left edge.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "With the left hand, pick the pink plate up from the table using the plate's left lip from above.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top at the left.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Take the pink plate from the table with a lip hold from above on the left side.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Grasp the pink plate from the table at the left side from the top.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Using the left hand, pick up the pink plate from the table.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Have the left arm take the pink plate from the table.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "With the left hand, grasp the pink plate from the table.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Using the left hand, take the pink plate from the table from the top at the left.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "From above on the left side, grasp the pink plate from the table.", + "start_idx": 11268, + "end_idx": 11295 + }, + { + "text": "Put the pink plate in front of the blue soda can with the left hand right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Using the left hand, place the pink plate in front of the blue soda can right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Have the left arm set the pink plate down in front of the blue soda can, right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "With the left hand, position the pink plate in front of the blue soda can so it is right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Place the pink plate in front of the blue soda can right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Set the pink plate in front of the blue soda can, keeping it right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Position the pink plate in front of the blue soda can with its right side up.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Using the left hand, put the pink plate in front of the blue soda can.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "With the left hand, place the pink plate before the blue soda can.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Have the left arm set the pink plate down in front of the blue soda can.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Put the pink plate in front of the blue soda can.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Set the pink plate down before the blue soda can.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Position the pink plate in front of the blue soda can.", + "start_idx": 11295, + "end_idx": 11331 + }, + { + "text": "Pick up the pink bowl from the table with the left hand using a lip grip from the top at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Using the left hand, take the pink bowl from the table with a lip grip from the top at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Have the left arm grasp the pink bowl from the table with a lip hold from above at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "With the left hand, seize the pink bowl from the table using the lip grasp from the top at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip from the top at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Take the pink bowl from the table with a lip hold from above at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Grasp the pink bowl from the table with the lip grasp from the top at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Have the left arm take the pink bowl from the table using a lip hold.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "With the left hand, grasp the pink bowl from the table using the lip grasp.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Using the left hand, pick up the pink bowl from the table from the top at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Have the left arm take the pink bowl from the table from above at the bottom left.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 11331, + "end_idx": 11367 + }, + { + "text": "Put the pink bowl in front of the gray stuffed animal with the left hand.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Using the left hand, place the pink bowl in front of the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Have the left arm set the pink bowl down in front of the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "With the left hand, position the pink bowl before the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Place the pink bowl in front of the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Set the pink bowl down in front of the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Position the pink bowl before the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Leave the pink bowl in front of the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Move the pink bowl to the front of the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Using the left hand, place the pink bowl by the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "With the left hand, set the pink bowl down near the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Put the pink bowl by the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Set the pink bowl near the gray stuffed animal.", + "start_idx": 11367, + "end_idx": 11409 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Have the right hand pick the pink bowl up from the table using a bottom-right diagonal lip grasp.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by the bottom-right lip on a diagonal.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "The pink bowl should be picked up from the table with a bottom-right diagonal lip grasp.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "With the right hand, take the pink bowl from the table.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Have the right hand grasp the pink bowl from the table.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table at the bottom right.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 144, + "end_idx": 174 + }, + { + "text": "Put the pink bowl to the right of the pink plate with the right hand.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink plate.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Have the right arm set the pink bowl on the right side of the pink plate.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "With your right hand, position the pink bowl to the pink plate's right.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Place the pink bowl to the right of the pink plate.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Set the pink bowl on the right side of the pink plate.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Position the pink bowl to the pink plate's right.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Move the pink bowl beside the pink plate on its right side.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Put the pink bowl next to the pink plate, on the right.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Arrange the pink bowl to the right of the pink plate.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Set the pink bowl to the pink plate's right with the right hand.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Using the right hand, place the pink bowl beside the pink plate.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Have the right arm position the pink bowl next to the pink plate on the right.", + "start_idx": 174, + "end_idx": 207 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from the top.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Have the right hand grasp the red marker from the table from the top with a side hold at the bottom.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "With the right hand, secure the red marker from the table using a side grasp on the bottom from above.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from the top.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "From above, grasp the red marker from the table with a side hold at the bottom.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Take the red marker from the table with a side grasp on the bottom.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Use the right hand to pick up the red marker from the table using a side grip at the bottom.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "With the right hand, take the red marker from the table with a side grasp at the bottom.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Have the right hand secure the red marker from the table with a side hold on the bottom.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Using the right hand, pick up the red marker from the table from the top.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "From above, take the red marker from the table with the right hand.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 264, + "end_idx": 291 + }, + { + "text": "Put the red marker to the right of the pink bowl with the right hand with its tip facing bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Using the right hand, place the red marker to the right of the pink bowl with its tip pointing to the bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Have the right hand set the red marker to the right of the pink bowl, tip oriented bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "With the right hand, position the red marker to the right of the pink bowl so the tip faces the bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Place the red marker to the right of the pink bowl with its tip pointing to the bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Set the red marker to the right of the pink bowl, with the tip facing bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Position the red marker to the right of the pink bowl so its tip points bottom right.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Using the right hand, place the red marker to the right of the pink bowl.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Have the right hand set the red marker to the right of the pink bowl.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "With the right hand, position the red marker to the right of the pink bowl.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Put the red marker to the right of the pink bowl.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Set the red marker to the right of the pink bowl.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Position the red marker to the right of the pink bowl.", + "start_idx": 291, + "end_idx": 315 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Have the right hand secure the pink bowl from the table with a diagonal grasp on the lip at the bottom right.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "With the right hand, grasp the pink bowl from the table by the bottom-right lip at a diagonal angle.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Grasp the pink bowl from the table at the bottom-right lip with a diagonal hold.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Use the right hand to pick up the pink bowl from the table.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "The right hand should take the pink bowl from the table.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Have the right hand grasp the pink bowl from the table.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "With the right hand, pick up the pink bowl from the table.", + "start_idx": 537, + "end_idx": 561 + }, + { + "text": "Put the pink bowl to the right of the white mug with the right hand.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Have the right arm set the pink bowl to the white mug's right side.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "With the right hand, position the pink bowl on the right side of the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Place the pink bowl to the right of the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Set the pink bowl on the right side of the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Position the pink bowl to the white mug's right.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Move the pink bowl beside the white mug on its right side.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Using the right hand, place the pink bowl by the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "With the right hand, set the pink bowl next to the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Have the right arm position the pink bowl beside the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Place the pink bowl by the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Set the pink bowl next to the white mug.", + "start_idx": 561, + "end_idx": 588 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grasp at the bottom from the top.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom from the top.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Have the right hand pick the red marker off the table using a side grip at the bottom from above.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "With the right hand, grasp the red marker from the table at its bottom using a side hold from the top.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Pick up the red marker from the table using a side grasp at the bottom from the top.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Take the red marker off the table with a side grip at the bottom from above.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Grasp the red marker from the table at its bottom with a side hold from the top.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Have the right hand take the red marker off the table.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Take the red marker off the table using a side grip.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "From the table, grasp the red marker at the bottom from above.", + "start_idx": 588, + "end_idx": 621 + }, + { + "text": "Put the red marker to the right of the pink bowl with the right hand with its tip facing bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Using the right hand, place the red marker to the right of the pink bowl with its tip pointing bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Have the right hand set the red marker to the right of the pink bowl, tip directed toward the bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "With the right hand, position the red marker to the right of the pink bowl so its tip faces bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Place the red marker to the right of the pink bowl with its tip pointing bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Set the red marker to the right of the pink bowl, with the tip aimed bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Position the red marker to the right of the pink bowl so the tip faces bottom left.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Using the right hand, put the red marker to the right of the pink bowl.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "With the right hand, place the red marker to the right of the pink bowl.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Have the right hand position the red marker to the right of the pink bowl.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Place the red marker to the right of the pink bowl.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Set the red marker beside the pink bowl on its right side.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Position the red marker on the right side of the pink bowl.", + "start_idx": 621, + "end_idx": 648 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from the top.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Have the right hand grasp the red marker from the table from the top, holding its bottom with a side grip.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "With the right hand, secure the red marker from the table by the bottom using a side grasp from above.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Pick up the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "From above, grasp the red marker from the table at its bottom using a side hold.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Take the red marker from the table by the bottom with a side grasp from the top.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "The red marker from the table should be picked up with the right hand.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Pick up the red marker from the table from the top.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Using the right hand, grasp the red marker from the table from the top.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Take the red marker from the table by the bottom.", + "start_idx": 837, + "end_idx": 867 + }, + { + "text": "Put the red marker to the right of the white mug with the right hand facing backwards with the tip as the reference point.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Using the right hand, place the red marker to the right of the white mug with the tip facing backwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Have the right arm set the red marker to the right of the white mug, oriented backward from the tip.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "With the right hand, position the red marker to the right of the white mug so the tip points backwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Place the red marker to the right of the white mug with the tip facing backwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Set the red marker to the right of the white mug, keeping the tip pointed backward.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Position the red marker to the right of the white mug so its tip faces backwards.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Using the right hand, place the red marker to the right of the white mug.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Have the right arm set the red marker to the right of the white mug.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "With the right hand, position the red marker to the right of the white mug.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Put the red marker to the right of the white mug.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Set the red marker to the right of the white mug.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Position the red marker to the right of the white mug.", + "start_idx": 867, + "end_idx": 897 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from the top.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Have the right hand grasp the red marker from the table with a side hold at the bottom from above.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "With the right hand, pick the red marker up from the table using a lateral grip on the bottom from the top.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from the top.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Grasp the red marker from the table with a side hold at the bottom from above.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Take the red marker from the table using a lateral grip on the bottom from the top.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Using the right hand, take the red marker from the table from the top.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Grasp the red marker from the table at the bottom from above.", + "start_idx": 1083, + "end_idx": 1110 + }, + { + "text": "Put the red marker to the right of the pink plate with the right hand with its tip facing bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Using the right hand, place the red marker to the right of the pink plate with its tip pointing bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Have the right hand set the red marker to the right of the pink plate, tip directed toward the bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "With the right hand, position the red marker right of the pink plate so its tip faces bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Place the red marker to the right of the pink plate with its tip facing bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Set the red marker right of the pink plate, with the tip pointing bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Position the red marker to the right of the pink plate so the tip points bottom left.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Using the right hand, put the red marker to the right of the pink plate.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Have the right hand place the red marker right of the pink plate.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "With the right hand, set the red marker to the right of the pink plate.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Place the red marker to the right of the pink plate.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Set the red marker right of the pink plate.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Position the red marker to the right of the pink plate.", + "start_idx": 1110, + "end_idx": 1137 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Have the right hand grasp the blue soda can from the table using a top side hold.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "With the right hand, secure the blue soda can from the table in a side grasp from above.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Take the blue soda can from the table with a side hold from above.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "From the table, grasp the blue soda can using a side grip from the top.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Use the right hand to pick up the blue soda can from the table.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Have the right hand take the blue soda can from the table.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "From the table, take the blue soda can.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Have the right hand grasp the blue soda can from the table.", + "start_idx": 1455, + "end_idx": 1482 + }, + { + "text": "Put the blue soda can to the right of the red marker with the right hand.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Place the blue soda can to the right of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Set the blue soda can down to the right of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Position the blue soda can on the right side of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Move the blue soda can to the red marker's right side.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "The blue soda can goes to the right of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Arrange the blue soda can to the right of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Place the blue soda can beside the red marker on its right side.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Set the blue soda can next to the red marker, on the right.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Put the blue soda can on the right side of the red marker.", + "start_idx": 1482, + "end_idx": 1512 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from the top.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Have the right arm grasp the red marker from the table from the top, using a side hold at its bottom.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "With the right hand, take the red marker off the table from the top by gripping its bottom from the side.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Pick up the red marker from the table with a side grip at the bottom from the top.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Take the red marker off the table by gripping its bottom from the side, approaching from the top.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "From the top, grasp the red marker on the table with a side hold at the bottom.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Have the right arm take the red marker off the table using a side hold.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Pick up the red marker from the table from the top.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "From the top, take the red marker off the table.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 1620, + "end_idx": 1650 + }, + { + "text": "Put the red marker to the right of the pink bowl with the right hand with its tip facing bottom right.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Using the right hand, place the red marker to the right of the pink bowl with its tip pointing bottom right.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Have the right arm set the red marker to the right of the pink bowl, tip aimed toward the bottom right.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "With the right hand, position the red marker right of the pink bowl so its tip faces bottom right.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Place the red marker to the right of the pink bowl.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Set the red marker right of the pink bowl.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Position the red marker to the right of the pink bowl.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Put the red marker beside the pink bowl on its right side.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Place the red marker to the right of the pink bowl with the right hand.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Using the right hand, set the red marker beside the pink bowl.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Have the right arm place the red marker to the right of the pink bowl.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Put the red marker to the right of the pink bowl with its tip facing bottom right.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Position the red marker beside the pink bowl on its right side, tip directed bottom right.", + "start_idx": 1650, + "end_idx": 1674 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Have the right arm grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "With the right hand, secure the blue soda can from the table by the top with a side grasp.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Take the blue soda can from the table with a side grip from the top.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "From the table, grasp the blue soda can at the top using a side hold.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp from the top.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Using the right hand, take the blue soda can from the table.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Have the right arm grasp the blue soda can from the table.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Pick up the blue soda can from the table from the top.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "From the table, take the blue soda can at the top.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 1770, + "end_idx": 1800 + }, + { + "text": "Put the blue soda can to the right of the red marker with the right hand.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Have the right arm set the blue soda can to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "With the right hand, position the blue soda can on the right side of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Place the blue soda can to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Set the blue soda can on the right side of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Position the blue soda can right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Move the blue soda can to the red marker's right side.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "The blue soda can goes to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Arrange the blue soda can to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Put the blue soda can beside the red marker on its right side.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "The task is to place the blue soda can to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Set the blue soda can down to the right of the red marker.", + "start_idx": 1800, + "end_idx": 1833 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip from the top at the bottom.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp from above at the bottom.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Have the right arm pick up the red marker from the table, gripping its bottom from the top with a side hold.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "With the right hand, grasp the red marker from the table using a side grip at the bottom from above.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Pick up the red marker from the table using a side grip from the top at the bottom.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Take the red marker from the table with a side hold from above at the bottom.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Grasp the red marker from the table at the bottom from the top with a side grasp.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Have the right arm take the red marker from the table.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Pick up the red marker from the table with the right hand from the top at the bottom.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "From above, take the red marker from the table with the right hand at the bottom.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Have the right arm grasp the red marker from the table at the bottom from the top.", + "start_idx": 2058, + "end_idx": 2085 + }, + { + "text": "Put the red marker behind the gray stuffed animal with the right hand with its tip facing bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Using the right hand, place the red marker behind the gray stuffed animal with its tip pointing bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Have the right hand set the red marker behind the gray stuffed animal so the tip faces bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "With the right hand, position the red marker behind the gray stuffed animal, tip oriented toward the bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Place the red marker behind the gray stuffed animal with its tip facing bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Set the red marker behind the gray stuffed animal so its tip points bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Position the red marker behind the gray stuffed animal with the tip directed toward the bottom left.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Using the right hand, put the red marker behind the gray stuffed animal.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "With the right hand, place the red marker behind the gray stuffed animal.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Have the right hand set the red marker behind the gray stuffed animal.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Put the red marker behind the gray stuffed animal.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Set the red marker behind the gray stuffed animal.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Position the red marker behind the gray stuffed animal.", + "start_idx": 2085, + "end_idx": 2118 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip at the top.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip at the top.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Have the right hand grasp the blue soda can from the table using a side hold at the top.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "With the right hand, take hold of the blue soda can from the table by the top using a side grip.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Pick up the blue soda can from the table using a side grip at the top.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Take the blue soda can from the table by the top with a side grip.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Have the right hand take the blue soda can from the table.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 2190, + "end_idx": 2214 + }, + { + "text": "Put the blue soda can behind the white mug with the right hand.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Using the right hand, place the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Have the right arm put the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "With the right hand, set the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Place the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Set the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Position the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Move the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "The blue soda can goes behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Put the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Arrange the blue soda can behind the white mug.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Behind the white mug, place the blue soda can.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Behind the white mug is where the blue soda can should be placed.", + "start_idx": 2214, + "end_idx": 2244 + }, + { + "text": "Pick up the white mug from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Using the right hand, take hold of the white mug on the table by its handle at a diagonal angle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Have the right arm grasp the white mug from the table at a diagonal angle by the handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "With the right hand, secure the white mug from the table by the handle on a diagonal.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Pick up the white mug from the table by the handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Grasp the white mug from the table at the handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Take the white mug from the table, holding its handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Using the right hand, pick up the white mug from the table by the handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "With the right hand, take the white mug from the table at the handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Have the right arm collect the white mug from the table by its handle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "From the table, take the white mug by the handle at a diagonal angle.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Grasp the white mug from the table on a diagonal.", + "start_idx": 2310, + "end_idx": 2337 + }, + { + "text": "Put the white mug to the right of the blue soda can with the handle facing backwards using the right arm.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Using the right arm, place the white mug to the right of the blue soda can with its handle facing backward.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Have the right arm set the white mug to the right of the blue soda can, handle pointing backward.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "With the right arm, position the white mug to the right of the blue soda can so the handle faces the back.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Place the white mug to the right of the blue soda can with the handle facing backward.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Set the white mug to the right of the blue soda can, with its handle pointing backward.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Position the white mug to the right of the blue soda can so the handle faces backward.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Move the white mug to the right of the blue soda can with the handle toward the back.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Using the right arm, place the white mug to the right of the blue soda can.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "With the right arm, set the white mug to the right of the blue soda can.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Have the right arm position the white mug to the right of the blue soda can.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Place the white mug to the right of the blue soda can.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Set the white mug beside the blue soda can on its right side.", + "start_idx": 2337, + "end_idx": 2376 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from the top.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a lip hold at the bottom right from above.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "With the right hand, secure the pink bowl from the table using a lip grasp on the bottom-right side from the top.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right from the top.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Take the pink bowl from the table with a lip hold at the bottom right from above.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Grasp the pink bowl from the table with a lip grasp on the bottom-right area from the top.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Have the right arm take the pink bowl from the table using a lip hold.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using a lip grasp.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table at the bottom right from the top.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Have the right arm take the pink bowl from the table on the bottom-right side from above.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 2655, + "end_idx": 2688 + }, + { + "text": "Put the pink bowl in front of the white mug with the right hand.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Using the right hand, place the pink bowl in front of the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Have the right arm set the pink bowl down in front of the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "With the right hand, position the pink bowl before the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Place the pink bowl in front of the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Set the pink bowl down in front of the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Position the pink bowl before the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Put the pink bowl by the white mug with the right hand.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "With the right hand, place the pink bowl near the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Have the right arm put the pink bowl by the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Place the pink bowl by the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Set the pink bowl near the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Put the pink bowl next to the white mug.", + "start_idx": 2688, + "end_idx": 2727 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Have the right hand grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "With the right hand, collect the blue soda can from the table using a side grasp at the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Have the right hand take the blue soda can from the table.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "From the table, collect the blue soda can with the right hand.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "From the table, grasp the blue soda can.", + "start_idx": 3009, + "end_idx": 3036 + }, + { + "text": "Put the blue soda can between the gray stuffed animal and the white mug with the right hand.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Using the right hand, place the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Have the right arm set the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "With the right hand, position the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Place the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Set the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Position the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "The blue soda can goes between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Put the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Arrange the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Move the blue soda can between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Have the blue soda can placed between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Transfer the blue soda can to a spot between the gray stuffed animal and the white mug.", + "start_idx": 3036, + "end_idx": 3063 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a diagonal lip grip at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Have the right hand take the pink bowl from the table using a bottom-right diagonal lip grasp.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "With the right hand, grasp the pink bowl from the table in a diagonal lip hold at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "The pink bowl should be grasped from the table with a diagonal lip hold at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Have the right hand take the pink bowl from the table.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Take the pink bowl from the table using a diagonal lip grip at the bottom right.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 3129, + "end_idx": 3156 + }, + { + "text": "Put the pink bowl to the right of the pink plate with the right hand.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Have the right arm set the pink bowl down to the right of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "With your right hand, position the pink bowl on the right side of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Place the pink bowl to the right of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Set the pink bowl on the right side of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Position the pink bowl to the right of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Put the pink bowl by the right side of the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Using the right hand, place the pink bowl by the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "With your right hand, set the pink bowl next to the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Have the right arm position the pink bowl beside the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Place the pink bowl beside the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Set the pink bowl next to the pink plate.", + "start_idx": 3156, + "end_idx": 3192 + }, + { + "text": "Pick up the white mug from the table with the right hand at a diagonal angle by the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Using the right hand, take the white mug from the table at a diagonal angle by the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Have the right arm grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "With the right hand, seize the white mug from the table via the handle at a diagonal angle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Pick up the white mug from the table at a diagonal angle by the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Take the white mug from the table via the handle at a diagonal angle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Grasp the white mug from the table by the handle at a diagonal angle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "The white mug from the table should be picked up by the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Using the right hand, pick up the white mug from the table by the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Have the right arm take the white mug from the table via the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "With the right hand, grasp the white mug from the table.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Pick up the white mug from the table by the handle.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 3297, + "end_idx": 3330 + }, + { + "text": "Put the white mug to the right of the pink bowl with the handle facing backwards right side up using the right hand.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Using the right hand, place the white mug to the right of the pink bowl with the handle facing backward, right side up.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Have the right hand set the white mug to the right of the pink bowl, upright with its handle pointing backward.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "With the right hand, position the white mug to the right of the pink bowl so the handle faces the back and it remains right side up.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Place the white mug to the right of the pink bowl with the handle facing backward, right side up.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Set the white mug to the right of the pink bowl, upright with its handle pointing backward.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Position the white mug to the right of the pink bowl so the handle points backward and it stays right side up.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Using the right hand, put the white mug to the right of the pink bowl.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "With the right hand, place the white mug to the right of the pink bowl.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Have the right hand set the white mug to the right of the pink bowl.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Put the white mug to the right of the pink bowl.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Set the white mug to the right of the pink bowl.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Position the white mug to the right of the pink bowl.", + "start_idx": 3330, + "end_idx": 3363 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip from the top at the right.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip from the top at the right.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Have the right arm take the white mug from the table using a lip grasp from the top-right side.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "With the right hand, grasp the white mug from the table by its lip from above on the right.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Pick up the white mug from the table with a lip grip from the top at the right.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Take the white mug from the table using a lip grasp from above on the right.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Grasp the white mug from the table by the lip at the top-right area.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Using the right hand, pick up the white mug from the table.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Have the right arm take the white mug from the table.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "With the right hand, grasp the white mug from the table.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Pick up the white mug from the table from the top at the right.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "From above on the right, take the white mug from the table.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Take the white mug from the table.", + "start_idx": 3426, + "end_idx": 3453 + }, + { + "text": "Put the white mug behind the pink plate with the handle facing right using the right hand.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Using the right hand, place the white mug behind the pink plate with its handle pointing right.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Have the right hand set the white mug behind the pink plate, handle facing to the right.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "With the right hand, position the white mug behind the pink plate so the handle faces right.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Place the white mug behind the pink plate with the handle facing right.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Set the white mug behind the pink plate, with its handle pointing right.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Position the white mug behind the pink plate so its handle faces right.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Using the right hand, put the white mug behind the pink plate.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "With the right hand, set the white mug behind the pink plate.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Have the right hand place the white mug behind the pink plate.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Put the white mug behind the pink plate.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Set the white mug behind the pink plate.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Position the white mug behind the pink plate.", + "start_idx": 3453, + "end_idx": 3492 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the bottom right.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grasp at the bottom right.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "With the right hand, secure the pink bowl from the table using a diagonal grasp on the bottom-right lip.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom right.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Grasp the pink bowl from the table at the bottom-right lip on a diagonal.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Using the right hand, take the pink bowl from the table.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Have the right hand grasp the pink bowl from the table.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "With the right hand, pick up the pink bowl from the table.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Take the pink bowl from the table using a diagonal lip grasp at the bottom right.", + "start_idx": 3630, + "end_idx": 3657 + }, + { + "text": "Put the pink bowl on the top side of the table with the right hand.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Using the right hand, place the pink bowl on the table's top side right side up, with the front as reference.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Have the right arm set the pink bowl onto the top side of the table in an upright orientation, front referenced.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "With the right hand, position the pink bowl on the top side of the table, keeping it right side up relative to the front.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Place the pink bowl on the top side of the table.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Set the pink bowl onto the table's top side.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "The pink bowl goes on the top side of the table.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Position the pink bowl on the top side of the table.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Using the right hand, put the pink bowl on the top side of the table.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Have the right arm place the pink bowl on the table's top side.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "With the right hand, set the pink bowl onto the top side of the table.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Put the pink bowl on the top side of the table right side up.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "The pink bowl should be placed on the table's top side in an upright orientation.", + "start_idx": 3657, + "end_idx": 3690 + }, + { + "text": "Pick up the white mug from the pink plate with the right hand using a lip grip from the top at the right.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Using the right hand, take the white mug from the pink plate with a lip grip from the top at the right.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Have the right arm grasp the white mug off the pink plate using a lip grasp from the top-right side.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "With the right hand, secure the white mug from the pink plate by its lip from the top at the right.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Pick up the white mug from the pink plate using a lip grip from the top at the right.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "From the pink plate, take the white mug with a lip grasp from the top-right area.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "The white mug on the pink plate should be grasped by its lip from the top at the right.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Using the right hand, pick up the white mug from the pink plate.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "With the right arm, remove the white mug from the pink plate.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Take the white mug from the pink plate with the right hand.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Pick up the white mug from the pink plate from the top at the right.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "From the pink plate, grasp the white mug at the right side.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "The white mug should be taken from the pink plate.", + "start_idx": 3756, + "end_idx": 3789 + }, + { + "text": "Put the white mug to the right of the red marker right side up with the front as the reference using the right hand.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Using the right hand, place the white mug to the right of the red marker, right side up with the front as the reference.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Have the right arm set the white mug down to the right of the red marker in an upright orientation, referenced to the front.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "With the right hand, position the white mug to the red marker's right, right side up using the front as the reference point.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Place the white mug to the right of the red marker.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Set the white mug down to the right of the red marker.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "The white mug goes to the right of the red marker.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Position the white mug to the right of the red marker using the right hand.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Using the right hand, place the white mug to the right of the red marker.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Have the right arm put the white mug to the right of the red marker.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Set the white mug down to the right of the red marker, right side up with the front as the reference.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Place the white mug using the right hand, right side up with the front as the reference.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Put the white mug to the right of the red marker in an upright orientation.", + "start_idx": 3789, + "end_idx": 3828 + }, + { + "text": "Pick up the red marker from the table with the right hand from the top at the middle.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Using the right hand, take the red marker from the table from the top at the middle.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Have the right arm grasp the red marker from the table with a top approach at its middle.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "With the right hand, retrieve the red marker from the table by grasping it from above at the center.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Take the red marker from the table with a top grasp at the middle.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Retrieve the red marker from the table by approaching from above at its center.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Have the right arm take the red marker from the table.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Have the right arm pick up the red marker from the table from above.", + "start_idx": 3935, + "end_idx": 3953 + }, + { + "text": "Put the red marker behind the pink plate with the right hand with its tip facing top right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Using the right hand, place the red marker behind the pink plate with its tip pointing to the top right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Have the right hand set the red marker behind the pink plate, tip oriented toward the top right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "With the right hand, position the red marker behind the pink plate so its tip faces the upper right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Place the red marker behind the pink plate with its tip facing the top right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Set the red marker behind the pink plate, with the tip pointing upper right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Position the red marker behind the pink plate so the tip faces top right.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Using the right hand, put the red marker behind the pink plate.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "With the right hand, place the red marker behind the pink plate.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Have the right hand set the red marker behind the pink plate.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Put the red marker behind the pink plate.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Place the red marker behind the pink plate.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Position the red marker behind the pink plate.", + "start_idx": 3954, + "end_idx": 3987 + }, + { + "text": "Pick up the white mug from the table by the handle at a diagonal angle with the right hand.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Using the right hand, take the white mug from the table by its handle at a diagonal angle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Have the right arm grasp the white mug from the table at a diagonal angle using the handle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "With the right hand, retrieve the white mug from the table by the handle, held diagonally.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Pick up the white mug from the table by the handle at a diagonal angle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Take the white mug from the table by its handle at a diagonal angle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Retrieve the white mug from the table using the handle at a diagonal angle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Using the right hand, pick up the white mug from the table by the handle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Have the right arm take the white mug from the table by its handle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "With the right hand, grasp the white mug from the table at the handle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Take the white mug from the table with the right hand.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Grasp the white mug from the table by the handle.", + "start_idx": 4176, + "end_idx": 4200 + }, + { + "text": "Put the white mug to the right of the pink bowl right side up with the front forward using the right arm.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Using the right arm, place the white mug to the right of the pink bowl upright with its front facing forward.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Have the right arm set the white mug to the right of the pink bowl right side up, front forward.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "With the right arm, position the white mug to the right of the pink bowl so it stays upright and faces front.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Place the white mug to the right of the pink bowl upright with its front facing forward.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Set the white mug to the right of the pink bowl right side up with the front forward.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Position the white mug to the right of the pink bowl so it is upright and front-facing.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Using the right arm, put the white mug to the right of the pink bowl.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "With the right arm, place the white mug to the right of the pink bowl.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Have the right arm set the white mug to the right of the pink bowl.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Put the white mug to the right of the pink bowl.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Place the white mug upright to the right of the pink bowl.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Set the white mug with its front forward to the right of the pink bowl.", + "start_idx": 4200, + "end_idx": 4230 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a diagonal lip grip at the bottom.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a diagonal lip grip at the bottom.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a bottom diagonal lip hold.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "With the right hand, secure the pink bowl from the table using a diagonal lip grasp at its bottom.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Pick up the pink bowl from the table using a diagonal lip grip at the bottom.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Take the pink bowl from the table with a diagonal lip hold at the bottom.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip grip on the bottom.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "The pink bowl should be picked up from the table.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "With the right hand, take the pink bowl from the table.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Have the right arm collect the pink bowl from the table.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 4344, + "end_idx": 4368 + }, + { + "text": "Put the pink bowl to the right of the pink plate with the right hand.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Have the right arm set the pink bowl on the right side of the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "With the right hand, position the pink bowl to the pink plate's right.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Place the pink bowl to the right of the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Set the pink bowl on the right side of the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Position the pink bowl to the pink plate's right.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Move the pink bowl beside the pink plate on its right.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Using the right hand, place the pink bowl by the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "With the right hand, set the pink bowl next to the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Have the right arm position the pink bowl beside the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Put the pink bowl by the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Arrange the pink bowl next to the pink plate.", + "start_idx": 4368, + "end_idx": 4404 + }, + { + "text": "Pick up the white mug from the table with the right hand using a lip grip from the top at the right.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip from the top at the right.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Have the right arm take the white mug from the table using a lip grasp from above on the right side.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "With the right hand, grasp the white mug from the table by the lip from the top-right.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Pick up the white mug from the table with a lip grip from the top at the right.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Take the white mug from the table using a lip grasp from above on the right side.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Grasp the white mug from the table by the lip at the top-right.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Using the right hand, pick up the white mug from the table with a lip grip.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "With the right hand, take the white mug from the table using a lip grasp.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Have the right arm grasp the white mug from the table by the lip.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Using the right hand, pick up the white mug from the table from the top at the right.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "With the right hand, take the white mug from the table from above on the right side.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Pick up the white mug from the table.", + "start_idx": 4533, + "end_idx": 4566 + }, + { + "text": "Put the white mug behind the pink plate with the handle facing bottom right right side up using the right hand.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Using the right hand, place the white mug behind the pink plate, handle pointing to the bottom right and right side up.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Have the right arm set the white mug behind the pink plate with the handle oriented bottom right, keeping it upright.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "With the right hand, position the white mug behind the pink plate so the handle faces the bottom right and the mug stays right side up.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Place the white mug behind the pink plate with the handle facing the bottom right and right side up.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Set the white mug behind the pink plate, keeping the handle pointed bottom right and the mug upright.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Position the white mug behind the pink plate so the handle points to the bottom right, right side up.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Using the right hand, put the white mug behind the pink plate.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "With the right hand, place the white mug behind the pink plate.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Have the right arm set the white mug behind the pink plate.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Put the white mug behind the pink plate.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Place the white mug behind the pink plate with the right hand.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Set the white mug behind the pink plate upright.", + "start_idx": 4566, + "end_idx": 4596 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Have the right hand grasp the pink bowl from the table with a diagonal lip hold on the bottom right.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "With the right hand, collect the pink bowl from the table using a bottom-right lip grip at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Take the pink bowl from the table using a lip grip at the bottom right at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Grasp the pink bowl from the table with a diagonal lip hold on the bottom right.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "The pink bowl from the table should be picked up with a lip grip at the bottom right at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using the lip hold.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Have the right hand take the pink bowl from the table.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Grasp the pink bowl from the table at a diagonal angle.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 4803, + "end_idx": 4830 + }, + { + "text": "Put the pink bowl between the red marker and the pink plate with the right hand.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Using the right hand, place the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Have the right arm set the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "With the right hand, position the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Place the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Set the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Position the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Arrange the pink bowl between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Put the pink bowl between the red marker and the pink plate upright.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Keep the pink bowl right side up between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Place the pink bowl upright between the red marker and the pink plate.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Using the right hand, place the pink bowl between the red marker and the pink plate upright.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "With the right hand, set the pink bowl between the red marker and the pink plate right side up.", + "start_idx": 4830, + "end_idx": 4863 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the right hand from the top by grasping the entire object.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the pink plate from above by grasping the whole object.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Have the right arm pick the gray stuffed animal off the pink plate with a top-down full-object grasp.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the pink plate by taking hold of the entire object from the top.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate from the top by grasping the entire object.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Take the gray stuffed animal off the pink plate from above while holding the whole object.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate with a top approach and a full-object hold.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "With the right hand, remove the gray stuffed animal from the pink plate.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Have the right arm take the gray stuffed animal off the pink plate.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the right hand.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "From above, pick up the gray stuffed animal from the pink plate with the right hand.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Take the gray stuffed animal from the pink plate by grasping the entire object.", + "start_idx": 4938, + "end_idx": 4971 + }, + { + "text": "Put the gray stuffed animal between the pink plate and the red marker with the right hand facing top right from the front.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Using the right hand, place the gray stuffed animal between the pink plate and the red marker, facing top right from the front.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Have the right arm set the gray stuffed animal between the pink plate and the red marker with its front facing top right.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "With the right hand, position the gray stuffed animal between the pink plate and the red marker so the front points top right.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Place the gray stuffed animal between the pink plate and the red marker, facing top right from the front.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Set the gray stuffed animal between the pink plate and the red marker with its front facing top right.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Position the gray stuffed animal between the pink plate and the red marker so the front points top right.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Using the right hand, put the gray stuffed animal between the pink plate and the red marker.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "With the right hand, place the gray stuffed animal between the pink plate and the red marker.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Have the right arm position the gray stuffed animal between the pink plate and the red marker.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Put the gray stuffed animal between the pink plate and the red marker.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Set the gray stuffed animal between the pink plate and the red marker.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Using the right hand, place the gray stuffed animal between the pink plate and the red marker.", + "start_idx": 4971, + "end_idx": 4998 + }, + { + "text": "Pick up the red marker from the table with the right hand from the top at the middle.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Using the right hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Have the right hand take the red marker off the table with a top grasp at the middle.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "With the right hand, grasp the red marker from the table at the middle from above.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Take the red marker off the table with a top grasp at the middle.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Grasp the red marker from the table from above at the middle.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Using the right hand, take the red marker off the table.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Have the right hand grasp the red marker from the table.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Take the red marker off the table.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 4998, + "end_idx": 5028 + }, + { + "text": "Put the red marker to the right of the white mug with the right hand facing bottom left with the tip as the reference point.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Using the right hand, place the red marker to the right of the white mug, with the tip pointing toward the bottom left.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Have the right hand set the red marker to the right of the white mug, oriented bottom-left from the tip.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "With the right hand, position the red marker to the right of the white mug so its tip faces the bottom left.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Place the red marker to the right of the white mug, with the tip pointing toward the bottom left.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Set the red marker to the right of the white mug, oriented bottom-left from the tip.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Position the red marker to the right of the white mug so the tip faces the bottom left.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Using the right hand, place the red marker to the right of the white mug.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "With the right hand, set the red marker to the right of the white mug.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Have the right hand position the red marker to the right of the white mug.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Place the red marker to the right of the white mug.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Set the red marker beside the white mug on its right side.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "The red marker goes to the right of the white mug.", + "start_idx": 5028, + "end_idx": 5064 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip from the top.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Have the right hand take the blue soda can from the table, grasping it from the top with a side hold.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table using a side grasp at the top.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Retrieve the blue soda can from the table, gripping it from the top with a side hold.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Have the right hand take the blue soda can from the table.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Take the blue soda can from the table with the right hand.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 5160, + "end_idx": 5184 + }, + { + "text": "Put the blue soda can to the right of the gray stuffed animal with the right hand.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Have the right arm set the blue soda can to the right of the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "With the right hand, position the blue soda can on the gray stuffed animal's right side.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Set the blue soda can on the right side of the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Position the blue soda can beside the gray stuffed animal on its right.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "The blue soda can goes to the right of the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Move the blue soda can to the gray stuffed animal's right side.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Put the blue soda can beside the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Set the blue soda can next to the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Place the blue soda can by the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Position the blue soda can near the gray stuffed animal.", + "start_idx": 5184, + "end_idx": 5229 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand from the top at the entire object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Have the right arm take hold of the gray stuffed animal from the table with a top grasp on the entire object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the table from above around the whole object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "From above, collect the gray stuffed animal from the table at the entire object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Take the gray stuffed animal from the table with a top grasp on the whole object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Grab the gray stuffed animal from the table with a top hold around the entire object.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Have the right arm take the gray stuffed animal from the table.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the table.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 5340, + "end_idx": 5358 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with the right hand facing top left from the front.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Using the right hand, set the gray stuffed animal on top of the pink plate, facing top left from the front.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Have the right arm place the gray stuffed animal atop the pink plate with its front facing the top left.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "With the right hand, position the gray stuffed animal on the pink plate so the front points top left.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate facing top left from the front.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Set the gray stuffed animal atop the pink plate with its front toward the top left.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Position the gray stuffed animal on the pink plate so the front faces top left.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Using the right hand, place the gray stuffed animal on top of the pink plate.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "With the right hand, set the gray stuffed animal atop the pink plate.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Have the right arm put the gray stuffed animal on the pink plate.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Set the gray stuffed animal atop the pink plate.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Put the gray stuffed animal on the pink plate.", + "start_idx": 5358, + "end_idx": 5382 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Have the right arm grasp the blue soda can from the table using a side hold at the top.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "With the right hand, secure the blue soda can from the table by its top using a side grasp.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Grasp the blue soda can from the table by the top with a side grasp.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Have the right arm pick up the blue soda can from the table.", + "start_idx": 5382, + "end_idx": 5412 + }, + { + "text": "Put the blue soda can in front of the pink bowl with the right hand.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Using the right hand, place the blue soda can in front of the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Have the right arm set the blue soda can down in front of the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "With the right hand, position the blue soda can before the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Place the blue soda can in front of the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Set the blue soda can down in front of the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Position the blue soda can before the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "The blue soda can goes in front of the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Move the blue soda can to a spot in front of the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Using the right hand, place the blue soda can by the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Have the right arm move the blue soda can beside the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Set the blue soda can near the pink bowl with the right hand.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Put the blue soda can near the pink bowl.", + "start_idx": 5412, + "end_idx": 5445 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grasp at the bottom from the top.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp at the bottom from the top.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Using the right hand, pick the red marker up from the table with a side grip at the bottom from above.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Have the right arm grasp the red marker from the table with a side hold on the bottom from the top.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Pick up the red marker from the table using a side grasp at the bottom from the top.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Take the red marker from the table with a side grip at the bottom from above.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Grasp the red marker from the table with a side hold at the bottom from the top.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "With the right hand, pick up the red marker from the table using a side grasp.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Have the right arm grasp the red marker from the table with a side hold.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "With the right hand, pick up the red marker from the table from the top.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Using the right hand, take the red marker from the table at the bottom from above.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5484, + "end_idx": 5505 + }, + { + "text": "Put the red marker to the right of the blue soda can with the right hand with its tip facing bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can with its tip pointing bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can, tip aimed toward the bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can so its tip faces bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Place the red marker to the right of the blue soda can with its tip pointing bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Set the red marker to the right of the blue soda can, with the tip directed toward the bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Position the red marker to the right of the blue soda can so the tip faces bottom right.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Put the red marker to the right of the blue soda can.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Arrange the red marker to the right of the blue soda can.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Place the red marker beside the blue soda can on its right side.", + "start_idx": 5505, + "end_idx": 5532 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Have the right arm pick up the red marker from the table using a side grip, approaching from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "With the right hand, grasp the red marker from the table in a side hold from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Pick up the red marker from the table using a side grip from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Grasp the red marker from the table with a side hold from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "The red marker should be taken from the table using a side grasp from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Have the right arm grasp the red marker from the table with a side hold.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Using the right hand, pick up the red marker from the table from the top at the bottom.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Pick up the red marker from the table with the right hand.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 5628, + "end_idx": 5652 + }, + { + "text": "Put the red marker to the right of the blue soda can with the right hand with its tip facing bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can with its tip pointing to the bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Have the right arm set the red marker to the right of the blue soda can, tip aimed bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "With the right hand, position the red marker right of the blue soda can so its tip faces the bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Place the red marker to the right of the blue soda can with its tip pointing to the bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Set the red marker right of the blue soda can, with the tip directed bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Position the red marker to the right of the blue soda can so the tip faces bottom right.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Using the right hand, put the red marker to the right of the blue soda can.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Have the right arm place the red marker right of the blue soda can.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "With the right hand, set the red marker to the right of the blue soda can.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Put the red marker to the right of the blue soda can.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Position the red marker right of the blue soda can.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Set the red marker beside the blue soda can on its right side.", + "start_idx": 5652, + "end_idx": 5685 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right in a diagonal pick.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right in a diagonal pick.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Have the right hand take the pink bowl from the table with a lip grasp on the bottom right, diagonally.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "With the right hand, grasp the pink bowl from the table using the lip at the bottom right in a diagonal pickup.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right in a diagonal pick.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Take the pink bowl from the table using a lip grasp on the bottom right in a diagonal pickup.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right with a lip hold in a diagonal pick.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Have the right hand take the pink bowl from the table.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "With the right hand, grasp the pink bowl from the table diagonally at the bottom right.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Pick up the pink bowl from the table with the right hand in a diagonal pick.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Take the pink bowl from the table at the bottom right.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 5730, + "end_idx": 5763 + }, + { + "text": "Put the pink bowl between the gray stuffed animal and the blue soda can with the right hand.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Using the right hand, place the pink bowl between the gray stuffed animal and the blue soda can upright.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Have the right arm set the pink bowl between the gray stuffed animal and the blue soda can in an upright position.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "With the right hand, position the pink bowl upright between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Place the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Set the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Position the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Arrange the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Using the right hand, place the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "With the right hand, set the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Have the right arm position the pink bowl between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Put the pink bowl upright between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Set the pink bowl in an upright position between the gray stuffed animal and the blue soda can.", + "start_idx": 5763, + "end_idx": 5793 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Have the right arm pick up the blue soda can from the table using a side grasp at the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "With the right hand, grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "From the table, grasp the blue soda can with a side hold from the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Use the right hand to pick up the blue soda can from the table.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "From the table, grasp the blue soda can with the right hand.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Pick up the blue soda can from the table from the top.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 5862, + "end_idx": 5886 + }, + { + "text": "Put the blue soda can on top of the pink plate with the right hand.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Using the right hand, place the blue soda can on top of the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Have the right arm set the blue soda can onto the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "With the right hand, position the blue soda can atop the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Place the blue soda can on top of the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Set the blue soda can onto the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "The blue soda can goes on top of the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Put the blue soda can atop the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Position the blue soda can on the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Transfer the blue soda can to the top of the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Using the right hand, place the blue soda can on the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "With the right hand, set the blue soda can atop the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Have the right arm put the blue soda can on the pink plate.", + "start_idx": 5886, + "end_idx": 5919 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip from the top at the bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip from the top at the bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Have the right arm grasp the red marker from the table using a side hold from above at its bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "With the right hand, secure the red marker from the table in a side grasp from the top at the bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Pick up the red marker from the table using a side grip from the top at the bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Take the red marker from the table with a side hold from above at its bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Grasp the red marker from the table in a side grasp from the top at the bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "With the right hand, take the red marker from the table using a side grasp.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Have the right arm grasp the red marker from the table with a side hold.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Using the right hand, pick up the red marker from the table from the top at the bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "With the right hand, take the red marker from the table from above at its bottom.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 5994, + "end_idx": 6024 + }, + { + "text": "Place the red marker to the right of the pink plate with the right hand with the tip facing bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Using the right hand, set the red marker to the right of the pink plate with its tip pointing bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Have the right hand place the red marker to the right of the pink plate, tip aimed toward the bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "With the right hand, position the red marker to the right of the pink plate so the tip faces bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Put the red marker to the right of the pink plate with its tip pointing bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Set the red marker to the right of the pink plate, with the tip aimed toward the bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Position the red marker to the right of the pink plate so its tip faces bottom right.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Using the right hand, place the red marker to the right of the pink plate.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "With the right hand, set the red marker to the right of the pink plate.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Have the right hand position the red marker to the right of the pink plate.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Place the red marker to the right of the pink plate.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Set the red marker to the right of the pink plate.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Position the red marker to the right of the pink plate.", + "start_idx": 6024, + "end_idx": 6054 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip from the top at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Using the right hand, take hold of the pink bowl from the table with a lip grip from the top at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a lip hold from above at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "With the right hand, pick the pink bowl up from the table using the lip grasp from the top at the bowl's bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Take the pink bowl from the table using a lip grip from the top at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Grasp the pink bowl from the table with a lip hold from above at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "The pink bowl from the table should be picked up with a lip grasp from the top at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Pick up the pink bowl from the table from the top at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "From above, take hold of the pink bowl from the table at the bottom right.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 6114, + "end_idx": 6138 + }, + { + "text": "Put the pink bowl to the right of the red marker with the right hand.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the red marker, right side up from the front.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Have the right arm set the pink bowl to the right of the red marker with its front oriented right side up.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "With the right hand, position the pink bowl to the right of the red marker, keeping it right side up relative to the front.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Place the pink bowl to the right of the red marker, right side up from the front.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Set the pink bowl to the right of the red marker with its front right side up.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Position the pink bowl to the right of the red marker, keeping it right side up.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Using the right hand, put the pink bowl to the right of the red marker.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Have the right arm place the pink bowl to the right of the red marker.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "With the right hand, set the pink bowl to the right of the red marker.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Place the pink bowl to the right of the red marker.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Set the pink bowl to the right of the red marker.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Position the pink bowl to the right of the red marker.", + "start_idx": 6138, + "end_idx": 6180 + }, + { + "text": "Pick up the red marker from the table with the right hand from the top at the middle.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Using the right hand, take the red marker from the table from the top at the middle.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Have the right arm grasp the red marker from the table at the middle from above.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "With the right hand, seize the red marker from the table using a top approach at its middle.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Take the red marker from the table at the middle from above.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Grasp the red marker from the table with a top pickup at the middle.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Have the right arm grasp the red marker from the table.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 6231, + "end_idx": 6255 + }, + { + "text": "Put the red marker in front of the pink plate with the tip facing bottom left using the right hand.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Using the right hand, place the red marker in front of the pink plate with the tip pointing bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Have the right hand set the red marker before the pink plate, tip directed toward the bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "With the right hand, position the red marker in front of the pink plate so its tip faces bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Place the red marker in front of the pink plate with the tip pointing bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Set the red marker before the pink plate, with its tip directed toward the bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Position the red marker in front of the pink plate so the tip faces bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Using the right hand, put the red marker in front of the pink plate.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Have the right hand place the red marker before the pink plate.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "With the right hand, set the red marker in front of the pink plate.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Put the red marker in front of the pink plate.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Using the right hand, position the red marker with its tip facing bottom left.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Set the red marker before the pink plate.", + "start_idx": 6255, + "end_idx": 6285 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from the top.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "From the table, have the right hand grasp the pink bowl at the bottom right from above using a lip hold.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "With the right hand, retrieve the pink bowl from the table by securing the bottom-right edge from the top with a lip grasp.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right from the top.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "From the table, grasp the pink bowl at the bottom right from above with a lip hold.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Take the pink bowl from the table by gripping the bottom-right side from the top with the lip grasp.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Use the right hand to pick up the pink bowl from the table.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Have the right hand take the pink bowl from the table.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "With the right hand, grasp the pink bowl from the table.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Pick up the pink bowl from the table.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Take the pink bowl from the table.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Grasp the pink bowl from the table.", + "start_idx": 6495, + "end_idx": 6522 + }, + { + "text": "Put the pink bowl to the right of the pink plate with the right hand.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Have the right arm set the pink bowl on the right side of the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "With the right hand, position the pink bowl just right of the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Place the pink bowl to the right of the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Set the pink bowl on the right side of the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Position the pink bowl just to the right of the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Move the pink bowl to the plate's right side.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Using the right hand, place the pink bowl by the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Have the right arm set the pink bowl next to the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Set the pink bowl beside the pink plate with the right hand.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Place the pink bowl by the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Put the pink bowl beside the pink plate.", + "start_idx": 6522, + "end_idx": 6555 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from the top.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Using the right hand, pick up the pink bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Have the right hand take the pink bowl from the table by the bottom right using a lip grasp from above.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "With the right arm, grasp the pink bowl from the table at the bottom right from the top using the bowl's lip.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Pick up the pink bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "From above, take the pink bowl from the table at the bottom right with a lip grasp.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Grasp the pink bowl from the table by the bottom right using the lip from the top.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Using a lip grip, pick up the pink bowl from the table with the right hand.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "With the right hand, take the pink bowl from the table using a lip grasp.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Have the right arm pick up the pink bowl from the table with the bowl's lip.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Pick up the pink bowl from the table with the right hand.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Take the pink bowl from the table from the top.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right.", + "start_idx": 6705, + "end_idx": 6738 + }, + { + "text": "Put the pink bowl to the right of the red marker with the right hand.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the red marker, right side up from the front.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Have the right arm set the pink bowl to the right of the red marker, keeping it right side up relative to the front.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "With the right hand, position the pink bowl to the right of the red marker in a right-side-up orientation from the front.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Place the pink bowl to the right of the red marker, right side up from the front.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Set the pink bowl to the right of the red marker, keeping it right side up relative to the front.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Position the pink bowl to the right of the red marker in a right-side-up orientation from the front.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Using the right hand, place the pink bowl to the right of the red marker.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Have the right arm set the pink bowl to the right of the red marker.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "With the right hand, position the pink bowl to the right of the red marker.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Place the pink bowl to the right of the red marker.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Set the pink bowl to the right of the red marker.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Position the pink bowl to the right of the red marker.", + "start_idx": 6738, + "end_idx": 6771 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip from the top at the bottom right.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Using the right hand, grasp the pink plate from the table with a lip grip from the top at the bottom right.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Have the right hand take the pink plate from the table using a top lip grasp at the bottom-right area.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "With the right hand, pick the pink plate off the table in a lip grasp from above at the bottom right.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the top at the bottom right.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Take the pink plate from the table with a lip grasp from above at the bottom-right spot.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Grasp the pink plate off the table at the bottom right with a top lip hold.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grasp.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Have the right hand grasp the pink plate off the table with a top lip hold.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Pick up the pink plate from the table with the right hand from the top at the bottom right.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "With the right hand, take the pink plate from the table at the bottom-right area.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 6930, + "end_idx": 6966 + }, + { + "text": "Put the pink plate between the red marker and the pink bowl with the right hand right side up front.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Using the right hand, place the pink plate between the red marker and the pink bowl right side up at the front.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Have the right arm set the pink plate between the red marker and the pink bowl, with its front right side up.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "With the right hand, position the pink plate between the red marker and the pink bowl so the front is right side up.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Place the pink plate between the red marker and the pink bowl right side up at the front.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Set the pink plate between the red marker and the pink bowl with its front right side up.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Position the pink plate between the red marker and the pink bowl, front right side up.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Using the right hand, place the pink plate between the red marker and the pink bowl.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "With the right hand, set the pink plate between the red marker and the pink bowl.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Have the right arm position the pink plate between the red marker and the pink bowl.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Put the pink plate between the red marker and the pink bowl.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Set the pink plate between the red marker and the pink bowl.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Position the pink plate between the red marker and the pink bowl.", + "start_idx": 6966, + "end_idx": 7020 + }, + { + "text": "Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from the top.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Using the right hand, take the pink bowl from the table with a lip grip at the bottom right from the top.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Have the right arm grasp the pink bowl from the table with a lip hold on the bottom-right area from above.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "With the right hand, secure the pink bowl from the table by its bottom right using a lip grasp from the top.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Pick up the pink bowl from the table using a lip grip at the bottom right from the top.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Take the pink bowl from the table with a lip hold on the bottom-right area from above.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Grasp the pink bowl from the table at the bottom right from the top.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "From above, pick up the pink bowl from the table at the bottom right.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Take the pink bowl from the table using a lip grip.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Using the right hand, grab the pink bowl from the table.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Have the right arm take the pink bowl from the table.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Pick up the pink bowl from the table from the top.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "With the right hand, grasp the pink bowl from the table at the bottom right.", + "start_idx": 7020, + "end_idx": 7050 + }, + { + "text": "Put the pink bowl behind the pink plate with the right hand.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Using the right hand, place the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Have the right arm set the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "With the right hand, position the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Put the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Place the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Set the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Position the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Move the pink bowl behind the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Using the right hand, place the pink bowl by the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Put the pink bowl by the pink plate with the right hand.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Set the pink bowl by the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Place the pink bowl by the pink plate.", + "start_idx": 7050, + "end_idx": 7086 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip from the right at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip from the right at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Have the right arm grasp the pink plate from the table with a right-side lip hold at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "With the right hand, secure the pink plate from the table using a lip grasp on the right at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Pick up the pink plate from the table using a lip grip from the right at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the right at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "From the table, grasp the pink plate with a right-side lip hold at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "With the right hand, take the pink plate from the table using a lip grasp.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Have the right arm collect the pink plate from the table with a lip hold.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Pick up the pink plate from the table with the right hand from the right at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Take the pink plate from the table with the right hand at a diagonal angle.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "With the right hand, grasp the pink plate from the table from the right.", + "start_idx": 7149, + "end_idx": 7173 + }, + { + "text": "Put the pink plate to the right of the pink bowl right side up with the front as the reference point using the right arm.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Using the right arm, place the pink plate to the right of the pink bowl right side up with the front as the reference point.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Have the right arm set the pink plate to the right of the pink bowl in a right-side-up orientation, using the front as the reference point.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "With the right arm, position the pink plate to the right of the pink bowl, keeping it right side up relative to the front.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Place the pink plate to the right of the pink bowl right side up with the front as the reference point.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Set the pink plate to the right of the pink bowl in a right-side-up orientation using the front as the reference point.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Position the pink plate to the right of the pink bowl, right side up relative to the front.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Put the pink plate to the right of the pink bowl with the right arm.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Using the right arm, place the pink plate to the right of the pink bowl.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Have the right arm set the pink plate to the right of the pink bowl.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Place the pink plate to the right of the pink bowl.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Set the pink plate to the right of the pink bowl.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Position the pink plate to the right of the pink bowl.", + "start_idx": 7173, + "end_idx": 7218 + }, + { + "text": "Pick up the red marker from the table with the right hand from the top at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Using the right hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Have the right arm take the red marker from the table with a top grasp at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "With the right hand, grasp the red marker from the table on its top side at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Grasp the red marker from the table on top at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Take the red marker from the table with a top approach at the middle.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Have the right arm take the red marker from the table.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "The red marker should be grasped from the table.", + "start_idx": 7491, + "end_idx": 7530 + }, + { + "text": "Put the red marker inside the white mug with the right hand right side up with the tip as the orientation reference point.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Using the right hand, place the red marker into the white mug with the tip oriented right side up.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Have the right arm put the red marker inside the white mug, keeping the tip as the right-side-up reference.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "With the right hand, set the red marker in the white mug so the tip marks the upright orientation.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Place the red marker inside the white mug with the tip right side up.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Set the red marker into the white mug, keeping the tip as the upright reference.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Put the red marker in the white mug with the marker oriented right side up by the tip.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Using the right hand, place the red marker into the white mug.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Have the right arm put the red marker inside the white mug.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "With the right hand, set the red marker in the white mug.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Place the red marker inside the white mug.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Set the red marker into the white mug.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Put the red marker in the white mug.", + "start_idx": 7530, + "end_idx": 7554 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Have the right arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "With the right hand, secure the blue soda can from the table in a side grasp from above.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Grasp the blue soda can from the table with a side hold from above.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Take the blue soda can from the table in a side grasp from the top.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table from the top.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Take the blue soda can from the table with a side grip.", + "start_idx": 7554, + "end_idx": 7587 + }, + { + "text": "Put the blue soda can to the right of the pink plate with the right hand.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "With your right hand, position the blue soda can to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Place the blue soda can to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Set the blue soda can down to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Position the blue soda can to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Move the blue soda can to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "The blue soda can goes to the right of the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Put the blue soda can by the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Set the blue soda can beside the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Place the blue soda can next to the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "The blue soda can should be placed beside the pink plate.", + "start_idx": 7587, + "end_idx": 7635 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from the top.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right from the top.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Have the right arm grasp the pink plate from the table by the bottom right, approaching from the top with a lip grip.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "With the right hand, secure the pink plate from the table using a lip grasp on the bottom-right edge from above.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right from the top.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Take the pink plate from the table with a lip grasp on the bottom right from above.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Grasp the pink plate from the table at the bottom-right area from the top using a lip grip.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "With the right hand, grasp the pink plate from the table.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Pick up the pink plate from the table from the top.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "From above, take the pink plate from the table at the bottom right.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Get the pink plate from the table.", + "start_idx": 7635, + "end_idx": 7665 + }, + { + "text": "Put the pink plate in front of the pink bowl with the right hand right side up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Using the right hand, place the pink plate in front of the pink bowl right side up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Have the right arm set the pink plate before the pink bowl with its right side facing up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "With the right hand, position the pink plate in front of the pink bowl so it stays right side up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Place the pink plate in front of the pink bowl right side up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Set the pink plate before the pink bowl right side up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Position the pink plate in front of the pink bowl with the correct side up.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Using the right hand, place the pink plate in front of the pink bowl.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "With the right hand, set the pink plate before the pink bowl.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Have the right arm position the pink plate in front of the pink bowl.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Put the pink plate in front of the pink bowl.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Set the pink plate before the pink bowl.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Position the pink plate in front of the pink bowl.", + "start_idx": 7665, + "end_idx": 7707 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the right hand from the top at the middle.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the pink plate from the top at the middle.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Have the right hand take the gray stuffed animal from the pink plate, grasping it from the top at the middle.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the pink plate by grasping the middle from above.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate from the top at the middle.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Take the gray stuffed animal from the pink plate, grasping it from above at the middle.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate from the top at its middle.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Use the right hand to pick up the gray stuffed animal from the pink plate.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Have the right hand take the gray stuffed animal from the pink plate.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the pink plate.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Take the gray stuffed animal from the pink plate.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate.", + "start_idx": 7811, + "end_idx": 7847 + }, + { + "text": "Put the gray stuffed animal to the left of the pink plate with the right hand facing left front.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the left of the pink plate with its front facing left.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Have the right arm set the gray stuffed animal left of the pink plate, front pointed left.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "With the right hand, position the gray stuffed animal to the pink plate's left side facing left at the front.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Place the gray stuffed animal to the left of the pink plate.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Set the gray stuffed animal on the left side of the pink plate.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Position the gray stuffed animal left of the pink plate.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Using the right hand, put the gray stuffed animal to the left of the pink plate.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Have the right arm place the gray stuffed animal on the pink plate's left side.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "With the right hand, set the gray stuffed animal left of the pink plate.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Place the gray stuffed animal to the left of the pink plate with its front facing left.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Set the gray stuffed animal on the left side of the pink plate, front facing left.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Position the gray stuffed animal left of the pink plate with the front pointed left.", + "start_idx": 7848, + "end_idx": 7887 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Have the right arm grasp the blue soda can from the table using a side hold at the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "With the right hand, collect the blue soda can from the table in a side grasp from the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "From the table, grasp the blue soda can with a side hold at the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Take the blue soda can from the table in a side grasp from the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table from the top.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Take the blue soda can from the table with the right hand.", + "start_idx": 8196, + "end_idx": 8232 + }, + { + "text": "Put the blue soda can in front of the pink bowl with the right hand.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Using the right hand, place the blue soda can in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Have the right arm set the blue soda can down in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "With the right hand, position the blue soda can before the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Place the blue soda can in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Set the blue soda can down in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "The blue soda can goes in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Position the blue soda can before the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Arrange the blue soda can in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Put the blue soda can before the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Set the blue soda can in front of the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "The blue soda can should be placed before the pink bowl.", + "start_idx": 8232, + "end_idx": 8277 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table with a side grip from the top.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Have the right hand take the blue soda can from the table, grasping it from the top with a side hold.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "With the right hand, retrieve the blue soda can from the table using a side grasp at the top.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side grasp.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Have the right hand take the blue soda can from the table.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Take the blue soda can from the table from the top.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Grab the blue soda can from the table.", + "start_idx": 8433, + "end_idx": 8463 + }, + { + "text": "Put the blue soda can behind the pink plate with the right hand.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Using the right hand, place the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Have the right hand set the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "With the right hand, position the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Move the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "The blue soda can goes behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Arrange the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Transfer the blue soda can behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Have the blue soda can placed behind the pink plate.", + "start_idx": 8463, + "end_idx": 8505 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the lip at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Take the pink plate from the table with a lip grasp at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Grasp the pink plate from the table by the lip at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the lip.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Using the right hand, pick up the pink plate from the table at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Have the right arm take the pink plate from the table at the bottom right diagonal.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 8637, + "end_idx": 8673 + }, + { + "text": "Put the pink plate on the bottom side of the table with the right hand right side up.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Using the right hand, place the pink plate on the bottom side of the table right side up.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Have the right arm set the pink plate on the bottom side of the table in an upright orientation.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "With the right hand, position the pink plate on the bottom side of the table so it is right side up.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Place the pink plate on the bottom side of the table right side up.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Set the pink plate on the bottom side of the table in an upright position.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Position the pink plate on the bottom side of the table with its top facing up.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Using the right hand, put the pink plate on the bottom side of the table.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Have the right arm place the pink plate on the bottom side of the table.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "With the right hand, set the pink plate on the bottom side of the table.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Put the pink plate on the bottom side of the table.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Set the pink plate on the bottom side of the table.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Position the pink plate on the bottom side of the table.", + "start_idx": 8673, + "end_idx": 8727 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand from the top at the entire object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Have the right arm take the gray stuffed animal from the table with a top grasp on the entire object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "From the table, retrieve the gray stuffed animal with the right hand, approaching from above and grasping the whole object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Take the gray stuffed animal from the table with a top grasp on the entire object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "From the table, collect the gray stuffed animal by grasping it from above at the entire object.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Have the right arm retrieve the gray stuffed animal from the table.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "From the table, take the gray stuffed animal.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Have the robot collect the gray stuffed animal from the table.", + "start_idx": 8811, + "end_idx": 8835 + }, + { + "text": "Put the gray stuffed animal to the right of the pink plate with the right hand facing backwards from the front.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the pink plate, facing backwards from the front.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Have the right hand set the gray stuffed animal to the right of the pink plate with its front facing backwards.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "With the right hand, position the gray stuffed animal to the right of the pink plate so the front faces backward.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Place the gray stuffed animal to the right of the pink plate with its front facing backwards.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate, facing backwards from the front.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Position the gray stuffed animal to the right of the pink plate so it faces backward from the front.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the pink plate.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Have the right hand set the gray stuffed animal to the right of the pink plate.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "With the right hand, position the gray stuffed animal to the right of the pink plate.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Put the gray stuffed animal to the right of the pink plate.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Place the gray stuffed animal with the right hand.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate.", + "start_idx": 8835, + "end_idx": 8862 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Have the right arm grasp the blue soda can from the table from the top using a side hold.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "With the right hand, secure the blue soda can from the table using a side grasp at the top.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Take the blue soda can from the table with a side hold from the top.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Grasp the blue soda can from the table from the top using a side grasp.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "With the right hand, take the blue soda can from the table.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Have the right arm grasp the blue soda can from the table.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Pick up the blue soda can from the table from the top.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Take the blue soda can from the table with the right hand.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 8862, + "end_idx": 8892 + }, + { + "text": "Put the blue soda can to the right of the gray stuffed animal with the right hand.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "With the right hand, position the blue soda can on the gray stuffed animal's right side.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Set the blue soda can down to the right of the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Position the blue soda can on the right side of the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Put the blue soda can beside the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Place the blue soda can next to the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Set the blue soda can by the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Have the blue soda can placed to the right of the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Move the blue soda can to the gray stuffed animal's right side.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "The blue soda can goes next to the gray stuffed animal.", + "start_idx": 8892, + "end_idx": 8925 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "With the right hand, grasp the blue soda can from the table using a top side grip.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Have the right arm pick the blue soda can up from the table with a side grasp from above.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Grasp the blue soda can from the table with a side hold from above.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Take the blue soda can from the table with a side grasp from the top.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Using a side grip from the top, pick up the blue soda can from the table.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "From the table, collect the blue soda can with a side grasp.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Pick up the blue soda can from the table with the right hand.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "With the right hand, take the blue soda can from the table.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Have the right arm grasp the blue soda can from the table.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 9243, + "end_idx": 9264 + }, + { + "text": "Put the blue soda can on top of the pink plate with the right hand.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Using the right hand, place the blue soda can on top of the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Have the right arm set the blue soda can onto the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "With the right hand, position the blue soda can atop the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Place the blue soda can on top of the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Set the blue soda can onto the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "The blue soda can goes on top of the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Put the blue soda can atop the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Position the blue soda can on the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Arrange the blue soda can on top of the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Using the right hand, place the blue soda can on the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Have the right arm set the blue soda can on top of the pink plate.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Put the blue soda can onto the pink plate with the right hand.", + "start_idx": 9264, + "end_idx": 9297 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand from the top at the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Have the right arm pick the gray stuffed animal off the table with a top grasp on the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the table from above around the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Take the gray stuffed animal off the table from above around the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Grasp the gray stuffed animal from the table with a top hold on the entire object.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Using the right hand, take the gray stuffed animal off the table.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Have the right arm grasp the gray stuffed animal from the table.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Take the gray stuffed animal off the table.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Have the robot grasp the gray stuffed animal from the table.", + "start_idx": 9333, + "end_idx": 9351 + }, + { + "text": "Put the gray stuffed animal to the right of the pink plate with the right hand facing bottom left from the front.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the pink plate, facing bottom left from the front.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Have the right arm set the gray stuffed animal to the right of the pink plate with its front facing bottom left.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "With the right hand, position the gray stuffed animal to the right of the pink plate so the front points bottom left.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Place the gray stuffed animal to the right of the pink plate with its front facing bottom left.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate, oriented bottom left from the front.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Position the gray stuffed animal to the right of the pink plate with the front facing bottom left.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the pink plate.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "With the right hand, set the gray stuffed animal to the right of the pink plate.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Have the right arm position the gray stuffed animal to the right of the pink plate.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Put the gray stuffed animal to the right of the pink plate.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Have the gray stuffed animal placed to the right of the pink plate.", + "start_idx": 9351, + "end_idx": 9375 + }, + { + "text": "Pick up the blue soda can from the pink plate with the right hand using a side grip from the top.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Using the right hand, pick up the blue soda can from the pink plate with a side grip from the top.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Have the right arm take the blue soda can off the pink plate using a side grasp from above.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "With the right hand, grasp the blue soda can from the pink plate in a side hold at the top.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Pick up the blue soda can from the pink plate using a side grip from the top.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Take the blue soda can off the pink plate with a side grasp from above.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Grasp the blue soda can from the pink plate in a side hold at the top.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Using the right hand, pick up the blue soda can from the pink plate.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Have the right arm take the blue soda can off the pink plate.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "With the right hand, grasp the blue soda can from the pink plate.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Pick up the blue soda can from the pink plate with the right hand.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Take the blue soda can off the pink plate using a side grip from the top.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Grasp the blue soda can from the pink plate.", + "start_idx": 9435, + "end_idx": 9459 + }, + { + "text": "Put the blue soda can behind the pink plate with the right hand.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Using the right hand, place the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Have the right hand set the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "With the right hand, position the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Put the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Place the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Set the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Move the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "The blue soda can goes behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Position the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Arrange the blue soda can behind the pink plate.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Set the blue soda can behind the pink plate with the right hand.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Place the blue soda can behind the pink plate using the right hand.", + "start_idx": 9459, + "end_idx": 9489 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand from the top at the entire object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Using the right hand, take the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Have the right arm pick the gray stuffed animal up from the table with a top grasp on the entire object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the table from above around the whole object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Pick up the gray stuffed animal from the table from the top at the entire object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Take the gray stuffed animal from the table from above around the whole object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Grasp the gray stuffed animal from the table with a top hold on the entire object.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "With the right hand, take the gray stuffed animal from the table.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Have the right arm grasp the gray stuffed animal from the table.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Have the right arm pick up the gray stuffed animal from the table.", + "start_idx": 9582, + "end_idx": 9612 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with the right hand facing backwards.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Using the right hand, set the gray stuffed animal on top of the pink plate with its front facing backwards.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Have the right arm place the gray stuffed animal onto the pink plate, front facing backward.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "With the right hand, position the gray stuffed animal atop the pink plate so the front faces backwards.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with its front facing backwards.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Set the gray stuffed animal onto the pink plate, with the front facing backward.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Position the gray stuffed animal atop the pink plate so it faces backwards.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Using the right hand, place the gray stuffed animal on top of the pink plate.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "With the right hand, set the gray stuffed animal onto the pink plate.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Have the right arm position the gray stuffed animal atop the pink plate.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Set the gray stuffed animal onto the pink plate.", + "start_idx": 9612, + "end_idx": 9636 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate with the right hand.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Have the right arm take the gray stuffed animal off the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "With the right hand, grasp the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Pick up the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Take the gray stuffed animal off the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Grasp the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Remove the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Retrieve the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Get the gray stuffed animal off the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Move the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Pick the gray stuffed animal up from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Collect the gray stuffed animal from the pink plate.", + "start_idx": 9717, + "end_idx": 9747 + }, + { + "text": "Put the gray stuffed animal to the right of the pink plate with the right hand facing backwards with the front as the orientation reference point.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the pink plate, with the front facing backwards.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Have the right arm set the gray stuffed animal to the right of the pink plate, oriented backwards relative to its front.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "With the right hand, position the gray stuffed animal to the right of the pink plate so its front faces backwards.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Place the gray stuffed animal to the right of the pink plate with its front facing backwards.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Set the gray stuffed animal to the right of the pink plate, oriented backwards from the front.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Position the gray stuffed animal to the right of the pink plate so the front faces backwards.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Put the gray stuffed animal to the right of the pink plate.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Arrange the gray stuffed animal to the right of the pink plate.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Move the gray stuffed animal to the right of the pink plate.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Using the right hand, place the gray stuffed animal to the right of the pink plate.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Have the right arm put the gray stuffed animal to the right of the pink plate.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "With the right hand, set the gray stuffed animal to the right of the pink plate.", + "start_idx": 9747, + "end_idx": 9774 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a top right lip grasp.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a top right lip grasp.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Have the right arm take the pink plate from the table using a lip grasp at the top right edge.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "With the right hand, grasp the pink plate from the table by the top right lip.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Pick up the pink plate from the table with a top right lip grasp.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Take the pink plate from the table by the top right lip.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Grasp the pink plate from the table at the top right edge.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Using the right hand, pick up the pink plate from the table.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "With the right hand, take the pink plate from the table.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Have the right arm grasp the pink plate from the table.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Pick up the pink plate from the table.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Take the pink plate from the table.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Have the right arm pick up the pink plate from the table.", + "start_idx": 9774, + "end_idx": 9816 + }, + { + "text": "Put the pink plate to the right of the red marker with the right hand right side up with the front as the orientation reference point.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Using the right hand, place the pink plate to the right of the red marker right side up, with the front as the reference point.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Have the right arm set the pink plate to the right of the red marker in a right-side-up orientation, referenced to the front.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "With the right hand, position the pink plate to the right of the red marker so it is right side up relative to the front.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Place the pink plate to the right of the red marker right side up, using the front as the reference point.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Set the pink plate to the right of the red marker in a right-side-up orientation with the front as the reference.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Position the pink plate to the right of the red marker upright, taking the front as the reference point.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Using the right hand, put the pink plate to the right of the red marker.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Have the right arm place the pink plate to the right of the red marker.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "With the right hand, set the pink plate to the right of the red marker.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Put the pink plate to the right of the red marker.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Set the pink plate to the right of the red marker.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Position the pink plate to the right of the red marker.", + "start_idx": 9816, + "end_idx": 9858 + }, + { + "text": "Pick up the red marker from the table with the right hand from the top at the middle.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Using the right hand, pick up the red marker from the table from the top at the middle.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Have the right hand take the red marker from the table, grasping it from the top at the middle.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "With the right hand, grasp the red marker from the table at its middle from above.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Pick up the red marker from the table from the top at the middle.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Take the red marker from the table, approaching from above at the middle.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Grasp the red marker from the table at the middle from the top.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Using the right hand, pick up the red marker from the table.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "With the right hand, take the red marker from the table.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Have the right hand grasp the red marker from the table.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Pick up the red marker from the table.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Take the red marker from the table.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "The red marker from the table should be grasped.", + "start_idx": 9924, + "end_idx": 9954 + }, + { + "text": "Put the red marker in front of the blue soda can with the right hand facing backwards with the tip as the reference point.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Using the right hand, place the red marker in front of the blue soda can with the tip facing backwards.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Have the right arm set the red marker in front of the blue soda can, oriented backwards from the tip.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "With the right hand, position the red marker before the blue soda can so the tip points backwards.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Place the red marker in front of the blue soda can with the tip facing backwards.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Set the red marker before the blue soda can with the tip oriented backwards.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Position the red marker in front of the blue soda can so its tip points backwards.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Using the right hand, put the red marker in front of the blue soda can.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Have the right arm place the red marker before the blue soda can.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "With the right hand, set the red marker in front of the blue soda can.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Put the red marker in front of the blue soda can.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Place the red marker before the blue soda can.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Set the red marker in front of the blue soda can.", + "start_idx": 9954, + "end_idx": 9984 + }, + { + "text": "Pick up the pink plate from the table with the right hand using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Using the right hand, take the pink plate from the table with a lip grip at the bottom right from a diagonal angle.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Have the right arm pick the pink plate off the table, applying a lip grasp at the bottom right on a diagonal.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "With the right hand, grasp the pink plate from the table using the lip at the bottom-right area from a diagonal approach.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Pick up the pink plate from the table using a lip grip at the bottom right from a diagonal angle.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Grasp the pink plate off the table with a lip hold at the bottom right from a diagonal approach.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Take the pink plate from the table with the lip at the bottom-right area from a diagonal angle.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Using the right hand, pick up the pink plate from the table with a lip grip.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "With the right hand, take the pink plate off the table using a lip grasp.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Have the right arm grasp the pink plate from the table with the lip.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Pick up the pink plate from the table with the right hand at the bottom right from a diagonal angle.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Using the right hand, take the pink plate off the table from a diagonal approach.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Grasp the pink plate from the table at the bottom right.", + "start_idx": 10038, + "end_idx": 10059 + }, + { + "text": "Put the pink plate to the left of the gray stuffed animal right side up with the front using the right hand.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Using the right hand, place the pink plate to the left of the gray stuffed animal right side up with the front.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Have the right hand set the pink plate left of the gray stuffed animal, keeping it right side up with the front.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "With the right hand, position the pink plate to the left of the gray stuffed animal in a right-side-up orientation with the front.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Place the pink plate to the left of the gray stuffed animal right side up with the front.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Set the pink plate left of the gray stuffed animal, keeping it right side up with the front.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Position the pink plate to the left of the gray stuffed animal with the front, right side up.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Put the pink plate to the left of the gray stuffed animal.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Set the pink plate left of the gray stuffed animal.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Position the pink plate to the left of the gray stuffed animal.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Using the right hand, put the pink plate to the left of the gray stuffed animal.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "With the right hand, set the pink plate left of the gray stuffed animal.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Have the right hand place the pink plate to the left of the gray stuffed animal.", + "start_idx": 10059, + "end_idx": 10104 + }, + { + "text": "Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Have the right arm take the gray stuffed animal from the table with a diagonal approach and a whole-object grasp.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the table diagonally while holding the entire object.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Pick up the gray stuffed animal from the table at a diagonal angle, grasping the entire object.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Take the gray stuffed animal from the table with a diagonal approach and a full-object hold.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Retrieve the gray stuffed animal from the table diagonally, holding the whole object.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Using the right hand, pick up the gray stuffed animal from the table.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Have the right arm take the gray stuffed animal from the table.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "With the right hand, retrieve the gray stuffed animal from the table.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Pick up the gray stuffed animal from the table.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Take the gray stuffed animal from the table.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Retrieve the gray stuffed animal from the table.", + "start_idx": 10164, + "end_idx": 10194 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate with the right hand facing bottom right from the front.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Using the right hand, place the gray stuffed animal on top of the pink plate with its front facing bottom right.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Have the right hand set the gray stuffed animal atop the pink plate, front pointed toward the bottom right.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "With the right hand, position the gray stuffed animal on the pink plate so the front faces bottom right.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Place the gray stuffed animal on top of the pink plate with its front facing bottom right.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Set the gray stuffed animal atop the pink plate, with the front oriented toward the bottom right.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Position the gray stuffed animal on the pink plate so its front points to the bottom right.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Using the right hand, put the gray stuffed animal on top of the pink plate.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "With the right hand, set the gray stuffed animal atop the pink plate.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Have the right hand place the gray stuffed animal on the pink plate.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Put the gray stuffed animal on top of the pink plate.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Set the gray stuffed animal atop the pink plate.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Using the right hand, place the gray stuffed animal on the pink plate.", + "start_idx": 10194, + "end_idx": 10221 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Have the right hand grasp the blue soda can from the table using a side hold from the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "With the right hand, secure the blue soda can from the table in a side grasp at the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Take the blue soda can from the table with a side hold at the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "From the table, grasp the blue soda can with a side grip at the top.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Have the right hand take the blue soda can from the table.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "From the table, collect the blue soda can with the right hand.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "From the table, grasp the blue soda can.", + "start_idx": 10290, + "end_idx": 10317 + }, + { + "text": "Put the blue soda can in front of the red marker with the right hand.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Using the right hand, place the blue soda can in front of the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Have the right arm set the blue soda can down in front of the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "With the right hand, position the blue soda can before the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Place the blue soda can in front of the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Set the blue soda can down in front of the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Position the blue soda can before the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Put the blue soda can ahead of the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Move the blue soda can to a spot in front of the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Using the right hand, place the blue soda can by the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Have the right arm put the blue soda can near the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Set the blue soda can down by the red marker with the right hand.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Place the blue soda can by the red marker.", + "start_idx": 10317, + "end_idx": 10359 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip at the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Have the right arm grasp the blue soda can from the table with a top side hold.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "With the right hand, seize the blue soda can from the table using a side grasp from the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Take the blue soda can from the table with a side grasp at the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Grasp the blue soda can from the table with a side hold from the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "From the table, collect the blue soda can using a side grip from the top.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "From the table, take the blue soda can.", + "start_idx": 10428, + "end_idx": 10458 + }, + { + "text": "Put the blue soda can behind the red marker with the right hand.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Using the right hand, place the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Have the right arm set the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "With the right hand, position the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Place the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Set the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Position the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Move the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "The blue soda can goes behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Put the blue soda can behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Have the blue soda can placed behind the red marker.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Behind the red marker, place the blue soda can.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Behind the red marker is where the blue soda can should go.", + "start_idx": 10458, + "end_idx": 10500 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grip from the top.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Have the right arm grasp the blue soda can from the table using a top side hold.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "With the right hand, secure the blue soda can from the table in a side grasp at the top.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Grasp the blue soda can from the table with a side hold at the top.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "The blue soda can should be picked up from the table with a side grasp from the top.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Have the right arm take the blue soda can from the table.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "With the right hand, grasp the blue soda can from the table.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Take the blue soda can from the table.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Grasp the blue soda can from the table.", + "start_idx": 10710, + "end_idx": 10746 + }, + { + "text": "Put the blue soda can in front of the gray stuffed animal with the right hand.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Using the right hand, place the blue soda can in front of the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Have the right arm set the blue soda can down in front of the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "With the right hand, position the blue soda can before the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Place the blue soda can in front of the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Set the blue soda can down in front of the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Position the blue soda can before the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Have the blue soda can placed in front of the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Move the blue soda can to a spot in front of the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Using the right hand, place the blue soda can by the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "With the right hand, set the blue soda can near the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Put the blue soda can by the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Position the blue soda can near the gray stuffed animal.", + "start_idx": 10746, + "end_idx": 10785 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grasp at the bottom from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "From a diagonal angle, have the right hand pick the red marker up from the table with a side grip at the bottom.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "With the right hand, grasp the red marker from the table at its bottom using a side hold from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Pick up the red marker from the table using a side grip at the bottom from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "From a diagonal angle, grasp the red marker from the table with a side hold at the bottom.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Take the red marker from the table at the bottom using a side grasp from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Using the right hand, pick up the red marker from the table from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Have the right hand take the red marker from the table.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "With the right hand, grasp the red marker from the table.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Pick up the red marker from the table from a diagonal angle.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "From the table, take the red marker.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Grasp the red marker from the table.", + "start_idx": 10785, + "end_idx": 10821 + }, + { + "text": "Put the red marker to the right of the blue soda can with the right hand with its tip facing bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can with its tip pointing bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Have the right hand set the red marker to the right of the blue soda can, tip directed toward the bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "With the right hand, position the red marker to the right of the blue soda can so its tip faces bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Place the red marker to the right of the blue soda can with its tip facing bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Set the red marker to the right of the blue soda can, with the tip aimed bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Position the red marker to the right of the blue soda can so the tip points to the bottom right.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Using the right hand, put the red marker to the right of the blue soda can.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Have the right hand place the red marker to the right of the blue soda can.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "With the right hand, set the red marker to the right of the blue soda can.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Place the red marker to the right of the blue soda can.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Set the red marker to the right of the blue soda can.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Using the right hand, position the red marker to the right of the blue soda can.", + "start_idx": 10821, + "end_idx": 10860 + }, + { + "text": "Pick up the blue soda can from the table with the right hand using a side grip from the top.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Using the right hand, take the blue soda can from the table with a side grasp at the top.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Have the right arm pick the blue soda can off the table using a side grip from above.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "With the right hand, collect the blue soda can from the table by applying a side hold at the top.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Pick up the blue soda can from the table using a side grip from the top.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Take the blue soda can off the table with a side grasp from above.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "The blue soda can from the table should be picked up using a side hold at the top.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Using the right hand, pick up the blue soda can from the table.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Have the right arm take the blue soda can off the table.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "With the right hand, collect the blue soda can from the table.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Pick up the blue soda can from the table.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Take the blue soda can off the table.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "The blue soda can from the table should be picked up.", + "start_idx": 10998, + "end_idx": 11022 + }, + { + "text": "Put the blue soda can to the right of the gray stuffed animal with the right hand.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Using the right hand, place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Have the right arm set the blue soda can down to the right of the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "With the right hand, position the blue soda can on the gray stuffed animal's right side.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Place the blue soda can to the right of the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Set the blue soda can down to the right of the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Position the blue soda can on the right side of the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Move the blue soda can to the gray stuffed animal's right.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "The blue soda can goes to the right of the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Put the blue soda can beside the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Set the blue soda can next to the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Place the blue soda can by the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Have the blue soda can placed beside the gray stuffed animal.", + "start_idx": 11022, + "end_idx": 11055 + }, + { + "text": "Pick up the red marker from the table with the right hand using a side grip at the bottom with a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Using the right hand, take the red marker from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Have the right hand grasp the red marker from the table with a side hold at the bottom, angled diagonally.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "With the right hand, seize the red marker from the table using a bottom side grasp at a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Take the red marker from the table with a side grip at the bottom and a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Grasp the red marker from the table at the bottom with a side hold and a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "The red marker from the table should be picked up with a side grip at the bottom and held diagonally.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Using the right hand, pick up the red marker from the table with a side grip at the bottom.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Have the right hand take the red marker from the table using a side grasp at the bottom.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "With the right hand, collect the red marker from the table at a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Pick up the red marker from the table with the right hand at the bottom with a diagonal angle.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Using the right hand, grasp the red marker from the table.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Take the red marker from the table at the bottom with a side grip.", + "start_idx": 11157, + "end_idx": 11184 + }, + { + "text": "Put the red marker to the right of the blue soda can with the right hand facing bottom right with the tip as the reference point.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Using the right hand, place the red marker to the right of the blue soda can, with the tip facing bottom right.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Have the right arm set the red marker to the right of the blue soda can, oriented bottom right from the tip.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "With your right hand, position the red marker to the right of the blue soda can so the tip points bottom right.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Place the red marker to the right of the blue soda can, with the tip facing bottom right.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Set the red marker to the right of the blue soda can, oriented bottom right at the tip.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Position the red marker to the right of the blue soda can so the tip points bottom right.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Using the right hand, put the red marker to the right of the blue soda can.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "With the right hand, place the red marker to the right of the blue soda can.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Have the right arm position the red marker to the right of the blue soda can.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Put the red marker to the right of the blue soda can.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Arrange the red marker to the right of the blue soda can.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "The red marker goes to the right of the blue soda can.", + "start_idx": 11184, + "end_idx": 11214 + }, + { + "text": "Return both arms to home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Move both arms back to the home position.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Bring both arms to their home pose.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Have both arms return to home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Return the arms to home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Bring the arms back to the home position.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Move the arms to home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Send the arms back home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Have the arms go to the home position.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Move both manipulators to home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Set both arms back at home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Bring both manipulators home.", + "start_idx": 11409, + "end_idx": 11427 + }, + { + "text": "Return both manipulators to the home position.", + "start_idx": 11409, + "end_idx": 11427 + } + ] + }, + "2026-04-26-02-27-49-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 8640, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-26-02-40-10-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 1", + "total_frames": 9109, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-00-47-16-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 9053, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-00-53-44-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 8235, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-01-00-58-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 9753, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-01-11-18-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 9027, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-01-19-57-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 9381, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-01-27-16-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 8091, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-01-37-06-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 9291, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-02-09-59-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 8142, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-02-23-53-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 9059, + "num_annotations": 0, + "annotations": [] + }, + "2026-04-29-02-31-22-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2", + "total_frames": 8888, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-02-52-58-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 9812, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-03-06-14-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 9455, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-03-14-46-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 9741, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-03-21-19-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 7988, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-03-29-52-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 8000, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-03-50-46-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 9193, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-03-58-36-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 8226, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-04-25-10-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 9430, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-04-32-27-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 9393, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-01-04-38-56-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 data collection day 2 color correct", + "total_frames": 8103, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-01-44-47-284000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 9324, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-01-48-58-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 9730, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-01-49-24-234000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 8418, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-01-59-59-188000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 9166, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-02-09-15-939000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 9203, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-02-14-15-901000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 9190, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-02-27-46-670000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 8713, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-02-32-43-873000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 9285, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-02-37-11-786000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 recollect day correct color", + "total_frames": 7913, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-03-05-08-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 1 object gen eval", + "total_frames": 7836, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-03-31-25-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 1 object gen eval", + "total_frames": 9347, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-04-11-11-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 1 object gen eval", + "total_frames": 8774, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-04-20-00-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 1 object gen eval", + "total_frames": 9583, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-02-04-27-07-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 1 object gen eval", + "total_frames": 9075, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-03-23-47-09-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 object gen eval", + "total_frames": 9165, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-04-00-13-46-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 object gen eval", + "total_frames": 8936, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-04-00-43-53-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 object gen eval", + "total_frames": 9219, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-04-01-02-48-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 object gen eval", + "total_frames": 9421, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-04-02-07-48-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 2 object gen eval", + "total_frames": 11029, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-20-24-33-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 9090, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-20-48-13-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 9022, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-20-58-15-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 9154, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-21-06-41-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 9233, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-21-33-54-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 9024, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-21-57-44-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 10099, + "num_annotations": 0, + "annotations": [] + }, + "2026-05-05-22-09-18-000000": { + "embodiment": "aria_bimanual", + "task_name": "pick_place", + "task_description": "set 3 object gen eval", + "total_frames": 9267, + "num_annotations": 0, + "annotations": [] + } +} \ No newline at end of file diff --git a/egomimic/ricl/episode_lists/ALIGNMENT_GROUNDTRUTH.json b/egomimic/ricl/episode_lists/ALIGNMENT_GROUNDTRUTH.json new file mode 100644 index 000000000..08b477ce1 --- /dev/null +++ b/egomimic/ricl/episode_lists/ALIGNMENT_GROUNDTRUTH.json @@ -0,0 +1,69 @@ +{ + "description": "Intentionally-aligned eva(robot)<->aria(human) pick-and-place pairs from human_robot_pairs.json true_pairs_alignment. Pairing reconstructed via episode annotations + capture-time + user visual verification of side-by-side previews.", + "collection": "/storage/project/r-dxu345-0/agao81/pick_place/{hash}", + "alignment_set_1": { + "status": "COMPLETE (6/6 user-verified)", + "pairs": [ + { + "object": "blue_marker", + "eva": "2026-04-14-03-33-23-804000", + "aria": "2026-04-26-21-45-39-000000" + }, + { + "object": "corn", + "eva": "2026-04-14-03-36-19-145000", + "aria": "2026-04-14-03-39-11-000000" + }, + { + "object": "blue_screwdriver", + "eva": "2026-04-14-03-46-38-679000", + "aria": "2026-04-14-03-48-32-000000" + }, + { + "object": "brown_stuffed_entire", + "eva": "2026-04-14-04-01-06-517000", + "aria": "2026-04-14-04-03-19-000000" + }, + { + "object": "yellow_stuffed", + "eva": "2026-04-14-04-04-24-675000", + "aria": "2026-04-14-04-06-40-000000" + }, + { + "object": "brown_stuffed_middle", + "eva": "2026-04-14-04-04-45-909000", + "aria": "2026-04-26-21-49-23-000000" + } + ] + }, + "alignment_set_2": { + "status": "COMPLETE (6/6 user-verified)", + "note": "human_robot_pairs.json mislabeled 3 of the 9 'eva_bimanual' entries: 04-28-18-000000, 04-29-46-000000, and 04-38-04-000000 are HUMAN captures (obs_keypoints/obs_eye_gaze/obs_head_pose, no robot cmd_* keys), not robot. Set 2 is therefore 6 robot eva <-> 6 human aria (3 same-session aria on 2026-04-14 + 3 recollected aria on 2026-04-26), matching the set 1 design. Pairs user-verified from side-by-side previews; objects not labeled (same green-cup pick-and-place across trials).", + "pairs": [ + { + "eva": "2026-04-14-04-22-46-247000", + "aria": "2026-04-14-04-28-18-000000" + }, + { + "eva": "2026-04-14-04-23-48-546000", + "aria": "2026-04-14-04-29-46-000000" + }, + { + "eva": "2026-04-14-04-25-12-763000", + "aria": "2026-04-26-21-55-25-000000" + }, + { + "eva": "2026-04-14-04-33-34-590000", + "aria": "2026-04-14-04-38-04-000000" + }, + { + "eva": "2026-04-14-04-34-24-990000", + "aria": "2026-04-26-21-59-56-000000" + }, + { + "eva": "2026-04-14-04-35-45-301000", + "aria": "2026-04-26-22-02-01-000000" + } + ] + } +} diff --git a/egomimic/ricl/episode_lists/action_segments.csv b/egomimic/ricl/episode_lists/action_segments.csv new file mode 100644 index 000000000..7ae4bd91c --- /dev/null +++ b/egomimic/ricl/episode_lists/action_segments.csv @@ -0,0 +1,4427 @@ +episode,scene,task_description,start,end,frames,verb,object,hand,grip,grasp_loc,angle,source,relation,ref_object,ref_direction,orientation,flip,sub_position,text +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,0,216,216,pick,bell pepper,right,plain,entire,side,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand from the side grasping the entire object. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,216,324,108,place,bell pepper,right,-,-,-,-,corner,croissant,corner,none,up,top_right,Place the bell pepper to the right of the croissant on the top right side with the right hand right side up with the front as the reference point. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,324,582,258,pick,croissant,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,582,771,189,place,croissant,right,-,-,-,-,corner,bell pepper,corner,none,none,none,Put the croissant to the bottom right side of the bell pepper with the right hand. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,768,1041,273,pick,pink cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand using a lip grip at the top from a diagonal angle. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,1041,1152,111,place,pink cup,left,-,-,-,-,left,croissant,left,backwards,up,bottom,Place the pink cup to the left of the croissant on the bottom side with the left hand handle facing backwards right side up. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,1152,1416,264,pick,croissant,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,1416,1581,165,place,croissant,right,-,-,-,-,inside,green bowl,inside,none,none,none,Put the croissant inside the green bowl with the right hand. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,1581,1917,336,pick,pen,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pen from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,1917,2169,252,place,pen,left,-,-,-,-,left,pink cup,left,backwards,none,bottom,Put the pen to the left of the pink cup with the left hand on the bottom side facing backwards with the tip as the reference point. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,2331,2472,141,pick,bell pepper,right,plain,entire,side,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand from the side grasping the entire object. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,2472,2607,135,place,bell pepper,right,-,-,-,-,corner,pink cup,corner,none,up,bottom_right,Place the bell pepper to the right of the pink cup on the bottom right side right side up with the front as the reference using the right hand. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,2607,2685,78,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right arm. +2026-03-03-05-03-57-023000,pick_place_div_scene,pick place play data with large task variations,2685,3000,315,pick,pink cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand using a lip grip at the top with a diagonal angle. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,0,153,153,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,153,243,90,dump,bread,left,-,-,-,-,table,table,none,none,none,top,Dump the bread on the top side of the table with the left hand. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,243,480,237,place,green bowl,left,-,-,-,-,left,orange screwdriver,left,none,none,none,Put the green bowl to the left of the orange screwdriver with the left hand. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,474,792,318,pick,bell pepper,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,792,951,159,place,bell pepper,right,-,-,-,-,right,bread,right,none,up,none,Put the bell pepper to the right of the bread with the right hand right side up with the front as the orientation reference point. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,951,1164,213,pick,pink mug,right,lip,top,top,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a lip grip at the bottom right from the top. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,1164,1428,264,place,pink mug,right,-,-,-,-,front,bell pepper,front,bottom_right,up,none,Put the pink mug in front of the bell pepper with the handle facing bottom right side up using the right arm. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,1428,1836,408,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,1836,1977,141,place,orange screwdriver,left,-,-,-,-,inside,green bowl,inside,none,none,none,Put the orange screwdriver into the green bowl with the left hand. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,1977,2172,195,pick,bread,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand using a side grip at the bottom diagonally. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,2172,2310,138,place,bread,left,-,-,-,-,inside,green bowl,inside,none,none,none,Put the bread into the green bowl to the left of the orange screwdriver with the left hand. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,2310,2358,48,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,2358,2634,276,pick,pink mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the right. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,2634,2799,165,place,pink mug,right,-,-,-,-,left,bell pepper,left,backwards,up,none,Place the pink mug to the left of the bell pepper with the handle facing backwards right side up using the right arm. +2026-03-03-05-11-26-461000,pick_place_div_scene,pick place play data with large task variations,2799,3000,201,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,0,126,126,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,126,444,318,place,pink mug,right,-,-,-,-,between,orange screwdriver and the bell pepper,between,none,up,top,Put the pink mug between the orange screwdriver and the bell pepper on the top side right side up with the right hand. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,444,672,228,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,672,753,81,place,croissant,left,-,-,-,-,inside,green bowl,inside,none,none,none,Put the croissant inside the green bowl with the left hand. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,753,987,234,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,987,1074,87,place,orange screwdriver,left,-,-,-,-,inside,green bowl,inside,forwards,none,none,Put the orange screwdriver inside the green bowl with the left hand facing forwards. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,1074,1272,198,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,1272,1431,159,place,pink mug,right,-,-,-,-,front,bell pepper,front,bottom_left,up,none,Place the pink mug in front of the bell pepper with the right hand right side up with the front facing bottom left. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,1731,1893,162,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle gripping the middle. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,1893,2118,225,place,bell pepper,right,-,-,-,-,center,,none,none,up,none,Put the bell pepper to the center of the table with the right hand right side up with the front at the bottom side. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2118,2217,99,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right arm. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2217,2388,171,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2388,2475,87,dump,orange screwdriver,left,-,-,-,-,table,table,none,none,none,top,Dump the orange screwdriver and the croissant on the top side of the table with the left hand. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2475,2622,147,place,green bowl,left,-,-,-,-,left,orange screwdriver,left,none,none,none,Put the green bowl to the left of the orange screwdriver with the left hand. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2622,2808,186,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2808,2940,132,place,croissant,left,-,-,-,-,behind,bell pepper,behind,none,up,top,Put the croissant behind the bell pepper on the top side right side up with the front as reference using the left hand. +2026-03-03-05-15-53-096000,pick_place_div_scene,pick place play data with large task variations,2940,3000,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,0,153,153,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,153,288,135,place,green bowl,right,-,-,-,-,right,white coffee cup,right,none,none,none,Put the green bowl to the right of the white coffee cup with the right hand. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,288,492,204,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,491,654,163,place,brown stuffed toy,left,-,-,-,-,inside,green bowl,inside,forwards,none,none,Place the brown stuffed toy inside the green bowl with the left hand facing forwards. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,654,993,339,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a diagonal grip at the handle. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,993,1176,183,place,white coffee cup,right,-,-,-,-,on_top,pink plate,on_top,backwards,up,none,Put the white coffee cup on top of the pink plate with the handle facing backwards right side up using the right arm. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,1176,1410,234,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,1410,1566,156,place,blue stuffed toy,left,-,-,-,-,inside,white coffee cup,inside,none,down,none,Put the blue stuffed toy inside the white coffee cup with the left hand upside down. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,1566,1821,255,pick,white coffee cup,right,lip,right,diagonal,pink plate,-,-,-,-,-,-,Pick up the white coffee cup from the top of the pink plate with the right hand using a diagonal lip grasp on the right. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,1821,1896,75,dump,blue stuffed toy,right,-,-,-,-,right,pink plate,right,none,none,none,Dump the blue stuffed toy to the right of the pink plate with the right hand. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,1896,2073,177,place,white coffee cup,right,-,-,-,-,right,green bowl,right,backwards,up,none,Put the white coffee cup to the right of the green bowl with the right hand right side up with the front facing backwards. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,2073,2274,201,pick,yellow stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,2274,2382,108,place,yellow stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,top_right,none,none,Place the yellow stuffed toy on top of the pink plate with the left hand facing top right. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,2382,2451,69,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,2451,2583,132,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,2583,2730,147,place,blue stuffed toy,right,-,-,-,-,left,green bowl,left,bottom_left,none,none,Put the blue stuffed toy to the left of the green bowl with the right hand facing bottom left. +2026-03-03-05-20-29-363000,pick_place_div_scene,pick place play data with large task variations,2730,3000,270,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,0,153,153,pick,blue stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,153,261,108,place,blue stuffed toy,right,-,-,-,-,right,pink plate,right,forwards,none,none,Put the blue stuffed toy to the right of the pink plate with the right hand facing forwards. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,642,804,162,place,white coffee cup,right,-,-,-,-,corner,green bowl,corner,bottom_right,up,none,Put the white coffee cup to the bottom right of the green bowl with the right hand right side up with the front facing bottom right. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,804,1032,228,pick,yellow stuffed toy,left,plain,entire,diagonal,pink plate,-,-,-,-,-,-,Pick up the yellow stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,1032,1137,105,place,yellow stuffed toy,left,-,-,-,-,left,pink plate,left,top_left,none,none,Put the yellow stuffed toy to the left of the pink plate with the left hand facing top left. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,1137,1365,228,pick,green bowl,right,side,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a side grip at the right side diagonally. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,1365,1428,63,dump,brown stuffed toy,right,-,-,-,-,left,white coffee cup,left,none,none,none,Dump the brown stuffed toy to the left of the white coffee cup with the right hand. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,1428,1659,231,place,green bowl,right,-,-,-,-,corner,table,none,none,none,top_right,Put the green bowl on the top right side of the table with the right hand. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,1899,2028,129,pick,yellow stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2027,2121,94,place,yellow stuffed toy,left,-,-,-,-,inside,green bowl,inside,top_right,none,none,Place the yellow stuffed toy inside the green bowl with the left hand facing top right. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2121,2226,105,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2226,2331,105,pick,blue stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2331,2400,69,place,blue stuffed toy,right,-,-,-,-,inside,green bowl,inside,backwards,none,none,Put the blue stuffed toy inside the green bowl with the right hand facing backwards. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2400,2613,213,pick,brown stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the right hand using a side grip at the top with a diagonal angle. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2613,2754,141,place,brown stuffed toy,right,-,-,-,-,inside,green bowl,inside,backwards,none,none,Put the brown stuffed toy into the green bowl with the right hand facing backwards. +2026-03-03-05-27-14-876000,pick_place_div_scene,pick place play data with large task variations,2754,3000,246,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,0,210,210,pick,pink plate,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the right hand using a diagonal lip grasp at the bottom right. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,210,363,153,place,pink plate,right,-,-,-,-,left,green bowl,left,none,up,none,Place the pink plate to the left side of the green bowl with the right hand right side up with the front as the orientation reference point. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,654,813,159,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grasp from the right at a diagonal angle. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,813,906,93,dump,stuffed toys,right,-,-,-,-,between,pink plate and white mug,between,none,none,none,Dump the stuffed toys between the pink plate and white mug with the right hand. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,906,1044,138,place,green bowl,right,-,-,-,-,front,pink plate,front,none,none,none,Put the green bowl in front of the pink plate with the right hand. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1044,1236,192,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1236,1359,123,place,brown stuffed toy,right,-,-,-,-,on_top,pink plate,on_top,top_right,none,none,Place the brown stuffed toy on top of the pink plate with the right hand facing top right. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1359,1620,261,pick,yellow stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand using a side grip at the top diagonally. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1620,1755,135,place,yellow stuffed toy,left,-,-,-,-,left,pink plate,left,bottom_right,none,none,Place the yellow stuffed toy to the left side of the pink plate with the left hand facing bottom right. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1755,1812,57,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1812,1953,141,pick,blue stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,1952,2073,121,place,blue stuffed toy,right,-,-,-,-,front,white mug,front,top_right,none,none,Put the blue stuffed toy in front of the white mug with the right hand facing top right. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,2073,2334,261,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,2334,2442,108,place,white mug,right,-,-,-,-,between,green bowl and blue stuffed toy,between,top_right,none,none,Put the white mug between the green bowl and blue stuffed toy with the front facing top right using the right arm. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,2442,2658,216,pick,blue stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,2658,2793,135,place,stuffed toy,right,-,-,-,-,inside,green bowl,inside,top_right,none,none,Put the stuffed toy inside the green bowl with the right hand facing top right. +2026-03-03-05-29-34-981000,pick_place_div_scene,pick place play data with large task variations,2793,3000,207,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,0,264,264,pick,white canister,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white canister from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,264,420,156,place,white canister,right,-,-,-,-,inside,beige bowl,inside,top_left,none,none,Put the white canister inside the beige bowl with the right hand facing top left with the front as the reference point. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,711,849,138,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom diagonally. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,849,1029,180,place,green bag of chips,left,-,-,-,-,on_top,purple plate,on_top,forwards,none,none,Place the green bag of chips on top of the purple plate with the left hand facing forwards. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,1029,1272,243,pick,blue screwdriver,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,1272,1392,120,place,blue screwdriver,right,-,-,-,-,front,cabbage,front,backwards,none,none,Put the blue screwdriver in front of the cabbage with the right hand facing backwards with the tip as the reference point. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,1392,1677,285,pick,beige bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip at the right side with a diagonal angle. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,1677,1755,78,dump,white canister,left,-,-,-,-,between,purple plate and the blue screwdriver,between,none,none,none,Dump the white canister between the purple plate and the blue screwdriver with the left hand. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,1755,1908,153,place,beige bowl,left,-,-,-,-,behind,green bag of chips,behind,none,none,none,Place the beige bowl behind the green bag of chips with the left hand. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,1908,2112,204,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,2112,2400,288,place,blue screwdriver,right,-,-,-,-,left,cabbage,left,bottom_right,none,none,Place the blue screwdriver to the left of the cabbage with the right hand with its tip facing bottom right. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,2400,2619,219,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,2619,2859,240,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,2859,2958,99,place,blue screwdriver,left,-,-,-,-,inside,beige bowl,inside,bottom_left,none,none,Place the blue screwdriver inside the beige bowl with the left hand facing bottom left with the tip as the reference point. +2026-03-03-05-32-38-565000,pick_place_div_scene,pick place play data with large task variations,2958,3000,42,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,0,201,201,pick,bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,201,264,63,dump,screwdriver,left,-,-,-,-,between,table between the plate,none,none,none,none,Dump the screwdriver on the table between the plate and canister with the left hand. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,264,390,126,place,bowl,left,-,-,-,-,left,green bag of chips,left,none,none,none,Put the bowl to the left side of the green bag of chips with the left hand. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,390,606,216,pick,bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the left hand using a diagonal lip grip at the right side. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,606,753,147,place,bowl,left,-,-,-,-,front,screwdriver,front,none,none,none,Put the bowl in front of the screwdriver with the left hand. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,753,1023,270,pick,canister,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canister from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,1023,1122,99,place,white cup,right,-,-,-,-,inside,bowl,inside,none,down,none,Put the white cup inside the bowl with the right hand upside down. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,1122,1362,240,pick,screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,1362,1488,126,place,screwdriver,left,-,-,-,-,inside,bowl,inside,bottom_left,none,none,Place the screwdriver inside the bowl with the left hand facing bottom left by the tip. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,1488,1800,312,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,1800,1953,153,place,cabbage,right,-,-,-,-,right,plate,right,forwards,none,none,Put the cabbage to the right side of the plate with the right hand facing forwards with the tip as the orientation reference point. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,1952,2190,238,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom diagonally. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,2190,2343,153,place,bag of chips,left,-,-,-,-,left,bowl,left,none,down,none,Put the bag of chips to the left of the bowl with the left hand upside down. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,2343,2553,210,pick,plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the plate from the table with the left hand using a diagonal lip grasp on the left. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,2553,2694,141,place,plate,left,-,-,-,-,right,cabbage,right,none,up,none,Place the plate to the right side of the cabbage with the left hand right side up with the front as the orientation reference point. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,2694,2796,102,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-35-22-081000,pick_place_div_scene,pick place play data with large task variations,2796,3000,204,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,0,237,237,pick,cabbage,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,237,333,96,place,cabbage,left,-,-,-,-,inside,brown bowl,inside,bottom_left,none,none,Put the cabbage inside the brown bowl with the left hand facing bottom left from the front. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,333,624,291,pick,blue plate,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the blue plate from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,624,762,138,place,blue plate,right,-,-,-,-,corner,brown bowl,corner,none,up,none,Put the blue plate to the bottom right of the brown bowl with the right hand right side up with the front as the orientation reference point. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,762,984,222,pick,brown bowl,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the brown bowl from the table with the left hand using a lip grip at the top with a diagonal angle. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,983,1095,112,dump,cabbage blue pen,left,-,-,-,-,table,,none,none,none,none,Dump the cabbage blue pen and white coffee pod on the table with the left hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,1095,1248,153,place,brown bowl,left,-,-,-,-,left,cabbage,left,none,none,none,Place the brown bowl to the left of the cabbage with the left hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,1248,1515,267,pick,blue plate,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the blue plate from the table with the right hand using a lip grip at the right side with a diagonal pick angle. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,1515,1632,117,place,blue plate,right,-,-,-,-,right,white coffee pod,right,none,up,none,Put the blue plate to the right of the white coffee pod with the right hand right side up with the front as the orientation reference point. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,1632,1809,177,pick,brown bowl,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the brown bowl from the table with the left hand using a diagonal lip grasp at the top. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,1809,1965,156,place,brown bowl,left,-,-,-,-,below,blue plate,below,none,up,none,Place the brown bowl right side up on the bottom of the blue plate with the left hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,1965,2151,186,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2151,2241,90,place,bag of chips,left,-,-,-,-,left,table,none,none,down,none,Put the bag of chips to the left of the table upside down with the left hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2241,2310,69,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2310,2571,261,pick,white coffee pod,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the white coffee pod from the table with the right hand using a side grip at the bottom right from a diagonal angle. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2571,2640,69,place,white coffee pod,right,-,-,-,-,inside,brown bowl,inside,none,down,none,Place the white coffee pod inside the brown bowl with the right hand upside down. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2640,2790,150,pick,brown bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the brown bowl from the table with the right hand using a diagonal lip grip at the top. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2790,2862,72,dump,white coffee pod,right,-,-,-,-,table,,none,none,none,none,Dump the white coffee pod on the table with the right hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2862,2952,90,place,brown bowl,right,-,-,-,-,right,blue plate,right,none,none,none,Put the brown bowl to the right of the blue plate with the right hand. +2026-03-03-05-42-25-155000,pick_place_div_scene,pick place play data with large task variations,2952,3000,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,0,150,150,pick,green mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,150,312,162,place,green mug,right,-,-,-,-,right,canned goods,right,none,up,top,Put the green mug to the right of the canned goods on its top side with the right hand right side up. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,312,636,324,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the can good from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,636,804,168,place,canned goods,left,-,-,-,-,below,white plate,below,none,none,bottom,Put the canned goods on the bottom side of the white plate with the left hand. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,804,1017,213,pick,green mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a diagonal lip grasp at the right. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,1017,1119,102,place,green mug,right,-,-,-,-,right,white plate,right,top_right,none,bottom,Put the green mug to the right of the white plate on the bottom side with the front facing top right using the right arm. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,1119,1293,174,pick,stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,1293,1416,123,place,stuffed toy,right,-,-,-,-,behind,white plate,behind,right,none,bottom,Put the stuffed toy behind the white plate on the bottom side with the right hand facing right. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,1416,1620,204,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,1620,1725,105,place,white cup,left,-,-,-,-,left,white plate,left,none,up,none,Put the white cup on the left side of the white plate with the left hand right side up with the front toward the bottom side. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,1725,2001,276,pick,white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at a diagonal angle by the handle. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2001,2175,174,place,white mug,right,-,-,-,-,behind,green mug,behind,backwards,up,top,Put the white mug behind the green mug with the handle facing backward on the top side right side up with the front as reference using the right hand. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2175,2415,240,pick,stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2415,2583,168,place,stuffed toy,left,-,-,-,-,inside,white cup,inside,top_right,none,bottom,Put the stuffed toy inside the white cup with the left hand on the bottom side facing top right. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2583,2661,78,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2661,2760,99,pick,green mug,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a lip grip at the top right from a diagonal angle. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2760,2877,117,place,green mug,right,-,-,-,-,behind,white plate,behind,top_right,none,none,Place the green mug behind the white plate with the right hand with its front facing top right. +2026-03-03-05-47-21-437000,pick_place_div_scene,pick place play data with large task variations,2877,3000,123,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,0,138,138,pick,white mug,right,side,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a side grip at the right in a diagonal pick. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,138,270,132,place,white mug,right,-,-,-,-,right,white plate,right,backwards,up,bottom,Put the white mug to the right of the white plate with the handle facing backwards on the bottom side right side up with the front as the reference using the right hand. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,270,456,186,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,456,564,108,place,white cup,left,-,-,-,-,left,green mug,left,none,up,top,Put the white cup to the left of the green mug on the top side with the left hand right side up with the front as the reference point. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,564,744,180,pick,canned goods,left,side,top,diagonal,white plate,-,-,-,-,-,-,Pick up the canned goods from the white plate with the left hand using a side grasp at the top from a diagonal angle. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,744,855,111,place,canned goods,left,-,-,-,-,left,white plate,left,none,up,bottom,Put the canned goods to the left of the white plate on the bottom side right side up with the front as the reference using the left hand. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1032,1125,93,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1125,1302,177,place,white mug,right,-,-,-,-,right,green mug,right,backwards,up,top,Put the white mug to the right of the green mug on the top side with the right hand right side up with the front facing backwards. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1302,1512,210,pick,white mug,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a diagonal lip grasp at the top right. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1512,1647,135,place,white mug,right,-,-,-,-,right,white plate,right,bottom_left,up,top,Put the white mug to the right of the white plate with the handle facing bottom left on the top side with the right hand right side up. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1647,1815,168,pick,stuffed toy,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal from the top of the object. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1815,1923,108,place,stuffed toy,left,-,-,-,-,behind,white cup,behind,left,none,top,Put the stuffed toy behind the white cup on the top side with the left hand facing left. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,1922,2166,244,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2166,2286,120,place,canned goods,left,-,-,-,-,corner,stuffed toy,corner,none,none,top_left,Put the canned goods to the left of the stuffed toy on the top left side with the left hand. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2286,2469,183,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the right side from a diagonal angle. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2469,2610,141,place,white mug,right,-,-,-,-,right,green mug,right,bottom_left,up,bottom,Place the white mug to the right of the green mug with the handle facing bottom left right side up on the bottom side using the right arm. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2610,2658,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2658,2781,123,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the left side diagonally. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2781,2862,81,place,white cup,left,-,-,-,-,on_top,white plate,on_top,none,up,top,Place the white cup on the top side of the white plate with the left hand right side up with the front as the orientation reference point. +2026-03-03-05-50-12-790000,pick_place_div_scene,pick place play data with large task variations,2862,3000,138,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,0,141,141,pick,cup,left,lip,bottom,diagonal,white plate,-,-,-,-,-,-,Pick up the cup from the white plate with the left hand using a lip grip at the bottom right with a diagonal angle. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,141,330,189,place,cup,left,-,-,-,-,right,plate,right,none,up,none,Put the cup to the right of the plate with the left hand right side up with the front as the orientation reference point. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,330,651,321,pick,cup,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the cup from the table with the right hand using a lip grip at the bottom right from a diagonal angle. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,651,870,219,place,cup,right,-,-,-,-,right,white coffee cup,right,none,up,none,Put the cup to the right of the white coffee cup with the right hand right side up with the front as the orientation reference point. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,870,954,84,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,954,1149,195,pick,coffee cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the coffee cup from the table with the left hand at a diagonal angle by the handle. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,1149,1299,150,place,coffee cup,left,-,-,-,-,on_top,white plate,on_top,bottom_left,up,none,Put the coffee cup on top of the white plate with the handle facing bottom left right side up with the left hand. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,1299,1578,279,pick,green coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the left hand using a diagonal lip grasp at the left side. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,1578,1773,195,place,green coffee cup,left,-,-,-,-,left,white plate,left,top_right,up,none,Put the green coffee cup to the left of the white plate with the handle facing top right with the left hand right side up. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,1773,2043,270,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2042,2157,115,place,canned goods,left,-,-,-,-,corner,green coffee cup,corner,none,up,none,Put the canned goods to the top left of the green coffee cup with the left hand right side up with the front as the reference point. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2157,2388,231,pick,stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2388,2592,204,place,stuffed toy,left,-,-,-,-,inside,white coffee cup,inside,top_left,none,none,Put the stuffed toy inside the white coffee cup with the left hand facing top left. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2592,2763,171,pick,white coffee cup,left,handle,handle,diagonal,plate,-,-,-,-,-,-,Pick up the white coffee cup from the plate with the left hand at a diagonal angle by the handle. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2763,2832,69,dump,stuffed toy,left,-,-,-,-,between,green coffee cup and white plate,between,none,none,none,Dump the stuffed toy between the green coffee cup and white plate with the left hand. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2832,2922,90,place,white coffee cup,left,-,-,-,-,right,plate,right,none,up,none,Put the white coffee cup to the right of the plate with the left hand right side up with the front as the orientation reference point. +2026-03-03-05-52-32-417000,pick_place_div_scene,pick place play data with large task variations,2922,3000,78,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,0,141,141,pick,doritos,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the top right from a diagonal angle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,141,216,75,place,doritos,right,-,-,-,-,right,pink stuffed toy,right,none,up,none,Put the doritos to the right side of the pink stuffed toy with the right hand right side up. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,216,369,153,pick,green bowl,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,369,489,120,place,green bowl,left,-,-,-,-,right,blue marker,right,none,none,none,Place the green bowl to the right side of the blue marker with the left hand. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,489,693,204,pick,carrot,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,759,1056,297,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle from the middle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1056,1164,108,place,carrot,right,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Put the carrot inside the green bowl on the table with the right hand facing bottom left. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1164,1332,168,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1332,1428,96,place,blue marker,left,-,-,-,-,inside,bowl,inside,bottom_left,none,none,Place the blue marker inside the bowl on the table with the left hand facing bottom left by the tip. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1428,1668,240,pick,pink stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1668,1740,72,place,pink stuffed toy,left,-,-,-,-,left,green bowl,left,bottom_left,none,none,Put the pink stuffed toy to the left side of the green bowl with the left hand facing bottom left. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1740,1896,156,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,1896,2010,114,place,doritos,right,-,-,-,-,right,green bowl,right,none,up,none,Put the doritos to the right side of the green bowl with the right hand right side up with the front as the orientation reference point. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2010,2199,189,pick,green bowl,right,side,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a side grip at the right side and a diagonal angle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2199,2307,108,dump,carrot,right,-,-,-,-,between,pink stuffed toy and doritos,between,none,none,none,Dump the carrot and blue marker between the pink stuffed toy and doritos with the right hand. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2307,2460,153,place,green bowl,right,-,-,-,-,behind,doritos,behind,none,none,none,Put the green bowl behind the doritos with the right hand. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2460,2607,147,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2607,2706,99,place,carrot,right,-,-,-,-,left,doritos,left,forwards,none,none,Put the carrot to the left side of the doritos with the right hand with the tip facing forwards. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2706,2763,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2763,2955,192,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-37-47-140000,pick_place_div_scene,pick and place with large task variations,2955,3000,45,place,blue marker,left,-,-,-,-,left,carrot,left,forwards,none,none,Place the blue marker to the left side of the carrot with the left hand facing forwards with the tip as the reference point. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,0,150,150,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,150,348,198,place,blue marker,left,-,-,-,-,left,pink stuffed toy,left,forwards,none,none,Put the blue marker to the left of the pink stuffed toy with the left hand facing forwards with the tip as the reference point. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,348,504,156,pick,red bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the red bag of chips from the table with the right hand using a side grip at the bottom right. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,504,621,117,place,red bag of chips,right,-,-,-,-,between,pink stuffed toy and the carrot,between,forwards,none,none,Put the red bag of chips between the pink stuffed toy and the carrot with the right hand facing forwards. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,621,849,228,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,849,1014,165,place,blue marker,left,-,-,-,-,on_top,red bag of chips,on_top,forwards,none,none,Put the blue marker on top of the red bag of chips with the left hand facing forwards. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,1013,1185,172,pick,carrot,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand using a side grip at the bottom. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,1185,1317,132,place,carrot,right,-,-,-,-,right,green bowl,right,forwards,none,none,Put the carrot to the right of the green bowl with the right hand facing forwards with the front as the reference point. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,1554,1680,126,pick,green bowl,right,lip,left,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip from the top at the left side. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,1680,1794,114,place,green bowl,right,-,-,-,-,right,red bag of chips,right,none,none,none,Put the green bowl to the right of the red bag of chips with the right hand. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,1794,2007,213,pick,blue marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,2007,2130,123,place,blue marker,right,-,-,-,-,inside,green bowl,inside,forwards,none,none,Place the blue marker inside the green bowl with the right hand facing forwards. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,2130,2301,171,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,2301,2649,348,place,pink stuffed toy,left,-,-,-,-,inside,green bowl,inside,backwards,none,none,Put the pink stuffed toy inside the green bowl with the left hand facing backwards. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,2649,2847,198,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-06-40-10-619000,pick_place_div_scene,pick and place with large task variations,2847,3000,153,pick,red bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the red bag of chips from the table with the right hand using a side grip at the bottom left. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,0,201,201,pick,carrot,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrots from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,201,399,198,place,carrot,right,-,-,-,-,center,,none,forwards,none,none,Put the carrots to the center of the table with the right hand facing forwards with the tip as the reference point. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,399,555,156,pick,doritos,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at a diagonal angle from the left. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,555,651,96,place,doritos,left,-,-,-,-,behind,,none,top_left,none,top,Put the doritos behind of the carrot on the top side with the left hand facing top left. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,651,1002,351,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grip on the right side. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1002,1062,60,dump,pink teddy bear,right,-,-,-,-,right,doritos,right,none,none,none,Dump the pink teddy bear and blue marker on the table to the right of the doritos with the right hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1062,1194,132,place,green bowl,right,-,-,-,-,left,carrot,left,none,none,none,Put the green bowl to the left of the carrot with the right hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1194,1476,282,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1476,1599,123,place,blue marker,left,-,-,-,-,inside,green bowl,inside,none,none,none,Place the blue marker inside the green bowl with the left hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1599,1818,219,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1818,1950,132,place,carrot,right,-,-,-,-,right,pink teddy bear,right,forwards,none,none,Put the carrot to the right of the pink teddy bear with the tip facing forwards using the right hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,1950,2109,159,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2109,2205,96,dump,blue marker,left,-,-,-,-,table,,none,none,none,none,Dump the blue marker onto the bottom side of the table center with the left hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2205,2343,138,place,green bowl,left,-,-,-,-,front,doritos,front,none,none,bottom,Put the green bowl in front of the doritos on the bottom side with the left hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2343,2406,63,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2406,2520,114,pick,pink teddy bear,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink teddy bear from the table with the right hand using a side grip at the top diagonally. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2520,2643,123,place,pink teddy bear,right,-,-,-,-,inside,green bowl,inside,top_left,none,none,Put the pink teddy bear inside the green bowl with the right hand facing top left. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2643,2841,198,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom left from a diagonal angle. +2026-03-03-06-43-14-995000,pick_place_div_scene,pick and place with large task variations,2841,3000,159,place,doritos,right,-,-,-,-,right,carrot,right,forwards,none,none,Put the doritos to the right of the carrot with the right hand facing forwards. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,0,180,180,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,180,282,102,place,corn,right,-,-,-,-,front,eggplant,front,left,none,bottom,Put the corn in front of the eggplant with the right hand on the bottom side with the tip facing left. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,282,489,207,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,489,546,57,place,eggplant,left,-,-,-,-,left,corn on top,left,backwards,none,none,Put the eggplant to the left of the corn on top with the left hand facing backwards by the tip. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,546,876,330,pick,white cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand by the handle from the side. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,876,999,123,place,white cup,right,-,-,-,-,corner,corn,corner,backwards,up,bottom_right,Put the white cup to the right of the corn on the bottom right side with the right hand right side up with the front facing backwards. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,998,1146,148,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,1146,1257,111,place,corn,right,-,-,-,-,corner,white cup,corner,top_left,none,bottom,Put the corn to the front right of the white cup with the right hand on the bottom side facing top left with the tip as the reference point. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,1257,1611,354,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,1611,1728,117,place,blue soda can,left,-,-,-,-,between,eggplant and the white cup,between,none,none,none,Put the blue soda can in between the eggplant and the white cup with the left hand. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,1728,1893,165,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,1893,2013,120,place,corn,right,-,-,-,-,behind,blue soda can,behind,bottom_left,none,top_left,Put the corn behind the blue soda can on the top left side with the right hand with its tip facing bottom left. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2012,2187,175,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2187,2304,117,place,eggplant,left,-,-,-,-,front,,none,backwards,none,bottom,Put the eggplant in front right of the blue soda can on the bottom side with the left hand facing backwards with the tip as the reference point. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2304,2526,222,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top right side using a lip grip. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2526,2667,141,place,white cup,right,-,-,-,-,right,eggplant,right,backwards,up,bottom,Put the white cup to the right of the eggplant with handle facing backwards right side up on the bottom side with the right hand. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2667,2709,42,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2709,2802,93,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2802,2883,81,place,eggplant,left,-,-,-,-,corner,blue soda can,corner,backwards,none,top,Put the eggplant to the front right of the blue soda can on the top side with the left hand facing backwards by the tip. +2026-03-03-06-48-23-857000,pick_place_div_scene,pick and place with large task variations,2883,3000,117,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,0,138,138,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,138,237,99,place,eggplant,left,-,-,-,-,front,soda can,front,bottom_right,none,none,Put the eggplant in front of the soda can with the left hand facing bottom right at the tip. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,237,459,222,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip at the right side diagonally. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,459,522,63,place,white coffee cup,right,-,-,-,-,corner,corn,corner,bottom_right,none,none,Put the white coffee cup to the top right of the corn with the right hand with its tip facing bottom right. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,522,720,198,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the middle with the left hand at a diagonal angle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,720,813,93,place,eggplant,left,-,-,-,-,left,soda can,left,backwards,none,none,Put the eggplant to the left of the soda can with the left hand facing backwards. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,813,972,159,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom diagonally. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,972,1089,117,place,corn,right,-,-,-,-,front,white coffee cup,front,forwards,none,none,Put the corn in front of the white coffee cup with the right hand facing forwards with the tip as the orientation reference point. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,1089,1311,222,pick,soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,1311,1392,81,place,soda can,left,-,-,-,-,front,corn,front,none,none,none,Place the soda can in front of the corn with the left hand. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,1392,1590,198,pick,soda cup,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the soda cup from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,1590,1683,93,place,soda cup,right,-,-,-,-,right,corn,right,none,up,none,Put the soda cup to the right of the corn with the right hand right side up with the front as the orientation reference point. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,1683,1821,138,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,1821,1902,81,place,eggplant,left,-,-,-,-,corner,corn,corner,backwards,none,none,Put the eggplant to the bottom left of the corn with the left hand facing backwards by the tip. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2451,2556,105,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2556,2661,105,place,corn,right,-,-,-,-,right,soda can,right,top_left,none,none,Put the corn to the right of the soda can with the tip facing top left using the right hand. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2661,2763,102,pick,soda can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2763,2826,63,place,soda can,right,-,-,-,-,left,corn,left,none,up,none,Put the soda can to the left of the corn with the right hand right side up. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2826,2877,51,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2877,2961,84,pick,eggplant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-03-06-50-42-588000,pick_place_div_scene,pick and place with large task variations,2961,3000,39,place,eggplant,left,-,-,-,-,left,soda can,left,backwards,none,none,Place the eggplant to the left of the soda can with the left hand facing backwards with the tip as the orientation reference point. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,0,75,75,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,75,162,87,place,eggplant,left,-,-,-,-,left,blue soda can,left,bottom_right,none,none,Put the eggplant to the left of the blue soda can with the left hand facing bottom right with the tip as the reference point. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,327,426,99,pick,white coffee cup,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top right. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,426,660,234,place,white coffee cup,right,-,-,-,-,front,blue soda can,front,backwards,none,none,Put the white coffee cup in front of the blue soda can with the right hand facing backwards from the front. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,1047,1191,144,pick,white coffee cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a lip grip at the top left with a diagonal pick angle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,1191,1326,135,place,white coffee cup,left,-,-,-,-,corner,eggplant,corner,top_right,up,none,Put the white coffee cup to the left of the eggplant with the handle facing to the top right right side up using the left hand. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,1326,1503,177,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle from the middle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,1503,1635,132,place,corn,right,-,-,-,-,front,blue soda can,front,left,none,none,Put the corn in front of the blue soda can with the right hand facing left with the tip as the reference point. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,1635,1887,252,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle from the middle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,1887,1971,84,place,eggplant,left,-,-,-,-,left,white coffee cup,left,backwards,none,none,Put the eggplant to the left of the white coffee cup with the left hand facing backwards with the tip as the reference point. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2157,2208,51,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom right from a diagonal angle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2208,2358,150,place,corn,right,-,-,-,-,right,blue soda can,right,forwards,none,none,Put the corn to the right of the blue soda can with the right hand facing forwards with the tip facing forwards. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2358,2511,153,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2511,2655,144,place,eggplant,left,-,-,-,-,between,white coffee cup and the blue can,between,forwards,none,none,Put the eggplant between the white coffee cup and the blue can with the left hand facing forwards with the tip as the reference point. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2655,2727,72,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2880,2934,54,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2934,2988,54,place,corn,right,-,-,-,-,front,blue soda can,front,left,none,none,Put the corn in front of the blue soda can with the right hand with its tip facing left. +2026-03-03-06-53-17-768000,pick_place_div_scene,pick and place with large task variations,2988,3000,12,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,0,183,183,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned good from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,183,342,159,place,canned goods,right,-,-,-,-,corner,red marker,corner,none,none,top_right,Put the canned good to the right of the red marker on the top right side with the right hand. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,342,573,231,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,573,633,60,place,juice pouch,left,-,-,-,-,between,asparagus and the red marker,between,forwards,none,top,Place the juice pouch between the asparagus and the red marker on the top side with the left hand facing forwards. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,633,885,252,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,885,1056,171,place,red marker,right,-,-,-,-,front,canned goods,front,top_left,none,none,Put the red marker in front of the canned good on the right side with the tip facing top left using the right hand. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,1056,1422,366,pick,asparagus,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand from the top at the middle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,1422,1584,162,place,asparagus,left,-,-,-,-,front,juice pouch,front,top_left,none,top,Put the asparagus in front of the juice pouch on the top side with the left hand facing top left from the tip. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,1584,1926,342,pick,juice pouch,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,1926,2031,105,place,juice pouch,left,-,-,-,-,left,asparagus,left,bottom_left,none,none,Place the juice pouch to the left of the asparagus with the left hand facing bottom left relative to the front. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2031,2199,168,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2199,2232,33,place,juice pouch,left,-,-,-,-,on_top,asparagus,on_top,forwards,none,top,Put the juice pouch on the top side of the asparagus with the left hand facing forwards. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2232,2466,234,pick,canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned good from the table with the right hand from the side at the middle. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2466,2619,153,place,canned goods,right,-,-,-,-,between,red marker and the asparagus,between,none,none,none,Place the canned good between the red marker and the asparagus with the right hand. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2619,2676,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2853,2982,129,pick,juice pouch,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-03-06-56-07-657000,pick_place_div_scene,pick and place with large task variations,2982,3000,18,place,juice pouch,left,-,-,-,-,table,,none,none,none,none,Place the juice pouch on the table with the left hand. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,0,120,120,pick,juice pouch,left,plain,top,side,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand from the side at the top of the object. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,120,270,150,place,juice pouch,left,-,-,-,-,front,asparagus,front,left,none,bottom,Put the juice pouch in front of the asparagus with the left hand on the bottom side facing left with the front as the reference point. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,474,645,171,pick,canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand from the side at the middle. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,645,762,117,place,canned goods,right,-,-,-,-,right,juice pouch,right,none,none,none,Put the canned goods to the right side of the juice pouch with the right hand. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,762,909,147,pick,red marker,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,909,990,81,place,red marker,right,-,-,-,-,right,canned goods,right,forwards,none,none,Put the red marker to the right of the canned goods with the right hand facing forwards with the tip as the reference point. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,990,1263,273,pick,asparagus,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,1263,1347,84,place,asparagus,left,-,-,-,-,left,juice pouch,left,backwards,none,none,Place the asparagus to the left side of the juice pouch with the left hand facing backwards with the tip as the orientation reference point. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,1347,1674,327,pick,canned goods,right,plain,entire,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand from the side grasping the entire object. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,1674,1770,96,place,canned goods,right,-,-,-,-,behind,juice pouch,behind,none,none,top,Put the canned goods behind the juice pouch on the top side with the right hand. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,1770,1947,177,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,1947,2112,165,place,asparagus,left,-,-,-,-,between,juice pouch and the red marker,between,backwards,none,none,Put the asparagus between the juice pouch and the red marker with the left hand facing backwards with the tip at the bottom side. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,2112,2556,444,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,2556,2757,201,place,canned goods,left,-,-,-,-,behind,asparagus,behind,none,none,top,Place the canned goods behind the asparagus on the top side with the left hand. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,2757,2898,141,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,2898,2979,81,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-06-58-23-150000,pick_place_div_scene,pick and place with large task variations,2979,3000,21,place,red marker,right,-,-,-,-,corner,canned goods,corner,none,none,none,Put the red marker to the top right side to the right of the canned goods with the right hand. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,0,180,180,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,180,270,90,place,red marker pen,right,-,-,-,-,right,canned goods,right,forwards,none,none,Put the red marker pen to the right of the canned goods with the tip facing forwards using the right hand. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,270,453,183,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,453,591,138,place,asparagus,left,-,-,-,-,left,canned goods,left,backwards,none,none,Place the asparagus to the left of the canned goods with the left hand facing backwards from the tip. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,591,825,234,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle from the middle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,825,921,96,place,red marker,right,-,-,-,-,right,juice pack,right,left,none,none,Place the red marker to the right of the juice pack with the right hand with its tip facing left. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,921,1104,183,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,1104,1200,96,place,asparagus,left,-,-,-,-,left,juice pack,left,backwards,none,none,Put the asparagus to the left of the juice pack with the left hand facing backwards with the tip as the reference point. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,1200,1362,162,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,1362,1446,84,place,red marker,right,-,-,-,-,right,canned goods,right,forwards,none,none,Place the red marker to the right of the canned goods with the right hand facing forwards with the tip as the reference point. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,1446,1608,162,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal from the middle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,1608,1785,177,place,asparagus,left,-,-,-,-,front,canned goods,front,backwards,none,none,Put the asparagus in front of the canned goods with the left hand facing backwards with the tip as the reference point. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,1785,2070,285,pick,red marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,2070,2307,237,place,red marker,right,-,-,-,-,behind,juice pack,behind,top_left,none,none,Put the red marker behind the juice pack with the right hand with the tip facing top left. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,2307,2628,321,pick,juice pack,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the juice pack from the table with the left hand using a side grip at the left from a diagonal angle. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,2628,2805,177,place,juice pack,left,-,-,-,-,left,red marker,left,right,none,none,Place the juice pack to the left of the red marker facing right with the left hand. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,2805,2865,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-03-07-01-06-642000,pick_place_div_scene,pick and place with large task variations,2865,3000,135,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,0,126,126,pick,brown stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,126,249,123,place,brown stuffed toy,right,-,-,-,-,inside,green bowl,inside,bottom_right,none,none,Put the brown stuffed toy inside the green bowl with the right hand facing bottom right. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,249,453,204,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,453,552,99,place,blue stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the blue stuffed toy on top of the pink plate with the left hand facing top left. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,660,819,159,pick,red bell pepper,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,957,1161,204,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the right side and a diagonal angle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,1161,1197,36,dump,brown stuffed toy,right,-,-,-,-,right,pink plate,right,none,none,none,Dump the brown stuffed toy from the green bowl to the right of the pink plate with the right hand. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,1197,1455,258,place,green bowl,right,-,-,-,-,behind,brown stuffed toy,behind,none,none,top,Put the green bowl behind the brown stuffed toy on the top side with the right hand. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,1659,1779,120,pick,red bell pepper,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,1779,1908,129,place,red bell pepper,left,-,-,-,-,inside,green bowl,inside,top_right,none,none,Put the red bell pepper inside the green bowl with the left hand facing top right from the front. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,2085,2175,90,pick,red screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,2175,2403,228,place,red screwdriver,right,-,-,-,-,right,brown stuffed toy,right,backwards,none,bottom,Put the red screwdriver to the right of the brown stuffed toy on the bottom side with the right hand facing backwards with the tip as the reference point. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,2403,2463,60,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,2460,2601,141,pick,brown stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,2601,2700,99,place,brown stuffed toy,left,-,-,-,-,left,pink plate,left,backwards,none,none,Put the brown stuffed toy to the left of the pink plate on the left side with the left hand facing backwards. +2026-03-14-20-06-41-409000,pick_place_diverse,pick place large number of objects,2700,3000,300,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,0,132,132,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,132,231,99,place,brown stuffed toy,left,-,-,-,-,left,green bowl,left,backwards,none,top,Put the brown stuffed toy to the left of the green bowl on the top side facing backwards with the left hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,231,429,198,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,429,585,156,place,orange screwdriver,right,-,-,-,-,right,pink tray,right,forwards,none,top,Place the orange screwdriver to the right of the pink tray on its top side with the tip facing forwards using the right hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,582,873,291,pick,orange screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom diagonally. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,873,957,84,place,orange screwdriver,left,-,-,-,-,left,pink tray,left,forwards,none,none,Place the orange screwdriver to the left of the pink tray with the left hand facing forwards with the tip facing forwards. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,1104,1164,60,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,1212,1425,213,place,green bowl,right,-,-,-,-,right,pink tray,right,none,none,top,Put the green bowl to the right of the pink tray on the top side with the right hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,1425,1638,213,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,1638,1755,117,place,brown stuffed toy,left,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Put the brown stuffed toy inside the green bowl with the left hand facing bottom left. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,1755,1947,192,pick,blue stuffed toy,left,side,bottom,diagonal,pink tray,-,-,-,-,-,-,Pick up the blue stuffed toy from the pink tray with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,1947,2034,87,place,blue stuffed toy,left,-,-,-,-,behind,pink tray,behind,forwards,none,top,Put the blue stuffed toy behind the pink tray on the top side with the left hand facing forwards. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2034,2229,195,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2229,2304,75,dump,brown stuffed toy,right,-,-,-,-,-,,none,none,none,bottom,Dump the brown stuffed toy to the bottom side with the right hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2304,2418,114,place,green bowl,right,-,-,-,-,right,brown stuffed toy,right,none,none,none,Place the green bowl to the right of the brown stuffed toy with the right hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2418,2466,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2466,2598,132,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2598,2700,102,place,blue stuffed toy,left,-,-,-,-,corner,orange screwdriver,corner,top_left,none,top_left,Place the blue stuffed toy to the left of the orange screwdriver on the top left side with the left hand facing top left. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2802,2850,48,pick,brown stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom at a diagonal angle. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2850,2901,51,place,brown stuffed toy,left,-,-,-,-,behind,pink tray,behind,bottom_right,none,top_left,Put the brown stuffed toy behind the pink tray on the top left side with the left hand facing bottom right. +2026-03-14-20-11-52-724000,pick_place_diverse,pick place large number of objects,2901,3000,99,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,0,108,108,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,108,204,96,place,green bowl,right,-,-,-,-,behind,red bell pepper,behind,none,none,none,Put the green bowl behind the red bell pepper with the right hand. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,204,408,204,pick,red bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,408,513,105,place,red bell pepper,right,-,-,-,-,right,green bowl,right,none,up,none,Put the red bell pepper to the right of the green bowl with the right hand right side up with the front as the reference point. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,513,681,168,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,681,801,120,place,blue stuffed toy,left,-,-,-,-,right,pink plate,right,forwards,none,none,Put the blue stuffed toy to the right of the pink plate with the left hand facing forwards. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,801,948,147,pick,blue stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the top of the object. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,948,1032,84,place,blue stuffed toy,right,-,-,-,-,inside,bowl,inside,top_right,none,none,Put the blue stuffed toy inside the bowl with the right hand facing top right. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,1032,1194,162,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,1194,1281,87,place,brown stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,bottom_right,none,none,Place the brown stuffed toy on top of the pink plate with the left hand facing bottom right. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,1281,1491,210,pick,red bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,1491,1680,189,place,red bell pepper,right,-,-,-,-,right,pink plate,right,none,up,none,Place the red bell pepper to the right of the pink plate with the right hand right side up with the front as the orientation reference point. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,1680,1878,198,pick,screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screw driver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,1878,2013,135,place,screwdriver,left,-,-,-,-,behind,pink plate,behind,backwards,none,none,Put the screwdriver behind the pink plate with the left hand facing backwards with the tip as the orientation reference point. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2012,2229,217,pick,brown stuffed toy,left,side,top,diagonal,plate,-,-,-,-,-,-,Pick up the brown stuffed toy from the plate with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2229,2328,99,place,brown stuffed toy,left,-,-,-,-,left,screwdriver,left,bottom_right,none,none,Put the brown stuffed toy to the left of the screwdriver with the left hand facing bottom right. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2328,2568,240,pick,pink plate,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a side grip at the top left with a diagonal angle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2568,2733,165,place,pink plate,left,-,-,-,-,left,brown stuffed toy,left,none,up,none,Put the pink plate to the left of the brown stuffed toy with the left hand right side up with the front as the orientation reference point. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2733,2802,69,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2802,2970,168,pick,red bell pepper,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-14-20-14-30-527000,pick_place_diverse,pick place large number of objects,2970,3000,30,place,red bell pepper,right,-,-,-,-,right,green bowl,right,none,none,none,Put the red bell pepper to the right side of the green bowl with the right hand. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,0,138,138,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,138,276,138,place,red marker,left,-,-,-,-,left,stuffed toy,left,backwards,none,none,Put the red marker to the left of the stuffed toy with the left hand facing backwards with the tip as the reference point. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,276,471,195,pick,green bowl,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the left side. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,471,498,27,dump,croissant,right,-,-,-,-,right,bag of chips,right,none,none,none,Dump the croissant to the right of the bag of chips with the right hand. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,498,612,114,place,bowl,right,-,-,-,-,right,coffee cup,right,none,none,none,Put the bowl to the right of the coffee cup with the right hand. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,612,834,222,pick,stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,834,936,102,place,stuffed toy,left,-,-,-,-,left,bag of chips,left,backwards,none,none,Put the stuffed toy to the left of the bag of chips with the left hand facing backwards. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,936,1089,153,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,1089,1185,96,place,croissant,right,-,-,-,-,front,bowl,front,none,up,none,Place the croissant in front of the bowl with the right hand right side up. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,1185,1287,102,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,1287,1371,84,place,bag of chips,left,-,-,-,-,left,juice pack,left,backwards,none,none,Put the bag of chips to the left of the juice pack with the left hand facing backwards. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,1578,1632,54,pick,coffee cup,right,plain,right,diagonal,table,-,-,-,-,-,-,Pick up the coffee cup from the table with the right hand at a diagonal angle grasping the right side by the lip. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,1632,1833,201,place,coffee cup,right,-,-,-,-,left,stuffed toy,left,left,up,none,Put the coffee cup to the right of the stuffed toy with the handle facing to the left using the right hand right side up. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,1833,2079,246,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2079,2154,75,place,croissant,right,-,-,-,-,inside,bowl,inside,none,up,none,Place the croissant inside the bowl with the right hand right side up. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2154,2331,177,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2331,2457,126,place,red marker,left,-,-,-,-,inside,coffee cup,inside,none,down,none,Place the red marker inside the coffee cup with the left hand upside down with the tip as the reference point. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2457,2616,159,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2616,2742,126,place,green bowl,right,-,-,-,-,right,coffee cup,right,none,none,none,Put the green bowl to the right side of the coffee cup with the right hand. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2742,2799,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2799,2883,84,pick,stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2883,2961,78,place,stuffed toy,left,-,-,-,-,left,bag of chips,left,backwards,none,none,Put the stuffed toy to the left of the bag of chips with the left hand facing backwards. +2026-03-14-20-17-36-029000,pick_place_diverse,pick place large number of objects,2961,3000,39,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,0,174,174,pick,gray stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,174,342,168,place,gray stuffed,left,-,-,-,-,behind,green bowl,behind,bottom_left,none,none,Put the gray stuffed behind the green bowl with the left hand facing bottom left from the front. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,342,576,234,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,576,612,36,dump,croissant,right,-,-,-,-,corner,white coffee cup,corner,none,none,none,Dump the croissant to the front right of the white coffee cup with the right hand. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,612,870,258,place,green bowl,right,-,-,-,-,left,white coffee cup,left,none,none,none,Put the green bowl to the left of the white coffee cup with the right hand. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,870,1152,282,pick,gray stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the right hand using a side grip at the top right from a diagonal angle. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,1152,1254,102,place,gray stuffed toy,right,-,-,-,-,right,croissant,right,backwards,none,none,Put the gray stuffed toy to the right of the croissant with the right hand facing backwards. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,1254,1449,195,pick,red marker,left,side,top,diagonal,white coffee cup,-,-,-,-,-,-,Pick up the red marker from the white coffee cup with the left hand using a side grasp at the top from a diagonal angle. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,1449,1524,75,place,red marker,left,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Place the red marker inside the green bowl with the left hand facing bottom left with the tip as the reference point. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,1524,1725,201,pick,white coffee cup,left,lip,top,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a lip grip at the bottom right from the top. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,1725,1893,168,place,white coffee cup,left,-,-,-,-,right,green bowl,right,none,up,none,Put the white coffee cup to the right of the green bowl with the left hand right side up with the front as the reference point. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,1893,2112,219,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grip on the left. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,2112,2214,102,place,green bowl,left,-,-,-,-,left,doritos,left,none,none,none,Put the green bowl to the left of the doritos with the left hand. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,2214,2535,321,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,2535,2673,138,place,white coffee cup,right,-,-,-,-,table,table,none,none,up,top,Put the white coffee cup on the top side of the table with the right hand right side up with the front as the reference point. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,2673,2856,183,pick,doritos,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,2856,2952,96,place,doritos,left,-,-,-,-,left,croissant,left,bottom_left,none,none,Put the doritos to the left of the croissant with the left hand facing bottom left. +2026-03-14-20-20-01-584000,pick_place_diverse,pick place large number of objects,2952,3000,48,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,0,180,180,pick,juice bag,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice bag from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,180,249,69,place,juice bag,left,-,-,-,-,front,green bowl,front,top_right,none,top,Put the juice bag in front of the green bowl on the top side with the front facing top right using the left hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,249,447,198,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal pick angle. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,447,588,141,place,white mug,right,-,-,-,-,right,gray stuffed toy,right,top_left,up,bottom,Put the white mug to the right of the gray stuffed toy on the bottom side with the right hand right side up with the front facing top left. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,588,768,180,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip from the left at a diagonal angle. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,768,867,99,place,green bowl,left,-,-,-,-,left,juice bag,left,none,none,none,Place the green bowl to the left of the juice bag with the left hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,867,1128,261,pick,red chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red chips from the table with the right hand using a side grip at the bottom right from a diagonal angle. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,1128,1227,99,place,red chips,right,-,-,-,-,corner,white mug,corner,left,none,bottom_right,Put the red chips to the right of the white mug on the bottom right side with the right hand facing left. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,1227,1458,231,pick,white mug,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the top right diagonal. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,1458,1695,237,place,white mug,right,-,-,-,-,front,gray stuffed toy,front,left,up,top,Put the white mug in front of the gray stuffed toy on its top side right side up with the front facing left using the right hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,1695,1899,204,pick,juice bag,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice bag from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,1899,2010,111,place,juice bag,left,-,-,-,-,left,white mug,left,forwards,none,top,Put the juice bag to the left of the white mug on the top side with the left hand facing forwards relative to the front. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2010,2148,138,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2148,2232,84,place,green bowl,left,-,-,-,-,corner,table,none,none,none,top_left,Put the green bowl on the top left side of the table with the left hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2232,2436,204,pick,white mug,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the top right from a diagonal angle. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2436,2592,156,place,white mug,right,-,-,-,-,behind,juice bag,behind,top_left,up,top,Put the white mug behind the juice bag on the top side with the right hand right side up with the front facing top left. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2592,2655,63,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2655,2781,126,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2781,2916,135,dump,red marker,left,-,-,-,-,left,juice bag,left,none,none,none,Dump the red marker on the table to the left of the juice bag with the left hand. +2026-03-14-20-23-53-031000,pick_place_diverse,pick place large number of objects,2916,3000,84,place,green bowl,left,-,-,-,-,right,bread,right,none,none,none,Put the green bowl to the right of the bread with the left hand. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,0,195,195,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,195,282,87,place,asparagus,right,-,-,-,-,right,eggplant,right,forwards,none,none,Put the asparagus to the right side of the eggplant with the right hand facing forwards with the tip as the reference point. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,282,423,141,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,423,528,105,place,carrot,right,-,-,-,-,right,asparagus,right,backwards,none,none,Put the carrot to the right side of the asparagus with the right hand facing backwards with the tip as the reference point. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,648,831,183,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,831,918,87,place,corn,right,-,-,-,-,behind,asparagus,behind,backwards,none,none,Put the corn behind the asparagus with the right hand facing backwards by the tip. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,918,1050,132,pick,green bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1050,1113,63,place,green bag of chips,left,-,-,-,-,left,green cup,left,bottom_right,none,none,Put the green bag of chips to the left of the green cup with the left hand facing bottom right. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1113,1224,111,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1224,1341,117,place,corn,right,-,-,-,-,behind,bowl,behind,backwards,none,none,Put the corn behind the bowl with the right hand facing backwards with the tip as the reference point. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1341,1491,150,pick,bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the left hand at a diagonal angle grasping the left side using a lip grip. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1491,1638,147,place,bowl,left,-,-,-,-,corner,green bag of chips,corner,none,none,none,Put the bowl to the front left side of the green bag of chips with the left hand. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1638,1905,267,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,1905,2007,102,place,eggplant,right,-,-,-,-,front,green cup,front,top_left,none,none,Put the eggplant in front of the green cup with the right hand facing top left with the tip as the reference point. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,2007,2349,342,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,2349,2481,132,place,corn,right,-,-,-,-,between,table between the eggplant,none,backwards,none,none,Put the corn to the bottom side of the table between the eggplant and the asparagus with the right hand facing backwards with the tip as the reference point. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,2481,2553,72,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,2553,2742,189,pick,green cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green cup from the table with the left hand at a diagonal angle by the handle. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,2742,2856,114,place,green cup,left,-,-,-,-,behind,corn,behind,bottom_left,up,none,Put the green cup behind the corn with the handle facing bottom left right side up using the left hand. +2026-03-14-20-29-51-405000,pick_place_diverse,pick place large number of objects,2856,3000,144,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,0,108,108,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,108,258,150,place,carrot,right,-,-,-,-,inside,green mug,inside,none,down,none,Put the carrot inside the green mug with the right hand upside down. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,258,459,201,pick,bag of chips,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the top left with a diagonal angle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,459,567,108,place,bag of chips,left,-,-,-,-,left,green mug,left,bottom_right,none,top,Put the bag of chips to the left of the green mug on the top side with the left hand facing bottom right. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,567,753,186,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,753,834,81,place,asparagus,right,-,-,-,-,right,green mug,right,forwards,none,top,Put the asparagus to the right of the green mug on the top side with the tip facing forwards using the right hand. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,834,1008,174,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,1008,1128,120,place,eggplant,left,-,-,-,-,inside,beige bowl,inside,left,none,none,Put the eggplant inside the beige bowl with the left hand facing left with the tip as the orientation reference point. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,1128,1350,222,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,1350,1539,189,place,corn,right,-,-,-,-,left,bag of chips,left,bottom_right,none,none,Put the corn to the left of the bag of chips with the right hand on the left side facing bottom right with the tip as the reference point. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,1539,1938,399,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the left grasp location with a diagonal pick angle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,1937,2049,112,place,bag of chips,left,-,-,-,-,front,corn,front,backwards,none,top,Put the bag of chips in front of the corn on the top side with the left hand facing backwards. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2049,2211,162,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2211,2328,117,place,asparagus,right,-,-,-,-,corner,green mug,corner,forwards,none,none,Put the asparagus to the front left of the green mug with the right hand facing forwards with the tip at the bottom side. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2328,2370,42,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2370,2613,243,pick,beige bowl,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2613,2748,135,dump,eggplant,left,-,-,-,-,behind,green mug,behind,none,none,none,Dump the eggplant behind the green mug with the left hand. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2748,2877,129,place,beige bowl,left,-,-,-,-,between,bag of chips and the asparagus,between,none,none,none,Place the beige bowl in between the bag of chips and the asparagus with the left hand. +2026-03-14-20-32-15-833000,pick_place_diverse,pick place large number of objects,2877,3000,123,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,0,204,204,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,204,393,189,place,beige bowl,left,-,-,-,-,corner,asparagus,corner,none,none,top_right,Put the beige bowl to the right of the asparagus on the top right side with the left hand. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,393,570,177,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,570,672,102,place,bag of chips,left,-,-,-,-,inside,beige bowl,inside,backwards,none,none,Put the bag of chips inside the beige bowl on the right side with the left hand facing backwards. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,672,993,321,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle from the middle. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,993,1107,114,place,corn,left,-,-,-,-,left,asparagus,left,backwards,none,bottom,Put the corn to the left of the asparagus with the left hand on its bottom side facing backwards from the tip. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,1107,1251,144,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,1251,1341,90,dump,bag of chips,right,-,-,-,-,right,asparagus,right,none,none,none,Dump the bag of chips to the right of the asparagus with the right hand. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,1341,1500,159,place,beige bowl,right,-,-,-,-,corner,corn,corner,none,none,bottom_right,Put the beige bowl to the left of the corn on the bottom right side with the right hand. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,1500,1746,246,pick,corn,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand using a side grip at the bottom in a diagonal pick. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,1746,1902,156,place,corn,left,-,-,-,-,left,eggplant,left,bottom_right,none,top,Put the corn to the left of the eggplant with the left hand on the top side facing bottom right with the tip as the reference point. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,2172,2304,132,pick,asparagus,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,2304,2490,186,place,asparagus,right,-,-,-,-,behind,beige bowl,behind,bottom_left,none,none,Put the asparagus behind the beige bowl with the right hand facing bottom left with the tip as the reference point. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,2490,2643,153,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,2643,2823,180,pick,bag of chips,right,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the left in a diagonal angle. +2026-03-14-20-34-43-723000,pick_place_diverse,pick place large number of objects,2823,3000,177,place,bag of chips,right,-,-,-,-,corner,green cup,corner,none,none,top_right,Put the bag of chips to the right of the green cup on the top right side with the right hand. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,0,135,135,pick,pink mug,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,135,213,78,place,pink mug,left,-,-,-,-,on_top,purple tray,on_top,forwards,up,none,Place the pink mug on top of the purple tray right side up with the front facing forwards using the left hand. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,213,573,360,pick,soda can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,573,726,153,place,soda can,right,-,-,-,-,on_top,white plate,on_top,none,up,bottom_right,Put the soda can on top of the white plate on the bottom right side with the right hand right side up with the front as the reference point. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,726,936,210,pick,pink mug,left,lip,right,top,purple plate,-,-,-,-,-,-,Pick up the pink mug from the purple plate with the left hand using a lip grip from the top at the right. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,936,1068,132,place,pink mug,left,-,-,-,-,corner,purple tray,corner,top_left,up,top_left,Place the pink mug to the left of the purple tray on the top left side with the left hand right side up with the front facing top left side. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,1068,1350,282,pick,small canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the small canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,1350,1446,96,place,small canned goods,left,-,-,-,-,behind,pink mug,behind,none,up,top_left,Put the small canned goods behind the pink mug on the top left side right side up with the front as reference using the left hand. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,1446,1743,297,pick,large canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the large canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,1743,1890,147,place,large canned goods,right,-,-,-,-,right,white plate,right,none,up,bottom,Put the large canned goods to the right of the white plate on the bottom side with the right hand right side up with the front as the orientation reference point. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,1890,2157,267,pick,purple plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the purple plate from the table with the left hand using a diagonal lip grasp at the left. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2157,2295,138,place,purple plate,left,-,-,-,-,behind,white plate,behind,none,up,top,Place the purple plate behind the white plate on its top side right side up with the front as reference using the left hand. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2295,2514,219,pick,small canned goods,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the small canned goods from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2514,2619,105,place,small canned goods,left,-,-,-,-,on_top,purple tray,on_top,none,none,none,Place the small canned goods on top of the purple tray with the left hand. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2619,2760,141,pick,pink mug,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand using a diagonal lip grasp on the right. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2760,2844,84,place,pink mug,left,-,-,-,-,left,white plate,left,top_right,none,bottom,Put the pink mug to the left of the white plate on the bottom side with the left hand facing top right from the front. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2844,2910,66,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-38-10-457000,pick_place_diverse,pick place large number of objects,2910,3000,90,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,0,168,168,pick,pink coffee cup,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the left hand using a lip grasp at the bottom left from a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,168,294,126,place,pink coffee cup,left,-,-,-,-,left,purple plate,left,bottom_left,up,none,Put the pink coffee cup to the left of the purple plate with the handle facing bottom left right side up using the left hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,294,507,213,pick,small canned goods,left,side,top,diagonal,purple plate,-,-,-,-,-,-,Pick up the small canned goods from the top of the purple plate with the left hand using a side grasp at the top from a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,506,660,154,place,small canned goods,left,-,-,-,-,front,pink coffee cup,front,none,up,none,Put the small canned goods in front of the pink coffee cup with the left hand right side up front. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,660,864,204,pick,big canned goods,right,side,middle,straight,table,-,-,-,-,-,-,Pick up the big canned goods from the table with the right hand at the middle using a side grasp. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,864,969,105,place,big canned goods,right,-,-,-,-,on_top,purple plate,on_top,none,none,none,Put the big canned goods on top of the purple plate with the right hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,968,1173,205,pick,small canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the small canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,1173,1275,102,place,small canned goods,left,-,-,-,-,left,pink cup,left,none,none,none,Put the small canned goods to the left of the pink cup with the left hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,1275,1602,327,pick,blue soda can,right,side,top,diagonal,white plate,-,-,-,-,-,-,Pick up the blue soda can from the top of the white plate with the right hand using a side grip at the top with a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,1602,1725,123,place,blue soda can,right,-,-,-,-,right,purple plate,right,none,none,none,Put the blue soda can to the right of the purple plate with the right hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,1725,1950,225,pick,pink coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table by the handle from the side with the left hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,1950,2094,144,place,pink coffee cup,left,-,-,-,-,front,small canned goods,front,backwards,up,none,Put the pink coffee cup in front of the small canned goods with the left hand right side up with the front facing backwards. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,2094,2328,234,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,2328,2478,150,place,blue soda can,right,-,-,-,-,right,white plate,right,none,none,none,Put the blue soda can to the right of the white plate with the right hand. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,2475,2667,192,pick,pink coffee cup,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the left hand using a lip grip at the bottom right from a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,2667,2784,117,place,pink coffee cup,left,-,-,-,-,left,white plate,left,backwards,up,none,Put the pink coffee cup to the left of the white plate with the left hand right side up with the front facing backwards. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,2784,2964,180,pick,small canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the small canned goods from the table with the left hand using a side grip at the top with a diagonal angle. +2026-03-14-20-40-25-366000,pick_place_diverse,pick place large number of objects,2964,3000,36,place,small canned goods,left,-,-,-,-,left,purple plate,left,none,none,none,Put the small canned goods to the left of the purple plate with the left hand. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,0,126,126,pick,pink cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand using a lip grip at the top left with a diagonal pick angle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,126,240,114,place,pink cup,left,-,-,-,-,left,canned goods,left,none,up,top,Put the pink cup to the left side of the canned goods on the top side with the left hand right side up with the front as the reference point. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,240,489,249,pick,white plate,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a side grip at the left in a diagonal pick angle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,489,669,180,place,white plate,left,-,-,-,-,front,pink cup,front,none,up,bottom,Put the white plate to the front of the pink cup with the left hand right side up on its bottom side with the front as the orientation reference point. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,669,852,183,pick,pink cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,852,1023,171,place,pink cup,left,-,-,-,-,on_top,white plate,on_top,top_right,up,none,Place the pink cup on top of the white plate right side up with the front facing top right using the left hand. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,1023,1260,237,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,1260,1455,195,place,blue soda can,right,-,-,-,-,right,blue plate,right,none,none,top,Put the blue soda can to the right of the blue plate on the top side with the right hand. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,1455,1698,243,pick,white canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,1698,1878,180,place,white canned goods,left,-,-,-,-,front,blue plate,front,none,up,bottom,Put the white canned goods to the front of the blue plate with the left hand right side up on the bottom side. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,1878,2100,222,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,2100,2277,177,place,blue soda,right,-,-,-,-,between,white plate and white cup,between,none,up,bottom,Put the blue soda in between the white plate and white cup on the bottom side right side up with the front as the reference using the right hand. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,2277,2613,336,pick,pink cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink cup on top of the white plate with the left hand using a lip grip at the top right from a diagonal angle. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,2613,2796,183,place,pink cup,left,-,-,-,-,behind,white plate,behind,none,up,top_left,Put the pink cup behind the white plate on the top left side with the left hand right side up with the front as the reference point. +2026-03-14-20-42-46-713000,pick_place_diverse,pick place large number of objects,2796,3000,204,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,0,153,153,pick,pen,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pen from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,153,393,240,place,pen,left,-,-,-,-,corner,stuffed toy,corner,bottom_left,none,none,Put the pen to the top left side to the left side of the stuffed toy with the left hand facing bottom left by its tip. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,393,507,114,pick,pink stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand using a side grip at the top diagonally. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,506,675,169,place,pink stuffed toy,right,-,-,-,-,inside,bowl,inside,backwards,none,none,Put the pink stuffed toy inside the bowl on the right side of the white cup with the right hand facing backwards. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,675,795,120,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,795,921,126,place,yellow stuffed toy,left,-,-,-,-,inside,bowl,inside,none,none,none,Put the yellow stuffed toy inside the bowl on the right side of the white cup with the left hand. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,921,1119,198,pick,pen,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the pen from the top left side of the table with the left hand using a side grip at a diagonal angle from the top. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,1119,1257,138,place,pen,left,-,-,-,-,inside,bowl,inside,bottom_left,none,none,Put the pen inside the bowl on the right side of the white cup with the left hand facing bottom left. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,1257,1386,129,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,1386,1524,138,place,canned goods,left,-,-,-,-,left,white cup,left,none,none,top,Put the canned goods to the left of the white cup on the top side with the left hand. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,1524,1713,189,pick,white cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the top with a diagonal pick angle. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,1713,1950,237,place,cup,left,-,-,-,-,front,green bowl,front,none,up,bottom,Put the cup in front of the green bowl with the left hand right side up on the bottom side with the front as the reference point. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,1950,2079,129,pick,bowl,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the right hand at a diagonal from the top of the object. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2079,2205,126,dump,stuffed toys,right,-,-,-,-,left,white cup,left,none,none,none,Dump the stuffed toys and the pen to the left of the white cup using the right arm. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2205,2436,231,place,bowl,right,-,-,-,-,right,white cup,right,none,none,bottom,Put the bowl to the right of the white cup on the bottom side with the right hand. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2436,2586,150,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the top left of the table with the left hand using a side grip at the top and a diagonal angle. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2586,2688,102,place,canned goods,left,-,-,-,-,corner,pink stuffed toy,corner,none,none,top_right,Put the canned goods to the left of the pink stuffed toy on the top right side with the left hand. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2688,2727,39,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2862,2931,69,pick,yellow stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the top side of the table with the right hand at a diagonal angle grasping the entire object. +2026-03-14-20-55-04-184000,pick_place_diverse,pick place large number of objects,2931,3000,69,place,yellow stuffed toy,right,-,-,-,-,inside,bowl,inside,none,none,none,Place the yellow stuffed toy inside the bowl on the right side with the right hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,0,144,144,pick,pink stuffed toy,left,side,top,top,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand using a side grip from the top. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,144,234,90,place,pink stuffed toy,left,-,-,-,-,behind,canned goods,behind,top_left,none,top,Place the pink stuffed toy at the back of the canned goods with the left hand on the top side facing top left. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,234,456,222,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,456,525,69,place,yellow stuffed toy,left,-,-,-,-,behind,pink stuffed toy,behind,none,none,top,Put the yellow stuffed toy at the back of the pink stuffed toy on the top side with the left hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,525,660,135,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,660,753,93,place,green bowl,right,-,-,-,-,behind,screwdriver,behind,none,none,top,Put the green bowl at the back of the screwdriver on its top side with the right hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,753,918,165,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,918,1017,99,place,canned goods,left,-,-,-,-,between,pink stuffed toy and the green bowl,between,none,none,none,Place the canned goods between the pink stuffed toy and the green bowl with the left hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1017,1170,153,pick,screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand from the top at the middle. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1170,1284,114,place,screwdriver,left,-,-,-,-,front,pink stuffed toy,front,forwards,none,bottom,Put the screwdriver in front of the pink stuffed toy with the left hand on its bottom side facing forwards with the tip as the reference point. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1284,1506,222,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the right using a lip grip. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1506,1620,114,place,white cup,right,-,-,-,-,right,green bowl,right,none,up,top,Put the white cup to the right of the green bowl on the top side right side up with the front as the orientation reference point using the right arm. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1620,1782,162,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1782,1890,108,place,green bowl,left,-,-,-,-,right,screwdriver,right,none,none,none,Put the green bowl to the right of the screwdriver with the left hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,1890,2052,162,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2052,2145,93,place,yellow stuffed toy,left,-,-,-,-,left,screwdriver,left,backwards,none,none,Put the yellow stuffed toy to the left of the screwdriver with the left hand facing backwards. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2145,2304,159,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top right side using a lip grip. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2304,2451,147,place,white cup,right,-,-,-,-,right,green bowl,right,none,up,bottom,Put the white cup to the right of the green bowl on the bottom side with the right hand right side up with the front as the reference point. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2451,2496,45,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2496,2667,171,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2667,2781,114,place,pink stuffed toy,left,-,-,-,-,right,canned goods,right,none,none,top,Put the pink stuffed toy to the right of the canned goods on the top side with the left hand. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2781,2937,156,pick,yellow stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand from the top around the entire object. +2026-03-14-20-57-22-308000,pick_place_diverse,pick place large number of objects,2937,3000,63,place,yellow stuffed toy,left,-,-,-,-,left,canned goods,left,none,none,top,Put the yellow stuffed toy to the left of the canned goods on the top side with the left hand. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,0,117,117,pick,screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand by the bottom at a diagonal angle using a side grip. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,117,270,153,place,screwdriver,left,-,-,-,-,right,pink stuffed toy,right,forwards,none,top,Put the screwdriver to the right side of the pink stuffed toy on its top side with the tip facing forwards using the left hand. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,270,462,192,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,462,582,120,place,white cup,right,-,-,-,-,corner,screwdriver,corner,none,up,none,Put the white cup to the top right side of the screwdriver with the right hand right side up with the front as the reference point. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,582,750,168,pick,yellow stuffed toy,left,side,top,top,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand using a side grip from the top. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,750,849,99,place,yellow stuffed toy,left,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Put the yellow stuffed toy inside the green bowl with the left hand facing bottom left. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,849,1044,195,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned good from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,1044,1152,108,place,canned goods,left,-,-,-,-,corner,screwdriver,corner,none,up,bottom,Put the canned good to the front right side of the screwdriver with the left hand right side up on the bottom side from the front. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,1152,1383,231,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,1383,1521,138,place,white cup,right,-,-,-,-,right,canned goods,right,none,up,none,Place the white cup to the right side of the canned good with the right hand right side up with the front as the orientation reference point. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,1521,1701,180,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,1701,1818,117,place,pink stuffed toy,left,-,-,-,-,left,green bowl,left,forwards,none,none,Put the pink stuffed toy to the left side of the green bowl with the left hand facing forwards. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,1818,2001,183,pick,screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2001,2124,123,place,screwdriver,left,-,-,-,-,behind,pink stuffed toy,behind,forwards,none,top_left,Put the screwdriver behind the pink stuffed toy on the top left side with the left hand facing forwards from the tip. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2124,2313,189,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2313,2448,135,place,white cup,right,-,-,-,-,behind,canned goods,behind,none,up,top,Place the white cup behind the canned good on its top side right side up with the front as the reference point using the right hand. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2448,2505,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2505,2655,150,pick,pink stuffed toy,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the top of the object. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2655,2745,90,place,pink stuffed toy,left,-,-,-,-,behind,green bowl,behind,forwards,none,top,Put the pink stuffed toy behind the green bowl on the top side with the left hand facing forwards. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2745,2916,171,pick,screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-20-59-52-076000,pick_place_diverse,pick place large number of objects,2916,3000,84,place,screwdriver,left,-,-,-,-,left,green bowl,left,forwards,none,none,Put the screwdriver to the left side of the green bowl with the left hand facing forwards with the tip forwards. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,0,150,150,pick,blue screwdriver,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,150,246,96,place,blue screwdriver,left,-,-,-,-,front,pink cup,front,forwards,none,bottom_left,Put the blue screwdriver in front of the pink cup on the bottom left side with the left hand facing forwards by the tip. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,245,381,136,pick,pink cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand from the side by the handle. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,381,564,183,place,pink cup,left,-,-,-,-,left,green bowl,left,right,none,bottom,Put the pink cup to the left of the green bowl on the bottom side with its front facing right using the left hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,564,747,183,pick,orange screwdriver,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,747,900,153,place,orange screwdriver,left,-,-,-,-,behind,white cup,behind,forwards,none,top,Put the orange screwdriver behind the white cup on the top side with the tip facing forwards using the left hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,900,1032,132,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1032,1095,63,dump,yellow stuffed toy,right,-,-,-,-,table,table,none,none,none,bottom,Dump the yellow stuffed toy on the bottom side of the table with the right hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1095,1233,138,place,green bowl,right,-,-,-,-,right,yellow stuffed toy,right,none,none,none,Put the green bowl to the right of the yellow stuffed toy with the right hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1233,1368,135,pick,green cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green cup from the table with the left hand using a diagonal lip grasp on the right side. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1368,1557,189,place,green cup,left,-,-,-,-,corner,white cup,corner,left,none,top_left,Put the green cup to the left of the white cup on the top left side with the left hand facing left from the front. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1557,1689,132,pick,pink cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1689,1824,135,place,pink cup,right,-,-,-,-,right,orange screwdriver,right,right,none,top,Put the pink cup to the right of the orange screwdriver on the top side with the right hand facing right from the front. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1824,1986,162,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,1986,2112,126,pick,blue screwdriver,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2112,2319,207,place,blue screwdriver,left,-,-,-,-,inside,green cup,inside,none,none,none,Put the blue screwdriver into the green cup with the left hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2319,2430,111,pick,yellow stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand using a side grip at the top diagonally. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2430,2580,150,place,yellow stuffed toy,right,-,-,-,-,right,pink cup,right,left,none,top,Put the yellow stuffed toy to the right of the pink cup on the top side with the front facing left using the right hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2580,2637,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2637,2739,102,pick,green cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green cup from the table with the left hand at a diagonal angle by the handle. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2739,2877,138,place,green cup,left,-,-,-,-,right,white cup,right,right,none,bottom,Place the green cup to the right of the white cup with the left hand on the bottom side facing right with the front as reference. +2026-03-14-22-49-48-005000,pick_place_diverse,pick and place on variety of objects,2877,3000,123,pick,orange screwdriver,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,0,6,6,place,orange screwdriver,left,-,-,-,-,front,white cup,front,top_left,none,none,Put the orange screwdriver in front of the white cup with the left hand with its tip facing top left. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,6,93,87,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,93,153,60,place,orange screwdriver,left,-,-,-,-,left,white cup,left,forwards,none,none,Put the orange screwdriver to the left side of the white cup with the left hand facing forwards with the tip facing forwards. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,255,306,51,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,306,393,87,place,green bowl,right,-,-,-,-,right,light green mug,right,none,none,none,Put the green bowl on the right side of the light green mug with the right hand. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,393,537,144,pick,yellow stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,537,645,108,place,yellow stuffed toy,right,-,-,-,-,left,green bowl,left,bottom_left,none,none,Put the yellow stuffed toy on the left side of the green bowl with the right hand facing bottom left. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,645,777,132,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,777,891,114,place,orange screwdriver,left,-,-,-,-,front,white cup,front,forwards,none,none,Put the orange screwdriver in front of the white cup with the left hand facing forwards with the tip as the reference point. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,891,1020,129,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1020,1095,75,place,white cup,left,-,-,-,-,left,pink mug,left,none,up,none,Put the white cup to the left side of the pink mug with the left hand right side up front. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1095,1275,180,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1275,1383,108,place,yellow stuffed toy,right,-,-,-,-,behind,green bowl,behind,backwards,none,none,Put the yellow stuffed toy behind the green bowl with the right hand facing backwards. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1383,1539,156,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1539,1632,93,place,orange screwdriver,left,-,-,-,-,left,white cup,left,forwards,none,none,Put the orange screwdriver to the left side of the white cup with the left hand with the tip facing forwards. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1632,1881,249,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal grip on the handle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,1881,2001,120,place,pink mug,right,-,-,-,-,right,green bowl,right,backwards,up,none,Put the pink mug on the right side of the green bowl with the right hand right side up with the front facing backward. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2001,2055,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2055,2208,153,pick,light green mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the light green mug from the table with the left hand at a diagonal angle by the handle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2325,2553,228,pick,light green mug,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the light green mug from the table with the left hand using a diagonal lip grasp at the right side. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2553,2673,120,place,light green mug,left,-,-,-,-,front,orange screwdriver,front,top_left,none,none,Place the light green mug in front of the orange screwdriver with the handle facing top left using the left hand. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2673,2805,132,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle from the middle. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2805,2907,102,place,blue screwdriver,left,-,-,-,-,left,orange screwdriver,left,top_right,none,none,Put the blue screwdriver to the left side of the orange screwdriver with the left hand with its tip facing top right. +2026-03-14-22-51-57-252000,pick_place_diverse,pick and place on variety of objects,2907,3000,93,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,0,141,141,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,141,258,117,place,yellow stuffed toy,right,-,-,-,-,inside,pink mug,inside,none,down,none,Put the yellow stuffed toy inside the pink mug with the right hand upside down. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,258,429,171,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,429,552,123,place,blue screwdriver,left,-,-,-,-,between,green mug and the green bowl,between,forwards,none,none,Put the blue screwdriver between the green mug and the green bowl with the left hand with its tip facing forwards. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,552,711,159,pick,red screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,711,948,237,place,red screwdriver,left,-,-,-,-,right,white cup,right,forwards,none,none,Put the red screwdriver to the right side of the white cup with the left hand facing forwards with the tip as the reference point. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,948,1188,240,pick,green mug,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand using a lip grip at the left side with a diagonal angle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,1188,1332,144,place,green mug,left,-,-,-,-,left,white cup,left,top_left,up,none,Place the green mug right side up with its front to the left side of the white cup with handle facing top left using the left hand. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,1332,1578,246,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,1578,1701,123,place,pink mug,right,-,-,-,-,right,red screwdriver,right,backwards,up,none,Place the pink mug to the right side of the red screwdriver with handle facing backwards right side up with the right hand. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,1701,1839,138,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,1911,2085,174,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2085,2154,69,place,green bowl,right,-,-,-,-,front,white cup,front,none,none,none,Put the green bowl in front of the white cup with the right hand. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2154,2295,141,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2295,2439,144,place,green bowl,left,-,-,-,-,left,green mug,left,none,none,none,Place the green bowl to the left side of the green mug with the left hand. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2439,2613,174,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2613,2739,126,place,blue screwdriver,left,-,-,-,-,center,,none,forwards,none,none,Put the blue screwdriver to the center of the table with the left hand facing forwards with the tip as the reference point. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2739,2781,42,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2781,2958,177,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-22-54-05-800000,pick_place_diverse,pick and place on variety of objects,2958,3000,42,place,blue screwdriver,right,-,-,-,-,table,,none,none,none,none,Put the blue screwdriver on the table with the right hand. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,0,96,96,pick,canned goods,left,side,top,diagonal,purple plate,-,-,-,-,-,-,Pick up the canned goods from the purple plate with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,96,267,171,place,canned goods,left,-,-,-,-,on_top,white plate,on_top,none,up,none,Put the canned goods on top of the white plate with the left hand right side up. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,267,423,156,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,423,537,114,place,blue marker,left,-,-,-,-,corner,purple plate,corner,backwards,none,top_right,Place the blue marker to the left of the purple plate on the top right side with the left hand facing backwards from the tip. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,537,777,240,pick,canned goods,right,lip,top,diagonal,white plate,-,-,-,-,-,-,Pick up the canned goods from the top of the white plate with the right hand using a diagonal lip grip at the top. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,777,948,171,place,canned goods,right,-,-,-,-,corner,white plate,corner,none,none,bottom_right,Put the canned goods to the right of the white plate on the bottom right side with the right hand. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,948,1086,138,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,1086,1215,129,place,blue marker,left,-,-,-,-,between,purple plate and white plate,between,backwards,none,top_right,Put the blue marker in between the purple plate and white plate on the top right side with the left hand facing backwards with the tip as reference. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,1215,1356,141,pick,canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,1356,1551,195,place,canned goods,right,-,-,-,-,right,silver bowl,right,none,up,none,Put the canned goods to the right of the silver bowl with the right hand right side up with the front at the top right side. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,1860,2046,186,pick,bag of chips,left,side,bottom,diagonal,silver bowl,-,-,-,-,-,-,Pick up the bag of chips from the silver bowl with the left hand using a side grip at the bottom left with a diagonal pick angle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2046,2157,111,place,bag of chips,left,-,-,-,-,behind,purple plate,behind,top_left,none,top_left,Put the bag of chips behind the purple plate on the top left side with the left hand facing top left. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2157,2370,213,pick,purple plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the purple plate from the table with the left hand using a lip grip at the left side and a diagonal angle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2370,2505,135,place,purple plate,left,-,-,-,-,corner,bag of chips,corner,none,up,top_left,Put the purple plate to the left of the bag of chips on the top left side with the left hand right side up with the front as the orientation reference point. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2505,2736,231,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2736,2838,102,place,blue marker,left,-,-,-,-,front,purple plate,front,bottom_left,none,bottom_left,Put the blue marker in front of the purple plate on the bottom left side with the tip facing bottom left using the left hand. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2838,2895,57,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-22-59-04-407000,pick_place_diverse,pick and place on variety of objects,2895,3000,105,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,0,150,150,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom right diagonally. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,150,234,84,place,bag of chips,left,-,-,-,-,left,blue marker,left,top_left,none,none,Put the bag of chips to the left of the blue marker with the left hand facing top left. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,234,435,201,pick,green canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,435,546,111,place,green canned goods,right,-,-,-,-,inside,bowl,inside,none,none,none,Place the green canned goods inside the bowl with the right hand. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,546,720,174,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,720,810,90,place,bag of chips,left,-,-,-,-,left,bowl,left,forwards,none,none,Put the bag of chips to the left of the bowl with the left hand facing forwards. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,810,1032,222,pick,blue marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom at a diagonal angle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,1032,1188,156,place,blue marker,right,-,-,-,-,on_top,white plate,on_top,forwards,none,none,Put the blue marker on top of the white plate with the right hand facing forwards with the tip as the orientation reference point. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,1413,1572,159,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,1572,1689,117,place,bag of chips,left,-,-,-,-,left,white plate,left,none,none,none,Put the bag of chips to the left of the white plate with the left hand. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,1689,1923,234,pick,green can,left,plain,middle,diagonal,bowl,-,-,-,-,-,-,Pick up the green can from the bowl with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,1922,2085,163,place,green can,left,-,-,-,-,left,bag of chips,left,none,none,none,Put the green can to the left of the bag of chips with the left hand. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2085,2280,195,pick,blue marker,right,plain,middle,diagonal,white plate,-,-,-,-,-,-,Pick up the blue marker from the top of the white plate with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2280,2373,93,place,blue marker,right,-,-,-,-,on_top,blue plate,on_top,top_right,none,none,Put the blue marker on top of the blue plate with the right hand facing top right with the tip as the reference point. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2373,2529,156,pick,bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2529,2640,111,place,bowl,right,-,-,-,-,right,blue plate,right,none,none,none,Put the bowl to the right of the blue plate with the right hand. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2640,2694,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2694,2772,78,pick,green can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2772,2961,189,place,green can,left,-,-,-,-,on_top,white plate,on_top,none,none,none,Put the green can on top of the white plate with the left hand. +2026-03-14-23-02-36-892000,pick_place_diverse,pick and place on variety of objects,2961,3000,39,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,0,156,156,pick,silver bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,156,276,120,place,silver bowl,right,-,-,-,-,behind,white plate,behind,none,none,none,Put the silver bowl behind the white plate with the right hand. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,276,447,171,pick,green bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,447,540,93,place,green bag of chips,left,-,-,-,-,left,silver bowl,left,top_left,none,none,Put the green bag of chips to the left side of the silver bowl with the left hand facing top left. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,540,780,240,pick,canned goods,right,plain,middle,diagonal,white bowl,-,-,-,-,-,-,Pick up the canned goods from the top of the white bowl with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,780,999,219,place,canned goods,right,-,-,-,-,right,silver bowl,right,none,none,none,Put the canned goods to the right side of the silver bowl with the right hand. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,998,1266,268,pick,green bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,1266,1389,123,place,green bag of chips,left,-,-,-,-,on_top,white plate,on_top,top_left,none,none,Put the green bag of chips on top of the white plate with the left hand facing top left. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,1389,1566,177,pick,canned goods,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand from the top at the middle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,1566,1692,126,place,canned goods,right,-,-,-,-,left,silver bowl,left,none,up,none,Put the canned goods to the left side of the silver bowl with the right hand right side up with the front as the orientation reference point. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,1692,1986,294,pick,blue marker,right,plain,middle,diagonal,purple plate,-,-,-,-,-,-,Pick up the blue marker from the top of the purple plate with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,1986,2130,144,place,blue marker,right,-,-,-,-,left,white plate,left,forwards,none,none,Put the blue marker to the left side of the white plate with the right hand facing forwards with the tip as the orientation reference point. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,2130,2343,213,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,2343,2487,144,place,blue marker,left,-,-,-,-,left,canned goods,left,forwards,none,none,Place the blue marker to the left side of the canned goods with the left hand facing forwards with the tip facing forwards. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,2487,2799,312,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-23-05-08-540000,pick_place_diverse,pick and place on variety of objects,2799,3000,201,place,silver bowl,right,-,-,-,-,left,white bowl,left,none,none,none,Place the silver bowl to the left side of the white bowl with the right hand. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,0,150,150,pick,pink stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,150,270,120,place,pink stuffed toy,left,-,-,-,-,inside,pink bowl,inside,backwards,none,none,Put the pink stuffed toy inside the pink bowl with the left hand facing backwards. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,270,501,231,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,501,648,147,place,carrot,right,-,-,-,-,right,brown stuffed toy,right,right,none,none,Put the carrot to the right side of the brown stuffed toy with the right hand facing right with the tip as the orientation reference point. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,648,843,195,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal angle. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,843,960,117,place,blue stuffed toy,left,-,-,-,-,left,brown stuffed toy,left,forwards,none,none,Put the blue stuffed toy to the left of the brown stuffed toy with the left hand facing forwards. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,960,1212,252,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at the middle using a diagonal angle. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,1212,1374,162,place,carrot,right,-,-,-,-,right,white mug,right,backwards,none,none,Put the carrot to the right side of the white mug with the right hand facing backwards with the tip as the orientation reference point. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,1374,1638,264,pick,white mug,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a diagonal lip grasp at the left side. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,1638,1764,126,place,white mug,right,-,-,-,-,table,table,none,top_right,up,top,Place the white mug on the top side of the table with the right hand right side up with the front facing top right. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,1764,1935,171,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,1935,1989,54,place,blue stuffed toy,left,-,-,-,-,inside,pink bowl,inside,backwards,none,none,Put the blue stuffed toy inside the pink bowl with the left hand facing backwards. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,1989,2142,153,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,2142,2220,78,place,brown stuffed toy,left,-,-,-,-,inside,pink bowl,inside,backwards,none,none,Put the brown stuffed toy inside the pink bowl with the left hand facing backwards. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,2220,2448,228,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,2448,2625,177,place,carrot,right,-,-,-,-,between,pink bowl and the white mug,between,backwards,none,none,Put the carrot between the pink bowl and the white mug with the right hand facing backwards with the tip as the reference point. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,2625,2700,75,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,2700,2877,177,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a lip grip at the left side diagonally. +2026-03-14-23-08-21-998000,pick_place_diverse,pick and place on variety of objects,2877,3000,123,dump,stuffed toys,left,-,-,-,-,left,carrot,left,none,none,none,Dump the stuffed toys to the left of the carrot with the left hand. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,0,135,135,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,135,231,96,place,brown stuffed toy,left,-,-,-,-,front,white mug,front,backwards,none,bottom_right,Put the brown stuffed toy in front of the white mug on the bottom right side with the left hand facing backwards. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,231,402,171,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,402,528,126,place,blue stuffed toy,left,-,-,-,-,front,brown stuffed toy,front,backwards,none,bottom_right,Put the blue stuffed toy in front of the brown stuffed toy on the bottom right side with the left hand facing backwards. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,813,1020,207,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,1020,1221,201,place,pink stuffed toy,left,-,-,-,-,inside,pink bowl,inside,top_right,none,none,Place the pink stuffed toy inside the pink bowl with the left hand facing top right. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,1221,1638,417,pick,blue stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,1638,1749,111,place,blue stuffed toy,right,-,-,-,-,corner,white mug,corner,backwards,none,top_right,Put the blue stuffed toy to the right of the white mug on the top right side with the right hand facing backwards. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,1749,1929,180,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,1929,2043,114,place,brown stuffed toy,right,-,-,-,-,inside,white mug,inside,none,down,none,Put the brown stuffed toy inside the white mug with the right hand upside down. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2042,2304,262,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2304,2427,123,place,carrot,left,-,-,-,-,front,pink bowl,front,backwards,none,bottom_left,Put the carrot in front of the pink bowl on the bottom left side with the tip facing backwards using the left hand. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2427,2613,186,pick,blue stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2613,2754,141,place,blue stuffed toy,right,-,-,-,-,left,white mug,left,backwards,none,none,Put the blue stuffed toy to the left of the white mug with the right hand facing backwards. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2754,2811,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2811,2916,105,pick,carrot toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the carrot toy from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-23-11-09-545000,pick_place_diverse,pick and place on variety of objects,2916,3000,84,place,carrot,left,-,-,-,-,right,pink bowl,right,backwards,none,top,Place the carrot to the right of the pink bowl on the top side with the left hand facing backwards with the tip as the orientation reference point. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,0,117,117,pick,pink bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,117,153,36,dump,pink stuffed toy,left,-,-,-,-,left,carrot,left,none,none,none,Dump the pink stuffed toy to the left side of the carrot with the left hand. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,153,255,102,place,pink bowl,left,-,-,-,-,right,carrot,right,none,none,none,Place the pink bowl to the right side of the carrot with the left hand. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,255,438,183,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,438,573,135,place,carrot,left,-,-,-,-,front,pink stuffed toy,front,backwards,none,bottom_left,Put the carrot in front of the pink stuffed toy on the bottom left side with the left hand facing backwards by the tip. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,573,744,171,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,744,855,111,place,pink bowl,right,-,-,-,-,corner,white cup,corner,none,up,none,Place the pink bowl to the top right side of the white cup with the right hand right side up with the front as the reference point. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,855,1140,285,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,1140,1257,117,place,carrot,left,-,-,-,-,front,blue stuffed toy,front,backwards,none,none,Put the carrot in front of the blue stuffed toy with the left hand facing backwards with the tip at the bottom side. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,1257,1443,186,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,1443,1563,120,place,pink stuffed toy,left,-,-,-,-,right,carrot,right,top_right,none,none,Put the pink stuffed toy to the right side of the carrot with the left hand facing top right. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,1563,1824,261,pick,pink bowl,right,lip,top,top,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from the top. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,1824,2016,192,place,pink bowl,right,-,-,-,-,right,pink stuffed toy,right,none,none,none,Place the pink bowl to the right side of the pink stuffed toy with the right hand. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,2016,2232,216,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,2232,2349,117,place,carrot,left,-,-,-,-,left,blue stuffed toy,left,backwards,none,top,Put the carrot to the left side of the blue stuffed toy with the left hand on the top side facing backwards. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,2349,2673,324,pick,blue stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,2673,2814,141,place,blue toy,right,-,-,-,-,inside,pink bowl,inside,backwards,none,none,Put the blue toy into the pink bowl with the right hand facing backwards. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,2814,2868,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-13-42-698000,pick_place_diverse,pick and place on variety of objects,2868,3000,132,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,0,144,144,pick,juice pouch,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand from the side at the middle. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,144,231,87,place,juice pouch,left,-,-,-,-,left,red bell pepper,left,none,up,none,Place the juice pouch to the left of the red bell pepper with the left hand right side up. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,231,453,222,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,453,573,120,place,asparagus,right,-,-,-,-,right,small white coffee cup,right,backwards,none,none,Put the asparagus to the right of the small white coffee cup with the right hand facing backwards with the tip as the reference point. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,573,789,216,pick,red bell pepper,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,789,927,138,place,red bell pepper,left,-,-,-,-,left,juice pouch,left,none,up,none,Put the red bell pepper to the left of the juice pouch with the left hand right side up with the front as the orientation reference point. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,927,1068,141,pick,juice pouch,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand from the side at the middle. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,1068,1173,105,place,juice pouch,left,-,-,-,-,corner,white mug,corner,forwards,up,none,Place the juice pouch with the left hand to the front left of the white mug right side up with the front facing forward. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,1308,1413,105,pick,red bell pepper,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,1413,1512,99,place,red bell pepper,left,-,-,-,-,corner,juice pouch,corner,none,up,none,Put the red bell pepper to the front left of the juice pouch with the left hand right side up with the front as the orientation reference point. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,1512,1731,219,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,1731,1836,105,place,asparagus,right,-,-,-,-,front,small coffee cup,front,backwards,none,none,Put the asparagus in front of the small coffee cup with the right hand facing backwards with the tip as the reference point. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,1836,2004,168,pick,red bell pepper,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2004,2106,102,place,red bell pepper,left,-,-,-,-,front,juice pouch,front,none,up,none,Put the red bell pepper in front of the juice pouch with the left hand right side up front. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2106,2253,147,pick,juice pouch,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle from the top of the object. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2253,2358,105,place,juice pouch,left,-,-,-,-,left,red bell pepper,left,none,up,none,Place the juice pouch to the left of the red bell pepper with the left hand right side up. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2358,2412,54,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2412,2553,141,pick,white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at a diagonal angle by the handle. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2553,2703,150,place,white mug,right,-,-,-,-,right,asparagus,right,backwards,up,none,Put the white mug to the right of the asparagus with the right hand right side up with the front facing backwards. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2703,2874,171,pick,small white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the small white coffee cup from the table by the handle at a diagonal angle with the right hand. +2026-03-14-23-17-15-904000,pick_place_diverse,pick and place on variety of objects,2874,3000,126,place,small white coffee cup,right,-,-,-,-,behind,red bell pepper,behind,none,up,none,Put the small white coffee cup behind the red bell pepper with the right hand right side up. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,0,120,120,pick,white cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table by the handle at a diagonal angle with the right hand. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,120,267,147,place,white cup,right,-,-,-,-,between,red bell pepper and the asparagus,between,backwards,up,bottom,Put the white cup between the red bell pepper and the asparagus on the bottom side with the right hand right side up with the front facing backwards. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,267,417,150,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,417,519,102,place,juice pouch,left,-,-,-,-,left,white cup,left,none,up,top,Put the juice pouch to the left of the white cup on the top side right side up with the front as the reference using the left hand. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,519,756,237,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal grasp at the handle. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,756,963,207,place,white cup,left,-,-,-,-,left,juice pouch,left,none,up,top,Put the white cup to the left of the juice pouch on the top side with the left hand right side up with the front as the reference point. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,1125,1197,72,pick,red bell pepper,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,1197,1305,108,place,red bell pepper,left,-,-,-,-,front,white cup,front,none,up,none,Put the red bell pepper in front of the white cup on the left side with the left hand right side up with the front as the reference point. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,1305,1512,207,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the Asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,1512,1689,177,place,asparagus,right,-,-,-,-,behind,white cup,behind,backwards,none,top,Put the asparagus behind the white cup on its top side with the tip facing backwards using the right hand. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,1689,1974,285,pick,red bell pepper,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,1974,2073,99,place,red bell pepper,left,-,-,-,-,between,juice pouch and the asparagus,between,none,up,top,Put the red bell pepper between the juice pouch and the Asparagus with the left hand right side up with the front on the top side. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,2073,2280,207,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a lip grasp at the right side diagonally. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,2280,2412,132,place,white cup,right,-,-,-,-,right,asparagus,right,backwards,up,top,Put the white cup to the right of the Asparagus on the top side with the right hand right side up with the front facing backwards. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,2412,2484,72,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,2613,2745,132,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal grasp at the handle. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,2745,2886,141,place,white cup,left,-,-,-,-,front,juice pouch,front,none,up,top,Put the white cup in front of the juice pouch on the top side right side up with the front as the orientation reference using the left hand. +2026-03-14-23-19-41-404000,pick_place_diverse,pick and place on variety of objects,2886,3000,114,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,0,192,192,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,192,300,108,place,asparagus,right,-,-,-,-,front,big white mug,front,backwards,none,none,Put the asparagus in front of the big white mug with the right hand facing backwards with the tip as the orientation reference point. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,300,507,207,pick,small white mug,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the small white mug from the table with the left hand using a lip grip at the left side diagonally. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,506,690,184,place,small white mug,left,-,-,-,-,left,juice pack,left,forwards,none,none,Put the small white mug to the left of the juice pack with the left hand facing forwards from the front. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,690,966,276,pick,small white mug,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the small white mug from the table with the left hand using a lip grasp at the bottom left from a diagonal angle. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,966,1047,81,place,small white mug,left,-,-,-,-,left,juice pack,left,bottom_left,up,none,Put the small white mug to the left of the juice pack with the handle facing bottom left right side up with the left hand. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,1047,1260,213,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,1260,1398,138,place,asparagus,right,-,-,-,-,between,bell pepper and the big white mug,between,backwards,none,none,Put the asparagus between the bell pepper and the big white mug with the right hand facing backwards with the tip as the reference point. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,1398,1650,252,pick,juice pack,left,side,top,straight,table,-,-,-,-,-,-,Pick up the juice pack from the table with the left hand using a side grip at the top left. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,1650,1809,159,place,juice pack,left,-,-,-,-,left,small white mug,left,forwards,up,none,Place the juice pack to the left of the small white mug with the left hand right side up facing front. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,1809,2040,231,pick,big white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the big white mug from the table with the right hand at a diagonal angle by the handle. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,2040,2226,186,place,big white mug,right,-,-,-,-,between,small white mug and the bell pepper,between,backwards,up,none,Put the big white mug between the small white mug and the bell pepper with the handle facing backwards right side up using the right hand. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,2226,2580,354,pick,juice pack,left,side,top,side,table,-,-,-,-,-,-,Pick up the juice pack from the table with the left hand using a side grip at the top left from the side. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,2580,2781,201,place,juice pack,left,-,-,-,-,front,big white mug,front,none,up,none,Put the juice pack in front of the big white mug with the left hand right side up with the front as the reference point. +2026-03-14-23-22-18-269000,pick_place_diverse,pick and place on variety of objects,2781,3000,219,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,0,150,150,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,150,318,168,place,eggplant,left,-,-,-,-,left,croissant,left,bottom_right,none,none,Put the eggplant to the left side of the croissant with the left hand with its tip facing bottom right. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,318,609,291,pick,corn,right,side,bottom,diagonal,plate,-,-,-,-,-,-,Pick up the corn from the plate with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,609,723,114,place,corn,right,-,-,-,-,right,plate,right,backwards,none,none,Put the corn to the right of the plate with the right hand facing backwards from the tip. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,723,996,273,pick,croissant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,996,1098,102,place,croissant,left,-,-,-,-,corner,plate,corner,none,up,none,Put the croissant to the top left side of the plate with the left hand right side up front. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1098,1260,162,pick,bag of chips,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the top diagonally. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1260,1401,141,place,bag of chips,right,-,-,-,-,on_top,plate,on_top,none,up,none,Put the bag of chips on top of the plate with the right hand right side up. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1401,1590,189,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1590,1686,96,place,eggplant,left,-,-,-,-,left,croissant,left,bottom_right,none,none,Put the eggplant to the left side of the croissant with the left hand with its tip facing bottom right. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1686,1878,192,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1878,1959,81,place,croissant,left,-,-,-,-,right,eggplant,right,none,up,none,Place the croissant to the right side of the eggplant with the left hand right side up front. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,1959,2121,162,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2121,2349,228,place,corn,right,-,-,-,-,between,eggplant and the plate,between,backwards,none,none,Put the corn in between the eggplant and the plate with the right hand facing backwards by the tip. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2349,2511,162,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2511,2565,54,place,croissant,left,-,-,-,-,behind,eggplant,behind,none,up,none,Put the croissant behind the eggplant with the left hand right side up with the front as the orientation reference point. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2565,2682,117,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle gripping the middle. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2682,2763,81,place,corn,left,-,-,-,-,corner,table,none,backwards,none,none,Put the corn to the bottom left side of the table with the left hand facing backwards with the tip as the reference point. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2763,2817,54,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-23-25-39-446000,pick_place_diverse,pick and place on variety of objects,2817,3000,183,pick,bag of chips,right,side,top,diagonal,plate,-,-,-,-,-,-,Pick up the bag of chips from the plate with the right hand using a side grip at the top from a diagonal angle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,0,114,114,pick,corn,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,114,318,204,place,corn,left,-,-,-,-,right,croissant,right,backwards,none,top,Put the corn to the right side of the croissant with the left hand facing backwards with the tip on the top side. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,318,540,222,pick,bag of chips,right,side,bottom,diagonal,pink plate,-,-,-,-,-,-,Pick up the bag of chips from the top of the pink plate with the right hand using a side grip at the bottom right diagonal. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,540,630,90,place,bag of chips,right,-,-,-,-,right,pink plate,right,bottom_left,none,none,Put the bag of chips to the right of the pink plate with the right hand facing bottom left. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,630,804,174,pick,pink plate,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,804,897,93,place,pink plate,right,-,-,-,-,right,corn,right,none,up,none,Put the pink plate to the right of the corn with the right hand right side up with the front as the reference point. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,897,1119,222,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,1119,1242,123,place,croissant,left,-,-,-,-,right,eggplant,right,none,up,none,Place the croissant to the right of the eggplant with the left hand right side up with the front at the bottom side. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,1242,1452,210,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,1452,1569,117,place,eggplant,left,-,-,-,-,right,croissant,right,forwards,none,none,Put the eggplant to the right of the croissant with the left hand facing forwards. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,1569,1776,207,pick,bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom with a diagonal angle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,1776,1908,132,place,bag of chips,right,-,-,-,-,right,pink plate,right,backwards,none,none,Put the bag of chips to the right of the pink plate with the right hand facing backwards. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,1908,2109,201,pick,croissant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2109,2196,87,place,croissant,left,-,-,-,-,left,corn,left,top_left,up,none,Put the croissant to the left of the corn with the left hand right side up with the front facing the top left side. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2196,2355,159,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2355,2478,123,place,croissant,left,-,-,-,-,on_top,pink plate,on_top,none,up,top_right,Put the croissant onto the pink plate on top right side up with the front as the reference point using the left hand. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2478,2550,72,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2550,2703,153,pick,bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2703,2841,138,place,bag of chips,right,-,-,-,-,right,eggplant,right,backwards,none,none,Put the bag of chips to the right of the eggplant with the right hand facing backwards. +2026-03-14-23-30-45-788000,pick_place_diverse,pick and place on variety of objects,2841,3000,159,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,0,141,141,pick,bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom with a diagonal angle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,141,228,87,place,bag of chips,right,-,-,-,-,corner,pink plate,corner,backwards,none,top_right,Put the bag of chips to the right of the pink plate on the top right side with the right hand facing backwards. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,228,420,192,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,420,519,99,place,corn,left,-,-,-,-,left,eggplant,left,backwards,none,none,Put the corn to the left of the eggplant with the left hand facing backwards with the tip as the orientation reference point. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,516,717,201,pick,croissant,right,side,bottom,diagonal,pink plate,-,-,-,-,-,-,Pick up the croissant from the top of the pink plate with the right hand using a side grip at the bottom diagonally. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,717,831,114,place,croissant,right,-,-,-,-,right,eggplant,right,none,none,bottom,Put the croissant to the right of the eggplant with the right hand on the bottom side. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,831,1050,219,pick,bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom right in a diagonal approach. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1050,1275,225,place,bag of chips,right,-,-,-,-,left,pink plate,left,backwards,none,none,Put the bag of chips to the left of the pink plate with the right hand facing backwards. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1275,1335,60,pick,bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom diagonally. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1335,1365,30,place,bag of chips,right,-,-,-,-,left,pink plate,left,backwards,none,none,Put the bag of chips to the left of the pink plate with the right hand facing backwards. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1365,1620,255,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1620,1698,78,place,corn,left,-,-,-,-,corner,bag of chips,corner,top_right,none,top_right,Put the corn to the left of the bag of chips on the top right side with the left hand facing top right with the tip as the reference point. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1698,1908,210,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,1908,2013,105,place,eggplant,right,-,-,-,-,on_top,pink plate,on_top,bottom_right,none,top,Place the eggplant on the top side of the pink plate with the right hand facing bottom right from the tip. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2012,2244,232,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2244,2355,111,place,corn,left,-,-,-,-,front,bag of chips,front,forwards,none,none,Put the corn in front of the bag of chips on the left side with the left hand facing forwards with the tip facing forwards. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2355,2550,195,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle from the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2550,2652,102,place,croissant,right,-,-,-,-,corner,pink plate,corner,none,none,top_right,Place the croissant to the right of the pink plate on the top right side with the right hand. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2652,2706,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2706,2895,189,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2895,2979,84,place,corn,left,-,-,-,-,front,pink plate,front,forwards,none,bottom,Put the corn in front of the pink plate with the left hand on the bottom side facing forwards with the tip as the reference point. +2026-03-14-23-33-12-351000,pick_place_diverse,pick and place on variety of objects,2979,3000,21,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,0,162,162,pick,stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,162,363,201,place,stuffed toy,right,-,-,-,-,inside,beige bowl,inside,forwards,none,none,Put the stuffed toy inside the beige bowl with the right hand facing forwards. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,363,600,237,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle from the middle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,600,744,144,place,canned goods,left,-,-,-,-,left,beige bowl,left,none,up,none,Put the canned goods to the left of the beige bowl with the left hand right side up with the front as the reference point. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,744,906,162,pick,pepsi can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pepsi can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,906,1053,147,place,pepsi can,right,-,-,-,-,right,beige bowl,right,none,none,none,Put the pepsi can to the right of the beige bowl with the right hand. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,1317,1401,84,pick,white coffee pod,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee pod from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,1401,1617,216,place,white coffee pod,right,-,-,-,-,right,blue pepsi can,right,none,up,none,Put the white coffee pod to the right of the blue pepsi can with the right hand right side up with the front as the reference point. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,1617,1842,225,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,1842,1986,144,place,cabbage,left,-,-,-,-,left,canned goods,left,backwards,none,none,Put the cabbage to the left of the canned goods with the left hand facing backwards with the tip as the reference point. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,1986,2163,177,pick,pepsi can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pepsi can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,2163,2331,168,place,pepsi can,right,-,-,-,-,corner,white coffee pod,corner,none,none,none,Put the pepsi can to the bottom left of the white coffee pod with the right hand. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,2331,2409,78,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,2409,2550,141,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,2550,2652,102,place,canned goods,left,-,-,-,-,above,beige bowl,above,none,none,none,Put the canned goods on the top of the beige bowl with the left hand. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,2652,2844,192,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip from the left at a diagonal angle. +2026-03-14-23-41-03-851000,pick_place_diverse,pick and place on variety of objects,2844,3000,156,dump,stuffed toy,left,-,-,-,-,table,,none,none,none,none,Dump the stuffed toy on the table with the left hand. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,0,135,135,pick,green cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,135,240,105,place,green cabbage,left,-,-,-,-,front,beige bowl,front,backwards,none,top,Put the green cabbage in front of the beige bowl on the top side with the left hand facing backwards. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,240,462,222,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,462,573,111,place,blue soda can,right,-,-,-,-,right,yellow can,right,none,none,none,Put the blue soda can to the right side of the yellow can with the right hand. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,573,759,186,pick,green cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,759,870,111,place,green cabbage,left,-,-,-,-,inside,beige bowl on top,inside,backwards,none,none,Put the green cabbage into the beige bowl on top with the left hand facing backwards with the tip as the orientation reference point. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,870,1047,177,pick,beige bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,1047,1164,117,place,beige bowl,left,-,-,-,-,left,gray stuffed toy,left,none,none,none,Put the beige bowl to the left side of the gray stuffed toy with the left hand. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,1164,1365,201,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,1365,1476,111,place,gray stuffed toy,right,-,-,-,-,right,white canister,right,backwards,none,none,Put the gray stuffed toy on the right side of the white canister with the right hand facing backwards. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,1692,1776,84,pick,yellow can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,1776,1914,138,place,yellow can,left,-,-,-,-,left,beige bowl,left,none,none,none,Place the yellow can to the left side of the beige bowl with the left hand. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,1914,2097,183,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,2097,2208,111,place,gray stuffed toy,right,-,-,-,-,left,white canister,left,backwards,none,top,Put the gray stuffed toy to the left of the white canister on the top side with the right hand facing backwards. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,2208,2256,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,2256,2379,123,pick,yellow can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,2379,2526,147,place,yellow can,left,-,-,-,-,between,beige bowl and the gray stuffed toy,between,none,none,none,Put the yellow can between the beige bowl and the gray stuffed toy with the left hand. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,2526,2916,390,pick,yellow can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-43-33-660000,pick_place_diverse,pick and place on variety of objects,2916,3000,84,place,yellow can,left,-,-,-,-,behind,beige bowl,behind,none,none,none,Put the yellow can behind the beige bowl with the left hand. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,0,174,174,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,174,252,78,dump,cabbage,left,-,-,-,-,corner,canned goods,corner,none,none,none,Dump the cabbage to the bottom right of the canned goods with the left hand. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,252,468,216,place,bowl,left,-,-,-,-,left,cabbage,left,none,none,none,Put the bowl to the left of the cabbage with the left hand. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,468,657,189,pick,stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,657,780,123,place,stuffed toy,right,-,-,-,-,right,canister,right,backwards,none,none,Put the stuffed toy to the right of the canister with the right hand facing backwards. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,780,1038,258,pick,stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,1038,1158,120,place,stuffed toy,right,-,-,-,-,left,canister,left,backwards,none,none,Put the stuffed toy to the left of the canister with the right hand facing backwards. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,1158,1461,303,pick,canned goods,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand from the side at the middle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,1461,1686,225,place,canned goods,left,-,-,-,-,left,bowl,left,none,none,none,Put the canned goods to the left side of the bowl with the left hand. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,1686,1911,225,pick,canister,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canister from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,1911,2046,135,place,canister,right,-,-,-,-,behind,cabbage,behind,none,none,none,Put the canister behind the cabbage with the right hand. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2046,2247,201,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2247,2406,159,place,cabbage,left,-,-,-,-,front,canned goods,front,forwards,none,none,Put the cabbage in front of the canned goods with the left hand facing forwards with the tip as the reference point. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2406,2586,180,pick,stuffed toy,right,side,left,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip at the left in a diagonal angle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2586,2673,87,place,stuffed toy,right,-,-,-,-,center,,none,none,up,none,Place the stuffed toy on the center of the table with the right hand right side up. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2673,2727,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right arm. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2727,2904,177,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2904,2994,90,place,canned goods,left,-,-,-,-,inside,bowl,inside,none,none,none,Put the canned goods inside the bowl with the left hand. +2026-03-14-23-45-55-986000,pick_place_diverse,pick and place on variety of objects,2994,3000,6,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,0,156,156,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping its middle. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,156,240,84,place,eggplant,left,-,-,-,-,front,white cup,front,forwards,none,bottom_left,Put the eggplant in front of the white cup on the bottom left side with the tip facing forwards using the left hand. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,240,573,333,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,573,723,150,place,bell pepper,right,-,-,-,-,right,beige bowl,right,none,up,none,Put the bell pepper to the right of the beige bowl on the right side right side up with the front as the reference using the right hand. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,723,924,201,pick,gray stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,924,1014,90,place,gray stuffed toy,left,-,-,-,-,corner,eggplant,corner,forwards,none,bottom_left,Put the gray stuffed toy to the left of the eggplant on the bottom left side with the left hand facing forwards. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,1013,1176,163,pick,juice pack,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the juice pack from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,1224,1488,264,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,1488,1596,108,place,beige bowl,right,-,-,-,-,right,white cup,right,none,none,top,Put the beige bowl to the right of the white cup on the top side with the right hand. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,1596,1833,237,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,1833,1935,102,place,bell pepper,right,-,-,-,-,right,beige bowl,right,none,up,top,Put the bell pepper to the right of the beige bowl with the right hand right side up with the front on the top side. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,1935,2097,162,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,2097,2229,132,place,eggplant,left,-,-,-,-,inside,beige bowl,inside,none,down,top_left,Place the eggplant inside the beige bowl on the top left side upside down with the tip as the reference point using the left arm. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,2229,2391,162,pick,white cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the top left diagonally. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,2391,2577,186,place,white cup,left,-,-,-,-,behind,beige bowl,behind,none,up,top,Place the white cup behind the beige bowl on the top side right side up with the front as the reference using the left hand. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,2577,2874,297,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-25-31-934000,pick_place_diverse,pick and place diversity day 3 data collection,2874,3000,126,place,bell pepper,right,-,-,-,-,front,beige bowl,front,none,up,bottom,Put the bell pepper in front of the beige bowl with the right hand right side up on the bottom side with the front as the orientation reference point. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,0,159,159,pick,white bowl,right,lip,right,straight,table,-,-,-,-,-,-,Pick up the white bowl from the table with the right hand using a side lip grasp at the right. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,159,270,111,place,white bowl,right,-,-,-,-,right,white cup,right,none,none,none,Put the white bowl to the right of the white cup with the right hand. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,270,426,156,pick,bell pepper,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the left hand using a side grip at the top left from a diagonal angle. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,426,531,105,place,red bell pepper,left,-,-,-,-,center,,none,none,up,none,Put the red bell pepper to the center of the table with the left hand right side up with the front as the reference point. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,531,684,153,pick,stuffed toy,left,lip,top,top,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand using a lip grip from the top. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,684,774,90,place,stuffed toy,left,-,-,-,-,front,red bell pepper,front,none,up,none,Place the stuffed toy in front of the red bell pepper with the left hand right side up. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,774,939,165,pick,juice pouch,left,lip,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a lip grip from the top. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,939,1017,78,place,juice pouch,left,-,-,-,-,corner,beige bowl,corner,top_right,none,none,Put the juice pouch to the top right of the beige bowl with the left hand facing top right. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1017,1170,153,pick,stuffed toy,right,side,top,top,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip at the bottom right from the top. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1170,1242,72,place,stuffed toy,right,-,-,-,-,corner,beige bowl,corner,top_right,none,none,Put the stuffed toy to the top right of the beige bowl with the right hand facing top right. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1362,1434,72,pick,beige bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the top left from a diagonal angle. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1434,1530,96,dump,eggplant,right,-,-,-,-,corner,bell pepper,corner,none,none,none,Dump the eggplant to the top left of the bell pepper with the right hand. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1530,1659,129,place,beige bowl,right,-,-,-,-,below,stuffed toy,below,none,none,none,Put the beige bowl to the bottom of the stuffed toy with the right hand. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1659,1896,237,pick,white cup,left,lip,top,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the top left using a lip grip. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,1896,2037,141,place,white cup,left,-,-,-,-,left,juice pouch,left,none,up,none,Put the white cup to the left side of the juice pouch with the left hand right side up with the front as the reference point. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2037,2208,171,pick,stuffed toy,right,side,top,top,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip from the top at the top right. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2208,2298,90,place,stuffed toy,right,-,-,-,-,inside,beige bowl,inside,none,up,none,Put the stuffed toy inside the beige bowl with the right hand right side up. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2298,2442,144,pick,bell pepper,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand using a lip grip at the bottom right from a diagonal angle. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2442,2514,72,place,red bell pepper,right,-,-,-,-,inside,beige bowl,inside,none,up,none,Put the red bell pepper inside the beige bowl with the right hand right side up. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2625,2706,81,pick,juice pouch,right,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top left from the top. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2706,2955,249,place,juice pouch,right,-,-,-,-,behind,beige bowl,behind,top_right,none,none,Place the juice pouch behind the beige bowl with the right hand facing top right from the front. +2026-03-15-23-28-01-570000,pick_place_diverse,pick and place diversity day 3 data collection,2955,3000,45,return,-,both,-,-,-,-,-,-,-,-,-,-,Return both hands to home. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,0,162,162,pick,eggplant,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal from the top of the object. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,162,252,90,place,eggplant,right,-,-,-,-,right,white cup,right,forwards,none,top,Put the eggplant to the right of the white cup on the top side with the right hand facing forwards with the tip facing forwards. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,360,462,102,pick,beige bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,462,723,261,place,beige bowl,right,-,-,-,-,right,eggplant,right,none,none,top,Put the beige bowl to the right of the eggplant on the top side with the right hand. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,723,987,264,pick,white cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal top lip grasp. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,987,1167,180,place,white cup,left,-,-,-,-,corner,eggplant,corner,none,up,top,Put the white cup to the top left of the eggplant on its top side right side up with the front as reference using the left hand. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,1167,1398,231,pick,juice pack,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pack from the table with the right hand at a diagonal angle from the top of the object. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,1398,1467,69,place,juice pack,right,-,-,-,-,right,beige plate,right,backwards,none,top,Put the juice pack to the right of the beige plate on the top side with the right hand facing backwards relative to the front. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,1467,1659,192,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,1659,1767,108,place,eggplant,left,-,-,-,-,left,white cup,left,forwards,none,top,Put the eggplant to the left of the white cup on the top side with the left hand facing forwards with the front as reference. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,1767,1944,177,pick,juice pack,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pack from the table with the right hand at a diagonal angle from the top of the object. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,1944,2052,108,place,juice pack,right,-,-,-,-,below,beige bowl,below,backwards,none,none,Place the juice pack below the beige bowl with the right hand facing backwards with the front as the orientation reference point. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2052,2202,150,pick,beige bowl,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the left side. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2202,2238,36,dump,red bell pepper,right,-,-,-,-,right,white cup,right,none,none,top,Dump the red bell pepper to the right of the white cup on the top side with the right hand. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2238,2388,150,place,beige bowl,right,-,-,-,-,right,juice pack,right,none,none,top,Put the beige bowl to the right of the juice pack on the top side with the right hand. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2388,2553,165,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2553,2658,105,place,eggplant,left,-,-,-,-,front,white cup,front,forwards,none,bottom,Put the eggplant in front of the white cup with the left hand on the bottom side facing forwards with the tip as the reference point. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2658,2682,24,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2910,2961,51,pick,red bell pepper,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-15-23-30-29-803000,pick_place_diverse,pick and place diversity day 3 data collection,2961,3000,39,place,red bell pepper,right,-,-,-,-,table,table,none,none,none,bottom,Put the red bell pepper on the bottom side of the table with the right hand. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,0,138,138,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal from the middle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,138,243,105,place,croissant,left,-,-,-,-,below,silver bowl,below,none,none,none,Place the croissant to the bottom side of the silver bowl with the left hand. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,243,423,180,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,423,591,168,place,corn,right,-,-,-,-,corner,white coffee cup,corner,backwards,none,bottom_left,Put the corn to the right of the white coffee cup on the bottom left side with the right hand facing backwards by the tip. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,591,729,138,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal angle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,729,864,135,place,blue stuffed toy,left,-,-,-,-,corner,silver bowl,corner,none,up,top_left,Put the blue stuffed toy to the left of the silver bowl on the top left side with the left hand right side up. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,864,978,114,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,978,1092,114,place,corn,right,-,-,-,-,below,white coffee cup,below,backwards,none,top,Put the corn to the bottom of the white coffee cup with the right hand on the top side facing backwards with the tip as the reference point. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1092,1248,156,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1248,1365,117,place,blue stuffed toy,left,-,-,-,-,corner,croissant,corner,none,up,bottom_left,Put the blue stuffed toy to the left of the croissant on the bottom left side right side up with the left hand. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1365,1542,177,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1542,1749,207,place,white coffee cup,right,-,-,-,-,corner,corn,corner,backwards,up,top_right,Put the white coffee cup to the right of the corn on the top right side with the right hand right side up with the front facing backwards. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1749,1923,174,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1922,1991,69,place,blue stuffed toy,left,-,-,-,-,inside,silver bowl,inside,none,up,none,Put the blue stuffed toy into the silver bowl with the left hand right side up. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,1992,2148,156,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a lip grip at the left side diagonally. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2148,2268,120,place,silver bowl,left,-,-,-,-,left,croissant,left,none,none,none,Place the silver bowl to the left of the croissant with the left hand. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2268,2319,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2319,2463,144,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2463,2607,144,place,corn,right,-,-,-,-,corner,white coffee cup,corner,backwards,none,top_right,Put the corn to the right of the white coffee cup on the top right side with the right hand facing backwards with the tip as the reference point. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2607,2772,165,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2772,2892,120,place,white coffee cup,right,-,-,-,-,table,croissant,table,right,up,bottom,Put the white coffee cup to the right of the croissant with handle facing the right side of the table on the bottom side with the right hand right side up. +2026-03-15-23-33-57-140000,pick_place_diverse,pick and place diversity day 3 data collection,2892,3000,108,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,0,99,99,pick,bread,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,99,270,171,place,bread,left,-,-,-,-,behind,white mug,behind,none,none,none,Place the bread behind the white mug with the left hand. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,270,489,219,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,489,588,99,place,corn,right,-,-,-,-,right,bread,right,backwards,none,top,Put the corn to the right side of the bread on the top side with the right hand facing backwards with the tip as the reference point. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,588,852,264,pick,bread,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,852,990,138,place,bread,left,-,-,-,-,corner,stainless bowl,corner,backwards,none,none,Place the bread to the bottom left side of the stainless bowl with the left hand facing backwards relative to the front. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,990,1116,126,pick,stainless bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the stainless bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,1116,1170,54,dump,blue stuffed toy,left,-,-,-,-,between,stainless bowl and the white mug,between,none,none,none,Dump the blue stuffed toy between the stainless bowl and the white mug with the left hand. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,1170,1404,234,place,stainless bowl,left,-,-,-,-,behind,white mug,behind,none,down,none,Put the stainless bowl behind the white mug upside down with the front as the orientation reference point using the left hand. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,1404,1599,195,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,1599,1740,141,place,corn,right,-,-,-,-,inside,stainless bowl,inside,none,down,none,Put the corn inside the stainless bowl with the right hand upside down. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,1740,1941,201,pick,bread,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,1941,2067,126,place,bread,left,-,-,-,-,left,stainless bowl,left,none,none,none,Place the bread to the left side of the stainless bowl with the left hand. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2067,2187,120,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2187,2256,69,place,blue stuffed toy,left,-,-,-,-,left,bread,left,forwards,none,none,Put the blue stuffed toy to the left side of the bread with the left hand facing forwards. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2256,2412,156,pick,white mug,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a lip grip at the left side with a diagonal angle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2412,2508,96,place,white mug,left,-,-,-,-,corner,blue stuffed toy,corner,forwards,none,top_left,Place the white mug to the left side of the blue stuffed toy on the top left side with the left hand facing forwards from the tip. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2508,2652,144,pick,corn,right,plain,middle,diagonal,stainless bowl,-,-,-,-,-,-,Pick up the corn from the top of the stainless bowl with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2652,2751,99,place,corn,right,-,-,-,-,front,stainless bowl,front,backwards,none,bottom,Put the corn in front of the stainless bowl with the right hand on the bottom side facing backwards with the tip as the reference point. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2751,2820,69,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2820,2916,96,pick,stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal from the middle. +2026-03-15-23-36-23-243000,pick_place_diverse,pick and place diversity day 3 data collection,2916,3000,84,place,blue stuffed toy,left,-,-,-,-,front,bread,front,none,none,none,Put the blue stuffed toy in front of the bread with the left hand. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,0,105,105,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,105,177,72,place,blue stuffed toy,left,-,-,-,-,right,white mug,right,backwards,none,none,Put the blue stuffed toy to the right of the white mug with the left hand facing backwards. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,177,321,144,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,321,423,102,place,corn,right,-,-,-,-,table,table,none,right,none,bottom,Put the corn on the bottom side of the table with the right hand facing right with the tip as the reference point. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,423,588,165,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,588,657,69,place,blue stuffed toy,left,-,-,-,-,front,white mug,front,backwards,none,bottom_right,Put the blue stuffed toy in front of the white mug on the bottom right side with the left hand facing backwards. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,657,858,201,pick,white mug,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the top at the right side using a lip grip. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,858,1041,183,place,white mug,left,-,-,-,-,right,corn,right,right,up,bottom,Put the white mug to the right of the corn with the handle facing right on the bottom side right side up with the left hand. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,1041,1326,285,pick,blue stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,1326,1407,81,place,blue stuffed toy,left,-,-,-,-,left,croissant,left,backwards,none,none,Put the blue stuffed toy to the left of the croissant on the right side with the left hand facing backwards. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,1407,1596,189,pick,white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at a diagonal angle by the handle. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,1596,1731,135,place,white mug,right,-,-,-,-,right,bowl,right,backwards,none,none,Put the white mug to the right side of the bowl with the handle facing backwards using the right hand. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,1731,1920,189,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,1920,2043,123,place,blue stuffed toy,left,-,-,-,-,inside,bowl on top,inside,left,none,none,Put the blue stuffed toy into the bowl on top with the left hand facing left. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,2235,2403,168,pick,white mug,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,2403,2598,195,place,white mug,right,-,-,-,-,right,corn,right,left,none,bottom,Put the white mug to the right of the corn with the handle facing left on the bottom side with the right hand. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,2598,2796,198,pick,croissant,left,plain,top,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the top of the object. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,2796,2886,90,place,croissant,left,-,-,-,-,left,corn,left,none,none,none,Put the croissant to the left of the corn on the right side with the left hand. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,2886,2952,66,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-39-06-936000,pick_place_diverse,pick and place diversity day 3 data collection,2952,3000,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,0,210,210,pick,yellow stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,210,315,105,place,yellow stuffed toy,right,-,-,-,-,left,pink bowl,left,bottom_left,none,none,Put the yellow stuffed toy to the left of the pink bowl with the right hand facing bottom left. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,315,531,216,pick,pink stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,531,606,75,place,pink stuffed toy,right,-,-,-,-,inside,bowl,inside,forwards,none,none,Put the pink stuffed toy inside the bowl with the right hand facing forwards. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,606,813,207,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,813,930,117,place,asparagus,left,-,-,-,-,inside,green bowl,inside,top_left,none,none,Put the asparagus inside the green bowl with the left hand facing top left with the tip as the reference point. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,930,1143,213,pick,red bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the red bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,1143,1263,120,place,red bag of chips,left,-,-,-,-,between,pink bowl and the blue screwdriver,between,forwards,none,none,Put the red bag of chips between the pink bowl and the blue screwdriver with the left hand facing forwards. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,1263,1530,267,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,1530,1677,147,place,blue screwdriver,right,-,-,-,-,right,green bowl,right,forwards,none,none,Put the blue screwdriver to the right of the green bowl with the right hand facing forwards with the tip as the reference point. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,1677,1845,168,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,1845,1917,72,place,yellow stuffed toy,left,-,-,-,-,front,pink bowl,front,top_right,none,none,Put the yellow stuffed toy in front of the pink bowl with the left hand facing top right. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,1917,2157,240,pick,blue marker,right,side,top,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2157,2310,153,place,blue marker,right,-,-,-,-,front,green bowl,front,top_left,none,none,Put the blue marker in front of the green bowl with the right hand with its tip facing top left. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2538,2625,87,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand using a diagonal approach grasping the entire object. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2625,2682,57,place,yellow stuffed toy,left,-,-,-,-,inside,pink bowl,inside,top_right,none,none,Put the yellow stuffed toy inside the pink bowl with the left hand facing top right. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2682,2784,102,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2784,2865,81,place,pink bowl,left,-,-,-,-,behind,bag of chips,behind,none,up,none,Put the pink bowl behind the bag of chips with the left hand right side up. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2865,2916,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-43-06-366000,pick_place_diverse,pick and place diversity day 3 data collection,2916,3000,84,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,0,138,138,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,138,219,81,place,blue marker,right,-,-,-,-,inside,green bowl,inside,forwards,none,none,Put the blue marker inside the green bowl with the right hand facing forwards. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,219,339,120,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,339,567,228,place,blue screwdriver,right,-,-,-,-,right,bag of chips,right,top_left,none,none,Put the blue screwdriver to the right of the bag of chips with the right hand facing top left with the tip as the reference point. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,567,768,201,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,768,921,153,place,blue screwdriver,left,-,-,-,-,inside,pink bowl,inside,top_right,none,none,Put the blue screwdriver in the pink bowl with the left hand facing top right. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1056,1137,81,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1137,1185,48,dump,green asparagus,right,-,-,-,-,right,bag of chips,right,none,none,none,Dump the green asparagus and the blue screwdriver from the green bowl onto the right of the bag of chips with the right hand. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1185,1278,93,place,green bowl,right,-,-,-,-,right,blue marker,right,none,none,none,Put the green bowl to the right of the blue marker with the right hand. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1278,1443,165,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips in front of the pink bowl with the left hand using a side grip from the left at a diagonal angle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1443,1512,69,place,red bag of chips,left,-,-,-,-,left,pink bowl,left,left,none,none,Put the red bag of chips to the left of the pink bowl with the left hand facing left. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1512,1662,150,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1662,1746,84,place,blue marker,right,-,-,-,-,right,pink bowl,right,right,none,none,Put the blue marker to the right of the pink bowl with the right hand with its tip facing right. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1746,1947,201,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,1947,2025,78,dump,toys,left,-,-,-,-,right,bag of chips,right,none,none,none,Dump the toys and the blue screwdriver from the pink bowl to the right of the bag of chips with the left hand. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2025,2163,138,place,pink bowl,left,-,-,-,-,front,bag of chips,front,none,none,none,Put the pink bowl in front of the bag of chips with the left hand. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2163,2292,129,pick,green asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2292,2364,72,place,green asparagus,right,-,-,-,-,right,pink toy,right,right,none,none,Put the green asparagus to the right of the pink toy with the right hand facing right with the tip as the reference point. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2364,2400,36,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2400,2499,99,pick,yellow toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2499,2568,69,place,yellow toy,left,-,-,-,-,front,blue screwdriver,front,bottom_left,none,none,Put the yellow toy in front of the blue screwdriver with the left hand facing bottom left. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2568,2685,117,pick,pink toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink toy behind the blue screwdriver with the left hand at a diagonal angle grasping the entire object. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2685,2802,117,place,pink toy,left,-,-,-,-,left,bag of chips,left,left,none,none,Put the pink toy to the left of the bag of chips with the left hand facing left. +2026-03-15-23-45-35-137000,pick_place_diverse,pick and place diversity day 3 data collection,2802,3000,198,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,0,132,132,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,132,219,87,place,blue marker,left,-,-,-,-,inside,pink bowl,inside,forwards,none,none,Put the blue marker inside the pink bowl with the left hand facing forwards with the front forward. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,219,375,156,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,375,453,78,place,asparagus,left,-,-,-,-,right,pink stuffed toy,right,forwards,none,none,Put the asparagus to the right of the pink stuffed toy with the left hand facing forwards with the tip facing forwards. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,453,657,204,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,657,771,114,place,asparagus,right,-,-,-,-,inside,green bowl,inside,forwards,none,none,Put the asparagus inside the green bowl with the right hand facing forwards with the tip as the orientation reference point. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,771,960,189,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,960,1110,150,place,blue screwdriver,left,-,-,-,-,between,pink bowl and the pink stuffed toy,between,forwards,none,none,Put the blue screwdriver between the pink bowl and the pink stuffed toy with the left hand facing forwards with the tip as the reference point. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,1110,1260,150,pick,pink stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,1260,1359,99,place,pink stuffed toy,right,-,-,-,-,left,green bowl,left,forwards,none,none,Put the pink stuffed toy to the left of the green bowl with the right hand facing forwards. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,1359,1500,141,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,1500,1614,114,place,bag of chips,left,-,-,-,-,left,pink bowl,left,left,none,none,Put the bag of chips to the left of the pink bowl with the left hand facing left. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,1614,1887,273,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the right side from a diagonal angle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,1887,2007,120,place,green bowl,right,-,-,-,-,between,blue screwdriver and pink stop toy,between,none,none,none,Put the green bowl between the blue screwdriver and pink stop toy with the right hand. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2007,2160,153,pick,screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2160,2250,90,place,screwdriver,left,-,-,-,-,inside,green bowl,inside,none,none,none,Put the screwdriver inside the green bowl with the left hand. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2250,2397,147,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom right with a diagonal angle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2397,2538,141,place,bags of chips,left,-,-,-,-,between,pink bowl and green bowl,between,top_left,none,none,Put the bags of chips between the pink bowl and green bowl with the left hand facing top left. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2538,2688,150,pick,pink stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2688,2790,102,place,pink stuffed toy,right,-,-,-,-,behind,green bowl,behind,forwards,none,none,Put the pink stuffed toy behind the green bowl with the right hand facing forwards. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2790,2823,33,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2823,2913,90,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle. +2026-03-15-23-49-02-171000,pick_place_diverse,pick and place diversity day 3 data collection,2913,3000,87,place,bag of chips,left,-,-,-,-,behind,pink bowl,behind,top_left,none,none,Put the bag of chips behind the pink bowl with the left hand facing top left. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,0,129,129,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,129,246,117,place,pink mug,right,-,-,-,-,front,blue soda can,front,backwards,up,bottom,Put the pink mug in front of the blue soda can on its bottom side right side up with the front facing backwards using the right hand. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,245,435,190,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,435,591,156,place,green mug,left,-,-,-,-,left,carrot,left,bottom_left,up,top,Place the green mug with the left hand on the top side to the left side of the carrot right side up with the front facing bottom left. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,591,792,201,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,792,942,150,place,cabbage,left,-,-,-,-,right,blue soda can,right,top_right,none,top,Put the cabbage with the left hand on the top side to the right side of the blue soda can with the tip facing top right. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,942,1140,198,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,1140,1245,105,place,carrot,left,-,-,-,-,left,pink mug,left,backwards,none,none,Put the carrot to the left side of the pink mug with the left hand facing backwards with the tip at the bottom side. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,1245,1578,333,pick,blue soda can,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the top of the object. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,1578,1689,111,place,blue soda can,right,-,-,-,-,front,cabbage,front,none,up,bottom,Put the blue soda can in front of the cabbage with the right hand right side up on the bottom side with the front as the orientation reference point. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,1689,1974,285,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,1974,2109,135,place,carrot,left,-,-,-,-,inside,pink mug on top,inside,none,down,none,Put the carrot into the pink mug on top upside down with the tip as the reference point using the left hand. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2109,2322,213,pick,green mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand at a diagonal angle by the handle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2322,2484,162,place,green mug,left,-,-,-,-,left,pink mug,left,bottom_left,up,bottom,Put the green mug to the left side of the pink mug with the left hand right side up on the bottom side with the front facing bottom left. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2484,2733,249,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2733,2841,108,place,cabbage,right,-,-,-,-,corner,blue soda can,corner,forwards,none,none,Put the cabbage to the bottom right side of the blue soda can with the right hand facing forwards by the tip. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2841,2871,30,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2871,2976,105,pick,green mug,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand using a lip grip at the top left from a diagonal angle. +2026-03-15-23-54-15-293000,pick_place_diverse,pick and place diversity day 3 data collection,2976,3000,24,place,green mug,left,-,-,-,-,table,,none,none,up,none,Put the green mug on the table with the left hand right side up with the tip as the orientation reference. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,0,147,147,pick,light green mug,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the light green mug from the table with the left hand using a lip grip at the bottom right from a diagonal angle. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,147,342,195,place,light green mug,left,-,-,-,-,behind,blue soda can,behind,top_left,up,top,Put the light green mug behind the blue soda can with handle facing top left on the top side right side up with the left hand. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,342,507,165,pick,green cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,506,609,103,place,green cabbage,right,-,-,-,-,right,light green mug,right,forwards,none,none,Put the green cabbage to the right of the light green mug with the right hand facing forwards with the front forward. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,609,849,240,pick,pink mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table by the handle at a diagonal angle with the left hand. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,849,1110,261,place,pink mug,left,-,-,-,-,behind,light green mug,behind,bottom_left,up,none,Put the pink mug behind the light green mug with handle facing bottom left right side up with the left hand. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,1110,1308,198,pick,green cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,1308,1458,150,place,green cabbage,right,-,-,-,-,left,light green mug,left,top_left,none,none,Put the green cabbage to the left of the light green mug with the right hand facing top left from the front. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,1458,1743,285,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top diagonal. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,1743,1923,180,place,blue soda can,right,-,-,-,-,right,pink mug,right,none,none,none,Put the blue soda can to the right of the pink mug with the right hand. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,1922,2106,184,pick,green cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2106,2283,177,place,green cabbage,left,-,-,-,-,left,pink mug,left,forwards,none,none,Put the green cabbage to the left of the pink mug with the left hand facing forwards. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2283,2550,267,pick,light green mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the light green mug from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2550,2697,147,place,light green mug,right,-,-,-,-,left,blue soda can,left,top_left,none,none,Put the light green mug to the left of the blue soda can with the handle facing top left using the right arm. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2697,2745,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2745,2868,123,pick,green cabbage,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2868,2988,120,place,green cabbage,left,-,-,-,-,front,pink mug,front,top_right,none,none,Put the green cabbage in front of the pink mug with the left hand facing top right from the front. +2026-03-15-23-56-59-781000,pick_place_diverse,pick and place diversity day 3 data collection,2988,3000,12,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,0,141,141,pick,cabbage,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the bottom diagonally. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,141,270,129,place,cabbage,left,-,-,-,-,left,pink cup,left,forwards,none,top,Put the cabbage to the left of the pink cup on the top side with the left hand facing forwards front. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,270,459,189,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,459,648,189,place,blue soda can,right,-,-,-,-,front,cabbage,front,none,up,top,Put the blue soda can in front of the cabbage on the top side right side up with the front as the reference point using the right hand. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,648,885,237,pick,pink cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand at a diagonal angle by the handle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,885,1038,153,place,pink cup,left,-,-,-,-,corner,blue soda can,corner,none,up,top_left,Put the pink cup to the left of the blue soda can on the top left side with the left hand right side up. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,1038,1230,192,pick,green cup,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green cup from the table with the right hand using a lip grip at the bottom left with a diagonal pick angle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,1230,1473,243,place,green cup,right,-,-,-,-,right,blue soda can,right,top_left,up,top,Put the green cup to the right of the blue soda can with the handle facing top left on the top side right side up using the right hand. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,1473,1773,300,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,1773,1884,111,place,blue soda can,left,-,-,-,-,corner,pink cup,corner,none,none,top_left,Put the blue soda can to the left of the pink cup on the top left side with the left hand. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,1884,2058,174,pick,pink cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand at a diagonal angle by the handle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,2058,2226,168,place,pink cup,left,-,-,-,-,corner,cabbage,corner,none,up,top_left,Place the pink cup to the left of the cabbage on the top left side with the left hand right side up. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,2226,2454,228,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,2454,2661,207,place,blue soda can,left,-,-,-,-,left,pink cup,left,none,none,none,Put the blue soda can to the left of the pink cup with the left hand. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,2661,2751,90,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,2748,2892,144,pick,green cup,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the green cup from the table with the right hand using a side grip at the top right with a diagonal pick angle. +2026-03-15-23-59-50-076000,pick_place_diverse,pick and place diversity day 3 data collection,2892,3000,108,place,green cup,right,-,-,-,-,right,cabbage,right,top_left,none,none,Place the green cup to the right side of the cabbage with the handle facing top left using the right hand. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,0,108,108,pick,brown stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,108,222,114,place,brown stuffed toy,left,-,-,-,-,inside,silver bowl,inside,backwards,none,none,Place the brown stuffed toy inside the silver bowl with the left hand facing backwards. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,222,348,126,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,348,444,96,place,blue stuffed toy,left,-,-,-,-,inside,silver bowl,inside,top_left,none,none,Place the blue stuffed toy inside the silver bowl with the left hand facing top left. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,444,588,144,pick,red marker,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,588,717,129,place,red marker,left,-,-,-,-,inside,pink bowl,inside,backwards,none,none,Place the red marker inside the pink bowl with the left hand facing backwards. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,717,939,222,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,939,1077,138,place,white coffee cup,right,-,-,-,-,right,silver bowl,right,backwards,up,none,Put the white coffee cup to the right of the silver bowl with handle facing backwards using the right hand right side up. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1077,1311,234,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grasp at the right side with a diagonal angle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1311,1407,96,place,pink bowl,right,-,-,-,-,right,white coffee cup,right,none,none,none,Put the pink bowl to the right of the white coffee cup with the right hand. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1407,1545,138,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a lip grip from the left at a diagonal angle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1545,1593,48,dump,stuffed toys,left,-,-,-,-,left,white coffee cup,left,none,none,none,Dump the stuffed toys to the left of the white coffee cup with the left hand. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1593,1725,132,place,silver bowl,left,-,-,-,-,left,stuffed toys,left,none,none,none,Put the silver bowl to the left of the stuffed toys with the left hand. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1725,1833,108,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1833,1941,108,place,blue stuffed toy,left,-,-,-,-,left,silver bowl,left,forwards,none,none,Put the blue stuffed toy to the left of the silver bowl with the left hand facing forwards. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,1941,2067,126,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2067,2169,102,place,brown stuffed toy,left,-,-,-,-,below,silver bowl,below,forwards,none,none,Put the brown stuffed toy to the bottom of the silver bowl with the left hand facing forwards. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2169,2337,168,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2337,2511,174,place,white coffee cup,right,-,-,-,-,right,silver bowl,right,backwards,up,none,Put the white coffee cup to the right of the silver bowl with handle facing backwards with the right hand right side up. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2511,2736,225,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bow from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2736,2847,111,place,pink bowl,right,-,-,-,-,right,white coffee cup,right,none,none,none,Put the pink bowl to the right of the white coffee cup with the right hand. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2847,2868,21,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2868,2958,90,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-16-01-09-25-900000,pick_place_diverse,pick_place,2958,3000,42,place,blue stuffed toy,left,-,-,-,-,left,brown stuffed toy,left,none,none,none,Put the blue stuffed toy to the left of the brown stuffed toy with the left hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,0,75,75,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,75,186,111,place,blue stuffed toy,left,-,-,-,-,front,coffee cup,front,left,none,bottom,Put the blue stuffed toy in front of the coffee cup on the bottom side with the left hand facing left. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,186,348,162,pick,pink bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the top from a diagonal angle. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,348,384,36,dump,red marker,right,-,-,-,-,right,,none,none,none,none,Dump the red marker on the table on the right side with the right hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,384,501,117,place,pink bowl,right,-,-,-,-,right,red marker,right,none,none,none,Put the pink bowl to the right of the red marker with the right hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,501,630,129,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,630,714,84,place,blue stuffed toy,left,-,-,-,-,inside,coffee cup,inside,forwards,none,none,Put the blue stuffed toy inside the coffee cup with the left hand facing forwards. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,714,834,120,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,834,906,72,place,brown stuffed toy,left,-,-,-,-,inside,stainless bowl,inside,backwards,none,none,Put the brown stuffed toy inside the stainless bowl with the left hand facing backwards. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,906,1026,120,pick,red marker,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1026,1146,120,place,red marker,left,-,-,-,-,inside,stainless bowl,inside,none,none,none,Put the red marker inside the stainless bowl with the left hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1146,1272,126,pick,pink bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal top lip grasp. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1272,1377,105,place,pink bowl,right,-,-,-,-,corner,coffee cup,corner,none,none,top_right,Put the pink bowl to the right of the coffee cup on the top right side with the right hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1377,1650,273,pick,stainless bowl,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the stainless bowl from the table with the left hand using a lip grip at the top from a diagonal angle. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1650,1710,60,dump,red marker,left,-,-,-,-,table,table,none,none,none,none,Dump the red marker and brown stuffed toy on the left side of the table with the left hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1710,1827,117,place,stainless bowl,left,-,-,-,-,left,red marker,left,none,none,none,Put the stainless bowl to the left of the red marker with the left hand. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,1827,2052,225,pick,coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,2052,2214,162,place,coffee cup,right,-,-,-,-,right,red marker pen,right,bottom_right,none,bottom,Put the coffee cup to the right of the red marker pen on the bottom side with the right hand facing bottom right relative to the front. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,2400,2502,102,pick,red marker,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,2502,2619,117,place,red marker,left,-,-,-,-,front,pink bowl,front,bottom_left,none,none,Put the red marker in front of the pink bowl with the left hand facing bottom left with the tip as the reference point. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,2619,2742,123,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,2742,2835,93,place,brown stuffed toy,left,-,-,-,-,inside,stainless bowl,inside,backwards,none,none,Put the brown stuffed toy inside the stainless bowl with the left hand facing backwards. +2026-03-16-01-11-55-594000,pick_place_diverse,pick_place,2835,2883,48,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,0,108,108,pick,marker,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the marker from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,108,195,87,place,marker,left,-,-,-,-,inside,pink bowl,inside,bottom_left,none,none,Put the marker inside the pink bowl with the left hand facing bottom left with the tip as the reference point. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,195,333,138,pick,silver bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,333,387,54,dump,brown stuffed toy,left,-,-,-,-,left,white cup,left,none,none,none,Dump the brown stuffed toy to the left of the white cup with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,387,510,123,place,silver bowl,left,-,-,-,-,right,brown stuffed toy,right,none,none,none,Put the silver bowl to the right of the brown stuffed toy with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,510,690,180,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,690,747,57,place,brown stuffed toy,left,-,-,-,-,inside,pink bowl,inside,none,none,none,Put the brown stuffed toy inside the pink bowl with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,747,969,222,pick,cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,968,1062,94,place,cup,right,-,-,-,-,right,pink bowl,right,bottom_right,up,none,Put the cup to the right of the pink bowl with the handle facing bottom right right side up with the right hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1206,1278,72,pick,silver bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the right side. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1278,1365,87,place,silver bowl,left,-,-,-,-,front,pink bowl,front,none,none,none,Put the silver bowl in front of the pink bowl with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1365,1542,177,pick,cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1542,1620,78,dump,blue stuffed toy,right,-,-,-,-,center,,none,none,none,none,Dump the blue stuffed toy on the center of the table with the right hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1620,1785,165,place,cup,right,-,-,-,-,right,silver bowl,right,bottom_left,up,none,Put the cup to the right of the silver bowl with the right hand right side up with the front facing bottom left. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1785,1941,156,pick,blue stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the top of the object. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,1941,2004,63,place,blue stuffed toy,right,-,-,-,-,right,pink bowl,right,none,down,none,Put the blue stuffed toy to the right of the pink bowl upside down with the right hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2004,2121,117,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2121,2184,63,dump,marker,left,-,-,-,-,behind,silver bowl,behind,none,none,none,Dump the marker and the brown stuffed toy behind the silver bowl with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2184,2325,141,place,pink bowl,left,-,-,-,-,table,table,none,none,none,none,Put the pink bowl to the left side of the table with the left hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2325,2463,138,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2463,2541,78,place,brown stuffed toy,left,-,-,-,-,behind,pink bowl,behind,none,up,none,Place the brown stuffed toy behind the pink bowl with the left hand right side up. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2541,2745,204,pick,blue stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2745,2826,81,place,blue stuffed toy,right,-,-,-,-,corner,cup,corner,top_left,none,none,Put the blue stuffed toy to the top right of the cup with the right hand facing top left. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2826,2874,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-14-08-782000,pick_place_diverse,pick_place,2874,3000,126,pick,marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,0,132,132,pick,yellow stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand using a side grip at the bottom left from a diagonal angle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,132,240,108,place,yellow stuffed toy,right,-,-,-,-,inside,pink plate,inside,left,none,none,Put the yellow stuffed toy into the pink plate with the right hand facing left. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,240,354,114,pick,croissant,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand using a side grip at the top diagonally. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,354,453,99,place,croissant,left,-,-,-,-,inside,white plate,inside,none,none,none,Put the croissant into the white plate with the left hand. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,453,579,126,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the left from a diagonal angle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,579,714,135,place,bag of chips,left,-,-,-,-,below,pink mug,below,top_right,none,none,Put the bag of chips to the bottom of the pink mug with the left hand facing top right. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,714,930,216,pick,pink mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand at a diagonal angle by the handle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,930,1125,195,place,pink mug,left,-,-,-,-,left,bag of chips,left,none,up,none,Put the pink mug to the left of the bag of chips with the left hand right side up front. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1125,1287,162,pick,yellow stuffed toy,right,side,top,diagonal,pink plate,-,-,-,-,-,-,Pick up the yellow stuffed toy from the pink plate with the right hand using a side grip at the top diagonally. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1287,1368,81,place,yellow stuffed toy,right,-,-,-,-,below,white plate,below,top_right,none,none,Put the yellow stuffed toy to the bottom of the white plate with the right hand facing top right. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1368,1575,207,pick,croissant,right,side,bottom,diagonal,white plate,-,-,-,-,-,-,Pick up the croissant from the white plate with the right hand using a side grip at the bottom left from a diagonal angle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1575,1725,150,place,croissant,right,-,-,-,-,right,pink plate,right,none,none,none,Place the croissant to the right of the pink plate with the right hand. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1725,1770,45,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1770,1872,102,pick,yellow stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1872,1998,126,place,yellow stuffed toy,left,-,-,-,-,inside,pink mug,inside,none,none,none,Put the yellow stuffed toy into the pink mug with the left hand. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,1997,2118,121,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,2118,2232,114,place,bag of chips,left,-,-,-,-,corner,pink mug,corner,bottom_left,none,none,Put the bag of chips on the bottom left of the pink mug with the left hand facing bottom left. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,2232,2448,216,pick,white plate,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a side grip at the bottom left with a diagonal angle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,2448,2571,123,place,white plate,left,-,-,-,-,behind,pink mug,behind,none,none,none,Place the white plate behind the pink mug with the left hand. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,2571,2715,144,pick,bag of chips,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the top left from a diagonal angle. +2026-03-16-01-17-36-624000,pick_place_diverse,pick_place,2715,2787,72,place,bag of chips,left,-,-,-,-,left,pink cup,left,top_right,none,none,Put the bag of chips to the left of the pink cup with the left hand facing top right. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,0,87,87,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left and a diagonal angle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,87,165,78,place,bag of chips,left,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the bag of chips on top of the pink plate with the left hand facing top left. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,342,489,147,pick,pink cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the left hand using a diagonal lip grasp at the top right. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,489,579,90,place,pink cup,left,-,-,-,-,on_top,white plate,on_top,bottom_left,up,none,Put the pink cup on top of the white plate with handle facing bottom left right side up with the left hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,579,747,168,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,747,861,114,place,croissant,right,-,-,-,-,front,pink plate,front,none,none,none,Put the croissant in front of the pink plate with the right hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,861,1026,165,pick,bag of chips,left,side,left,diagonal,pink plate,-,-,-,-,-,-,Pick up the bag of chips from the top of the pink plate with the left hand using a side grasp at the left with a diagonal angle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1026,1122,96,place,bag of chips,left,-,-,-,-,right,white plate,right,none,none,none,Put the bag of chips to the right of the white plate with the left hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1122,1293,171,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom and a diagonal pick angle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1293,1419,126,place,croissant,right,-,-,-,-,right,pink plate,right,none,none,none,Put the croissant to the right of the pink plate with the right hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1419,1536,117,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1536,1629,93,place,bag of chips,left,-,-,-,-,left,pink plate,left,none,none,none,Put the bag of chips to the left of the pink plate with the left hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1629,1797,168,pick,pink plate,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the right hand using a lip grip at the bottom from a diagonal angle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1797,1914,117,place,pink plate,right,-,-,-,-,between,white plate and the bag of chips,between,none,up,none,Put the pink plate in between the white plate and the bag of chips with the right hand right side up front. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,1914,2139,225,pick,pink cup,left,lip,top,diagonal,white plate,-,-,-,-,-,-,Pick up the pink cup from the top of the white plate with the left hand using a lip grip at the top right diagonal. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2139,2247,108,place,pink cup,left,-,-,-,-,on_top,pink plate,on_top,bottom_left,up,none,Put the pink cup on top of the pink plate with handle facing bottom left right side up with the left hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2247,2412,165,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom and a diagonal pick angle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2412,2487,75,place,croissant,right,-,-,-,-,right,bag of chips,right,none,none,none,Place the croissant to the right of the bag of chips with the right hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2487,2718,231,pick,pink cup,left,handle,handle,diagonal,pink plate,-,-,-,-,-,-,Pick up the pink cup from the top of the pink plate with the left hand at a diagonal angle by the handle. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2718,2868,150,place,pink cup,left,-,-,-,-,front,pink plate,front,none,up,none,Place the pink cup in front of the pink plate with the front right side up using the left hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2868,2919,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-22-26-448000,pick_place_diverse,pick_place,2919,3000,81,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,0,126,126,pick,bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,126,246,120,place,bag of chips,right,-,-,-,-,right,bread,right,none,none,none,Place the bag of chips to the right side of the bread with the right hand. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,245,414,169,pick,white plate,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a diagonal lip grip at the bottom. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,414,555,141,place,white plate,left,-,-,-,-,between,pink plate and the bread,between,none,up,none,Put the white plate between the pink plate and the bread with the left hand right side up with the front as the reference point. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,555,885,330,pick,pink plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,885,1029,144,place,pink plate,left,-,-,-,-,left,pink cup,left,none,up,none,Place the pink plate to the left side of the pink cup with the left hand right side up with the front as the reference point. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,1029,1266,237,pick,bread,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the right hand at a diagonal angle from the top of the object. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,1266,1404,138,place,bread,right,-,-,-,-,behind,pink cup,behind,none,none,none,Put the bread behind the pink cup with the right hand. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,1404,1629,225,pick,bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the right hand using a side grip at the bottom. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,1629,1737,108,place,bag of chips,right,-,-,-,-,on_top,white plate,on_top,bottom_left,none,none,Put the bag of chips on the white plate with the right hand facing bottom left. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,1737,1932,195,pick,bread,left,plain,top,top,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand from the top at the top of the object. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,2100,2343,243,pick,pink plate,left,lip,bottom,side,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a lip grip at the bottom from the side. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,2343,2631,288,place,pink plate,left,-,-,-,-,left,bread,left,none,up,none,Put the pink plate to the left side of the bread with the left hand right side up with the front as the orientation reference point. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,2631,2682,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,2682,2787,105,pick,bread,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,2787,2838,51,place,bread,right,-,-,-,-,on_top,pink plate,on_top,none,none,none,Put the bread on the pink plate with the right hand. +2026-03-16-01-24-52-050000,pick_place_diverse,pick_place,2838,3000,162,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,0,204,204,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,204,345,141,place,juice pouch,left,-,-,-,-,left,eggplant,left,top_right,none,none,Put the juice pouch to the left side of the eggplant with the left hand facing top right from the front. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,345,492,147,pick,eggplant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,491,588,97,place,eggplant,left,-,-,-,-,inside,light khaki bowl,inside,top_right,none,none,Put the eggplant into the light khaki bowl with the left hand facing top right with the tip as the reference point. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,588,810,222,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,810,876,66,place,doritos,right,-,-,-,-,between,light khaki bowl and the green cup,between,backwards,none,none,Put the doritos between the light khaki bowl and the green cup with the right hand facing backwards. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,876,1029,153,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1029,1161,132,place,carrot,right,-,-,-,-,right,green cup,right,forwards,none,none,Put the carrot to the right side of the green cup with the right hand facing forwards with the tip facing forwards. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1161,1341,180,pick,juice pouch,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the bottom diagonally. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1341,1395,54,place,juice pouch,left,-,-,-,-,left,light khaki bowl,left,top_right,none,none,Put the juice pouch to the left side of the light khaki bowl with the left hand facing top right. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1395,1623,228,pick,eggplant,right,side,top,diagonal,white bowl,-,-,-,-,-,-,Pick up the eggplant from the white bowl with the right hand using a side grip at the top with a diagonal pick angle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1623,1734,111,place,eggplant,right,-,-,-,-,behind,green cup,behind,forwards,none,none,Put the eggplant behind the green cup with the right hand facing forwards with the tip as the reference point. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1734,1908,174,pick,light khaki bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the light khaki bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,1908,2016,108,place,light khaki bowl,left,-,-,-,-,left,juice pouch,left,none,none,none,Place the light khaki bowl to the left side of the juice pouch with the left hand. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2016,2163,147,pick,doritos,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the left with a diagonal angle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2163,2271,108,place,doritos,left,-,-,-,-,left,light khaki bowl,left,bottom_right,none,none,Put the doritos to the left side of the light khaki bowl with the left hand facing bottom right. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2271,2454,183,pick,juice pouch,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the top using a side grip. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2520,2712,192,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2712,2817,105,place,eggplant,right,-,-,-,-,left,green cup,left,forwards,none,none,Put the eggplant to the left side of the green cup with the right hand facing forwards with the tip facing forwards. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2817,2868,51,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2868,2952,84,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom diagonally. +2026-03-16-01-28-13-201000,pick_place_diverse,pick_place,2952,3000,48,place,doritos,left,-,-,-,-,table,,none,none,none,none,Put the doritos on the table with the left hand. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,0,117,117,pick,bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,117,156,39,dump,bag of juice,left,-,-,-,-,left,bag of chips,left,none,none,none,Dump the bag of juice to the left of the bag of chips with the left hand. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,156,264,108,place,bowl,left,-,-,-,-,left,bag of juice,left,none,none,none,Put the bowl to the left of the bag of juice with the left hand. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,264,459,195,pick,coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,459,678,219,place,coffee cup,right,-,-,-,-,on_top,eggplant,on_top,bottom_left,none,none,Put the coffee cup on top of the eggplant with the right hand facing bottom left from the front. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,678,885,207,pick,bag of chips,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a lip grip at the top left diagonal. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,885,1026,141,place,bag of chips,left,-,-,-,-,inside,bowl,inside,none,none,none,Put the bag of chips inside the bowl with the left hand. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1026,1215,189,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1215,1371,156,place,carrot,right,-,-,-,-,above,bag of juice,above,forwards,none,none,Put the carrot to the top of the bag of juice with the right hand facing forwards with the tip as the reference point. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1371,1533,162,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1533,1644,111,place,carrot,left,-,-,-,-,left,bowl,left,forwards,none,none,Put the carrot to the left of the bowl with the left hand facing forwards with the tip as the reference point. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1644,1818,174,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1818,1992,174,place,eggplant,right,-,-,-,-,left,coffee cup,left,top_left,none,none,Put the eggplant to the left of the coffee cup with the right hand facing top left by the tip. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,1992,2175,183,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,2175,2280,105,place,eggplant,left,-,-,-,-,left,coffee cup,left,top_left,none,none,Place the eggplant to the left of the coffee cup with the left hand with its tip facing top left. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,2526,2658,132,pick,bag of juice,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,2658,2763,105,place,bag of juice,right,-,-,-,-,right,coffee cup,right,forwards,none,none,Put the bag of juice to the right of the coffee cup with the right hand facing forwards. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,2763,2817,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-35-03-121000,pick_place_diverse,pick_place,2817,3000,183,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,0,141,141,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,141,258,117,place,carrot,left,-,-,-,-,right,bowl,right,forwards,none,none,Put the carrot to the right of the bowl with the left hand facing forwards with the tip as the orientation reference point. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,258,423,165,pick,bag of juice,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,423,594,171,place,bag of juice,left,-,-,-,-,left,bowl,left,forwards,none,none,Put the bag of juice to the left of the bowl with the left hand facing forwards. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,594,795,201,pick,carrot,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,795,972,177,place,carrot,right,-,-,-,-,right,coffee cup,right,forwards,none,none,Put the carrot to the right of the coffee cup with the tip facing forwards using the right hand. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,972,1095,123,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,1095,1266,171,place,eggplant,left,-,-,-,-,right,bowl,right,forwards,none,none,Put the eggplant to the right of the bowl with the left hand facing forwards with the tip as the reference point. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,1266,1398,132,pick,coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,1398,1665,267,place,coffee cup,right,-,-,-,-,corner,eggplant,corner,none,up,none,Put the coffee cup to the top right of the eggplant with the right hand right side up with the front as the orientation reference point. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,1665,1779,114,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle from the middle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,1779,1917,138,place,eggplant,left,-,-,-,-,left,coffee cup,left,forwards,none,none,Put the eggplant to the left of the coffee cup with the left hand facing forwards. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,1917,2022,105,pick,carrot,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand using a side grip at the bottom at a diagonal angle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,2022,2565,543,place,carrot,right,-,-,-,-,below,coffee cup,below,backwards,none,none,Place the carrot to the bottom of the coffee cup with the right hand facing backwards with the tip as the orientation reference point. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,2565,2682,117,pick,eggplant,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grasp at the top with a diagonal pick angle. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,2682,2790,108,place,eggplant,left,-,-,-,-,right,bowl,right,backwards,none,none,Put the eggplant to the right of the bowl with the left hand facing backwards. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,2790,2850,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,2850,2964,114,pick,carrot,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand using a side grip at the bottom diagonally. +2026-03-16-01-38-30-250000,pick_place_diverse,pick_place,2964,3000,36,place,carrot,right,-,-,-,-,right,coffee cup,right,none,none,none,Put the carrot to the right of the coffee cup with the right hand. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,0,129,129,pick,blue screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,129,288,159,place,blue screwdriver,left,-,-,-,-,front,green bowl,front,forwards,none,none,Put the blue screwdriver in front of the green bowl with the left hand facing forwards with the tip at the bottom side. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,288,513,225,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle from the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,513,645,132,place,orange screwdriver,right,-,-,-,-,right,yogurt,right,none,down,none,Place the orange screwdriver to the right of the yogurt with the right hand upside down with the tip at the top right side. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,645,789,144,pick,asparagus,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,789,954,165,place,asparagus,left,-,-,-,-,corner,blue screwdriver,corner,backwards,none,bottom_left,Put the asparagus to the left of the blue screwdriver with the left hand on the bottom left side facing backwards with the tip as the reference point. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,954,1209,255,pick,yogurt,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yogurt from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,1209,1320,111,place,yogurt,right,-,-,-,-,corner,orange screwdriver,corner,none,up,top_right,Put the yogurt to the right of the orange screwdriver on the top right side with the right hand right side up with the front as the orientation reference point. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,1320,1557,237,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,1557,1662,105,place,orange screwdriver,right,-,-,-,-,right,yogurt,right,forwards,none,none,Put the orange screwdriver to the right of the yogurt with the right hand facing forwards with the tip forwards. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,1662,1821,159,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,1821,1917,96,place,asparagus,left,-,-,-,-,corner,green bowl,corner,backwards,none,top_left,Put the asparagus to the left of the green bowl on the top left side with the left hand facing backwards with the tip facing backwards. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,1917,2103,186,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2103,2265,162,place,blue screwdriver,left,-,-,-,-,right,green bowl,right,backwards,none,top,Put the blue screwdriver to the right side of the green bowl on its top side with the left hand facing backwards. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2265,2523,258,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2523,2637,114,place,orange screwdriver,right,-,-,-,-,right,blue screwdriver,right,forwards,none,top,Put the orange screwdriver to the right of the blue screwdriver on the top side with the tip facing forwards using the right arm. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2637,2772,135,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2772,2841,69,place,asparagus,left,-,-,-,-,inside,green bowl on top,inside,backwards,none,none,Put the asparagus inside the green bowl on top with the left hand facing backwards with the tip as the orientation reference point. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2841,2889,48,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-44-28-902000,pick_place_diverse,pick_place,2841,3000,159,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,0,108,108,pick,blue screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,108,207,99,place,blue screwdriver,left,-,-,-,-,inside,green bowl on top,inside,top_right,none,none,Put the blue screwdriver into the green bowl on top with the left hand facing top right by the tip. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,207,399,192,pick,white canister,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white canister from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,399,519,120,place,white canister,right,-,-,-,-,right,black screwdriver,right,forwards,none,top,Put the white canister to the right of the black screwdriver on the top side with the front facing forwards using the right arm. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,519,660,141,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,660,780,120,place,orange screwdriver,left,-,-,-,-,corner,green bowl,corner,backwards,none,top_left,Place the orange screwdriver to the left of the green bowl on the top left side with the left hand facing backwards by the tip. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,780,942,162,pick,white canister,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the white canister from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,942,1014,72,place,white canister,right,-,-,-,-,right,green bowl,right,none,none,top,Put the white canister to the right of the green bowl on the top side with the right hand. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1013,1071,58,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1071,1149,78,pick,green bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip from the top at the left. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1149,1185,36,dump,asparagus,left,-,-,-,-,table,white canister,table,none,none,none,Dump the asparagus and the blue screwdriver onto the top side of the table to the left of the white canister with the left hand. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1185,1335,150,place,green bowl,left,-,-,-,-,corner,orange screwdriver,corner,none,none,top_left,Put the green bowl to the left of the orange screwdriver on the top left side with the left hand. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1335,1539,204,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1539,1647,108,place,blue screwdriver,left,-,-,-,-,front,green bowl,front,right,none,bottom_left,Place the blue screwdriver in front of the green bowl with the left hand on the bottom left side with the tip facing right. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1647,1878,231,pick,asparagus,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand from the top at the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1878,1998,120,place,asparagus,left,-,-,-,-,right,white canister,right,backwards,none,top,Put the asparagus to the right of the white canister on its top side with the left hand facing backwards by the tip. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,1997,2166,169,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the right side. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,2166,2334,168,place,green bowl,left,-,-,-,-,corner,asparagus,corner,none,none,top_right,Put the green bowl to the right of the asparagus on the top right side with the left hand. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,2334,2559,225,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,2559,2688,129,place,orange screwdriver,left,-,-,-,-,corner,asparagus,corner,backwards,none,bottom,Put the orange screwdriver to the front right of the asparagus with the left hand on the bottom side facing backwards with the tip as the reference point. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,2688,2853,165,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,2853,2964,111,place,blue screwdriver,left,-,-,-,-,inside,green bowl on top,inside,bottom_left,none,none,Put the blue screwdriver into the green bowl on top with the left hand facing bottom left by the tip. +2026-03-16-01-47-54-984000,pick_place_diverse,pick_place,2964,3000,36,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,0,138,138,pick,orange screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,138,297,159,place,orange screwdriver,right,-,-,-,-,right,green bowl,right,backwards,none,none,Put the orange screwdriver to the right of the green bowl with the tip facing backwards using the right hand. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,297,555,258,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,555,672,117,place,asparagus,left,-,-,-,-,left,canister,left,backwards,none,none,Put the asparagus to the left of the canister with the left hand facing backwards. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,672,1059,387,pick,canister,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the canister from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,1059,1278,219,place,canister,right,-,-,-,-,behind,orange screwdriver,behind,none,none,none,Put the canister behind the orange screwdriver with the right hand. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,1278,1509,231,pick,green bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the top from a diagonal angle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,1509,1572,63,dump,blue screwdriver,right,-,-,-,-,left,orange screwdriver,left,none,none,none,Dump the blue screwdriver on the table to the left of the orange screwdriver with the right hand. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,1572,1704,132,place,green bowl,right,-,-,-,-,right,orange screwdriver,right,none,none,none,Put the green bowl to the right of the orange screwdriver with the right hand. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,1704,1902,198,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,1902,2043,141,place,asparagus,left,-,-,-,-,left,blue screwdriver,left,backwards,none,none,Put the asparagus to the left of the blue screwdriver with the left hand facing backwards with the tip as the reference point. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2042,2109,67,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2109,2199,90,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2199,2283,84,place,asparagus,right,-,-,-,-,front,blue screwdriver,front,bottom_right,none,none,Put the asparagus in front of the blue screwdriver with the right hand with the tip facing bottom right. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2283,2511,228,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2511,2619,108,place,blue screwdriver,right,-,-,-,-,left,orange screwdriver,left,right,none,none,Place the blue screwdriver to the left of the orange screwdriver with the right hand with its tip facing right. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2619,2796,177,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2796,2925,129,place,orange screwdriver,right,-,-,-,-,left,green bowl,left,bottom_right,none,none,Put the orange screwdriver to the left of the green bowl with the right hand facing bottom right with the tip as the reference point. +2026-03-16-01-50-34-036000,pick_place_diverse,pick_place,2925,3000,75,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,0,102,102,pick,green cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the left hand at a diagonal angle from the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,102,258,156,place,green cabbage,left,-,-,-,-,left,canned goods,left,forwards,none,none,Put the green cabbage to the left of the canned goods with the left hand facing forwards. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,258,468,210,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,468,591,123,place,corn,right,-,-,-,-,right,blue plate,right,backwards,none,none,Put the corn to the right of the blue plate with the right hand facing backwards with the tip as the reference point. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,591,741,150,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle from the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,741,840,99,place,canned goods,left,-,-,-,-,left,green cabbage,left,none,up,none,Put the canned goods to the left of the green cabbage with the left hand right side up with the front as the reference point. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,840,1023,183,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,1023,1137,114,place,white coffee cup,right,-,-,-,-,on_top,blue plate,on_top,backwards,up,none,Place the white coffee cup on top of the blue plate with the right hand right side up with the front facing backwards. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,1137,1290,153,pick,red bell pepper,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,1290,1386,96,place,red bell pepper,left,-,-,-,-,front,canned goods,front,none,up,none,Put the red bell pepper in front of the canned goods with the left hand right side up with the front as the orientation reference point. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,1386,1683,297,pick,blue marker,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,1683,1941,258,place,blue marker,right,-,-,-,-,between,white coffee cup and the blue plate,between,backwards,none,none,Put the blue marker between the white coffee cup and the blue plate with the right hand facing backwards with the tip as the orientation reference point. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,1941,2010,69,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2012,2109,97,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2112,2226,114,place,pink stuffed toy,left,-,-,-,-,left,white coffee cup,left,forwards,none,none,Put the pink stuffed toy to the left side of the white coffee cup with the left hand facing forwards. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2226,2409,183,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2409,2529,120,place,canned goods,left,-,-,-,-,behind,pink stuffed toy,behind,none,up,none,Put the canned goods behind the pink stuffed toy with the left hand right side up with the front as the orientation reference point. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2529,2673,144,pick,red bell pepper,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2673,2823,150,place,red bell pepper,left,-,-,-,-,behind,white coffee cup,behind,left,none,none,Put the red bell pepper behind the white coffee cup with the left hand facing left with the front as the reference point. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2823,2955,132,pick,pink stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand using a side grip at the top diagonally. +2026-03-16-01-55-05-813000,pick_place_diverse,pick_place,2955,3000,45,place,pink stuffed toy,left,-,-,-,-,left,green cabbage,left,none,none,none,Put the pink stuffed toy to the left of the green cabbage with the left hand. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,0,120,120,pick,cabbage,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,120,207,87,place,cabbage,left,-,-,-,-,front,canned goods,front,forwards,none,none,Put the cabbage in front of the canned goods with the left hand facing forwards. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,207,318,111,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,318,408,90,place,stuffed toy,left,-,-,-,-,behind,blue marker,behind,forwards,none,none,Put the stuffed toy behind the blue marker with the left hand facing forwards. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,408,639,231,pick,pink stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,639,762,123,place,pink stuffed toy,right,-,-,-,-,front,purple plate,front,forwards,none,none,Put the pink stuffed toy in front of the purple plate with the right hand facing forwards. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,762,885,123,pick,blue marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,885,993,108,place,blue marker,right,-,-,-,-,behind,purple plate,behind,backwards,none,none,Put the blue marker behind the purple plate with the right hand facing backwards with the tip as the reference point. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,993,1245,252,pick,bell pepper,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,1245,1422,177,place,bell pepper,left,-,-,-,-,left,purple plate,left,forwards,none,none,Put the bell pepper to the left of the purple plate with the left hand facing forwards with the front as the reference point. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,1422,1656,234,pick,small white mug,right,handle,handle,diagonal,purple plate,-,-,-,-,-,-,Pick up the small white mug from the purple plate with the right hand using a diagonal grasp at the handle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,1656,1785,129,place,small white mug,right,-,-,-,-,behind,corn,behind,backwards,up,none,Put the small white mug behind the corn with the right hand right side up with the front facing backwards. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,1785,1968,183,pick,blue marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,1967,2058,91,place,blue marker,right,-,-,-,-,on_top,purple plate,on_top,bottom_right,none,none,Put the blue marker on top of the purple plate with the right hand with its tip facing bottom right. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2058,2169,111,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2169,2304,135,place,bell pepper,right,-,-,-,-,right,corn,right,forwards,none,none,Place the bell pepper to the right of the corn with the right hand facing forwards from the front. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2304,2517,213,pick,pink stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2517,2637,120,place,pink stuffed toy,right,-,-,-,-,behind,purple plate,behind,forwards,none,none,Put the pink stuffed toy behind the purple plate with the right hand facing forwards. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2637,2685,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2685,2799,114,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2799,2901,102,place,canned goods,left,-,-,-,-,left,cabbage,left,none,up,none,Put the canned goods to the left of the cabbage with the left hand right side up with the front as the reference point. +2026-03-16-01-57-33-654000,pick_place_diverse,pick_place,2901,3000,99,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,0,171,171,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand at the middle using a diagonal angle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,171,384,213,place,pink stuffed toy,right,-,-,-,-,right,coffee cup,right,top_right,none,none,Put the pink stuffed toy to the right of the coffee cup with the right hand facing top right. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,381,516,135,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,516,675,159,place,canned goods,left,-,-,-,-,between,white mug and the blue tray,between,none,none,none,Put the canned goods in between the white mug and the blue tray with the left hand. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,675,840,165,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,840,942,102,place,canned goods,right,-,-,-,-,behind,blue tray,behind,none,none,none,Put the canned goods behind the blue tray with the right hand. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,942,1098,156,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,1098,1245,147,place,pink stuffed toy,right,-,-,-,-,between,white mug and the blue tray,between,forwards,none,none,Put the pink stuffed toy in between the white mug and the blue tray with the right hand facing forwards. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,1245,1383,138,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,1383,1515,132,place,cabbage,left,-,-,-,-,behind,white mug,behind,forwards,none,none,Put the cabbage behind the white mug with the left hand facing forwards from the front. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,1515,1653,138,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,1653,1776,123,place,pink stuffed toy,left,-,-,-,-,left,white mug,left,forwards,none,none,Put the pink stuffed toy to the left of the white mug with the left hand facing forwards. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2010,2172,162,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2172,2289,117,place,corn,right,-,-,-,-,between,white mug and the blue tray,between,backwards,none,none,Put the corn in between the white mug and the blue tray with the right hand facing backwards from the front. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2289,2442,153,pick,canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2442,2559,117,place,canned goods,right,-,-,-,-,right,blue tray,right,none,up,none,Put the canned goods to the right of the blue tray with the right hand right side up with the front as the orientation reference point. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2556,2772,216,pick,cabbage,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2772,2919,147,place,cabbage,left,-,-,-,-,left,pink stuffed toy,left,forwards,none,none,Put the cabbage to the left of the pink stuffed toy with the left hand facing forwards. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2919,2970,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-00-05-454000,pick_place_diverse,pick_place,2970,3000,30,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,0,231,231,pick,white cup,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,231,342,111,place,cup,left,-,-,-,-,below,canned goods,below,none,none,none,Put the cup to the bottom of the canned goods with the left hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,342,561,219,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,561,672,111,place,stuffed toy,right,-,-,-,-,corner,white cup,corner,left,none,none,Put the stuffed toy on the bottom right of the white cup with the right hand facing left. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,672,954,282,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,954,1095,141,place,canned goods,right,-,-,-,-,corner,stuffed toy,corner,none,none,none,Put the canned goods to the top right of the stuffed toy with the right hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,1095,1239,144,pick,pepsi can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pepsi can from the table with the left hand using a side grip at the top diagonally. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,1239,1350,111,place,pepsi can,left,-,-,-,-,above,white cup,above,none,none,none,Put the pepsi can to the top of the white cup with the left hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,1350,1536,186,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,1536,1686,150,place,stuffed toy,right,-,-,-,-,right,canned goods,right,left,none,none,Put the stuffed toy to the right of the canned goods with the right hand facing left. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,1686,1857,171,pick,white cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal top lip grasp. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,1857,2064,207,place,cup,left,-,-,-,-,right,pepsi can,right,none,none,none,Put the cup to the right of the pepsi can with the left hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,2064,2328,264,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,2328,2505,177,place,canned goods,right,-,-,-,-,right,stuffed toy,right,none,none,none,Put the canned goods to the right of the stuffed toy with the right hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,2679,2736,57,pick,pepsi can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pepsi can from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,2736,2844,108,place,pepsi can,left,-,-,-,-,below,white cup,below,none,none,none,Put the pepsi can to the bottom of the white cup with the left hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,2844,2898,54,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-03-42-045000,pick_place_diverse,pick_place,2898,3000,102,pick,stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,0,153,153,pick,yellow canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow canned good from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,153,258,105,place,yellow canned goods,right,-,-,-,-,right,gray stuffed toy,right,none,none,none,Put the yellow canned good to the right side of the gray stuffed toy with the right hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,258,477,219,pick,blue can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,477,588,111,place,blue can,left,-,-,-,-,left,white cup,left,none,none,none,Place the blue can on the left side of the white cup with the left hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,588,789,201,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,789,894,105,place,gray stuffed toy,right,-,-,-,-,right,yellow canned goods,right,bottom_right,none,none,Put the gray stuffed toy to the right side of the yellow canned good with the right hand facing bottom right. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,894,1068,174,pick,blue can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1068,1185,117,place,blue can,left,-,-,-,-,corner,white cup,corner,forwards,up,none,Place the blue can right side up with the front facing to the front left side of the white cup with the left hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1185,1395,210,pick,yellow canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow canned good from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1395,1479,84,place,yellow canned goods,right,-,-,-,-,right,white cup,right,none,none,none,Put the yellow canned good to the right side of the white cup with the right hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1479,1638,159,pick,blue can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1638,1725,87,place,blue can,left,-,-,-,-,left,white cup,left,none,none,none,Put the blue can on the left side of the white cup with the left hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1725,1878,153,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,1878,2019,141,place,gray stuffed toy,right,-,-,-,-,corner,white cup,corner,bottom_right,none,none,Put the gray stuffed toy to the front right side of the white cup with the right hand facing bottom right. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2019,2187,168,pick,white cup,left,lip,top,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip from the top. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2187,2286,99,place,white cup,left,-,-,-,-,corner,blue can,corner,none,up,none,Put the white cup right side up with its front to the front left side of the blue can using the left hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2286,2502,216,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the right hand at a diagonal angle gripping the entire object. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2502,2625,123,place,gray stuffed toy,right,-,-,-,-,table,table,none,none,up,none,Put the gray stuffed toy on the right side of the table with the right hand right side up. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2625,2688,63,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2688,2823,135,pick,blue can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue can from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2823,2913,90,place,blue can,left,-,-,-,-,corner,white cup,corner,none,none,none,Place the blue can to the rear left side of the white cup with the left hand. +2026-03-16-02-06-02-007000,pick_place_diverse,pick_place,2913,3000,87,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,0,90,90,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,90,189,99,place,stuffed toy,right,-,-,-,-,left,canned goods,left,forwards,none,none,Put the stuffed toy to the left of the canned goods with the right hand facing forwards. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,189,357,168,pick,soda can,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the left hand at a diagonal angle grasping the top of the object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,357,456,99,place,soda can,left,-,-,-,-,corner,cup,corner,none,none,none,Put the soda can to the bottom right of the cup with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,456,639,183,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,639,741,102,place,stuffed toy,right,-,-,-,-,front,canned goods,front,right,none,none,Put the stuffed toy in front of the canned goods with the right hand facing right. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,741,909,168,pick,soda can,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the left hand at a diagonal angle grasping the top of the object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,909,1053,144,place,soda can,left,-,-,-,-,left,cup,left,none,none,none,Put the soda can to the left of the cup with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1053,1182,129,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1182,1305,123,place,stuffed toy,right,-,-,-,-,left,canned goods,left,forwards,none,none,Put the stuffed toy to the left of the canned goods with the right hand facing forwards. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1305,1455,150,pick,soda can,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the left hand at a diagonal angle grasping the top of the object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1455,1542,87,place,soda can,left,-,-,-,-,corner,cup,corner,none,none,none,Put the soda can to the top left of the cup with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1542,1716,174,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1716,1830,114,place,stuffed toy,right,-,-,-,-,right,cup,right,backwards,none,none,Put the stuffed toy to the right of the cup with the right hand facing backwards with the front as the reference point. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,1830,2010,180,pick,stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2010,2124,114,place,stuffed toy,left,-,-,-,-,left,soda can,left,right,none,none,Put the stuffed toy to the left of the soda can with the left hand facing right. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2124,2262,138,pick,cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the cup from the table with the left hand using a diagonal lip grip at the top. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2262,2343,81,place,cup,left,-,-,-,-,left,stuffed toy,left,none,none,none,Put the cup to the left of the stuffed toy with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2343,2541,198,pick,soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2541,2682,141,place,soda can,left,-,-,-,-,left,canned goods,left,none,none,none,Put the soda can to the left of the canned goods with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2682,2739,57,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-08-19-887000,pick_place_diverse,pick_place,2895,3000,105,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,0,135,135,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,135,210,75,place,blue stuffed toy,right,-,-,-,-,right,brown stuffed toy,right,forwards,none,none,Put the blue stuffed toy to the right of the brown stuffed toy with the right hand facing forwards. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,210,339,129,pick,brown stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,339,444,105,place,brown stuffed toy,right,-,-,-,-,inside,green bowl,inside,forwards,none,none,Put the brown stuffed toy inside the green bowl with the right hand facing forwards. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,444,708,264,pick,yogurt,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yogurt from the table with the right hand at a diagonal angle from the middle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,708,786,78,place,yogurt,right,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Put the yogurt inside the green bowl with the right hand facing bottom left from the front. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,786,939,153,pick,pink bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom left. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,939,1062,123,place,pink bowl,left,-,-,-,-,left,pink plate,left,none,none,none,Put the pink bowl to the left of the pink plate with the left hand. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1062,1209,147,pick,juice pouch,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1209,1341,132,place,juice pouch,right,-,-,-,-,front,green bowl,front,left,none,none,Put the juice pouch in front of the green bowl with the right hand facing left. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1341,1503,162,pick,blue stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal from the top of the object. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1503,1578,75,place,blue stuffed toy,right,-,-,-,-,corner,green bowl,corner,top_left,none,none,Put the blue stuffed toy to the bottom right of the green bowl with the right hand facing top left. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1578,1830,252,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1830,1986,156,place,blue stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Place the blue stuffed toy on top of the pink plate with the left hand facing top left. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,1986,2367,381,pick,blue stuffed toy,left,side,bottom,diagonal,pink plate,-,-,-,-,-,-,Pick up the blue stuffed toy from the pink plate with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,2367,2529,162,place,blue stuffed toy,left,-,-,-,-,inside,pink bowl,inside,none,none,none,Put the blue stuffed toy inside the pink bowl with the left hand. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,2577,2643,66,pick,pink pouch,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink pouch from the table with the left hand using a side grip at the top left from a diagonal angle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,2643,2793,150,place,juice pouch,left,-,-,-,-,on_top,pink plate,on_top,backwards,none,none,Put the juice pouch on top of the pink plate with the left hand facing backwards with the front as the reference point. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,2793,2934,141,pick,pink bowl,left,side,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a side grip at the right in a diagonal angle. +2026-03-16-02-54-51-058000,pick_place_diverse,pick and place day 3 of data collection,2934,3000,66,place,pink bowl,left,-,-,-,-,front,juice pouch,front,none,none,none,Put the pink bowl in front of the juice pouch with the left hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,0,78,78,pick,pink bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand from the right side at a diagonal angle using a lip grip. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,78,249,171,place,pink bowl,left,-,-,-,-,right,green bowl,right,none,none,none,Put the pink bowl to the right of the green bowl with the left hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,249,450,201,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,450,495,45,dump,blue stuffed toy,right,-,-,-,-,right,green bowl,right,none,none,none,Dump the blue stuffed toy on the table to the right of the green bowl with the right hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,495,591,96,place,pink bowl,right,-,-,-,-,behind,blue stuffed toy,behind,none,up,none,Put the pink bowl behind the right side of the blue stuffed toy with the right hand right side up. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,591,711,120,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,711,753,42,dump,canister,left,-,-,-,-,between,table between pink plate,none,none,none,none,Dump the canister and brown stuffed toy on the table between pink plate and blue stuffed toy with the left hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,753,873,120,place,green bowl,left,-,-,-,-,front,juice pouch,front,none,up,none,Put the green bowl right side up with its front to the front of the juice pouch using the left hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,873,1059,186,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,1059,1182,123,place,blue stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,none,up,none,Place the blue stuffed toy on top of the pink plate with the left hand right side up. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,1182,1305,123,pick,juice pouch,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,1305,1455,150,place,juice pouch,left,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Put the juice pouch inside the green bowl with the left hand facing bottom left from the front. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,1743,1887,144,pick,canister,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the canister from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,1911,2067,156,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2067,2148,81,place,brown stuffed toy,left,-,-,-,-,inside,green bowl,inside,backwards,none,none,Put the brown stuffed toy inside the green bowl with the left hand facing backwards. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2148,2277,129,pick,blue stuffed toy,left,plain,entire,diagonal,pink plate,-,-,-,-,-,-,Pick up the blue stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2277,2334,57,place,blue stuffed toy,left,-,-,-,-,inside,green bowl,inside,left,none,none,Put the blue stuffed toy inside the green bowl with the left hand facing left. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2334,2502,168,pick,pink plate,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom left. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2502,2592,90,place,pink plate,left,-,-,-,-,right,green bowl,right,none,up,none,Put the pink plate to the right of the green bowl with the left hand right side up with the front as the orientation reference point. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2592,2772,180,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2772,2847,75,place,pink bowl,right,-,-,-,-,right,pink plate,right,none,none,none,Place the pink bowl to the right of the pink plate with the right hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2847,2886,39,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-02-57-04-244000,pick_place_diverse,pick and place day 3 of data collection,2886,3000,114,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,0,122,122,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,122,168,46,dump,stuffed toys,left,-,-,-,-,left,pink tray,left,none,none,none,Dump the stuffed toys and the juice bag to the left of the pink tray with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,168,258,90,place,green bowl,left,-,-,-,-,left,brown stuffed toy,left,none,none,none,Put the green bowl to the left of the brown stuffed toy with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,258,384,126,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,384,444,60,place,blue stuffed toy,left,-,-,-,-,inside,green bowl,inside,backwards,none,none,Put the blue stuffed toy inside the green bowl with the left hand facing backwards. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,444,606,162,pick,brown stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,606,696,90,place,brown stuffed toy,left,-,-,-,-,on_top,pink tray,on_top,top_right,none,none,Put the brown stuffed toy on top of the pink tray with the left hand facing top right. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,696,771,75,pick,juice bag,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the juice bag from the table with the left hand using a side grip at the bottom right diagonal. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,771,882,111,place,juice bag,left,-,-,-,-,behind,pink tray,behind,bottom_left,none,none,Put the juice bag behind the pink tray with the left hand facing bottom left from the front. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,882,1092,210,pick,juice bag,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the juice bag from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1092,1215,123,place,juice bag,right,-,-,-,-,behind,pink bowl,behind,none,up,none,Put the juice bag behind the pink bowl with the right hand right side up. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1215,1371,156,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grip at the right side. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1371,1437,66,place,green bowl,left,-,-,-,-,left,pink tray,left,none,none,none,Put the green bowl to the left of the pink tray with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1437,1686,249,pick,juice bag,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice bag from the table with the right hand using a side grip at the top right from a diagonal angle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1686,1833,147,place,juice bag,right,-,-,-,-,right,pink bowl,right,bottom_left,none,none,Put the juice bag to the right of the pink bowl with the right hand facing bottom left from the front. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1833,1986,153,pick,brown stuffed toy,left,plain,middle,diagonal,pink tray,-,-,-,-,-,-,Pick up the brown stuffed toy from the pink tray with the left hand at a diagonal angle grasping the middle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,1986,2058,72,place,brown stuffed toy,left,-,-,-,-,behind,green bowl,behind,forwards,none,none,Put the brown stuffed toy behind the green bowl with the left hand facing forwards. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2058,2208,150,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the left. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2208,2247,39,dump,blue stuffed toy,left,-,-,-,-,left,pink tray,left,none,none,none,Dump the blue stuffed toy to the left of the pink tray with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2247,2355,108,place,green bowl,left,-,-,-,-,left,brown stuffed toy,left,none,none,none,Put the green bowl to the left of the brown stuffed toy with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2355,2481,126,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2481,2586,105,place,blue stuffed toy,left,-,-,-,-,front,white cup,front,forwards,none,none,Put the blue stuffed toy in front of the white cup with the left hand facing forwards. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2586,2631,45,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2631,2733,102,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2733,2835,102,place,blue stuffed toy,right,-,-,-,-,right,juice bag,right,forwards,none,none,Put the blue stuffed toy to the right of the juice bag with the right hand facing forwards. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2835,2946,111,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip from the right at a diagonal angle. +2026-03-16-02-59-15-406000,pick_place_diverse,pick and place day 3 of data collection,2946,3000,54,place,pink bowl,right,-,-,-,-,behind,juice bag,behind,none,none,none,Put the pink bowl behind the juice bag with the right hand. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,0,117,117,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table by the handle from the side with the left hand. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,117,243,126,place,green mug,left,-,-,-,-,on_top,plate,on_top,forwards,none,none,Place the green mug on top of the plate with the left hand facing forwards from the front. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,243,369,126,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,369,480,111,place,red marker,left,-,-,-,-,left,plate,left,backwards,none,none,Put the red marker to the left side of the plate with the left hand facing backwards with the tip as the reference point. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,705,807,102,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,807,1008,201,place,blue marker,left,-,-,-,-,right,plate,right,forwards,none,none,Put the blue marker to the right side of the plate with the left hand facing forwards with the tip as the reference point. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1008,1161,153,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1161,1326,165,place,eggplant,right,-,-,-,-,right,bowl,right,forwards,none,none,Put the eggplant to the right side of the bowl with the right hand facing forwards with the tip forwards. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1326,1533,207,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1533,1653,120,place,doritos,right,-,-,-,-,inside,,none,none,down,none,Put the doritos inside of the bowl with the right hand upside down. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1653,1800,147,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1800,1896,96,place,blue marker,left,-,-,-,-,front,plate,front,left,none,none,Place the blue marker in front of the plate with the left hand with its tip facing left. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,1896,2118,222,pick,green mug,left,lip,right,diagonal,plate,-,-,-,-,-,-,Pick up the green mug from the top of the plate with the left hand using a diagonal lip grasp on the right side. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2118,2214,96,place,green mug,left,-,-,-,-,left,bowl,left,backwards,up,none,Place the green mug to the left side of the bowl with the left hand right side up with the front facing backwards. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2214,2421,207,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2421,2628,207,place,eggplant,right,-,-,-,-,front,bowl,front,backwards,none,none,Put the eggplant in front of the bowl with the right hand facing backwards with the tip as the reference point. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2628,2682,54,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2682,2811,129,pick,green mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand at a diagonal angle by the handle. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2811,2886,75,place,green mug,left,-,-,-,-,left,egg plant,left,backwards,up,none,Place the green mug to the left of the egg plant with the handle facing backwards right side up with the left hand. +2026-03-16-03-13-48-270000,pick_place_diverse,pick and place day 3 of data collection,2886,3000,114,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,105,225,120,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,225,342,117,place,blue marker,left,-,-,-,-,on_top,blue tray,on_top,top_left,none,none,Put the blue marker on top of the blue tray with the left hand with its tip facing top left. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,342,480,138,pick,red marker,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,480,564,84,place,red marker,left,-,-,-,-,on_top,blue tray,on_top,bottom_right,none,none,Place the red marker on top of the blue tray with the left hand facing bottom right by the tip. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,564,732,168,pick,green mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand at a diagonal angle by the handle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,732,825,93,place,green mug,left,-,-,-,-,right,blue tray,right,backwards,up,none,Put the green mug to the right of the blue tray with the left hand right side up with the front facing backwards. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,825,975,150,pick,eggplant,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,975,1053,78,place,eggplant,right,-,-,-,-,right,beige bowl,right,forwards,none,none,Put the eggplant to the right of the beige bowl with the right hand facing forwards with the tip facing forwards. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,1053,1188,135,pick,doritos,right,side,bottom,diagonal,beige bowl,-,-,-,-,-,-,Pick up the doritos from the beige bowl with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,1188,1335,147,place,doritos,right,-,-,-,-,right,eggplant,right,top_right,none,none,Put the doritos to the right of the eggplant with the right hand facing top right. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,1464,1560,96,pick,green mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand using a diagonal grasp at the handle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,1560,1716,156,place,green mug,left,-,-,-,-,front,beige bowl,front,backwards,up,none,Put the green mug in front of the beige bowl with the handle facing backwards right side up using the left hand. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,1716,1872,156,pick,green mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,1872,1983,111,place,green mug,right,-,-,-,-,front,eggplant,front,backwards,up,none,Put the green mug in front of the eggplant with the handle facing backwards right side up using the right arm. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2112,2214,102,pick,blue marker,left,plain,middle,diagonal,blue tray,-,-,-,-,-,-,Pick up the blue marker from the blue tray with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2214,2322,108,place,blue marker,left,-,-,-,-,left,beige bowl,left,forwards,none,none,Put the blue marker to the left of the beige bowl with the left hand facing forwards with the tip as the reference point. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2322,2454,132,pick,red marker,left,plain,middle,diagonal,blue tray,-,-,-,-,-,-,Pick up the red marker from the blue tray with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2454,2550,96,place,red marker,left,-,-,-,-,inside,beige bowl,inside,bottom_left,up,none,Put the red marker inside the beige bowl facing bottom left with the left hand right side up. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2550,2703,153,pick,green mug,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a lip grip at the bottom left with a diagonal angle. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2703,2826,123,place,green mug,right,-,-,-,-,front,beige bowl,front,top_right,up,none,Put the green mug in front of the beige bowl with the right hand right side up with the front facing top right. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2826,2895,69,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-16-02-581000,pick_place_diverse,pick and place day 3 of data collection,2895,3000,105,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,0,96,96,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,96,168,72,place,eggplant,left,-,-,-,-,on_top,violet plate,on_top,top_left,none,none,Place the eggplant on top of the violet plate with the left hand with its tip facing top left. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,168,399,231,pick,green coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green coffee cup from the table by the handle from the side with the right hand. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,399,591,192,place,green coffee cup,right,-,-,-,-,right,red marker,right,backwards,up,none,Put the green coffee cup to the right of the red marker with the right hand right side up with the front facing backwards. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,591,756,165,pick,eggplant,left,plain,middle,top,violet plate,-,-,-,-,-,-,Pick up the eggplant from the violet plate with the left hand from the top at the middle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,756,864,108,place,eggplant,left,-,-,-,-,left,white bowl,left,top_left,none,none,Place the eggplant to the left side of the white bowl with the left hand facing top left by the tip. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,864,1005,141,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1005,1140,135,place,doritos,right,-,-,-,-,front,green coffee cup,front,forwards,none,none,Put the doritos in front of the green coffee cup with the right hand facing forwards. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1140,1281,141,pick,violet plate,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the violet plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1281,1431,150,place,violet plate,left,-,-,-,-,left,eggplant,left,none,up,none,Put the violet plate to the left of the eggplant with the left hand right side up with the front as the orientation reference point. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1431,1593,162,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1593,1659,66,place,eggplant,left,-,-,-,-,on_top,violet plate,on_top,top_left,none,none,Put the eggplant on top of the violet plate with the left hand with its tip facing top left. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1659,1848,189,pick,red marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1848,1917,69,place,red marker,right,-,-,-,-,right,white bowl,right,top_left,none,none,Place the red marker to the right of the white bowl with the right hand facing top left by the tip. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,1917,2040,123,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2040,2154,114,place,doritos,right,-,-,-,-,front,red marker,front,left,none,none,Put the doritos in front of the red marker with the right hand facing left. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2154,2379,225,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grasp at the bottom left from a diagonal angle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2379,2478,99,place,doritos,left,-,-,-,-,between,violet plate and the white bowl,between,backwards,none,none,Put the doritos between the violet plate and the white bowl with the left hand facing backwards. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2478,2670,192,pick,green coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the right hand by the handle from the side. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2670,2787,117,place,green coffee cup,right,-,-,-,-,front,red marker,front,backwards,up,none,Put the green coffee cup in front of the red marker with the handle facing backwards right side up with the front as reference using the right arm. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2787,2844,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2844,2934,90,pick,eggplant,left,plain,middle,diagonal,violet plate,-,-,-,-,-,-,Pick up the eggplant from the violet plate with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2934,2991,57,place,eggplant,left,-,-,-,-,front,doritos,front,top_left,none,none,Put the eggplant in front of the doritos with the left hand with its tip facing top left. +2026-03-16-03-26-31-137000,pick_place_diverse,pick and place day 3 of data collection,2991,3000,9,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,0,162,162,pick,white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the right white mug from the table with the right hand using a diagonal grasp at the handle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,162,267,105,place,white mug,right,-,-,-,-,right,gray stuffed toy,right,backwards,up,none,Put the right white mug to the right side of the gray stuffed toy with the right hand right side up with the front facing backwards. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,480,534,54,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,534,600,66,place,blue screwdriver,left,-,-,-,-,left,white mug,left,forwards,none,none,Place the blue screwdriver to the left side of the left white mug with the left hand facing forwards with the tip facing forwards. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,600,708,108,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,708,813,105,place,orange screwdriver,left,-,-,-,-,front,blue screwdriver,front,forwards,none,none,Put the orange screwdriver in front of the blue screwdriver with the left hand with the tip facing forwards. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,813,951,138,pick,gray stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,951,1020,69,place,gray stuffed toy,left,-,-,-,-,corner,table,none,bottom_left,none,none,Put the gray stuffed toy to the top left side of the table with the left hand facing bottom left. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1020,1179,159,pick,white mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the left white mug from the table with the left hand at a diagonal angle by the handle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1179,1260,81,place,white mug,left,-,-,-,-,front,gray stuffed toy,front,bottom_left,none,none,Put the left white mug in front of the gray stuffed toy with handle facing bottom left with the left hand. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1260,1452,192,pick,white cup,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1452,1623,171,place,white cup,right,-,-,-,-,right,white mug,right,none,up,none,Put the white cup to the right side of the right white mug with the right hand right side up with the front as the orientation reference point. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1623,1770,147,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1770,1893,123,place,orange screwdriver,left,-,-,-,-,left,white mug,left,forwards,none,none,Place the orange screwdriver to the left side of the right white mug with the left hand facing forwards with the tip facing forwards. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,1893,2001,108,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2001,2181,180,place,blue screwdriver,left,-,-,-,-,table,table,none,forwards,none,top,Place the blue screwdriver on the top side of the table with the left hand facing forwards with the tip as the reference point. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2181,2364,183,pick,white mug,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the left white mug from the table with the left hand using a diagonal lip grasp at the right side. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2364,2487,123,place,white mug,left,-,-,-,-,center,,none,backwards,none,none,Put the left white mug to the center of the table with handle facing backwards using the left hand. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2487,2607,120,pick,gray stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2607,2700,93,place,gray stuffed toy,left,-,-,-,-,front,orange screwdriver,front,bottom_left,none,none,Put the gray stuffed toy in front of the orange screwdriver with the left hand facing bottom left from the front. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2700,2754,54,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2754,2856,102,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-16-03-30-50-354000,pick_place_diverse,pick and place day 3 of data collection,2856,3000,144,place,white cup,right,-,-,-,-,behind,white mug,behind,none,up,none,Put the white cup behind the right white mug with the right hand right side up. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,0,132,132,pick,beige mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige mug from the table with the right hand using a diagonal lip grasp on the right side. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,132,291,159,place,beige mug,right,-,-,-,-,right,white cup,right,bottom_left,up,none,Place the beige mug to the right of the white cup with handle facing bottom left right side up with the right hand. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,435,492,57,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the side by the handle. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,491,630,139,place,white mug,left,-,-,-,-,front,beige mug,front,backwards,none,none,Place the white mug in front of the beige mug with the handle facing backwards using the left hand. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,627,879,252,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,879,1008,129,place,orange screwdriver,right,-,-,-,-,right,white mug,right,top_right,none,none,Place the orange screwdriver to the right of the white mug with the right hand with its tip facing top right. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1005,1161,156,pick,stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1161,1251,90,place,stuffed toy,left,-,-,-,-,left,white mug,left,left,none,none,Put the stuffed toy to the left of the white mug with the left hand facing left from the front. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1251,1386,135,pick,blue screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1386,1467,81,place,blue screwdriver,left,-,-,-,-,left,stuffed toy,left,forwards,none,none,Put the blue screwdriver to the left of the stuffed toy with the left hand facing forwards with the tip as the reference point. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1461,1605,144,pick,orange screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1605,1749,144,place,orange screwdriver,right,-,-,-,-,front,stuffed toy,front,bottom_left,none,none,Put the orange screwdriver in front of the stuffed toy with the right hand with its tip facing bottom left. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1746,1893,147,pick,blue screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom diagonally. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,1893,2010,117,place,blue screwdriver,left,-,-,-,-,left,white cup,left,forwards,none,none,Put the blue screwdriver to the left of the white cup with the tip facing forwards using the left hand. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,2001,2250,249,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,2250,2373,123,place,stuffed toy,right,-,-,-,-,right,white mug,right,left,none,none,Put the stuffed toy to the right of the white mug with the right hand facing left with the front as the reference point. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,2373,2550,177,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle from the middle. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,2550,2694,144,place,blue screwdriver,left,-,-,-,-,behind,orange screwdriver,behind,forwards,none,none,Put the blue screwdriver behind the orange screwdriver with the left hand facing forwards with the tip as the reference point. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,2694,2742,48,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-33-11-859000,pick_place_diverse,pick and place day 3 of data collection,2871,3000,129,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,0,141,141,pick,blue screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom diagonally. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,141,267,126,place,blue screwdriver,right,-,-,-,-,behind,stuffed toy,behind,forwards,none,none,Put the blue screwdriver behind the stuffed toy with the right hand facing forwards with the tip facing forwards. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,267,468,201,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver to the right of the stuffed toy with the right hand from the middle at a diagonal angle. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,468,636,168,place,orange screwdriver,right,-,-,-,-,right,stuffed toy,right,forwards,none,none,Place the orange screwdriver to the right of the stuffed toy with the right hand facing forwards with the tip forwards. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,636,963,327,pick,white cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table by the handle at a diagonal angle with the right hand. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,963,1068,105,place,white cup,right,-,-,-,-,corner,ceramic cup,corner,backwards,none,none,Put the white cup to the front left of the ceramic cup with the handle facing backwards using the right hand. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1068,1206,138,pick,stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1206,1287,81,place,stuffed toy,right,-,-,-,-,inside,beige cup,inside,top_left,none,none,Put the stuffed toy inside the beige cup with the right hand facing top left. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1287,1422,135,pick,orange screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1422,1581,159,place,orange screwdriver,right,-,-,-,-,front,beige cup,front,forwards,none,none,Put the orange screwdriver in front of the beige cup with the right hand facing forwards with the tip as the orientation reference point. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1581,1764,183,pick,orange screwdriver,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1764,1899,135,place,orange screwdriver,right,-,-,-,-,inside,ceramic cup,inside,none,up,none,Put the orange screwdriver inside the ceramic cup with the right hand right side up. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,1899,2121,222,pick,blue screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom at a diagonal angle. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,2121,2220,99,place,blue screwdriver,right,-,-,-,-,front,beige cup,front,top_left,none,none,Put the blue screwdriver in front of the beige cup with the right hand with its tip facing top left. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,2220,2412,192,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal grasp at the handle. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,2412,2526,114,place,white cup,left,-,-,-,-,right,ceramic cup,right,backwards,none,none,Put the white cup to the right of the ceramic cup with the handle facing backwards with the left hand. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,2526,2595,69,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,2754,2877,123,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-35-33-596000,pick_place_diverse,pick and place day 3 of data collection,2937,3000,63,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,0,117,117,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,117,216,99,place,cabbage,left,-,-,-,-,inside,silver bowl,inside,none,none,none,Put the cabbage inside the silver bowl with the left hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,216,381,165,pick,bell pepper,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,381,459,78,place,bell pepper,left,-,-,-,-,on_top,white plate,on_top,left,none,none,Put the bell pepper on the white plate with the left hand facing left with the front as the reference point. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,459,600,141,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy with the left hand at a diagonal angle grasping the entire object. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,600,678,78,place,pink stuffed toy,left,-,-,-,-,left,bag of chips,left,forwards,none,none,Put the pink stuffed toy to the left of the bag of chips with the left hand facing forwards. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,678,810,132,pick,silver bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the top. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,810,861,51,dump,cabbage,right,-,-,-,-,table,,none,none,none,none,Dump the cabbage on the table with the right hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,861,1011,150,place,silver bowl,right,-,-,-,-,below,cabbage,below,none,none,none,Put the silver bowl to the bottom of the cabbage with the right hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1011,1194,183,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1194,1302,108,place,bag of chips,left,-,-,-,-,left,silver bowl,left,none,down,none,Place the bag of chips to the left of the silver bowl upside down with the left hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1302,1440,138,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1440,1533,93,place,pink stuffed toy,left,-,-,-,-,-,,none,forwards,none,none,Put the pink stuffed toy from the table with the left hand facing forwards. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1533,1707,174,pick,silver bowl,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a lip grip at the top diagonally. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1707,1788,81,place,silver bowl,right,-,-,-,-,right,cabbage,right,none,none,none,Put the silver bowl to the right of the cabbage with the right hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1788,1941,153,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,1941,2037,96,place,pink stuffed toy,left,-,-,-,-,left,bag of chips,left,forwards,none,none,Put the pink stuffed toy to the left of the bag of chips with the left hand facing forwards. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2037,2178,141,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2178,2316,138,place,cabbage,right,-,-,-,-,front,white plate,front,backwards,none,none,Put the cabbage in front of the white plate with the right hand facing backwards with the front as the reference point. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2316,2514,198,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2514,2583,69,place,pink stuffed toy,left,-,-,-,-,corner,bag of chips,corner,forwards,none,none,Put the pink stuffed toy to the top left of the bag of chips with the left hand facing forwards. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2583,2748,165,pick,cabbage,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2748,2829,81,place,cabbage,right,-,-,-,-,-,,none,none,down,none,Put the cabbage from the silver bowl upside down with the front as the reference point using the right hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2829,2880,51,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-38-45-473000,pick_place_diverse,pick and place day 3 of data collection,2880,3000,120,pick,bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the left from a diagonal angle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,111,243,132,pick,bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,243,327,84,place,bowl,right,-,-,-,-,front,plate,front,none,none,none,Put the bowl in front of the plate with the right hand. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,327,438,111,pick,snack pouch,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the snack pouch from the table with the left hand using a side grip at the left side and a diagonal angle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,438,504,66,place,snack pouch,left,-,-,-,-,left,stuffed toy,left,top_left,none,none,Put the snack pouch to the left of the stuffed toy with the left hand facing top left. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,504,627,123,pick,bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,627,657,30,dump,green cabbage,right,-,-,-,-,front,plate,front,none,none,none,Dump the green cabbage in front of the plate with the right hand. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,657,816,159,place,bowl,right,-,-,-,-,right,plate,right,none,none,none,Put the bowl to the right of the plate with the right hand. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1029,1164,135,pick,red bell pepper,right,side,top,top,plate,-,-,-,-,-,-,Pick up the red bell pepper from the plate with the right hand using a side grip from the top at the bottom. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1164,1284,120,place,red bell pepper,right,-,-,-,-,front,cabbage,front,forwards,none,none,Put the red bell pepper in front of the cabbage with the right hand facing forwards with the tip as the reference point. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1284,1404,120,pick,stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1404,1479,75,place,stuffed toy,left,-,-,-,-,front,snack pouch,front,forwards,none,none,Put the stuffed toy in front of the snack pouch with the left hand facing forwards. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1479,1548,69,pick,snack pouch,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the snack pouch from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1548,1752,204,place,snack pouch,left,-,-,-,-,on_top,plate,on_top,top_left,none,none,Place the snack pouch on top of the plate with the left hand facing top left. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1752,1902,150,pick,red bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1902,1953,51,place,red bell pepper,right,-,-,-,-,inside,bowl,inside,top_left,none,none,Place the red bell pepper inside the bowl with the right hand facing top left with the tip as the reference point. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,1952,2097,145,pick,stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2097,2208,111,place,stuffed toy,left,-,-,-,-,left,plate,left,forwards,none,none,Put the stuffed toy to the left of the plate with the left hand facing forwards. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2208,2364,156,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle from the middle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2364,2472,108,place,cabbage,right,-,-,-,-,front,bowl,front,backwards,none,none,Put the cabbage in front of the bowl with the right hand facing backwards. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2472,2676,204,pick,stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2676,2790,114,place,stuffed toy,left,-,-,-,-,front,plate,front,bottom_right,none,none,Put the stuffed toy in front of the plate with the left hand facing bottom right. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2790,2838,48,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2838,2931,93,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-41-01-678000,pick_place_diverse,pick and place day 3 of data collection,2931,3000,69,place,cabbage,right,-,-,-,-,right,bowl,right,backwards,none,none,Put the cabbage to the right of the bowl with the right hand facing backwards by the tip. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,108,198,90,pick,stainless bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the stainless bowl from the table with the right hand using a diagonal lip grasp at the right. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,198,258,60,dump,bell pepper,right,-,-,-,-,right,white plate,right,none,none,none,Dump the bell pepper to the right of the white plate with a bag of chips on top using the right arm. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,258,372,114,place,stainless bowl,right,-,-,-,-,below,bell pepper,below,none,none,none,Put the stainless bowl to the bottom of the bell pepper with the right hand. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,372,552,180,pick,cabbage,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,552,663,111,place,cabbage,right,-,-,-,-,inside,stainless bowl,inside,none,none,none,Put the cabbage inside the stainless bowl with the right hand. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,663,810,147,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,810,927,117,place,stuffed toy,left,-,-,-,-,corner,white plate,corner,top_right,none,bottom_left,Put the stuffed toy on the bottom left side of the white plate with the left hand facing top right. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,1101,1227,126,pick,bag of chips,left,side,top,diagonal,white plate,-,-,-,-,-,-,Pick up the bag of chips from the white plate with the left hand using a side grip at the top right from a diagonal angle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,1227,1404,177,place,bag of chips,left,-,-,-,-,corner,pink stuffed toy,corner,backwards,none,none,Place the bag of chips to the top left of the pink stuffed toy with the left hand facing backwards. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,1404,1608,204,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,1608,1719,111,place,bell pepper,right,-,-,-,-,right,stainless bowl,right,bottom_left,none,none,Put the bell pepper to the right side of the stainless bowl with the right hand facing bottom left with the front as the reference point. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,1719,1896,177,pick,white plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a lip grip at the left side with a diagonal angle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,1896,2025,129,place,white plate,left,-,-,-,-,corner,bag of chips,corner,none,up,none,Put the white plate to the bottom left of the bag of chips with the left hand right side up with the front as the orientation reference point. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2025,2148,123,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2148,2232,84,place,pink stuffed toy,left,-,-,-,-,inside,white plate,inside,top_right,none,none,Put the pink stuffed toy into the white plate with the left hand facing top right. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2232,2403,171,pick,bell pepper,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2403,2640,237,place,bell pepper,right,-,-,-,-,corner,stainless bowl,corner,forwards,none,none,Put the bell pepper to the top left side of the stainless bowl with the right hand facing forwards with the front facing forwards. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2640,2736,96,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2736,2853,117,pick,bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal angle. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2853,2937,84,place,bag of chips,left,-,-,-,-,below,bell pepper,below,backwards,none,none,Put the bag of chips to the bottom of the bell pepper with the left hand facing backwards. +2026-03-16-03-43-21-495000,pick_place_diverse,pick and place day 3 of data collection,2937,3000,63,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,0,111,111,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,111,201,90,place,carrot,right,-,-,-,-,front,pink cup,front,backwards,none,none,Place the carrot to the front of the pink cup with the right hand facing backwards with the tip as the orientation reference point. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,201,324,123,pick,bread,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand at the middle using a diagonal angle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,324,387,63,place,bread,left,-,-,-,-,left,white cup,left,none,none,none,Put the bread to the left side of the white cup with the left hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,387,594,207,pick,pink cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink cup from the table with the right hand from the side by the handle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,594,720,126,place,pink cup,right,-,-,-,-,right,asparagus,right,backwards,up,none,Place the pink cup to the right side of the asparagus with the handle facing backwards using the right hand right side up from the front. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,714,825,111,pick,bread,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,825,900,75,place,bread,left,-,-,-,-,left,soda can,left,none,none,none,Put the bread to the left side of the soda can with the left hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,900,1119,219,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,1119,1248,129,place,asparagus,left,-,-,-,-,left,bread,left,backwards,none,none,Place the asparagus to the left side of the bread with the left hand facing backwards with the tip as the reference point. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,1458,1512,54,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table by the handle at a diagonal angle with the left hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,1512,1629,117,place,white cup,left,-,-,-,-,left,asparagus,left,backwards,up,none,Put the white cup to the left side of the asparagus with the left hand right side up with the front facing backwards. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,1752,2010,258,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2010,2100,90,place,carrot,right,-,-,-,-,right,pink cup,right,backwards,none,none,Put the carrot to the right side of the pink cup with the tip facing backwards using the right hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2100,2241,141,pick,pink cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink cup from the table with the right hand from the side by the handle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2241,2322,81,place,pink cup,right,-,-,-,-,corner,carrot,corner,backwards,up,none,Put the pink cup to the front right side of the carrot with the right hand right side up and the front facing backwards. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2322,2361,39,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2361,2502,141,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2502,2613,111,place,asparagus,left,-,-,-,-,corner,white cup,corner,backwards,none,none,Put the asparagus to the front left side of the white cup with the left hand facing backwards with the tip as the reference point. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2613,2754,141,pick,bread,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2754,2820,66,place,bread,left,-,-,-,-,corner,white cup,corner,none,none,none,Put the bread to the front right side of the white cup with the left hand. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2820,2988,168,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-46-31-025000,pick_place_diverse,pick and place day 3 of data collection,2988,3000,12,place,carrot,left,-,-,-,-,table,,none,none,none,none,Put the carrot on the table with the left hand. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,0,117,117,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,117,210,93,place,asparagus,left,-,-,-,-,between,soda can and the white cup,between,backwards,none,none,Put the asparagus between the soda can and the white cup with the left hand facing backwards with the tip as the reference point. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,210,330,120,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal grip on the handle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,330,432,102,place,white cup,left,-,-,-,-,corner,asparagus,corner,backwards,none,none,Place the white cup to the front right side of the asparagus with the handle facing backwards using the left hand. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,432,585,153,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,585,663,78,place,carrot,right,-,-,-,-,corner,pink cup,corner,backwards,none,none,Place the carrot to the rear left side of the pink cup with the right hand facing backwards with the tip as the orientation reference point. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,663,765,102,pick,asparagus,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,765,888,123,place,asparagus,left,-,-,-,-,corner,soda can,corner,backwards,none,none,Put the asparagus to the front right side of the soda can with the left hand facing backwards by the tip. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,888,1032,144,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1032,1131,99,place,carrot,right,-,-,-,-,corner,pink cup,corner,backwards,none,none,Put the carrot to the rear right side of the pink cup with the right hand facing backwards with the tip as the orientation reference point. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1131,1272,141,pick,bread,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the left hand from the top of the object at a diagonal angle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1272,1398,126,place,bread,left,-,-,-,-,corner,asparagus,corner,none,none,none,Place the bread to the rear right side of the asparagus with the left hand. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1398,1623,225,pick,bread,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the right hand at the middle using a diagonal angle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1623,1731,108,place,bread,right,-,-,-,-,right,pink cup,right,none,none,none,Put the bread to the right side of the pink cup with the right hand. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1731,1920,189,pick,pink cup,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the right hand at the bottom right using a diagonal lip grasp. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,1920,2088,168,place,pink cup,right,-,-,-,-,corner,asparagus,corner,left,up,none,Place the pink cup right side up to the rear right side of the asparagus with the handle facing left using the right arm. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2088,2241,153,pick,bread,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the bread from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2241,2394,153,place,bread,right,-,-,-,-,inside,pink cup,inside,none,none,none,Put the bread into the pink cup with the right hand. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2394,2601,207,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2601,2691,90,place,carrot,right,-,-,-,-,right,pink cup,right,backwards,none,none,Put the carrot to the right side of the pink cup with the right hand facing backwards with the tip as the orientation reference point. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2691,2715,24,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2715,2826,111,pick,white cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the right side. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2826,2910,84,place,white cup,left,-,-,-,-,left,soda can,left,backwards,none,none,Put the white cup to the left side of the soda can with the left hand with the front facing backwards. +2026-03-16-03-48-47-173000,pick_place_diverse,pick and place day 3 of data collection,2910,3000,90,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,0,117,117,pick,croissant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand using a side grip at the bottom and a diagonal pick angle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,117,258,141,place,croissant,left,-,-,-,-,front,,none,none,none,none,Put the croissant in front left of the white cup with the left hand. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,258,405,147,pick,pink cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the right hand at a diagonal angle by the handle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,405,519,114,place,pink cup,right,-,-,-,-,front,soda can,front,backwards,up,none,Put the pink cup in front of the soda can with the handle facing backward right side up using the right hand. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,519,684,165,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,684,750,66,place,asparagus,left,-,-,-,-,front,,none,bottom_left,none,none,Put the asparagus in front right of the white cup with the left hand with the tip facing bottom left. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,750,921,171,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,921,1017,96,place,carrot,left,-,-,-,-,right,asparagus,right,backwards,none,none,Place the carrot to the right side of the asparagus with the left hand facing backwards with the tip as the orientation reference point. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,1017,1164,147,pick,soda can,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the right hand at a diagonal angle from the top of the object. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,1164,1272,108,place,soda can,right,-,-,-,-,behind,,none,none,up,none,Place the soda can behind right of the pink cup with the right hand right side up. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,1272,1380,108,pick,carrot,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand using a side grip at the top at a diagonal angle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,1380,1509,129,place,carrot,left,-,-,-,-,behind,,none,backwards,none,none,Put the carrot behind left of the pink cup with the left hand facing backwards with the tip as the orientation reference point. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,1509,1665,156,pick,soda can,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the soda can from the table with the right hand at a diagonal angle grasping the top of the object. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,1665,1815,150,place,soda,right,-,-,-,-,right,pink cup,right,none,up,none,Put the soda to the right of the pink cup with the right hand right side up with the front as the orientation reference point. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2027,2112,85,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2112,2202,90,place,asparagus,left,-,-,-,-,behind,,none,bottom_left,none,none,Put the asparagus behind left of the white cup with the left hand with the tip facing bottom left. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2379,2424,45,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand at a diagonal angle by the handle. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2424,2517,93,place,white cup,left,-,-,-,-,left,carrot,left,backwards,up,none,Put the white cup to the left of the carrot with the handle facing backward right side up with the front as reference using the left hand. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2517,2571,54,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2571,2847,276,pick,pink cup,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink cup from the table with the right hand using a diagonal lip grasp at the top right. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2847,2988,141,place,pink cup,right,-,-,-,-,right,carrot,right,backwards,none,none,Put the pink cup to the right of the carrot with the right hand with the front facing backwards. +2026-03-16-03-55-01-379000,pick_place_diverse,pick and place day 3 of data collection,2988,3000,12,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,0,99,99,pick,yellow stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand using a side grasp at the bottom and a diagonal pick angle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,99,156,57,place,yellow stuffed toy,right,-,-,-,-,right,corn,right,bottom_right,none,none,Put the yellow stuffed toy to the right side of the corn with the right hand facing bottom right. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,156,294,138,pick,small can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the small can from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,294,393,99,place,small can,left,-,-,-,-,left,corn,left,none,up,none,Put the small can to the left side of the corn with the left hand right side up with the front as the orientation reference point. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,393,603,210,pick,big can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the big can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,603,699,96,place,big can,right,-,-,-,-,right,yellow stuffed toy,right,none,none,none,Place the big can with the right hand to the right side of the yellow stuffed toy. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,699,894,195,pick,small can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the small can from the table with the left hand using a side grip at the top with a diagonal angle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,894,1005,111,place,small can,left,-,-,-,-,front,corn,front,none,up,none,Put the small can in front of the corn with the left hand right side up at the front. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,1005,1215,210,pick,big can,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the big can from the table with the right hand using a side grip at the bottom diagonally. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,1215,1350,135,place,big can,right,-,-,-,-,front,yellow stuffed toy,front,none,none,none,Put the big can in front of the yellow stuffed toy with the right hand. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,1350,1548,198,pick,small can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the small can from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,1548,1659,111,place,small can,left,-,-,-,-,corner,big can,corner,none,up,none,Put the small can right side up to the front left of the big can with the left hand. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,1659,1875,216,pick,small can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the small can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,1875,2001,126,place,small can,right,-,-,-,-,corner,big can,corner,none,up,none,Put the small can to the front right of the big can with the right hand right side up. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,2001,2373,372,pick,small can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the small can from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,2373,2595,222,place,small can,right,-,-,-,-,right,yellow stuffed toy,right,none,none,none,Put the small can to the right side of the yellow stuffed toy with the right hand. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,2595,2661,66,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,2661,2820,159,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,2820,2916,96,place,corn,left,-,-,-,-,corner,big can,corner,top_right,none,none,Put the corn to the front left of the big can with the left hand facing top right with the tip as the reference point. +2026-03-16-03-58-16-144000,pick_place_diverse,pick and place day 3 of data collection,2916,3000,84,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,0,159,159,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,159,330,171,place,corn,right,-,-,-,-,right,small canned goods,right,forwards,none,none,Put the corn to the right of the small canned good with the tip facing forwards using the right arm. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,330,579,249,pick,big canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the big canned good from the table with the right hand from the side at the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,579,771,192,place,big canned goods,right,-,-,-,-,left,yellow stuffed toy,left,none,none,none,Put the big canned good to the left of the yellow stuffed toy with the right hand. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,771,924,153,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,924,1104,180,place,yellow stuffed toy,right,-,-,-,-,corner,big canned goods,corner,bottom_right,none,none,Put the yellow stuffed toy to the front left of the big canned good with the right hand facing bottom right. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1104,1254,150,pick,small canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the small canned good from the table with the right hand from the side at the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1254,1386,132,place,small canned goods,right,-,-,-,-,corner,big canned goods,corner,none,none,none,Put the small canned good to the front right of the big canned good with the right hand. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1386,1524,138,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1524,1653,129,place,corn,right,-,-,-,-,corner,small canned goods,corner,forwards,none,none,Put the corn to the rear right of the small canned good with the right hand facing forwards with the tip as the reference point. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1653,1812,159,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1812,1935,123,place,yellow stuffed toy,left,-,-,-,-,left,small canned goods,left,bottom_left,none,none,Put the yellow stuffed toy to the left of the small canned good with the left hand facing bottom left. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,1935,2100,165,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2100,2277,177,place,corn,right,-,-,-,-,front,small canned goods,front,bottom_left,none,none,Place the corn in front of the small canned good with the right hand facing bottom left with the tip as the reference point. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2277,2445,168,pick,big canned goods,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the big canned good from the table with the left hand from the side at the middle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2445,2628,183,place,big canned goods,left,-,-,-,-,left,yellow stuffed toy,left,none,none,none,Put the big canned good to the left of the yellow stuffed toy with the left hand. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2628,2679,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2679,2796,117,pick,small canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the small canned good from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2796,2895,99,place,small canned goods,right,-,-,-,-,right,corn,right,none,up,none,Put the small canned good to the right of the corn with the right hand right side up. +2026-03-16-04-00-31-037000,pick_place_diverse,pick and place day 3 of data collection,2895,3000,105,pick,yellow stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,0,108,108,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,108,207,99,place,white canned goods,right,-,-,-,-,right,yellow duck toy,right,none,none,none,Put the white canned goods to the right side of the yellow duck toy with the right hand. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,207,444,237,pick,yellow canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,444,585,141,place,yellow canned goods,left,-,-,-,-,left,yellow duck toy,left,none,none,none,Put the yellow canned goods to the left side of the yellow duck toy with the left hand. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,585,762,177,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,762,882,120,place,white canned goods,right,-,-,-,-,behind,yellow canned goods,behind,none,none,none,Put the white canned goods behind the yellow canned goods with the right hand. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,882,1044,162,pick,corn,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1044,1218,174,place,corn,left,-,-,-,-,left,yellow canned goods,left,left,none,none,Put the corn to the left side of the yellow canned goods with the left hand facing left with the tip as the reference point. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1218,1434,216,pick,yellow duck toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow duck toy from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1434,1542,108,place,yellow duck toy,right,-,-,-,-,right,white canned goods,right,bottom_right,none,none,Put the yellow duck toy to the right side of the white canned goods with the right hand facing bottom right. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1542,1767,225,pick,white canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1767,1860,93,place,white canned goods,right,-,-,-,-,right,yellow duck toy,right,none,none,none,Put the white canned goods to the right side of the yellow duck toy with the right hand. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1860,1998,138,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,1997,2145,148,place,corn,left,-,-,-,-,corner,yellow canned goods,corner,forwards,none,none,Put the corn to the front left of the yellow canned goods with the left hand facing forwards with the tip as the reference point. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2145,2301,156,pick,yellow duck toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow duck toy from the table with the right hand using a side grip at the bottom and a diagonal pick angle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2301,2424,123,place,yellow duck toy,right,-,-,-,-,corner,yellow canned goods,corner,backwards,none,bottom_right,Put the yellow duck toy to the bottom front right of the yellow canned goods with the right hand facing backwards. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2424,2550,126,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2550,2664,114,place,white canned goods,right,-,-,-,-,behind,yellow duck toy,behind,none,none,none,Put the white canned goods behind the yellow duck toy with the right hand. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2664,2694,30,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2694,2775,81,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-03-16-04-02-45-158000,pick_place_diverse,pick and place day 3 of data collection,2925,3000,75,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-03-33-23-804000,pick_place_diverse,alignment data set 1,0,138,138,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-14-03-33-23-804000,pick_place_diverse,alignment data set 1,138,246,108,place,blue marker,right,-,-,-,-,front,yellow stuffed toy,front,forwards,none,none,Put the blue marker in front of the yellow stuffed toy with the tip facing forwards using the right hand. +2026-04-14-03-33-23-804000,pick_place_diverse,alignment data set 1,245,294,49,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-14-03-36-19-145000,pick_place_diverse,alignment data set 1,0,120,120,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-04-14-03-36-19-145000,pick_place_diverse,alignment data set 1,120,204,84,place,corn,left,-,-,-,-,left,blue marker,left,right,none,none,Put the corn to the left of the blue marker with the left hand with its tip facing right. +2026-04-14-03-36-19-145000,pick_place_diverse,alignment data set 1,204,288,84,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-03-46-38-679000,pick_place_diverse,alignment data set 1,0,135,135,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-14-03-46-38-679000,pick_place_diverse,alignment data set 1,135,273,138,place,blue screwdriver,left,-,-,-,-,behind,brown stuffed toy,behind,right,none,none,Put the blue screwdriver behind the brown stuffed toy with the left hand with its tip facing right. +2026-04-14-03-46-38-679000,pick_place_diverse,alignment data set 1,273,333,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-04-01-06-517000,pick_place_diverse,alignment data set 1,0,105,105,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-14-04-01-06-517000,pick_place_diverse,alignment data set 1,105,222,117,place,brown stuffed toy,left,-,-,-,-,left,corn,left,forwards,none,none,Put the brown stuffed toy to the left of the corn with the left hand facing forwards. +2026-04-14-04-01-06-517000,pick_place_diverse,alignment data set 1,222,261,39,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-04-04-24-675000,pick_place_diverse,alignment data set 1,0,114,114,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-14-04-04-24-675000,pick_place_diverse,alignment data set 1,114,195,81,place,yellow stuffed toy,right,-,-,-,-,right,blue screwdriver,right,forwards,none,none,Put the yellow stuffed animal to the right side of the blue screwdriver with the right hand facing forwards. +2026-04-14-04-04-24-675000,pick_place_diverse,alignment data set 1,195,240,45,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-14-04-04-45-909000,pick_place_diverse,alignment data set 1,0,108,108,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-04-14-04-04-45-909000,pick_place_diverse,alignment data set 1,108,177,69,place,brown stuffed toy,left,-,-,-,-,front,blue screwdriver,front,forwards,none,none,Put the brown stuffed toy in front of the blue screwdriver with the left hand facing forwards. +2026-04-14-04-04-45-909000,pick_place_diverse,alignment data set 1,177,234,57,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-04-22-46-247000,pick_place_diverse,alignment data set 2,0,120,120,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. +2026-04-14-04-22-46-247000,pick_place_diverse,alignment data set 2,120,189,69,place,blue stuffed toy,left,-,-,-,-,inside,beige bowl,inside,top_right,none,none,Place the blue stuffed toy inside the beige bowl with the left hand facing top right. +2026-04-14-04-22-46-247000,pick_place_diverse,alignment data set 2,189,249,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-04-23-48-546000,pick_place_diverse,alignment data set 2,0,159,159,pick,blue soda can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle. +2026-04-14-04-23-48-546000,pick_place_diverse,alignment data set 2,159,255,96,place,blue soda can,right,-,-,-,-,right,cabbage,right,none,none,none,Put the blue soda can to the right of the cabbage with the right hand. +2026-04-14-04-23-48-546000,pick_place_diverse,alignment data set 2,255,291,36,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-14-04-25-12-763000,pick_place_diverse,alignment data set 2,0,162,162,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-14-04-25-12-763000,pick_place_diverse,alignment data set 2,162,285,123,place,beige bowl,right,-,-,-,-,right,blue soda can,right,none,none,none,Put the beige bowl to the right of the blue soda can with the right hand. +2026-04-14-04-25-12-763000,pick_place_diverse,alignment data set 2,285,327,42,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-14-04-33-34-590000,pick_place_diverse,alignment data set 2,0,132,132,pick,white mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal grasp at the handle. +2026-04-14-04-33-34-590000,pick_place_diverse,alignment data set 2,132,225,93,place,white mug,left,-,-,-,-,behind,cabbage,behind,bottom_left,up,none,Put the white mug behind the cabbage with handle facing bottom left right side up with the left hand. +2026-04-14-04-33-34-590000,pick_place_diverse,alignment data set 2,225,300,75,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-14-04-34-24-990000,pick_place_diverse,alignment data set 2,0,156,156,pick,green cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-04-14-04-34-24-990000,pick_place_diverse,alignment data set 2,156,279,123,place,green cabbage,right,-,-,-,-,behind,blue soda can,behind,forwards,none,none,Put the green cabbage behind the blue soda can with the right hand facing forwards with the tip as the reference point. +2026-04-14-04-34-24-990000,pick_place_diverse,alignment data set 2,279,363,84,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-14-04-35-45-301000,pick_place_diverse,alignment data set 2,0,138,138,pick,blue soda can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle. +2026-04-14-04-35-45-301000,pick_place_diverse,alignment data set 2,138,285,147,place,blue soda can,right,-,-,-,-,left,white mug,left,none,none,none,Put the blue soda can to the left of the white mug with the right hand. +2026-04-14-04-35-45-301000,pick_place_diverse,alignment data set 2,285,345,60,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,0,126,126,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,126,225,99,place,pink bowl,right,-,-,-,-,right,red bag of chips,right,none,none,none,Place the pink bowl to the right of the red bag of chips with the right hand. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,225,351,126,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,351,474,123,place,green bowl,left,-,-,-,-,right,white cup,right,none,none,none,Put the green bowl to the right of the white cup with the left hand. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,474,660,186,pick,white cup,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,660,774,114,place,white cup,left,-,-,-,-,front,green bowl,front,none,up,none,Put the white cup in front of the green bowl with the left hand right side up with the front as the orientation reference point. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,774,912,138,pick,pink coffee cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the left hand using a lip grip at the right side and a diagonal angle. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,912,1020,108,place,pink coffee cup,left,-,-,-,-,left,green bowl,left,top_left,none,none,Put the pink coffee cup to the left of the green bowl with the handle facing top left with the left hand. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,1020,1158,138,pick,red bag of chips,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bag of chips from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,1257,1398,141,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,1398,1548,150,place,pink bowl,right,-,-,-,-,right,green bowl,right,none,none,none,Place the pink bowl to the right of the green bowl with the right hand. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,1548,1743,195,pick,pink coffee cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,1743,1857,114,place,pink coffee cup,left,-,-,-,-,left,white cup,left,top_right,up,none,Put the pink coffee cup to the left of the white cup with the handle facing top right right side up using the left hand. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,1857,2064,207,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2214,2298,84,place,white cup,right,-,-,-,-,right,pink bowl,right,none,up,none,Put the white cup to the right of the pink bowl with the right hand right side up with the front as the orientation reference point. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2298,2445,147,pick,pink coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2445,2526,81,place,pink coffee cup,left,-,-,-,-,front,green bowl,front,forwards,up,none,Put the pink coffee cup in front of the green bowl with the left hand right side up with the front facing forwards. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2526,2670,144,pick,red bag of chips,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bag of chips from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2670,2742,72,place,red bag of chips,right,-,-,-,-,front,pink bowl,front,left,none,none,Put the red bag of chips in front of the pink bowl with the right hand facing left. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2742,2907,165,pick,pink coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-03-32-03-298000,pick_place_diverse,set 2 data collection day 1,2907,3000,93,place,pink coffee cup,left,-,-,-,-,left,green bowl,left,forwards,up,none,Put the pink coffee cup to the left of the green bowl with the left hand right side up with the front facing forwards. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,0,93,93,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom right with a diagonal angle. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,93,186,93,place,doritos,right,-,-,-,-,front,green bowl,front,left,none,none,Put the doritos in front of the green bowl with the front facing left using the right hand. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,186,357,171,pick,pink mug,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,357,543,186,place,pink mug,left,-,-,-,-,front,pink bowl,front,forwards,up,none,Put the pink mug in front of the pink bowl right side up with the front facing forwards using the left hand. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,543,765,222,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a lip grip from the top at the right. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,765,876,111,place,white cup,right,-,-,-,-,right,pink coffee cup,right,none,up,none,Put the white cup to the right of the pink coffee cup with the right hand right side up front. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,876,1017,141,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,1017,1095,78,place,doritos,left,-,-,-,-,inside,green bowl,inside,bottom_left,none,none,Put the doritos inside the green bowl with the left hand facing bottom left. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,1191,1335,144,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,1335,1416,81,place,green bowl,left,-,-,-,-,left,pink mug,left,none,none,none,Put the green bowl to the left of the pink mug with the left hand. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,1416,1626,210,pick,pink mug,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal lip grip at the top right. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,1626,1740,114,place,pink mug,right,-,-,-,-,behind,white cup,behind,top_right,up,none,Put the pink mug behind the white cup with the handle facing top right right side up using the right arm. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,1740,1914,174,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2022,2046,24,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2046,2103,57,place,white cup,right,-,-,-,-,front,pink bowl,front,none,up,none,Put the white cup in front of the pink bowl with the right hand right side up with the front as the orientation reference point. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2280,2343,63,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2343,2442,99,place,white cup,left,-,-,-,-,behind,green bowl,behind,none,up,none,Place the white cup behind the green bowl and to the left of the pink bowl with the left hand right side up front. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2442,2652,210,pick,pink mug,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the left side. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2652,2772,120,place,pink mug,right,-,-,-,-,front,pink bowl,front,right,up,none,Put the pink mug in front of the pink bowl with the handle facing right right side up from the front using the right hand. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2772,2913,141,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2913,2979,66,place,pink bowl,right,-,-,-,-,right,pink mug,right,none,none,none,Put the pink bowl to the right of the pink mug with the right hand. +2026-04-21-03-35-01-274000,pick_place_diverse,set 2 data collection day 1,2979,3000,21,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,0,93,93,pick,white coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a lip grip at the left side with a diagonal angle. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,93,195,102,place,white cup,left,-,-,-,-,left,pink coffee cup,left,none,up,none,Put the white cup to the left of the pink coffee cup with the left hand right side up. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,195,333,138,pick,pink coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,333,438,105,place,pink coffee cup,right,-,-,-,-,right,pink bowl,right,none,up,none,Put the pink coffee cup to the right of the pink bowl with the right hand right side up with the front as the reference point. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,438,582,144,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,582,612,30,dump,red bag of chips,left,-,-,-,-,left,yellow stuffed toy,left,none,none,none,Dump the red bag of chips from the green bowl to the left of the yellow stuffed animal with the left hand. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,612,753,141,place,green bowl,left,-,-,-,-,front,red bag of chips,front,none,none,none,Put the green bowl in front of the red bag of chips with the left hand. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,753,924,171,pick,pink coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,924,1038,114,place,pink coffee cup,right,-,-,-,-,front,pink bowl,front,backwards,up,none,Put the pink coffee cup in front of the pink bowl with the right hand right side up with the front facing backwards. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1038,1215,177,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1215,1296,81,place,pink bowl,right,-,-,-,-,right,pink coffee cup,right,none,none,none,Put the pink bowl to the right of the pink coffee cup with the right hand. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1437,1476,39,pick,yellow stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1476,1617,141,place,yellow stuffed toy,left,-,-,-,-,behind,pink coffee cup,behind,backwards,none,none,Put the yellow stuffed animal behind the pink coffee cup with the left hand facing backwards from the front. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1617,1785,168,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1785,1884,99,place,yellow stuffed toy,right,-,-,-,-,inside,pink coffee cup,inside,none,down,none,Put the yellow stuffed animal inside the pink coffee cup with the right hand upside down. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,1884,2010,126,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2010,2097,87,place,green bowl,left,-,-,-,-,left,red bag of chips,left,none,none,none,Put the green bowl to the left of the red bag of chips with the left hand. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2097,2268,171,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2268,2364,96,place,white cup,right,-,-,-,-,behind,pink coffee cup,behind,none,up,none,Place the white cup behind the pink coffee cup with the right hand right side up with the front as the orientation reference point. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2364,2466,102,pick,red bag of chips,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red bag of chips from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2466,2565,99,place,red bag of chips,left,-,-,-,-,left,pink coffee cup,left,forwards,none,none,Put the red bag of chips to the left of the pink coffee cup with the left hand facing forwards. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2565,2772,207,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2772,2874,102,place,green bowl,left,-,-,-,-,left,red bag of chips,left,none,none,none,Put the green bowl to the left of the red bag of chips with the left hand. +2026-04-21-03-38-31-054000,pick_place_diverse,set 2 data collection day 1,2874,3000,126,return,-,both,-,-,-,-,-,-,-,-,-,-,Return both arms to home. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,0,105,105,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,105,201,96,place,blue marker,right,-,-,-,-,right,asparagus,right,forwards,none,none,Put the blue marker to the right of the asparagus with the right hand facing forwards with the tip as the reference point. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,201,312,111,pick,gray stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,312,405,93,place,gray stuffed toy,right,-,-,-,-,right,red marker,right,forwards,none,none,Put the gray stuffed animal to the right of the red marker with the right hand facing forwards front. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,405,531,126,pick,blue screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom diagonally. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,531,630,99,place,blue screwdriver,left,-,-,-,-,front,asparagus,front,forwards,none,none,Put the blue screwdriver in front of the asparagus with the left hand with its tip facing forwards. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,630,771,141,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,771,876,105,place,red marker,right,-,-,-,-,right,gray stuffed toy,right,bottom_right,none,none,Put the red marker to the right of the gray stuffed animal with the right hand with its tip facing bottom right. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,876,1053,177,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1053,1161,108,place,juice pouch,left,-,-,-,-,right,white cup,right,none,up,none,Put the juice pouch to the right of the white cup with the left hand right side up with the front as the orientation reference point. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1161,1308,147,pick,white cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand at a diagonal angle by the handle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1308,1425,117,place,white cup,left,-,-,-,-,left,asparagus,left,backwards,up,none,Put the white cup to the left of the asparagus with the left hand right side up with the front facing backwards. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1425,1659,234,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1659,1758,99,place,blue screwdriver,right,-,-,-,-,corner,table,none,forwards,none,none,Put the blue screwdriver on the top right of the table with the right hand facing forwards with the tip as the reference point. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1758,1911,153,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,1911,2004,93,place,blue marker,right,-,-,-,-,center,,none,top_left,none,none,Place the blue marker to the center of the table with the right hand with its tip facing top left. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2004,2199,195,pick,juice pouch,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the top with a diagonal angle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2199,2325,126,place,juice pouch,left,-,-,-,-,left,gray stuffed toy,left,none,up,none,Put the juice pouch to the left of the gray stuffed animal with the left hand right side up. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2325,2532,207,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2532,2613,81,place,juice pouch,right,-,-,-,-,between,asparagus and the blue screwdriver,between,none,up,none,Put the juice pouch in the middle of the asparagus and the blue screwdriver with the right hand right side up. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2613,2739,126,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2739,2850,111,place,gray stuffed toy,right,-,-,-,-,right,blue marker,right,forwards,none,none,Place the gray stuffed animal to the right of the blue marker with the right hand facing forwards. +2026-04-21-03-41-00-325000,pick_place_diverse,set 2 data collection day 1,2850,3000,150,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,0,147,147,pick,white mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand at a diagonal angle by the handle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,147,243,96,place,white mug,left,-,-,-,-,front,blue marker bottom left,front,none,none,none,Put the white mug in front of the blue marker bottom left with the left hand. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,243,432,189,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,432,519,87,place,gray stuffed toy,right,-,-,-,-,right,white mug,right,backwards,none,none,Put the gray stuffed animal to the right of the white mug with the right hand facing backwards relative to the front. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,519,648,129,pick,white mug,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,648,747,99,place,white mug,left,-,-,-,-,between,gray stuffed toy and the red marker,between,bottom_right,none,none,Put the white mug between the gray stuffed animal and the red marker with the handle facing bottom right using the left hand. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,747,972,225,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,972,1068,96,place,blue marker,left,-,-,-,-,left,gray stuffed toy,left,forwards,none,none,Place the blue marker to the left of the gray stuffed animal with the left hand facing forwards with the tip facing forwards. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1068,1269,201,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1269,1395,126,place,red marker,right,-,-,-,-,behind,blue marker,behind,backwards,none,none,Put the red marker behind the blue marker with the right hand facing backwards with the tip as the orientation reference point. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1395,1563,168,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1563,1635,72,place,white mug,right,-,-,-,-,front,blue screwdriver,front,backwards,up,none,Place the white mug in front of the blue screwdriver with the handle facing backwards right side up using the right arm. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1635,1728,93,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1728,1812,84,place,gray stuffed toy,right,-,-,-,-,inside,white mug,inside,bottom_right,none,none,Place the gray stuffed animal inside the white mug with the right hand facing bottom right from the front. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,1812,2031,219,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grasp at the top with a diagonal pick angle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2031,2190,159,place,juice pouch,right,-,-,-,-,front,asparagus,front,none,up,none,Put the juice pouch in front of the asparagus with the right hand right side up. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2190,2340,150,pick,blue screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2340,2469,129,place,blue screwdriver,right,-,-,-,-,between,juice pouch and the white mug,between,top_right,none,none,Put the blue screwdriver between the juice pouch and the white mug with the right hand facing top right with the tip as the reference point. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2469,2637,168,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2637,2745,108,place,red marker,left,-,-,-,-,left,blue marker,left,backwards,none,none,Place the red marker to the left of the blue marker with the left hand facing backwards with the tip as the orientation reference point. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2745,2901,156,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grasp at the top from a diagonal angle. +2026-04-21-03-48-00-324000,pick_place_diverse,set 2 data collection day 1,2901,3000,99,place,juice pouch,right,-,-,-,-,behind,white mug,behind,none,up,none,Place the juice pouch behind the white mug with the right hand right side up with the front as the reference point. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,0,132,132,pick,asparagus,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,132,228,96,place,asparagus,right,-,-,-,-,center,,none,forwards,none,none,Put the asparagus to the center of the table with the right hand facing forwards with the tip as the orientation reference point. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,228,414,186,pick,white cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table by the handle at a diagonal angle with the right hand. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,414,555,141,place,white cup,right,-,-,-,-,behind,blue screwdriver,behind,backwards,up,none,Put the white cup behind the blue screwdriver with the right hand right side up with the front facing backwards. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,555,696,141,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,696,786,90,place,red marker,left,-,-,-,-,behind,blue marker,behind,backwards,none,none,Place the red marker behind the blue marker with the left hand facing backwards with the tip as the reference point. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,786,984,198,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,983,1143,160,place,asparagus,right,-,-,-,-,front,juice pouch,front,top_left,none,none,Put the asparagus in front of the juice pouch with the right hand with the tip facing top left. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1143,1311,168,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the taable with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1311,1413,102,place,red marker,left,-,-,-,-,center,,none,bottom_right,none,none,Put the red marker to the center of the table with the left hand with its tip facing bottom right. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1413,1584,171,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top and a diagonal pick angle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1584,1704,120,place,juice pouch,right,-,-,-,-,table,,none,none,up,none,Put the juice pouch right side up with the front facing the top side of the table using the right hand. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1704,1857,153,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1857,1935,78,place,asparagus,right,-,-,-,-,right,white cup,right,top_right,none,none,Put the asparagus to the right of the white cup with the right hand with its tip facing top right. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,1935,2079,144,pick,blue screwdriver,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the top with a diagonal angle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2079,2157,78,place,blue screwdriver,right,-,-,-,-,front,asparagus,front,forwards,none,none,Put the blue screwdriver in front of the asparagus with the right hand facing forwards with the tip facing forwards. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2157,2301,144,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2301,2397,96,place,blue marker,left,-,-,-,-,left,juice pouch,left,forwards,none,none,Place the blue marker to the left of the juice pouch with the left hand facing forwards with the tip as the reference point. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2397,2571,174,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2571,2667,96,place,red marker,right,-,-,-,-,front,white cup,front,bottom_right,none,none,Put the red marker in front of the white cup with the right hand facing bottom right with the tip as the reference point. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2667,2886,219,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-03-50-57-718000,pick_place_diverse,set 2 data collection day 1,2886,3000,114,place,blue marker,left,-,-,-,-,left,red marker,left,right,none,none,Put the blue marker to the left of the red marker with the left hand with the tip facing right. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,0,150,150,pick,beige bowl,right,lip,none,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand at a diagonal angle using a lip grip. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,150,288,138,place,beige bowl,right,-,-,-,-,front,white cup,front,none,up,none,Put the beige bowl in front of the white cup with the right hand right side up. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,288,471,183,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,471,564,93,place,corn,left,-,-,-,-,left,yogurt,left,backwards,none,none,Put the corn to the left of the yogurt with the left hand facing backwards. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,564,771,207,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,771,894,123,place,beige bowl,right,-,-,-,-,front,yogurt,front,none,up,none,Put the beige bowl in front of the yogurt with the right hand right side up with the front as the orientation reference. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,894,1035,141,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,1035,1134,99,place,green mug,right,-,-,-,-,right,beige bowl,right,backwards,up,none,Put the green mug to the right of the beige bowl with the handle facing backwards right side up using the right arm. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,1134,1317,183,pick,corn,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,1317,1425,108,place,corn,left,-,-,-,-,inside,beige bowl,inside,bottom_left,none,none,Put the corn inside the beige bowl with the left hand facing bottom left. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,1425,1734,309,pick,yogurt,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yogurt from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,1734,1887,153,place,yogurt,left,-,-,-,-,left,beige bowl,left,none,up,none,Put the yogurt to the left of the beige bowl with the left hand right side up with the front as the reference point. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2004,2118,114,pick,white cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand at a diagonal angle by the handle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2118,2232,114,place,white cup,right,-,-,-,-,right,green mug,right,backwards,up,none,Put the white cup to the right of the green mug with the handle facing backwards right side up using the right hand. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2232,2415,183,pick,yogurt,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yogurt from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2415,2538,123,place,yogurt,left,-,-,-,-,behind,beige bowl,behind,none,up,none,Put the yogurt behind the beige bowl with the left hand right side up. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2538,2610,72,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2610,2862,252,pick,yogurt,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yogurt from the table with the right hand at a diagonal angle gripping the middle. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2862,2970,108,place,yogurt,right,-,-,-,-,behind,green mug,behind,none,up,none,Put the yogurt behind the green mug with the right hand right side up with the front as the orientation reference point. +2026-04-21-04-08-55-290000,pick_place_diverse,set 2 data collection day 1,2970,3000,30,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,0,180,180,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the left side diagonally. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,297,513,216,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,513,636,123,place,brown stuffed toy,right,-,-,-,-,inside,green mug,inside,none,none,none,Put the brown stuffed animal inside the green mug with the right hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,636,774,138,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,774,942,168,place,green mug,right,-,-,-,-,behind,corn,behind,backwards,up,none,Put the green mug behind the corn with the handle facing backwards right side up using the right hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,942,1116,174,pick,yogurt,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1116,1200,84,place,yogurt,left,-,-,-,-,inside,beige bowl,inside,none,down,none,Put the yogurt inside the beige bowl upside down with the front as the reference point using the left hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1200,1389,189,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1389,1509,120,place,white cup,left,-,-,-,-,left,beige bowl,left,bottom_left,up,none,Put the white cup to the left of the beige bowl with the handle facing bottom left right side up with the left hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1509,1680,171,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1680,1779,99,place,corn,right,-,-,-,-,right,beige bowl,right,backwards,none,none,Put the corn to the right of the beige bowl with the right hand facing backwards by the tip. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1779,1950,171,pick,green mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand from the side by the handle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,1950,2049,99,place,green mug,right,-,-,-,-,right,corn,right,backwards,up,none,Put the green mug to the right of the corn with the right hand right side up with the front facing backwards. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2049,2202,153,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2202,2313,111,place,beige bowl,left,-,-,-,-,behind,white cup,behind,none,up,none,Put the beige bowl behind the white cup right side up with the front as the reference using the left hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2313,2529,216,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2529,2658,129,place,corn,right,-,-,-,-,right,green mug,right,bottom_right,none,none,Put the corn to the right of the green mug with the right hand facing bottom right from the tip. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2658,2703,45,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2703,2853,150,pick,white cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the right side with a diagonal angle. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2853,2922,69,place,white cup,left,-,-,-,-,front,beige bowl,front,backwards,up,none,Put the white cup in front of the beige bowl with the left hand right side up with the front facing backwards. +2026-04-21-04-17-23-858000,pick_place_diverse,set 2 data collection day 1,2922,3000,78,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,0,135,135,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,135,237,102,place,beige bowl,left,-,-,-,-,right,white coffee cup,right,none,none,none,Put the beige bowl to the right of the white coffee cup with the left hand. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,237,390,153,pick,white coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a lip grasp at the left side with a diagonal angle. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,390,552,162,place,white coffee cup,left,-,-,-,-,behind,beige bowl,behind,backwards,up,none,Put the white coffee cup behind the beige bowl with handle facing backwards right side up with the left hand. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,552,774,222,pick,green coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the right hand using a diagonal grasp at the handle. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,774,882,108,place,green coffee cup,right,-,-,-,-,left,beige bowl,left,none,up,none,Put the green coffee cup to the left of the beige bowl with the right hand right side up with the front as the reference point. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,882,1056,174,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,1056,1329,273,place,corn,right,-,-,-,-,behind,green coffee cup,behind,bottom_right,none,none,Put the corn behind the green coffee cup with the right hand facing bottom right from the tip. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,1329,1698,369,pick,white coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,1698,1815,117,place,white coffee cup,left,-,-,-,-,left,beige bowl,left,backwards,up,none,Put the white coffee cup to the left of the beige bowl with the left hand right side up with the front facing backwards. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,1815,2088,273,pick,green coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the right hand at a diagonal angle by the handle. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2088,2169,81,dump,brown stuffed toy,right,-,-,-,-,corner,beige bowl,corner,none,none,none,Dump the brown stuffed animal from the green coffee cup to the bottom right of the beige bowl with the right hand. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2169,2352,183,place,green coffee cup,right,-,-,-,-,right,corn,right,backwards,up,none,Put the green coffee cup to the right of the corn with the right hand right side up with the front facing backwards. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2352,2496,144,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2496,2622,126,place,brown stuffed toy,right,-,-,-,-,behind,beige bowl,behind,bottom_left,none,none,Put the brown stuffed animal behind the beige bowl with the right hand facing bottom left from the front. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2622,2805,183,pick,white coffee cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2805,2907,102,place,white coffee cup,left,-,-,-,-,table,table,none,backwards,up,top,Put the white coffee cup on the top side of the table with the left hand right side up with the front facing backwards. +2026-04-21-04-19-41-976000,pick_place_diverse,set 2 data collection day 1,2907,3000,93,return,-,both,-,-,-,-,-,-,-,-,-,-,Return both arms to home. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,0,114,114,pick,croissant,left,plain,middle,diagonal,pink plate,-,-,-,-,-,-,Pick up the croissant from the pink plate with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,114,231,117,place,croissant,left,-,-,-,-,left,pink plate,left,none,none,none,Put the croissant to the left of the pink plate with the left hand. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,231,360,129,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,360,435,75,place,blue stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,top_right,none,none,Put the blue stuffed toy on top of the pink plate with the left hand facing top right. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,435,609,174,pick,orange screwdriver,left,side,top,diagonal,white plate,-,-,-,-,-,-,Pick up the orange screwdriver from the white plate with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,609,753,144,place,orange screwdriver,left,-,-,-,-,left,white plate,left,top_right,none,none,Put the orange screwdriver to the left of the white plate with the left hand with its tip facing top right. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,753,924,171,pick,blue stuffed toy,left,plain,entire,diagonal,pink plate,-,-,-,-,-,-,Pick up the blue stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,924,1077,153,place,blue stuffed toy,left,-,-,-,-,right,pink plate,right,top_right,none,none,Put the blue stuffed toy to the right of the pink plate with the left hand facing top right. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,1077,1203,126,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,1203,1335,132,place,croissant,left,-,-,-,-,right,blue stuffed toy,right,none,none,none,Put the croissant to the right of the blue stuffed toy with the left hand. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,1335,1584,249,pick,pink plate,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a side grip at the left in a diagonal pick angle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,1584,1803,219,place,pink plate,left,-,-,-,-,right,croissant,right,none,up,none,Put the pink plate to the right of the croissant with the left hand right side up with the front as the reference point. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,1803,1995,192,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,1995,2100,105,place,orange screwdriver,left,-,-,-,-,front,white plate,front,top_left,none,none,Put the orange screwdriver in front of the white plate with the left hand with its tip facing top left. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,2100,2316,216,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,2316,2469,153,place,croissant,right,-,-,-,-,on_top,pink plate,on_top,none,none,none,Place the croissant on top of the pink plate with the right hand. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,2469,2640,171,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,2640,2742,102,place,blue stuffed toy,left,-,-,-,-,on_top,white plate,on_top,forwards,none,none,Put the blue stuffed toy on top of the white plate with the left hand facing forwards. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,2742,2877,135,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-23-29-156000,pick_place_diverse,set 2 data collection day 1,2877,3000,123,place,orange screwdriver,left,-,-,-,-,left,white plate,left,forwards,none,none,Put the orange screwdriver to the left of the white plate with the left hand facing forwards by the tip. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,0,141,141,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,141,240,99,place,orange screwdriver,left,-,-,-,-,front,white plate,front,top_left,none,none,Put the orange screwdriver in front of the white plate with the left hand with its tip facing top left. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,240,477,237,pick,white plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a diagonal lip grasp at the left. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,477,627,150,place,white plate,left,-,-,-,-,left,pink plate,left,none,up,none,Place the white plate to the left of the pink plate with the left hand right side up with the front as the reference point. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,627,879,252,pick,croissant,right,plain,middle,diagonal,pink plate,-,-,-,-,-,-,Pick up the croissant from the pink plate with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,879,999,120,place,croissant,right,-,-,-,-,right,pink plate,right,none,none,none,Put the croissant to the right of the pink plate with the right hand. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,998,1167,169,pick,blue stuffed toy,right,plain,middle,diagonal,white plate,-,-,-,-,-,-,Pick up the blue stuffed animal from the white plate with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,1167,1278,111,place,blue stuffed toy,right,-,-,-,-,on_top,pink plate,on_top,forwards,none,none,Put the blue stuffed animal on top of the pink plate with the right hand facing forwards. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,1425,1593,168,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,1593,1779,186,place,orange screwdriver,left,-,-,-,-,on_top,white plate,on_top,top_right,none,none,Place the orange screwdriver on top of the white plate with the left hand with its tip facing top right. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,1779,2046,267,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2046,2184,138,place,croissant,right,-,-,-,-,behind,pink plate,behind,none,none,none,Put the croissant behind the pink plate with the right hand. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2184,2427,243,pick,orange screwdriver,left,plain,middle,diagonal,white plate,-,-,-,-,-,-,Pick up the orange screwdriver from the white plate with the left hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2427,2541,114,place,orange screwdriver,left,-,-,-,-,behind,white plate,behind,forwards,none,none,Put the orange screwdriver behind the white plate with the left hand facing forwards with the tip as the reference point. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2541,2637,96,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2637,2757,120,pick,blue stuffed toy,right,plain,middle,diagonal,pink plate,-,-,-,-,-,-,Pick up the blue stuffed animal from the pink plate with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2757,2841,84,place,blue stuffed toy,right,-,-,-,-,on_top,white plate,on_top,top_left,none,none,Put the blue stuffed animal on top of the white plate with the right hand facing top left. +2026-04-21-04-26-06-285000,pick_place_diverse,set 2 data collection day 1,2841,3000,159,pick,blue stuffed toy,right,plain,middle,diagonal,white plate,-,-,-,-,-,-,Pick up the blue stuffed animal from the white plate with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,0,120,120,pick,blue stuffed toy,right,plain,middle,diagonal,pink plate,-,-,-,-,-,-,Pick up the blue stuffed animal from the top of the pink plate with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,120,210,90,place,blue stuffed toy,right,-,-,-,-,on_top,white plate,on_top,top_left,none,none,Put the blue stuffed animal on top of the white plate with the right hand facing top left. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,210,375,165,pick,screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,375,459,84,place,screwdriver,left,-,-,-,-,left,white plate,left,top_right,none,none,Put the screwdriver to the left of the white plate with the left hand facing top right with the tip as the reference point. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,459,615,156,pick,pink plate,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the right hand using a lip grip at the right side and a diagonal angle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,615,783,168,place,pink plate,right,-,-,-,-,behind,screwdriver,behind,none,up,none,Place the pink plate behind the screwdriver with the right hand right side up with the front as the orientation reference. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,783,942,159,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,942,1029,87,place,croissant,right,-,-,-,-,right,white plate,right,none,none,none,Put the croissant to the right of the white plate with the right hand. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1029,1185,156,pick,screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1185,1290,105,place,screwdriver,left,-,-,-,-,left,pink plate,left,top_right,none,none,Put the screwdriver to the left of the pink plate with the left hand facing top right with the tip as the reference point. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1290,1497,207,pick,blue stuffed toy,left,plain,entire,diagonal,white plate,-,-,-,-,-,-,Pick up the blue stuffed animal from the white plate with the left hand at a diagonal angle grasping the entire object. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1497,1587,90,place,blue stuffed toy,left,-,-,-,-,front,pink plate,front,top_left,none,none,Put the blue stuffed animal in front of the pink plate and to the left of the white bowl with the left hand facing top left from the front. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1737,1761,24,pick,croissant,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand from the side at the middle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1761,1941,180,place,croissant,right,-,-,-,-,on_top,pink plate,on_top,none,none,none,Place the croissant on top of the pink plate with the right hand. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,1941,2145,204,pick,blue stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2145,2199,54,place,blue stuffed toy,left,-,-,-,-,front,screwdriver,front,forwards,none,none,Place the blue stuffed animal in front of the screwdriver with the left hand facing forwards with the front as the orientation reference point. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2199,2325,126,pick,screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand from the top at the middle. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2325,2439,114,place,screwdriver,left,-,-,-,-,above,white plate,above,forwards,none,none,Put the screwdriver on the top of the white plate with the left hand facing forwards with the tip facing forwards. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2439,2610,171,pick,white plate,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2610,2706,96,dump,screwdriver,right,-,-,-,-,center,,none,none,none,none,Dump the screwdriver from the white plate to the center of the table with the right hand. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2706,2796,90,place,white plate,right,-,-,-,-,right,pink plate,right,none,up,none,Place the white plate right side up with the front to the right of the pink plate using the right hand. +2026-04-21-04-28-28-519000,pick_place_diverse,set 2 data collection day 1,2796,2919,123,pick,blue stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,0,129,129,pick,tomato,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,129,225,96,place,tomato,left,-,-,-,-,inside,silver bowl,inside,none,up,none,Put the tomato inside the silver bowl with the left hand right side up. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,225,378,153,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,378,468,90,place,cabbage,left,-,-,-,-,front,silver bowl,front,forwards,none,none,Put the cabbage in front of the silver bowl with the left hand facing forwards. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,468,639,171,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,639,768,129,place,blue soda can,left,-,-,-,-,front,green bag of chips,front,none,none,none,Put the blue soda can in front of the green bag of chips with the left hand. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,768,1023,255,pick,green bag of chips,right,side,right,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the right in a diagonal angle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1023,1143,120,place,green bag of chips,right,-,-,-,-,right,blue soda can,right,left,none,none,Put the green bag of chips to the right of the blue soda can with the right hand facing left. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1143,1287,144,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1287,1380,93,place,carrot,right,-,-,-,-,behind,blue soda can,behind,forwards,none,none,Put the carrot behind the blue soda can with the right hand facing forwards with the tip as the reference point. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1380,1557,177,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1557,1626,69,place,cabbage,left,-,-,-,-,right,silver bowl,right,forwards,none,none,Put the cabbage to the right of the silver bowl with the left hand facing forwards with the front as the reference point. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1626,1770,144,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle from the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1770,1845,75,place,carrot,right,-,-,-,-,right,cabbage,right,forwards,none,none,Put the carrot to the right of the cabbage with the right hand facing forwards with the tip facing forwards. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,1845,2043,198,pick,silver bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2042,2172,130,place,silver bowl,left,-,-,-,-,front,carrot,front,none,none,none,Put the silver bowl in front of the carrot with the left hand. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2172,2334,162,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2334,2412,78,place,carrot,left,-,-,-,-,left,silver bowl,left,top_left,none,none,Put the carrot to the left of the silver bowl with the left hand facing top left by the tip. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2412,2592,180,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2592,2694,102,place,blue soda can,right,-,-,-,-,behind,silver bowl,behind,none,none,none,Put the blue soda can behind the silver bowl with the right hand. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2694,2844,150,pick,green bag of chips,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the top right diagonal. +2026-04-21-05-15-41-561000,pick_place_diverse,set 2 data collection day 1,2844,3000,156,place,green bag of chips,right,-,-,-,-,right,blue soda can,right,left,none,none,Put the green bag of chips to the right of the blue soda can with the right hand facing left. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,0,111,111,pick,carrot,left,side,top,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand using a side grasp from the top. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,111,195,84,place,carrot,left,-,-,-,-,left,cabbage,left,forwards,none,none,Put the carrot to the left of the cabbage with the left hand facing forwards with the tip facing forwards. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,195,345,150,pick,cabbage,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the side at the middle. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,345,438,93,place,cabbage,left,-,-,-,-,inside,silver bowl,inside,forwards,none,none,Put the cabbage inside the silver bowl with the left hand facing forwards. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,438,633,195,pick,blue soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,633,720,87,place,blue soda can,left,-,-,-,-,left,tomato,left,none,none,none,Put the blue soda can to the left of the tomato with the left hand. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,720,834,114,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,834,933,99,place,carrot,left,-,-,-,-,center,,none,top_left,none,none,Put the carrot on the center of the table with the left hand with the tip facing top left. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,933,1128,195,pick,green bag of chips,left,side,top,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip from the top left. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,1263,1416,153,pick,blue soda can,left,side,top,top,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip from the top. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,1416,1515,99,place,blue soda can,left,-,-,-,-,corner,carrot,corner,none,none,none,Put the blue soda can to the top left of the carrot with the left hand. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,1515,1734,219,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,1734,1839,105,place,silver bowl,right,-,-,-,-,right,green bag of chips,right,none,none,none,Put the silver bowl to the right of the green bag of chips with the right hand. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,1839,1962,123,pick,tomato,right,plain,entire,side,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand from the side grasping the entire object. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,1962,2082,120,place,tomato,right,-,-,-,-,right,silver bowl,right,backwards,none,none,Put the tomato to the right of the silver bowl with the right hand facing backwards relative to the front. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,2082,2331,249,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom diagonally. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,2331,2415,84,place,green bag of chips,left,-,-,-,-,front,blue soda can,front,left,none,none,Put the green bag of chips in front of the blue soda can with the left hand facing left. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,2415,2607,192,pick,carrot,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the side at the middle. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,2607,2700,93,place,carrot,left,-,-,-,-,left,green bag of chips,left,forwards,none,none,Put the carrot to the left of the green bag of chips with the left hand facing forwards with the tip as the orientation reference point. +2026-04-21-05-18-34-680000,pick_place_diverse,set 2 data collection day 1,2700,2910,210,pick,tomato,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,0,84,84,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,84,201,117,place,carrot,left,-,-,-,-,front,tomato,front,top_right,none,none,Place the carrot in front of the tomato with the left hand with the tip facing top right. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,201,390,189,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,390,450,60,dump,cabbage,right,-,-,-,-,right,tomato,right,none,none,none,Dump the cabbage from the silver bowl to the right of the tomato with the right hand. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,450,570,120,place,silver bowl,right,-,-,-,-,front,cabbage,front,none,none,none,Put the silver bowl in front of the cabbage with the right hand. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,564,690,126,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,690,804,114,place,blue soda can,left,-,-,-,-,left,green bag of chips,left,none,none,none,Put the blue soda can to the left of the green bag of chips with the left hand. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,804,951,147,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,951,1065,114,place,carrot,left,-,-,-,-,behind,green bag of chips,behind,forwards,none,none,Put the carrot behind the green bag of chips with the left hand facing forwards with the tip as the orientation reference point. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1065,1191,126,pick,blue soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1191,1281,90,place,blue soda can,left,-,-,-,-,left,carrot,left,none,none,none,Put the blue soda can to the left of the carrot with the left hand. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1464,1470,6,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle gripping the middle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1575,1725,150,pick,tomato,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1725,1806,81,place,tomato,right,-,-,-,-,between,green bag of chips and the silver bowl,between,forwards,none,none,Put the tomato in between the green bag of chips and the silver bowl with the right hand facing forwards. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1806,1959,153,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,1959,2100,141,place,carrot,left,-,-,-,-,left,green bag of chips,left,forwards,none,none,Put the carrot to the left of the green bag of chips with the left hand facing forwards with the tip forwards. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,2100,2250,150,pick,green bag of chips,left,side,right,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the right grasp location and a diagonal pick angle. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,2250,2349,99,place,green bag of chips,left,-,-,-,-,table,table,none,top_right,none,none,Put the green bag of chips to the left side of the table with the left hand facing top right. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,2349,2505,156,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,2505,2700,195,place,silver bowl,right,-,-,-,-,behind,tomato,behind,none,none,none,Put the silver bowl behind the tomato with the right hand. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,2700,2835,135,pick,cabbage,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle from the top of the object. +2026-04-21-05-21-14-485000,pick_place_diverse,set 2 data collection day 1,2835,3000,165,place,cabbage,right,-,-,-,-,right,tomato,right,top_left,none,none,Put the cabbage to the right of the tomato with the right hand facing top left from the front. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,0,132,132,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,132,204,72,place,eggplant,left,-,-,-,-,right,canned goods,right,top_left,none,none,Put the eggplant to the right of the canned goods with the left hand with the tip facing top left. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,204,309,105,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,309,375,66,place,canned goods,left,-,-,-,-,center,,none,none,none,none,Put the canned goods on the center of the table with the left hand. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,375,564,189,pick,white cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand at a diagonal angle by the handle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,564,708,144,place,white cup,right,-,-,-,-,right,canned goods,right,bottom_left,up,none,Put the white cup to the right of the canned goods with the right hand right side up with the front facing bottom left. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,708,813,105,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,813,894,81,place,pink stuffed toy,right,-,-,-,-,front,white cup,front,top_left,none,none,Put the pink stuffed animal in front of the white cup with the right hand facing top left with the front as the reference point. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,894,1026,132,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1026,1098,72,place,eggplant,left,-,-,-,-,left,canned goods,left,top_left,none,none,Put the eggplant to the left of the canned goods with the left hand with its tip facing top left. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1098,1248,150,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1248,1329,81,place,canned goods,left,-,-,-,-,behind,eggplant,behind,none,none,none,Put the canned goods behind the eggplant with the left hand. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1329,1470,141,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1470,1554,84,place,pink stuffed toy,right,-,-,-,-,right,white cup,right,top_left,none,none,Put the pink stuffed animal to the right of the white cup with the right hand facing top left from the front. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1554,1782,228,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1782,1899,117,place,white cup,left,-,-,-,-,right,eggplant,right,backwards,up,none,Put the white cup to the right of the eggplant with the handle facing backwards right side up with the front as the reference using the left hand. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,1899,2064,165,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,2064,2232,168,place,pink stuffed toy,right,-,-,-,-,center,,none,top_left,none,none,Put the pink stuffed animal on the center of the table with the right hand facing top left with the front as reference. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,2232,2301,69,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,2301,2409,108,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,2409,2505,96,place,eggplant,left,-,-,-,-,corner,white cup,corner,forwards,none,none,Put the eggplant to the bottom left of the white cup with the left hand facing forwards with the tip as the reference point. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,2652,2763,111,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-34-03-612000,pick_place_diverse,set 2 data collection day 1,2763,3000,237,place,canned goods,left,-,-,-,-,between,eggplant and pink stuffed toy,between,none,none,none,Put the canned goods in the middle of the eggplant and pink stuffed animal with the left hand. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,0,138,138,pick,white mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand at a diagonal angle by the handle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,138,255,117,place,white mug,left,-,-,-,-,left,eggplant,left,bottom_left,up,none,Put the white mug to the left of the eggplant with the left hand right side up with the front facing bottom left. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,255,387,132,pick,canned goods,left,side,top,straight,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,387,483,96,place,canned goods,left,-,-,-,-,behind,white mug,behind,none,none,none,Put the canned goods behind the white mug with the left hand. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,483,582,99,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,582,675,93,place,eggplant,left,-,-,-,-,right,canned goods,right,forwards,none,none,Put the eggplant to the right of the canned goods with the left hand facing forwards with the tip forwards. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,675,777,102,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,777,846,69,place,pink stuffed toy,left,-,-,-,-,right,,none,forwards,none,none,Put the pink stuffed animal to the right of eggplant with the left hand facing forwards. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,846,978,132,pick,white mug,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,1260,1383,123,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,1383,1482,99,place,pink stuffed toy,left,-,-,-,-,front,canned goods,front,forwards,none,none,Put the pink stuffed animal in front of the canned goods with the left hand facing forwards. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,1482,1659,177,pick,white mug,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the top right side using a lip grip. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,1659,1782,123,place,white mug,left,-,-,-,-,front,eggplant,front,backwards,up,none,Put the white mug in front of the eggplant with the left hand right side up with the front facing backwards. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,1782,1980,198,pick,eggplant,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,1980,2073,93,place,eggplant,left,-,-,-,-,right,white mug,right,forwards,none,none,Put the eggplant to the right of the white mug with the left hand facing forwards with the tip as the reference point. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2073,2175,102,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2175,2259,84,place,canned goods,left,-,-,-,-,right,eggplant,right,none,none,none,Put the canned goods to the right of the eggplant with the left hand. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2370,2439,69,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2439,2538,99,place,pink stuffed toy,left,-,-,-,-,behind,canned goods,behind,forwards,none,none,Put the pink stuffed animal behind the canned goods with the left hand facing forwards. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2538,2601,63,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2601,2721,120,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2721,2799,78,place,pink stuffed toy,right,-,-,-,-,center,,none,forwards,none,none,Place the pink stuffed animal on the center of the table with the right hand facing forwards. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2799,2895,96,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2895,2961,66,place,canned goods,right,-,-,-,-,right,pink stuffed toy,right,none,none,none,Put the canned goods to the right of the pink stuffed animal with the right hand. +2026-04-21-05-36-12-002000,pick_place_diverse,set 2 data collection day 1,2961,3000,39,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,0,81,81,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand at the handle from the side. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,81,216,135,place,white mug,left,-,-,-,-,right,white canned goods,right,backwards,up,none,Put the white mug to the right of the white canned goods with the handle facing backwards right side up using the left hand. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,216,396,180,pick,pink stuffed toy,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the side at the middle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,396,453,57,place,pink stuffed toy,left,-,-,-,-,front,white canned goods,front,forwards,none,none,Put the pink stuffed toy in front of the white canned goods with the left hand facing forwards. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,453,639,186,pick,eggplant,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,639,738,99,place,eggplant,left,-,-,-,-,right,canned goods,right,bottom_left,none,none,Put the eggplant to the right of the canned goods with the left hand with its tip facing bottom left. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,738,849,111,pick,pink stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand using a side grip at the bottom diagonally. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,849,939,90,place,pink stuffed toy,left,-,-,-,-,left,eggplant,left,forwards,none,none,Put the pink stuffed animal to the left of the eggplant with the left hand facing forwards from the front. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,939,1119,180,pick,eggplant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,1119,1245,126,place,eggplant,left,-,-,-,-,front,white canned goods,front,left,none,none,Put the eggplant in front of the white canned goods with the left hand with its tip facing left. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,1245,1419,174,pick,pink stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,1419,1524,105,place,pink stuffed toy,left,-,-,-,-,left,white canned goods,left,forwards,none,none,Put the pink stuffed animal to the left of the white canned goods with the left hand facing forwards from the front. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,1524,1770,246,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal pick angle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,1770,1941,171,place,white canned goods,right,-,-,-,-,right,white mug,right,none,none,none,Put the white canned goods to the right of the white mug with the right hand. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,1941,2094,153,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2094,2235,141,place,eggplant,right,-,-,-,-,right,white canned goods,right,forwards,none,none,Put the eggplant to the right of the white canned goods with the tip facing forwards using the right hand. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2235,2370,135,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2370,2487,117,place,pink stuffed toy,left,-,-,-,-,left,white mug,left,top_right,none,none,Put the pink stuffed animal to the left of the white mug with the left hand facing top right relative to the front. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2487,2538,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2538,2700,162,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2700,2823,123,place,white canned goods,right,-,-,-,-,front,white mug,front,none,none,none,Put the white canned goods in front of the white mug with the right hand. +2026-04-21-05-40-09-356000,pick_place_diverse,set 2 data collection day 1,2823,2946,123,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,0,87,87,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,87,174,87,place,yellow stuffed toy,left,-,-,-,-,inside,pink bowl,inside,forwards,none,none,Put the yellow stuffed animal inside the pink bowl with the left hand facing forwards. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,174,288,114,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,288,366,78,place,pink stuffed toy,left,-,-,-,-,inside,pink bowl,inside,top_right,none,none,Put the pink stuffed animal inside the pink bowl with the left hand facing top right from the front. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,366,534,168,pick,croissant,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,534,642,108,place,croissant,left,-,-,-,-,left,canned goods,left,none,none,none,Place the croissant to the left of the canned goods with the left hand. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,642,831,189,pick,carrot,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,831,960,129,place,carrot,right,-,-,-,-,right,canned goods,right,backwards,none,none,Put the carrot to the right of the canned goods with the right hand facing backwards with the tip as the reference point. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,960,1077,117,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1077,1161,84,place,croissant,left,-,-,-,-,left,pink bowl,left,none,none,none,Put the croissant to the left of the pink bowl with the left hand. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1161,1359,198,pick,canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1359,1506,147,place,canned goods,right,-,-,-,-,behind,carrot,behind,none,none,none,Put the canned goods behind the carrot with the right hand. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1506,1668,162,pick,carrot,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand from the top at the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1668,1806,138,place,carrot,right,-,-,-,-,right,canned goods,right,bottom_right,none,none,Put the carrot to the right of the canned goods with the right hand facing bottom right by the tip. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1806,1938,132,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,1937,2094,157,place,croissant,left,-,-,-,-,front,pink bowl,front,none,none,none,Put the croissant in front of the pink bowl with the left hand. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,2310,2397,87,pick,pink bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand at the bottom right using a lip grip at a diagonal angle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,2397,2529,132,dump,yellow,right,-,-,-,-,right,carrot,right,none,none,none,Dump the yellow and the pink stuffed animal from the pink bowl to the right of the carrot with the right hand. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,2529,2706,177,place,pink bowl,right,-,-,-,-,left,canned goods,left,none,none,none,Put the pink bowl to the left of the canned goods with the right hand. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,2706,2811,105,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-43-51-459000,pick_place_diverse,set 2 data collection day 2,2811,2889,78,place,pink stuffed toy,right,-,-,-,-,right,croissant,right,bottom_left,none,none,Place the pink stuffed animal to the right of the croissant with the right hand facing bottom left from the front. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,0,108,108,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,108,231,123,place,croissant,left,-,-,-,-,left,pink bowl,left,none,none,none,Put the croissant to the left of the pink bowl with the left hand. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,231,360,129,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,360,477,117,place,pink bowl,left,-,-,-,-,left,croissant,left,none,none,none,Put the pink bowl to the left side of the croissant with the left hand. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,477,621,144,pick,pink stuffed toy,right,side,middle,straight,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand from the middle using a side grasp. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,756,888,132,pick,yellow stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,888,975,87,place,yellow stuffed toy,right,-,-,-,-,right,carrot,right,backwards,none,none,Put the yellow stuffed animal to the right of the carrot with the right hand facing backwards from the front. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,975,1119,144,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1119,1173,54,place,croissant,left,-,-,-,-,inside,pink bowl,inside,none,none,none,Place the croissant inside the pink bowl with the left hand. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1173,1287,114,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1287,1380,93,place,pink stuffed toy,left,-,-,-,-,left,pink bowl,left,backwards,none,none,Put the pink stuffed animal to the left of the pink bowl with the left hand facing backwards with the front as the reference point. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1380,1563,183,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal angle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1563,1683,120,place,canned goods,left,-,-,-,-,right,pink bowl,right,none,none,none,Put the canned goods to the right of the pink bowl with the left hand. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1683,1830,147,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1830,1959,129,place,carrot,right,-,-,-,-,right,white canned goods,right,backwards,none,none,Put the carrot to the right of the white canned goods with the right hand facing backwards by the tip. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,1959,2142,183,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2142,2343,201,place,carrot,left,-,-,-,-,front,pink bowl,front,bottom_right,none,none,Put the carrot in front of the pink bowl with the left hand with the tip facing bottom right. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2343,2475,132,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2475,2607,132,place,yellow stuffed toy,right,-,-,-,-,right,carrot,right,bottom_right,none,none,Put the yellow stuffed animal to the right of the carrot with the right hand facing bottom right from the front. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2607,2766,159,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2766,2814,48,place,yellow stuffed toy,left,-,-,-,-,inside,pink bowl,inside,none,down,none,Put the yellow stuffed animal inside the pink bowl upside down with the left hand. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2814,2928,114,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-18-46-01-782000,pick_place_diverse,set 2 data collection day 2,2928,3000,72,place,pink stuffed toy,left,-,-,-,-,inside,pink bowl,inside,none,down,none,Put the pink stuffed animal inside the pink bowl upside down with the left hand. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,0,120,120,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,120,264,144,dump,croissant,left,-,-,-,-,corner,canned goods,corner,none,none,none,Dump the croissant and the yellow and pink stuffed animals from the pink bowl to the bottom right of the canned goods with the left hand. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,264,393,129,place,pink bowl,left,-,-,-,-,right,croissant,right,none,none,none,Put the pink bowl to the right of the croissant with the left hand. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,393,549,156,pick,pink stuffed toy,left,side,top,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand using a side grip from the top. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,549,651,102,place,pink stuffed toy,left,-,-,-,-,left,canned goods,left,forwards,none,none,Put the pink stuffed animal to the left of the canned goods with the left hand facing forwards. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,651,852,201,pick,croissant,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,852,993,141,place,croissant,right,-,-,-,-,right,pink bowl,right,none,none,none,Put the croissant to the right of the pink bowl with the right hand. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,993,1158,165,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1158,1239,81,place,yellow stuffed toy,left,-,-,-,-,front,canned goods,front,forwards,none,none,Put the yellow stuffed animal in front of the canned goods with the left hand facing forwards with the front facing forwards. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1239,1440,201,pick,croissant,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1440,1548,108,place,croissant,right,-,-,-,-,between,canned goods and the pink bowl,between,none,none,none,Place the croissant between the canned goods and the pink bowl with the right hand. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1548,1671,123,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1671,1809,138,place,yellow stuffed toy,left,-,-,-,-,table,table,none,top_right,none,none,Put the yellow stuffed animal to the bottom side of the table with the left hand facing top right from the front. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1809,1953,144,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,1952,2061,109,place,pink stuffed toy,left,-,-,-,-,front,croissant,front,top_right,none,none,Put the pink stuffed animal in front of the croissant with the left hand facing top right from the front. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,2061,2226,165,pick,yellow stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,2226,2325,99,place,yellow stuffed toy,right,-,-,-,-,right,pink bowl,right,right,none,none,Put the yellow stuffed animal to the right of the pink bowl with the right hand facing right with the front as the reference point. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,2325,2535,210,pick,pink stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,2535,2685,150,place,pink stuffed toy,right,-,-,-,-,right,yellow stuffed toy,right,forwards,none,none,Place the pink stuffed animal to the right of the yellow stuffed animal with the right hand facing forwards. +2026-04-21-18-48-18-231000,pick_place_diverse,set 2 data collection day 2,2685,2925,240,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,0,105,105,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,105,225,120,place,eggplant,left,-,-,-,-,left,silver bowl,left,forwards,none,none,Put the eggplant to the left of the silver bowl with the tip facing forwards using the left hand. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,225,417,192,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grasp at the bottom with a diagonal pick angle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,417,606,189,place,green bag of chips,left,-,-,-,-,front,silver bowl,front,right,none,none,Put the green bag of chips in front of the silver bowl with the left hand facing right. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,606,783,177,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,783,882,99,place,orange screwdriver,left,-,-,-,-,behind,pink plate,behind,forwards,none,none,Place the orange screwdriver behind the pink plate with the left hand facing forwards with the tip facing forwards. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,882,1035,153,pick,blue stuffed toy,left,plain,middle,top,pink plate,-,-,-,-,-,-,Pick up the blue stuffed animal from the pink plate with the left hand from the top at the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1035,1128,93,place,blue stuffed toy,left,-,-,-,-,right,orange screwdriver,right,bottom_left,none,none,Put the blue stuffed animal to the right of the orange screwdriver with the left hand facing bottom left front. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1128,1401,273,pick,eggplant,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grasp at the top diagonally. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1401,1470,69,place,eggplant,left,-,-,-,-,inside,silver bowl,inside,none,up,none,Place the eggplant inside the silver bowl with the left hand right side up. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1470,1611,141,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1611,1695,84,place,blue stuffed toy,right,-,-,-,-,right,pink plate,right,backwards,none,none,Put the blue stuffed animal to the right of the pink plate with the right hand facing backwards. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1695,1803,108,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1803,1974,171,place,orange screwdriver,right,-,-,-,-,corner,table,none,top_left,none,bottom_right,Put the orange screwdriver on the bottom right side of the table with the right hand with its tip facing top left. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,1974,2169,195,pick,green bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip from the left at a diagonal angle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,2169,2295,126,place,green bag of chips,left,-,-,-,-,table,table,none,right,none,top,Put the green bag of chips on the top side of the table with the left hand facing right. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,2295,2445,150,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a lip grip from the left at a diagonal angle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,2445,2574,129,dump,eggplant,left,-,-,-,-,center,,none,none,none,none,Dump the eggplant from the silver bowl to the center of the table with the left hand. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,2574,2694,120,place,silver bowl,left,-,-,-,-,front,eggplant,front,none,none,none,Put the silver bowl in front of the eggplant with the left hand. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,2694,2829,135,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-54-28-704000,pick_place_diverse,set 2 data collection day 2,2829,3000,171,place,blue stuffed toy,right,-,-,-,-,behind,orange screwdriver,behind,backwards,none,none,Put the blue stuffed animal behind the orange screwdriver with the right hand facing backwards from the front. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,0,81,81,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,81,174,93,place,blue stuffed toy,right,-,-,-,-,right,orange screwdriver,right,backwards,none,none,Put the blue stuffed animal to the right of the orange screwdriver with the right hand facing backwards with the front as the reference point. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,174,264,90,pick,orange screwdriver,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand from the side at the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,264,339,75,place,orange screwdriver,right,-,-,-,-,right,green bag of chips,right,forwards,none,none,Put the orange screwdriver to the right of the green bag of chips with the right hand facing forwards with the tip as the reference point. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,339,447,108,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,447,525,78,place,blue stuffed toy,right,-,-,-,-,right,pink plate,right,backwards,none,none,Put the blue stuffed animal to the right of the pink plate with the right hand facing backwards relative to the front. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,525,663,138,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,663,774,111,place,silver bowl,left,-,-,-,-,behind,eggplant,behind,none,none,none,Put the silver bowl behind the eggplant with the left hand. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,966,1065,99,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle from the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1065,1155,90,place,eggplant,left,-,-,-,-,on_top,pink plate,on_top,bottom_left,none,none,Put the eggplant on top of the pink plate with the left hand with its tip facing bottom left. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1155,1215,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1215,1293,78,pick,blue stuffed toy,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand from the top at the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1293,1368,75,place,blue stuffed toy,right,-,-,-,-,right,orange screwdriver,right,backwards,none,none,Put the blue stuffed animal to the right of the orange screwdriver with the right hand facing backwards with the front as the reference point. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1368,1494,126,pick,green bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1494,1635,141,place,green bag of chips,right,-,-,-,-,front,orange screwdriver,front,bottom_right,none,none,Put the green bag of chips in front of the orange screwdriver with the right hand facing bottom right. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1635,1872,237,pick,eggplant,right,plain,middle,top,pink plate,-,-,-,-,-,-,Pick up the eggplant from the pink plate with the right hand from the top at the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1872,1962,90,place,eggplant,right,-,-,-,-,right,green bag of chips,right,top_left,none,none,Put the eggplant to the right of the green bag of chips with the tip facing top left using the right hand. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,1962,2133,171,pick,pink plate,right,lip,right,top,table,-,-,-,-,-,-,Pick up the pink plate from the table with the right hand from the top right side using a lip grip. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2133,2238,105,place,pink plate,right,-,-,-,-,between,silver bowl and the orange screwdriver,between,none,up,none,Put the pink plate between the silver bowl and the orange screwdriver with the right hand right side up front. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2238,2337,99,pick,orange screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom diagonally. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2337,2466,129,place,orange screwdriver,right,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the orange screwdriver on top of the pink plate with the right hand with its tip facing top left. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2466,2601,135,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2601,2676,75,place,blue stuffed toy,right,-,-,-,-,front,pink plate,front,backwards,none,none,Put the blue stuffed animal in front of the pink plate with the right hand facing backwards relative to the front. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2676,2817,141,pick,eggplant,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand from the side at the middle. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2817,2898,81,place,eggplant,right,-,-,-,-,behind,green bag of chips,behind,top_left,none,none,Put the eggplant behind the green bag of chips with the right hand facing top left by the tip. +2026-04-21-18-56-40-558000,pick_place_diverse,set 2 data collection day 2,2898,3000,102,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,0,159,159,pick,pink plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a lip grip at the left side from a diagonal angle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,159,309,150,place,pink plate,left,-,-,-,-,left,orange screwdriver,left,none,up,none,Put the pink plate to the left of the orange screwdriver with the left hand right side up with the front as the orientation reference point. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,309,501,192,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,501,717,216,place,silver bowl,right,-,-,-,-,behind,pink plate,behind,none,none,none,Put the silver bowl behind the pink plate with the right hand. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,717,864,147,pick,eggplant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,864,954,90,place,eggplant,right,-,-,-,-,right,orange screwdriver,right,forwards,none,none,Put the eggplant to the right of the orange screwdriver with the right hand facing forwards with the tip facing forwards. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,954,1143,189,pick,green bag of chips,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,1143,1266,123,place,green bag of chips,right,-,-,-,-,right,eggplant,right,right,none,none,Put the green bag of chips to the right of the eggplant with the right hand facing right. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,1266,1434,168,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,1434,1542,108,place,orange screwdriver,left,-,-,-,-,on_top,pink plate,on_top,top_right,none,none,Put the orange screwdriver on top of the pink plate with the left hand facing top right with the tip as the reference point. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,1542,1764,222,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,1764,1908,144,place,eggplant,left,-,-,-,-,left,pink plate,left,top_left,none,none,Put the eggplant to the left of the pink plate with the left hand with its tip facing top left. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,1908,2085,177,pick,green bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2085,2232,147,place,green bag of chips,left,-,-,-,-,behind,eggplant,behind,top_right,none,none,Put the green bag of chips behind the eggplant with the left hand facing top right. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2232,2418,186,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2418,2496,78,dump,blue stuffed toy,left,-,-,-,-,right,pink plate,right,none,none,none,Dump the blue stuffed animal from the silver bowl to the right of the pink plate with the left hand. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2496,2595,99,place,silver bowl,left,-,-,-,-,behind,blue stuffed toy,behind,none,none,none,Put the silver bowl behind the blue stuffed animal with the left hand. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2595,2745,150,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2745,2868,123,place,green bag of chips,left,-,-,-,-,left,eggplant,left,forwards,none,none,Put the green bag of chips to the left of the eggplant with the left hand facing forwards. +2026-04-21-19-02-44-418000,pick_place_diverse,set 2 data collection day 2,2868,3000,132,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,0,141,141,pick,gray stuffed toy,left,side,top,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand using a side grip from the top. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,141,249,108,place,gray stuffed toy,left,-,-,-,-,right,coffee pod,right,forwards,none,none,Put the gray stuffed animal to the right of the coffee pod with the front facing forwards using the left hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,249,411,162,pick,coffee pod,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,411,522,111,place,coffee pod,left,-,-,-,-,front,beige bowl,front,none,up,none,Put the coffee pod in front of the beige bowl with the left hand right side up with the front as the orientation reference point. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,522,735,213,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table by the handle from the side with the left hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,735,834,99,place,white coffee cup,left,-,-,-,-,on_top,white plate,on_top,backwards,up,none,Put the white coffee cup on top of the white plate with the left hand right side up with the front facing backwards. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,834,984,150,pick,green coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the left hand by the handle from the side. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,983,1110,127,place,green coffee cup,left,-,-,-,-,left,white plate,left,backwards,up,none,Put the green coffee cup to the left of the white plate with the handle facing backwards right side up with the front as reference using the left hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1110,1230,120,pick,gray stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand at a diagonal angle from the middle. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1230,1281,51,place,gray stuffed toy,left,-,-,-,-,between,white plate and the beige bowl,between,forwards,none,none,Put the gray stuffed animal between the white plate and the beige bowl with the left hand facing forwards from the front. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1281,1500,219,pick,coffee pod,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand at a diagonal angle from the middle. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1500,1584,84,place,coffee pod,right,-,-,-,-,table,table,none,none,up,none,Put the coffee pod on the right side of the table with the right hand right side up with the front as the orientation reference point. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1584,1725,141,pick,gray stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1725,1863,138,place,gray stuffed toy,left,-,-,-,-,front,green coffee cup,front,forwards,none,none,Put the gray stuffed animal in front of the green coffee cup with the left hand facing forwards from the front. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,1863,2070,207,pick,white coffee cup,left,lip,right,top,white plate,-,-,-,-,-,-,Pick up the white coffee cup from the white plate with the left hand using a lip grip from the top at the right side. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,2070,2160,90,place,white coffee cup,left,-,-,-,-,front,white plate,front,backwards,up,none,Put the white coffee cup in front of the white plate with the handle facing backwards right side up using the left hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,2334,2439,105,place,coffee pod,right,-,-,-,-,front,beige bowl,front,none,up,none,Put the coffee pod in front of the beige bowl right side up with the front as the orientation reference point using the right hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,2439,2598,159,pick,white coffee cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand from the top at the right side using a lip grip. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,2598,2718,120,place,white coffee cup,left,-,-,-,-,between,white plate and the beige bowl,between,backwards,up,none,Place the white coffee cup between the white plate and the beige bowl with the handle facing backwards right side up using the left hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,2718,2880,162,pick,green coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green coffee cup from the table by the handle from the side with the left hand. +2026-04-21-19-05-51-882000,pick_place_diverse,set 2 data collection day 2,2880,3000,120,place,green coffee cup,left,-,-,-,-,on_top,white plate,on_top,backwards,none,none,Put the green coffee cup on top of the white plate with the handle facing backwards using the left hand. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,0,126,126,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,126,234,108,place,white coffee cup,left,-,-,-,-,front,white plate,front,bottom_left,none,none,Put the white coffee cup in front of the white plate with the handle facing bottom left using the left hand. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,234,435,201,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,435,573,138,place,green mug,left,-,-,-,-,front,gray stuffed toy,front,bottom_left,none,none,Put the green mug in front of the gray stuffed animal with the handle facing bottom left using the left hand. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,573,783,210,pick,gray stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,783,843,60,place,gray stuffed toy,left,-,-,-,-,inside,beige bowl,inside,top_right,none,none,Put the gray stuffed animal inside the beige bowl with the left hand facing top right from the front. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,843,1026,183,pick,coffee pod,left,side,top,top,white plate,-,-,-,-,-,-,Pick up the coffee pod from the white plate with the left hand using a side grip from the top. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,1026,1164,138,place,coffee pod,left,-,-,-,-,behind,green mug,behind,none,up,none,Place the coffee pod behind the green mug with the left hand right side up with the front as the orientation reference point. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,1164,1437,273,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a diagonal grasp at the handle. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,1614,1734,120,pick,white coffee cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a diagonal lip grip at the top. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,1734,1869,135,place,white coffee cup,left,-,-,-,-,front,coffee pod,front,backwards,up,none,Put the white coffee cup in front of the coffee pod with the handle facing backwards right side up using the left hand. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,1869,2067,198,pick,beige bowl,right,lip,right,straight,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip from the right side. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,2067,2115,48,dump,gray stuffed toy,right,-,-,-,-,right,white coffee cup,right,none,none,none,Dump the gray stuffed animal from the beige bowl to the right of the white coffee cup with the right hand. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,2115,2280,165,place,beige bowl,right,-,-,-,-,front,green mug,front,none,none,none,Put the beige bowl in front of the green mug with the right hand. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,2280,2496,216,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the entire object. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,2496,2619,123,place,gray stuffed toy,left,-,-,-,-,left,green mug,left,forwards,none,none,Put the gray stuffed animal to the left of the green mug with the left hand facing forwards. +2026-04-21-19-11-09-622000,pick_place_diverse,set 2 data collection day 2,2619,2847,228,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,0,192,192,pick,coffee pod,left,side,top,straight,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grip at the top. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,192,294,102,place,coffee pod,left,-,-,-,-,left,beige bowl,left,none,up,none,Place the coffee pod to the left of the beige bowl with the left hand right side up with the front as the orientation reference. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,294,639,345,pick,white mug,left,handle,top,top,white plate,-,-,-,-,-,-,Pick up the white mug from the white plate with the left hand from the top by the handle. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,639,768,129,place,white mug,left,-,-,-,-,right,beige bowl,right,bottom_left,none,none,Put the white mug to the right of the beige bowl with the handle facing bottom left using the left hand. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,768,1113,345,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip from the right at a diagonal angle. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,1113,1284,171,place,white mug,right,-,-,-,-,right,green mug,right,bottom_left,up,none,Put the white mug to the right of the green mug with the handle facing bottom left right side up using the right arm. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,1284,1530,246,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,1530,1689,159,place,beige bowl,left,-,-,-,-,left,green mug,left,none,none,none,Put the beige bowl to the left of the green mug with the left hand. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,1689,1839,150,pick,coffee pod,left,side,top,top,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grip from the top. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,1839,1941,102,place,coffee pod,left,-,-,-,-,right,white plate,right,none,up,none,Put the coffee pod to the right of the white plate with the left hand right side up with the front as the orientation reference point. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,1941,2166,225,pick,beige bowl,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the left side with a diagonal angle. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,2166,2295,129,place,beige bowl,right,-,-,-,-,right,coffee pod,right,none,none,none,Put the beige bowl to the right of the coffee pod with the right hand. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,2295,2466,171,pick,green mug,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a lip grip at the left side with a diagonal angle. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,2466,2610,144,place,green mug,right,-,-,-,-,right,beige bowl,right,backwards,up,none,Place the green mug to the right of the beige bowl with the handle facing backwards right side up using the right arm. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,2610,2841,231,pick,white mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at the handle from the side. +2026-04-21-19-15-16-930000,pick_place_diverse,set 2 data collection day 2,2841,3000,159,place,white mug,right,-,-,-,-,right,green mug,right,backwards,up,none,Place the white mug to the right of the green mug with the right hand right side up with the front facing backwards. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,0,117,117,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,117,273,156,place,red marker,left,-,-,-,-,right,pink mug,right,forwards,none,none,Put the red marker to the right of the pink mug with the left hand facing forwards with the tip as the orientation reference point. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,273,498,225,pick,white mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal grip at the handle. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,498,639,141,place,white mug,left,-,-,-,-,behind,pink mug,behind,backwards,up,none,Put the white mug behind the pink mug with the handle facing backwards right side up using the left hand. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,639,780,141,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,780,942,162,place,corn,left,-,-,-,-,right,red marker,right,backwards,none,none,Put the corn to the right of the red marker with the left hand facing backwards by the tip. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,942,1257,315,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the right side diagonally. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,1440,1710,270,pick,tomato,left,side,top,straight,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand using a side grip at the top. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,1710,1803,93,place,tomato,left,-,-,-,-,behind,pink mug,behind,none,up,none,Put the tomato behind the pink mug with the left hand right side up. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,1803,1950,147,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,1950,2058,108,place,white mug,right,-,-,-,-,corner,table,none,backwards,up,top_right,Put the white mug on the top right side of the table with the right hand right side up with the front facing backwards. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,2058,2217,159,pick,corn,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand from the top at the middle. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,2217,2334,117,place,corn,right,-,-,-,-,corner,white mug,corner,bottom_right,none,none,Put the corn to the bottom right of the white mug with the right hand with its tip facing bottom right. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,2334,2562,228,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-26-39-915000,pick_place_diverse,set 2 data collection day 2,2562,2793,231,place,red marker,right,-,-,-,-,left,corn,left,forwards,none,none,Put the red marker to the left of the corn with the right hand facing forwards with the tip as the reference point. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,0,210,210,pick,pink mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a lip grip at the right side with a diagonal pick angle. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,210,309,99,place,pink mug,right,-,-,-,-,right,red marker,right,bottom_left,up,none,Put the pink mug to the right of the red marker with the handle facing bottom left right side up with the front as reference using the right arm. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,309,474,165,pick,tomato,right,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand from the top by grasping the entire object. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,654,795,141,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,945,1179,234,pick,white mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at the handle from the side. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,1179,1437,258,place,white mug,right,-,-,-,-,between,corn and the pink mug,between,bottom_right,up,none,Put the white mug between the corn and the pink mug with the handle facing bottom right right side up with the right hand. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,1437,1578,141,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,1578,1746,168,place,red marker,right,-,-,-,-,left,corn,left,forwards,none,none,Put the red marker to the left of the corn with the right hand facing forwards with the tip as the reference point. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,1746,2025,279,pick,white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,2025,2196,171,place,white mug,right,-,-,-,-,left,red marker,left,backwards,up,none,Place the white mug to the left of the red marker with the handle facing backwards right side up using the right hand. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,2196,2391,195,pick,tomato,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,2391,2574,183,place,tomato,right,-,-,-,-,corner,red marker,corner,top_right,none,none,Put the tomato with the right hand to the bottom left of the red marker facing top right with the front as the reference point. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,2574,2736,162,pick,pink mug,right,lip,top,top,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a lip grip at the bottom from the top. +2026-04-21-19-31-09-126000,pick_place_diverse,set 2 data collection day 2,2736,3000,264,place,pink mug,right,-,-,-,-,right,corn,right,bottom_right,up,none,Put the pink mug to the right of the corn with the right hand right side up with the front facing bottom right. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,0,122,122,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal grasp at the handle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,122,249,127,place,pink mug,right,-,-,-,-,front,corn,front,backwards,up,none,Put the pink mug in front of the corn with the right hand right side up with the front facing backwards. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,249,423,174,pick,tomato,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top at the middle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,423,564,141,place,tomato,left,-,-,-,-,left,white mug,left,forwards,none,none,Put the tomato to the left of the white mug with the left hand facing forwards. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,564,774,210,pick,red marker,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,774,933,159,place,red marker,left,-,-,-,-,left,tomato,left,forwards,none,none,Place the red marker to the left of the tomato with the left hand facing forwards with the tip as the reference point. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,933,1173,240,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,1173,1365,192,place,pink mug,right,-,-,-,-,front,white mug,front,backwards,up,none,Put the pink mug in front of the white mug with the handle facing backwards right side up from the front using the right hand. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,1365,1476,111,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,1476,1617,141,place,corn,right,-,-,-,-,right,pink mug,right,bottom_right,none,none,Put the corn to the right of the pink mug with the right hand facing bottom right. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,1617,1761,144,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,1761,1959,198,place,red marker,left,-,-,-,-,corner,tomato,corner,top_right,none,none,Place the red marker to the bottom left of the tomato with the left hand facing top right with the tip as the reference point. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,1959,2139,180,pick,pink mug,left,lip,left,top,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand using a lip grasp from the top at the left. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,2139,2313,174,place,pink mug,left,-,-,-,-,left,tomato,left,backwards,up,none,Put the pink mug to the left of the tomato with the left hand right side up with the front facing backwards. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,2313,2493,180,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,2493,2619,126,place,corn,left,-,-,-,-,front,tomato,front,backwards,none,none,Put the corn in front of the tomato with the left hand facing backwards with the tip as the orientation reference point. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,2619,2811,192,pick,pink mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand at a diagonal angle by the handle. +2026-04-21-19-33-23-568000,pick_place_diverse,set 2 data collection day 2,2811,3000,189,place,pink mug,left,-,-,-,-,left,red marker,left,backwards,up,none,Place the pink mug to the left of the red marker with the handle facing backwards right side up with the left hand. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,0,120,120,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,120,240,120,place,blue marker,left,-,-,-,-,corner,cabbage,corner,forwards,none,none,Put the blue marker to the top right of the cabbage with the left hand facing forwards with the tip as the reference point. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,240,369,129,pick,white cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the top at the right side using a lip grip. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,369,486,117,place,white cup,left,-,-,-,-,left,blue marker,left,none,up,none,Put the white cup to the left of the blue marker with the left hand right side up front. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,486,615,129,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,615,741,126,place,blue marker,left,-,-,-,-,between,cabbage and the asparagus,between,top_right,none,none,Put the blue marker between the cabbage and the asparagus with the left hand with its tip facing top right. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,741,945,204,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,945,1080,135,place,blue screwdriver,right,-,-,-,-,right,,none,top_right,none,none,Place the blue screwdriver to the right of asparagus with the right hand facing top right by the tip. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,1080,1215,135,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,1215,1401,186,place,green bowl,right,-,-,-,-,corner,table,none,none,none,none,Put the green bowl to the top right of the table with the right hand. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,1401,1578,177,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,1578,1758,180,place,blue marker,left,-,-,-,-,behind,asparagus,behind,forwards,none,none,Put the blue marker behind the asparagus with the left hand facing forwards with the tip as the orientation reference point. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,1758,1938,180,pick,white cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip from the top at the right side. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,1937,2060,123,place,white cup,left,-,-,-,-,left,blue marker,left,none,up,none,Put the white cup to the left of the blue marker with the left hand right side up with the front as the reference point. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,2061,2241,180,pick,asparagus,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand from the top at the middle. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,2241,2388,147,place,asparagus,right,-,-,-,-,right,green bowl,right,backwards,none,none,Place the asparagus to the right of the green bowl with the right hand facing backwards at the tip. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,2388,2499,111,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,2499,2622,123,place,blue screwdriver,right,-,-,-,-,front,,none,forwards,none,none,Put the blue screwdriver in front of asparagus with the right hand facing forwards with the tip as the reference point. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,2622,2760,138,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at a diagonal angle on the right side. +2026-04-21-19-46-01-388000,pick_place_diverse,set 2 data collection day 2,2760,2886,126,place,green bowl,right,-,-,-,-,left,blue screwdriver,left,none,none,none,Put the green bowl to the left of the blue screwdriver with the right hand. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,0,132,132,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,132,255,123,place,blue marker,right,-,-,-,-,behind,green bowl,behind,top_left,none,none,Put the blue marker behind the green bowl with the right hand with its tip facing top left. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,255,414,159,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,414,504,90,place,cabbage,left,-,-,-,-,front,white cup,front,backwards,none,none,Put the cabbage in front of the white cup with the left hand facing backwards with the front as the reference point. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,504,687,183,pick,blue marker,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the top with a diagonal angle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,687,852,165,place,blue marker,right,-,-,-,-,between,cabbage and the green bowl,between,forwards,none,none,Put the blue marker between the cabbage and the green bowl with the right hand facing forwards with the tip as the reference point. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,852,990,138,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,990,1080,90,place,asparagus,right,-,-,-,-,inside,green bowl,inside,none,down,none,Put the asparagus inside the green bowl with the right hand upside down. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1080,1176,96,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1176,1341,165,place,blue screwdriver,right,-,-,-,-,behind,blue marker,behind,top_left,none,none,Place the blue screwdriver behind the blue marker with the right hand with its tip facing top left. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1341,1560,219,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the right side diagonally. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1560,1641,81,place,green bowl,right,-,-,-,-,right,blue screwdriver,right,none,none,none,Put the green bowl to the right of the blue screwdriver with the right hand. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1641,1818,177,pick,blue marker,left,side,top,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand using a side grip at the top from the top. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1818,1953,135,place,blue marker,left,-,-,-,-,left,cabbage,left,top_right,none,none,Put the blue marker to the left of the cabbage with the left hand facing top right with the tip as the reference point. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,1952,2055,103,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2055,2145,90,place,cabbage,left,-,-,-,-,left,blue marker,left,backwards,none,none,Place the cabbage to the left of the blue marker with the left hand facing backwards from the front. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2145,2241,96,pick,blue marker,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2241,2340,99,place,blue marker,left,-,-,-,-,center,,none,top_left,none,none,Put the blue marker to the center of the table with the left hand with its tip facing top left. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2340,2508,168,pick,white cup,left,lip,top,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip from the top left. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2508,2589,81,place,white cup,left,-,-,-,-,right,cabbage,right,none,up,none,Put the white cup to the right of the cabbage with the left hand right side up with the front as the orientation reference point. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2589,2757,168,pick,green bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the bottom right diagonal. +2026-04-21-19-48-12-404000,pick_place_diverse,set 2 data collection day 2,2757,2856,99,place,green bowl,right,-,-,-,-,front,blue screwdriver,front,none,none,none,Put the green bowl in front of the blue screwdriver with the right hand. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,99,264,165,place,blue marker,left,-,-,-,-,left,cabbage,left,forwards,none,none,Put the blue marker to the left of the cabbage with the left hand facing forwards with the tip as the reference point. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,264,408,144,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,408,543,135,place,green bowl,right,-,-,-,-,between,blue screwdriver and the white cup,between,none,none,none,Put the green bowl in between the blue screwdriver and the white cup with the right hand. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,543,669,126,pick,blue screwdriver,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom in a diagonal pick. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,669,792,123,place,blue screwdriver,right,-,-,-,-,right,green bowl,right,top_right,none,none,Place the blue screwdriver to the right of the green bowl with the right hand facing top right with the tip as the reference point. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,792,921,129,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,921,1020,99,place,green bowl,right,-,-,-,-,right,blue screwdriver,right,none,none,none,Put the green bowl to the right of the blue screwdriver with the right hand. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1020,1182,162,pick,white cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand at a diagonal angle from the right side using a lip grip. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1182,1320,138,place,white cup,left,-,-,-,-,left,blue screwdriver,left,none,up,none,Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the reference point. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1320,1443,123,pick,cabbage,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1443,1494,51,place,cabbage,left,-,-,-,-,left,white cup,left,bottom_left,none,none,Put the cabbage to the left of the white cup with the left hand facing bottom left from the front. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1494,1593,99,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1593,1707,114,place,blue marker,left,-,-,-,-,left,cabbage,left,top_left,none,none,Put the blue marker to the left of the cabbage with the left hand with its tip facing top left. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1707,1845,138,pick,white cup,left,lip,left,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grasp from the top at the left side. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1845,1944,99,place,white cup,left,-,-,-,-,corner,blue marker,corner,none,up,none,Place the white cup to the top right of the blue marker with the left hand right side up with the front as the reference point. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,1944,2052,108,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2052,2163,111,place,cabbage,left,-,-,-,-,left,blue marker,left,bottom_left,none,none,Put the cabbage to the left of the blue marker with the left hand facing bottom left from the front. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2163,2346,183,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2346,2460,114,place,blue marker,left,-,-,-,-,left,blue screwdriver,left,forwards,none,none,Put the blue marker to the left of the blue screwdriver with the left hand facing forwards with the tip as the orientation reference point. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2460,2625,165,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2625,2805,180,place,blue marker,right,-,-,-,-,right,green bowl,right,forwards,none,none,Put the blue marker to the right of the green bowl with the right hand facing forwards with the tip as the reference point. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2805,2928,123,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-21-19-50-19-707000,pick_place_diverse,set 2 data collection day 2,2928,3000,72,dump,asparagus,right,-,-,-,-,right,blue screwdriver,right,none,none,none,Dump the asparagus from the green bowl to the right of the blue screwdriver with the right hand. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,0,183,183,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,183,288,105,place,white coffee cup,left,-,-,-,-,front,blue soda can,front,backwards,none,none,Put the white coffee cup in front of the blue soda can with the left hand with the front facing backwards. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,288,393,105,pick,juice pouch,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the top left in a diagonal pick angle. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,393,543,150,place,juice pouch,left,-,-,-,-,left,blue soda can,left,none,up,none,Place the juice pouch to the left of the blue soda can with the left hand right side up. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,543,666,123,pick,blue soda can,left,side,top,straight,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,666,771,105,place,blue soda can,left,-,-,-,-,front,juice pouch,front,none,none,none,Put the blue soda can in front of the juice pouch and to the left of the white coffee cup with the left hand. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,870,909,39,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the Doritos from the table with the left hand using a side grip at the bottom left with a diagonal angle. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,909,1002,93,place,doritos,left,-,-,-,-,right,white coffee cup,right,forwards,none,none,Put the Doritos to the right of the white coffee cup with the left hand facing forwards. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1002,1164,162,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1164,1326,162,place,brown stuffed toy,left,-,-,-,-,left,blue soda can,left,backwards,none,none,Put the brown stuffed animal to the left of the blue soda can with the left hand facing backwards with the front as the orientation reference point. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1326,1443,117,pick,doritos,left,side,bottom,straight,table,-,-,-,-,-,-,Pick up the Doritos from the table with the left hand using a side grip at the bottom left. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1443,1581,138,place,doritos,left,-,-,-,-,corner,brown stuffed toy,corner,none,none,none,Put the Doritos to the top left of the brown stuffed animal with the left hand. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1581,1773,192,pick,blue soda can,left,side,top,straight,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1773,1878,105,place,blue soda can,left,-,-,-,-,right,white coffee cup,right,none,none,none,Put the blue soda can to the right of the white coffee cup with the left hand. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1878,1980,102,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the top from the top. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,1980,2094,114,place,juice pouch,left,-,-,-,-,right,blue soda can,right,none,up,none,Put the juice pouch to the right of the blue soda can with the left hand right side up. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2094,2181,87,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2181,2250,69,place,brown stuffed toy,left,-,-,-,-,front,blue soda can,front,backwards,none,none,Put the brown stuffed animal in front of the blue soda can with the left hand facing backwards from the front. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2250,2346,96,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the Doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2346,2454,108,place,doritos,left,-,-,-,-,behind,white coffee cup,behind,forwards,none,none,Put the Doritos behind the white coffee cup with the left hand facing forwards. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2454,2637,183,pick,brown stuffed toy,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand from the top at the middle. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2637,2724,87,place,brown stuffed toy,right,-,-,-,-,right,juice pouch,right,backwards,none,none,Put the brown stuffed animal to the right of the juice pouch with the right hand facing backwards with the front as the reference point. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2724,2808,84,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2808,2886,78,place,juice pouch,right,-,-,-,-,table,table,none,none,up,none,Put the juice pouch on the right side of the table with the right hand right side up with the front as the reference point. +2026-04-21-19-54-35-034000,pick_place_diverse,set 2 data collection day 2,2886,3000,114,pick,blue soda can,left,side,top,top,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip from the top. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,0,84,84,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,84,174,90,place,juice pouch,left,-,-,-,-,left,blue soda can,left,none,up,none,Place the juice pouch to the left of the blue soda can with the left hand right side up. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,174,330,156,pick,white coffee cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a lip grip from the top at the right side. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,330,423,93,place,white coffee cup,left,-,-,-,-,behind,juice pouch,behind,backwards,up,none,Put the white coffee cup behind the juice pouch with the left hand right side up with the front facing backwards. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,423,549,126,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,549,648,99,place,doritos,left,-,-,-,-,left,white coffee cup,left,forwards,none,none,Put the doritos to the left of the white coffee cup with the left hand facing forwards. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,648,741,93,pick,juice pouch,left,side,top,straight,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip at the top. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,741,795,54,place,juice pouch,left,-,-,-,-,behind,blue soda can,behind,none,up,none,Put the juice pouch behind the blue soda can with the left hand right side up. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,795,1008,213,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1008,1134,126,place,blue soda can,right,-,-,-,-,table,table,none,none,none,none,Put the blue soda can to the right side of the table with the right hand. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1134,1266,132,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1266,1380,114,place,juice pouch,right,-,-,-,-,corner,table,none,none,up,none,Put the juice pouch to the bottom right side of the table with the right hand right side up. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1380,1569,189,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1569,1725,156,place,white coffee cup,right,-,-,-,-,behind,blue soda can,behind,backwards,up,none,Put the white coffee cup behind the blue soda can with the handle facing backwards right side up using the right arm. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1725,1857,132,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,1857,2010,153,place,doritos,left,-,-,-,-,left,brown stuffed toy,left,right,none,none,Put the doritos to the left of the brown stuffed animal with the left hand facing right. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2010,2199,189,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2199,2334,135,place,blue soda can,right,-,-,-,-,behind,doritos,behind,none,none,none,Put the blue soda can behind the doritos with the right hand. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2334,2448,114,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2448,2547,99,place,juice pouch,right,-,-,-,-,behind,brown stuffed toy,behind,none,up,none,Put the juice pouch behind the brown stuffed animal with the right hand right side up. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2547,2664,117,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand from the side by the handle. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2778,2883,105,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-19-58-50-895000,pick_place_diverse,set 2 data collection day 2,2883,3000,117,place,brown stuffed toy,right,-,-,-,-,right,white coffee cup,right,backwards,none,none,Put the brown stuffed animal to the right of the white coffee cup with the right hand facing backwards with the front as the orientation reference point. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,0,122,122,pick,blue soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,122,231,109,place,blue soda can,left,-,-,-,-,left,doritos,left,none,none,none,Put the blue soda can to the left of the Doritos with the left hand. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,231,342,111,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,342,423,81,place,juice pouch,right,-,-,-,-,behind,white mug,behind,none,up,none,Put the juice pouch behind the white mug with the right hand right side up with the front as the reference point. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,423,492,69,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,491,621,130,place,brown stuffed toy,right,-,-,-,-,center,,none,backwards,none,none,Place the brown stuffed animal to the center of the table with the right hand facing backwards with the front as the reference point. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,636,780,144,pick,doritos,left,side,bottom,side,table,-,-,-,-,-,-,Pick up the Doritos from the table with the left hand using a side grip at the bottom from the side. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,780,894,114,place,doritos,left,-,-,-,-,behind,blue soda can,behind,forwards,none,none,Put the Doritos behind the blue soda can with the left hand facing forwards. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,894,1059,165,pick,brown stuffed toy,right,plain,entire,side,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand from the side grasping the entire object. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1059,1194,135,place,brown stuffed toy,right,-,-,-,-,right,white cup,right,bottom_right,none,none,Place the brown stuffed animal to the right of the white cup with the right hand facing bottom right from the front. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1194,1299,105,pick,juice pouch,right,side,top,straight,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1299,1404,105,place,juice pouch,right,-,-,-,-,left,white cup,left,none,up,none,Put the juice pouch to the left of the white cup right side up with the front as the reference using the right hand. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1404,1584,180,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the Doritos from the table with the left hand using a side grip at the bottom left with a diagonal pick angle. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1584,1701,117,place,doritos,left,-,-,-,-,right,blue soda can,right,forwards,none,none,Put the Doritos to the right of the blue soda can with the left hand facing forwards. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1701,1866,165,pick,juice pouch,right,side,top,straight,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1866,1995,129,place,juice pouch,right,-,-,-,-,behind,brown stuffed toy,behind,none,up,none,Place the juice pouch behind the brown stuffed animal with the right hand right side up. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,1995,2136,141,pick,white cup,right,lip,right,straight,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a lip grasp from the right side. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2136,2268,132,place,white cup,right,-,-,-,-,left,juice pouch,left,bottom_right,up,none,Put the white cup to the left of the juice pouch with the handle facing bottom right right side up with the front as the orientation reference point using the right hand. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2268,2421,153,pick,brown stuffed toy,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand from the side at the middle. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2421,2499,78,place,brown stuffed toy,right,-,-,-,-,center,,none,bottom_right,none,none,Put the brown stuffed animal to the center of the table with the right hand facing bottom right from the front. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2499,2607,108,pick,doritos,right,side,top,top,table,-,-,-,-,-,-,Pick up the Doritos from the table with the right hand using a side grip at the bottom right from the top. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2607,2721,114,place,doritos,right,-,-,-,-,front,white cup,front,top_right,none,none,Put the Doritos in front of the white cup and to the right of the brown stuffed animal with the right hand facing top right from the front. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2721,2838,117,pick,blue soda can,left,side,top,top,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip from the top. +2026-04-21-20-01-00-040000,pick_place_diverse,set 2 data collection day 2,2838,3000,162,place,blue soda can,left,-,-,-,-,left,brown stuffed toy,left,none,none,none,Put the blue soda can to the left of the brown stuffed animal with the left hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,0,78,78,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,78,162,84,place,pink stuffed toy,left,-,-,-,-,left,croissant,left,forwards,none,none,Put the pink stuffed animal to the left of the croissant with the left hand facing forwards. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,162,246,84,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,245,318,73,place,croissant,left,-,-,-,-,front,white canned goods,front,none,none,none,Put the croissant in front of the white canned goods with the left hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,318,441,123,pick,white canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,441,558,117,place,white canned goods,left,-,-,-,-,right,doritos,right,none,none,none,Put the white canned goods to the right of the doritos with the left hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,558,759,201,pick,pink bowl,right,lip,right,top,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip from the top at the right side. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,759,840,81,place,pink bowl,right,-,-,-,-,table,table,none,none,none,none,Put the pink bowl on the right side of the table with the right hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,840,990,150,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,990,1065,75,place,doritos,right,-,-,-,-,inside,pink bowl,inside,top_right,none,none,Put the doritos inside the pink bowl with the right hand facing top right. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1065,1212,147,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal angle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1212,1266,54,place,white canned goods,right,-,-,-,-,left,pink bowl,left,none,none,none,Put the white canned goods to the left of the pink bowl with the right hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1266,1401,135,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1401,1527,126,place,croissant,left,-,-,-,-,left,white canned goods,left,none,none,none,Put the croissant to the left of the white canned goods with the left hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1527,1632,105,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1746,1929,183,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,1929,2037,108,place,pink stuffed toy,right,-,-,-,-,front,croissant,front,top_right,none,none,Put the pink stuffed animal in front of the croissant with the right hand facing top right from the front. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2037,2217,180,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2217,2337,120,place,white canned goods,right,-,-,-,-,front,pink bowl,front,none,none,none,Put the white canned goods in front of the pink bowl with the right hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2337,2427,90,pick,pink stuffed toy,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand from the top at the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2427,2511,84,place,pink stuffed toy,right,-,-,-,-,right,pink bowl,right,forwards,none,none,Put the pink stuffed animal to the right of the pink bowl with the right hand facing forwards. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2511,2613,102,pick,croissant,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand from the top at the middle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2613,2712,99,place,croissant,right,-,-,-,-,left,pink bowl,left,none,none,none,Put the croissant to the left of the pink bowl with the right hand. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2712,2844,132,pick,white canned goods,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal angle. +2026-04-21-21-44-50-400000,pick_place_diverse,set 2 data collection day 1,2844,3000,156,place,white canned goods,right,-,-,-,-,left,croissant,left,none,none,none,Put the white canned goods to the left of the croissant with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,0,147,147,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,147,222,75,place,canned goods,left,-,-,-,-,corner,croissant,corner,none,none,none,Put the canned goods to the bottom left of the croissant with the left hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,222,351,129,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,351,486,135,place,pink bowl,right,-,-,-,-,left,croissant,left,none,none,none,Put the pink bowl to the left of the croissant with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,486,579,93,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at the middle using a diagonal angle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,579,648,69,place,pink stuffed toy,right,-,-,-,-,right,croissant,right,forwards,none,none,Put the pink stuffed animal to the right of the croissant with the right hand facing forwards from the front. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,648,795,147,pick,canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,795,891,96,place,canned goods,right,-,-,-,-,right,pink stuffed toy,right,none,none,none,Put the canned goods to the right of the pink stuffed animal with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,891,1008,117,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1008,1092,84,place,croissant,right,-,-,-,-,front,pink stuffed toy,front,none,none,none,Put the croissant in front of the pink stuffed animal with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1092,1233,141,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1233,1320,87,place,pink bowl,right,-,-,-,-,left,pink stuffed toy,left,none,none,none,Put the pink bowl to the left of the pink stuffed animal with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1470,1590,120,place,croissant,right,-,-,-,-,front,pink bowl,front,none,none,none,Put the croissant in front of the pink bowl with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1590,1746,156,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1746,1833,87,place,pink stuffed toy,right,-,-,-,-,left,croissant,left,forwards,none,none,Put the pink stuffed animal to the left of the croissant with the right hand facing forwards with the front as the reference point. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,1833,2073,240,pick,canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand from the side at the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2073,2205,132,place,canned goods,right,-,-,-,-,left,pink bowl,left,none,none,none,Put the canned goods to the left of the pink bowl with the right hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2205,2403,198,pick,canned goods,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand from the side at the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2403,2463,60,place,canned goods,left,-,-,-,-,left,pink stuffed toy,left,none,none,none,Put the canned goods to the left of the pink stuffed animal with the left hand. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2463,2568,105,pick,pink stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2568,2667,99,place,pink stuffed toy,left,-,-,-,-,left,canned goods,left,forwards,none,none,Put the pink stuffed animal to the left of the canned goods with the left hand facing forwards from the front. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2667,2775,108,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-47-08-082000,pick_place_diverse,set 2 data collection day 1,2775,2898,123,place,croissant,left,-,-,-,-,left,pink stuffed toy,left,none,none,none,Put the croissant to the left of the pink stuffed animal with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,0,69,69,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,69,150,81,place,croissant,left,-,-,-,-,front,pink bowl,front,none,none,none,Put the croissant in front of the pink bowl with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,150,219,69,pick,pink stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,219,273,54,place,pink stuffed toy,left,-,-,-,-,front,white canned goods,front,forwards,none,none,Put the pink stuffed animal in front of the white canned goods with the left hand facing forwards. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,273,372,99,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom right with a diagonal pick angle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,372,447,75,place,doritos,left,-,-,-,-,inside,pink bowl,inside,none,none,none,Put the doritos inside the pink bowl with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,447,513,66,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,513,609,96,place,croissant,left,-,-,-,-,left,pink stuffed toy,left,none,none,none,Put the croissant to the left of the pink stuffed animal with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,609,804,195,pick,white canned goods,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the left hand from the side at the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,804,924,120,place,white canned goods,left,-,-,-,-,left,croissant,left,none,none,none,Put the white canned goods to the left of the croissant with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,924,1053,129,pick,pink bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1053,1095,42,dump,doritos,left,-,-,-,-,right,pink stuffed toy,right,none,none,none,Dump the doritos from the pink bowl to the right of the pink stuffed animal with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1095,1191,96,place,pink bowl,left,-,-,-,-,right,doritos,right,none,none,none,Put the pink bowl to the right of the doritos with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1191,1275,84,pick,doritos,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1275,1359,84,place,doritos,left,-,-,-,-,right,pink bowl,right,none,none,none,Put the doritos to the right of the pink bowl with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1359,1491,132,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1491,1545,54,place,pink stuffed toy,left,-,-,-,-,behind,pink bowl,behind,forwards,none,none,Put the pink stuffed animal behind the pink bowl with the left hand facing forwards. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1653,1728,75,pick,white canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1728,1872,144,place,white canned goods,left,-,-,-,-,inside,pink bowl,inside,none,none,none,Put the white canned goods inside the pink bowl with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1872,1962,90,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,1962,2031,69,place,croissant,left,-,-,-,-,left,pink bowl,left,none,none,none,Put the croissant to the left of the pink bowl with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2031,2127,96,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2127,2193,66,place,pink stuffed toy,left,-,-,-,-,table,table,none,forwards,none,none,Put the pink stuffed animal on the left side of the table with the left hand facing forwards with the front as the reference point. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2193,2364,171,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2364,2460,96,place,doritos,right,-,-,-,-,center,,none,bottom_left,none,none,Put the doritos on the center of the table with the right hand facing bottom left. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2460,2592,132,pick,croissant,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle from the top of the object. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2592,2682,90,place,croissant,left,-,-,-,-,behind,pink bowl,behind,none,none,none,Put the croissant behind the pink bowl with the left hand. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2682,2862,180,pick,croissant,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle from the top of the object. +2026-04-21-21-50-40-835000,pick_place_diverse,set 2 data collection day 1,2862,3000,138,place,croissant,right,-,-,-,-,front,doritos,front,none,none,none,Put the croissant in front of the doritos with the right hand. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,0,69,69,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,69,171,102,place,beige bowl,left,-,-,-,-,front,green bag of chips,front,none,none,none,Put the beige bowl in front of the green bag of chips with the left hand. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,171,267,96,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,267,333,66,place,juice pouch,left,-,-,-,-,right,beige bowl,right,none,up,none,Put the juice pouch to the right of the beige bowl with the left hand right side up with the front as the reference point. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,333,444,111,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,534,750,216,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal angle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,750,870,120,place,green bag of chips,left,-,-,-,-,right,juice pouch,right,top_right,none,none,Put the green bag of chips to the right of the juice pouch with the left hand facing top right. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,870,1068,198,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1068,1146,78,place,cabbage,left,-,-,-,-,behind,green bag of chips,behind,top_left,none,none,Put the cabbage behind the green bag of chips with the left hand facing top left relative to the front. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1146,1308,162,pick,green bag of chips,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1308,1368,60,place,green bag of chips,right,-,-,-,-,right,cabbage,right,forwards,none,none,Put the green bag of chips to the right of the cabbage with the right hand facing forwards. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1368,1494,126,pick,juice pouch,right,side,top,side,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from the side. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1494,1584,90,place,juice pouch,right,-,-,-,-,front,green bag of chips,front,none,up,none,Put the juice pouch in front of the green bag of chips right side up with the front as the reference point using the right hand. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1584,1716,132,pick,beige bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand from the right side at a diagonal angle using a lip grasp. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1716,1827,111,place,beige bowl,left,-,-,-,-,front,cabbage,front,none,none,none,Place the beige bowl in front of the cabbage with the left hand. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,1827,2019,192,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2019,2106,87,place,green bag of chips,right,-,-,-,-,right,juice pouch,right,top_right,none,none,Put the green bag of chips to the right of the juice pouch with the right hand facing top right. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2106,2235,129,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top with a diagonal angle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2235,2310,75,place,juice pouch,right,-,-,-,-,behind,green bag of chips,behind,none,up,none,Put the juice pouch behind the green bag of chips with the right hand right side up with the front as the orientation reference point. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2310,2418,108,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2418,2472,54,place,beige bowl,right,-,-,-,-,left,green bag of chips,left,none,none,none,Put the beige bowl to the left of the green bag of chips with the right hand. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2472,2634,162,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2634,2712,78,place,cabbage,left,-,-,-,-,left,beige bowl,left,top_left,none,none,Put the cabbage to the left of the beige bowl with the left hand facing top left from the front. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2712,2838,126,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-21-54-48-935000,pick_place_diverse,set 2 data collection day 1,2838,2919,81,place,juice pouch,right,-,-,-,-,right,green bag of chips,right,none,up,none,Put the juice pouch to the right of the green bag of chips with the right hand right side up. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,0,81,81,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,81,201,120,place,beige bowl,right,-,-,-,-,behind,cabbage,behind,none,none,none,Put the beige bowl behind the cabbage with the right hand. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,201,309,108,pick,green bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,309,375,66,place,green bag of chips,right,-,-,-,-,right,beige bowl,right,top_left,none,none,Put the green bag of chips to the right of the beige bowl with the right hand facing top left. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,375,468,93,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,468,549,81,place,juice pouch,right,-,-,-,-,front,green bag of chips,front,none,up,none,Put the juice pouch in front of the green bag of chips right side up with the front as the reference point using the right arm. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,549,684,135,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,684,735,51,dump,gray stuffed toy,right,-,-,-,-,between,cabbage and the juice pouch,between,none,none,none,Dump the gray stuffed animal from the beige bowl in between the cabbage and the juice pouch with the right hand. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,735,879,144,place,beige bowl,right,-,-,-,-,right,juice pouch,right,none,none,none,Put the beige bowl to the right of the juice pouch with the right hand. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,879,987,108,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,987,1086,99,place,juice pouch,right,-,-,-,-,right,beige bowl,right,none,up,none,Place the juice pouch to the right of the beige bowl with the right hand right side up with the front as the reference point. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1086,1206,120,pick,gray stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1206,1263,57,place,gray stuffed toy,right,-,-,-,-,inside,beige bowl,inside,backwards,none,none,Put the gray stuffed animal inside the beige bowl with the right hand facing backwards relative to the front. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1263,1374,111,pick,cabbage,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand from the side at the middle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1374,1488,114,place,cabbage,right,-,-,-,-,right,green bag of chips,right,top_left,none,none,Put the cabbage to the right of the green bag of chips with the right hand facing top left front. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1488,1635,147,pick,green bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1635,1710,75,place,green bag of chips,right,-,-,-,-,left,beige bowl,left,top_left,none,none,Put the green bag of chips to the left of the beige bowl with the right hand facing top left. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1710,1866,156,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,1866,1956,90,place,juice pouch,right,-,-,-,-,behind,green bag of chips,behind,none,up,none,Put the juice pouch behind the green bag of chips with the right hand right side up with the front as the reference point. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2019,2064,45,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2064,2181,117,place,cabbage,right,-,-,-,-,left,green bag of chips,left,forwards,none,none,Put the cabbage to the left of the green bag of chips with the right hand facing forwards. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2181,2295,114,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2295,2376,81,place,juice pouch,right,-,-,-,-,corner,cabbage,corner,none,up,none,Put the juice pouch to the top left of the cabbage with the right hand right side up with the front as the orientation reference point. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2376,2583,207,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2583,2649,66,place,cabbage,left,-,-,-,-,center,,none,forwards,none,none,Put the cabbage on the center of the table with the left hand facing forwards with the front forward. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2802,2883,81,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grasp at the top from the top. +2026-04-21-21-56-58-170000,pick_place_diverse,set 2 data collection day 1,2883,2955,72,place,juice pouch,left,-,-,-,-,right,cabbage,right,none,up,none,Place the juice pouch to the right of the cabbage with the left hand right side up with the front as the reference point. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,0,165,165,pick,bag of juice,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,165,276,111,place,bag of juice,left,-,-,-,-,left,cabbage,left,none,up,none,Put the bag of juice to the left of the cabbage with the left hand right side up. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,276,357,81,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,357,474,117,place,cabbage,left,-,-,-,-,left,juice pouch,left,forwards,none,none,Put the cabbage to the left of the juice pouch with the left hand facing forwards from the front. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,474,747,273,pick,green bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom left. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,747,840,93,place,green bag of chips,right,-,-,-,-,right,beige bowl,right,forwards,none,none,Put the green bag of chips to the right of the beige bowl with the right hand facing forwards. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,840,942,102,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip from the right at a diagonal. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,942,972,30,dump,gray stuffed toy,right,-,-,-,-,left,green bag of chips,left,none,none,none,Dump the gray stuffed animal from the beige bowl to the left of the green bag of chips using the right arm. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,972,1071,99,place,beige bowl,right,-,-,-,-,left,gray stuffed toy,left,none,none,none,Place the beige bowl to the left of the gray stuffed animal with the right hand. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1071,1197,126,pick,green bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom left. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1197,1278,81,place,green bag of chips,right,-,-,-,-,inside,beige bowl,inside,none,down,none,Put the green bag of chips inside the beige bowl upside down with the right hand. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1389,1464,75,pick,bag of juice,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand from the side at the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1464,1551,87,place,bag of juice,left,-,-,-,-,left,beige bowl,left,none,up,none,Put the bag of juice to the left of the beige bowl with the left hand right side up. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1551,1695,144,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1695,1782,87,place,cabbage,left,-,-,-,-,corner,juice pouch,corner,top_right,none,none,Put the cabbage to the bottom left of the juice pouch with the left hand facing top right from the front. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1782,1902,120,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1902,1974,72,place,gray stuffed toy,right,-,-,-,-,corner,beige bowl,corner,backwards,none,none,Place the gray stuffed animal to the bottom right of the beige bowl with the right hand facing backwards relative to the front. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,1971,2100,129,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2100,2238,138,place,cabbage,left,-,-,-,-,corner,juice pouch,corner,top_left,none,none,Put the cabbage with the left hand on the top left of the juice pouch facing top left from the front. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2238,2382,144,pick,bag of juice,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand from the top at the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2382,2463,81,place,bag of juice,left,-,-,-,-,left,cabbage,left,none,up,none,Put the bag of juice to the left of the cabbage with the left hand right side up. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2463,2619,156,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2619,2676,57,place,gray stuffed toy,right,-,-,-,-,right,beige bowl,right,backwards,none,none,Put the gray stuffed animal to the right of the beige bowl with the right hand facing backwards with the front facing backwards. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2676,2823,147,pick,beige bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand from the top at the left side using a lip grip. +2026-04-21-21-59-28-113000,pick_place_diverse,set 2 data collection day 1,2823,2934,111,place,beige bowl,left,-,-,-,-,left,juice pouch,left,none,none,none,Put the beige bowl to the left of the juice pouch with the left hand. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,0,84,84,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,84,198,114,place,brown stuffed toy,left,-,-,-,-,inside,white cup,inside,none,none,none,Place the brown stuffed animal inside the white cup with the left hand. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,198,300,102,pick,tomato,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,300,357,57,place,tomato,left,-,-,-,-,front,pink plate,front,top_left,none,none,Put the tomato in front of the pink plate with the left hand facing top left with the front as the reference point. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,357,510,153,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,510,609,99,place,yellow stuffed toy,left,-,-,-,-,right,corn,right,top_right,none,none,Put the yellow stuffed animal to the right of the corn with the left hand facing top right from the front. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,609,744,135,pick,tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top grasping the entire object. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,744,837,93,place,tomato,left,-,-,-,-,front,corn,front,forwards,none,none,Put the tomato in front of the corn with the left hand facing forwards with the front as the reference point. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,837,1041,204,pick,small white cup,left,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the small white cup from the table with the left hand using a lip grip at the top from a diagonal angle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1041,1161,120,place,small white cup,left,-,-,-,-,front,pink plate,front,bottom_left,up,none,Put the small white cup in front of the pink plate with the left hand right side up with the front facing bottom left. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1161,1320,159,pick,white cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the right side and a diagonal angle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1320,1422,102,place,white cup,left,-,-,-,-,left,pink plate,left,none,up,none,Place the white cup to the left of the pink plate with the left hand right side up with the front as the reference point. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1422,1599,177,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1599,1677,78,place,corn,right,-,-,-,-,front,yellow stuffed toy,front,bottom_right,none,none,Put the corn in front of the yellow stuffed animal and to the right of the tomato with the right hand facing bottom right from the tip. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1677,1812,135,pick,tomato,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1812,1938,126,place,tomato,right,-,-,-,-,right,corn,right,backwards,none,none,Put the tomato to the right of the corn with the right hand facing backwards relative to the front. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,1937,2052,115,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,2052,2148,96,place,yellow stuffed toy,right,-,-,-,-,behind,tomato,behind,top_left,none,none,Put the yellow stuffed animal behind the tomato with the right hand facing top left relative to the front. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,2148,2295,147,pick,corn,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand from the top at the middle. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,2295,2418,123,place,corn,right,-,-,-,-,left,yellow stuffed toy,left,bottom_left,none,none,Put the corn to the left of the yellow stuffed animal with the right hand facing bottom left with the tip as the reference point. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,2418,2607,189,pick,small white cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the small white cup from the table with the left hand using a lip grip from the top at the right side. +2026-04-21-22-03-39-663000,pick_place_diverse,set 2 data collection day 1,2607,2745,138,place,small white cup,left,-,-,-,-,right,pink plate,right,backwards,up,none,Put the small white cup to the right of the pink plate with the handle facing backwards using the left hand right side up with the front as reference. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,0,99,99,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,171,303,132,pick,yellow stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,303,411,108,place,yellow stuffed toy,right,-,-,-,-,front,tomato,front,forwards,none,none,Put the yellow stuffed animal in front of the tomato with the right hand facing forwards. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,639,699,60,pick,white mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand from the side by the handle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,699,801,102,place,white mug,right,-,-,-,-,right,yellow stuffed toy,right,bottom_left,none,none,Put the white mug to the right of the yellow stuffed animal with the front facing bottom left using the right hand. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,801,963,162,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,963,1068,105,place,corn,right,-,-,-,-,right,white mug,right,bottom_right,none,none,Put the corn to the right of the white mug with the right hand facing bottom right with the tip as the reference point. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,1125,1374,249,pick,tomato,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,1374,1554,180,place,tomato,right,-,-,-,-,left,yellow stuffed toy,left,none,up,none,Put the tomato to the left of the yellow stuffed animal with the right hand right side up front. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,1554,1821,267,pick,white cup,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the top at the middle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,1821,1914,93,place,white cup,left,-,-,-,-,right,pink plate,right,none,up,none,Put the white cup to the right of the pink plate right side up with the front as the reference using the left hand. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,1914,2001,87,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,2001,2127,126,place,orange screwdriver,left,-,-,-,-,on_top,pink plate,on_top,top_right,none,none,Put the orange screwdriver on top of the pink plate with the left hand with its tip facing top right. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,2127,2316,189,pick,tomato,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top at the middle. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,2316,2415,99,place,tomato,left,-,-,-,-,front,white cup,front,none,up,none,Put the tomato in front of the white cup with the left hand right side up with the front as the reference point. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,2415,2553,138,pick,pink plate,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a diagonal lip grasp at the bottom right. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,2553,2745,192,place,pink plate,left,-,-,-,-,left,tomato,left,none,up,none,Put the pink plate to the left of the tomato with the left hand right side up. +2026-04-21-22-07-19-157000,pick_place_diverse,set 2 data collection day 1,2745,2919,174,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,0,117,117,pick,tomato,left,plain,top,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top at the top of the object. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,117,279,162,place,tomato,left,-,-,-,-,behind,pink plate,behind,none,up,none,Place the tomato behind the pink plate with the left hand right side up with the front as the orientation reference point. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,279,423,144,pick,white cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip at the right side with a diagonal angle. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,423,522,99,place,white cup,left,-,-,-,-,right,pink plate,right,none,up,none,Put the white cup to the right of the pink plate with the left hand right side up with the front as the reference point. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,522,666,144,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,666,792,126,place,corn,right,-,-,-,-,left,white coffee cup,left,backwards,none,none,Put the corn to the left of the white coffee cup with the right hand facing backwards with the tip as the reference point. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,792,927,135,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,927,1140,213,place,white coffee cup,right,-,-,-,-,left,corn,left,bottom_left,up,none,Put the white coffee cup to the left of the corn with the handle facing bottom left right side up using the right arm. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,1140,1323,183,pick,yellow stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,1323,1431,108,place,yellow stuffed toy,right,-,-,-,-,right,corn,right,top_left,none,none,Put the yellow stuffed animal to the right of the corn with the right hand facing top left with the front as the reference point. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,1431,1653,222,pick,tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top grasping the entire object. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,1653,1764,111,place,tomato,left,-,-,-,-,left,white coffee cup,left,none,up,none,Put the tomato to the left of the white coffee cup with the left hand right side up front. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,1764,1896,132,pick,white cup,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp at the right side. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,1896,2022,126,place,white cup,left,-,-,-,-,front,tomato,front,none,up,none,Put the white cup in front of the tomato with the left hand right side up with the front as the orientation reference point. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2022,2238,216,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2238,2343,105,place,white cup,right,-,-,-,-,right,yellow stuffed toy,right,none,up,none,Put the white cup to the right of the yellow stuffed animal with the right hand right side up with the front as the reference point. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2343,2508,165,pick,tomato,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2508,2628,120,place,tomato,right,-,-,-,-,right,white cup,right,none,up,none,Put the tomato to the right of the white cup with the right hand right side up front. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2628,2667,39,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2667,2847,180,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2847,2943,96,place,white coffee cup,left,-,-,-,-,right,pink plate,right,backwards,up,none,Put the white coffee cup to the right of the pink plate with the handle facing backwards using the left hand right side up from the front. +2026-04-21-22-09-28-505000,pick_place_diverse,set 2 data collection day 1,2943,3000,57,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,0,138,138,pick,green bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip from the top right. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,138,303,165,place,green bowl,left,-,-,-,-,right,carrot,right,none,none,none,Place the green bowl to the right of the carrot with the left hand. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,546,600,54,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,600,777,177,place,white coffee cup,right,-,-,-,-,front,carrot,front,backwards,up,none,Put the white coffee cup in front of the carrot with the handle facing backwards right side up with the right hand. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,777,939,162,pick,white mug,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a lip grip from the top at the right side. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1083,1236,153,pick,green mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand at a diagonal angle by the handle. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1236,1416,180,place,green mug,left,-,-,-,-,left,white mug,left,bottom_left,up,none,Put the green mug to the left of the white mug with the handle facing bottom left right side up using the left hand. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1416,1569,153,pick,carrot,left,side,top,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand using a side grip at the bottom from the top. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1569,1725,156,place,carrot,left,-,-,-,-,front,green mug,front,forwards,none,none,Put the carrot in front of the green mug with the left hand facing forwards. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1725,1878,153,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1878,1980,102,place,green bowl,right,-,-,-,-,right,white coffee cup,right,none,none,none,Put the green bowl to the right of the white coffee cup with the right hand. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,1980,2106,126,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,2106,2304,198,place,carrot,left,-,-,-,-,inside,green mug,inside,none,up,none,Put the carrot inside the green mug with the left hand right side up. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,2304,2511,207,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-21-22-13-59-980000,pick_place_diverse,set 2 data collection day 1,2511,2766,255,place,white coffee cup,left,-,-,-,-,front,green mug,front,backwards,up,none,Put the white coffee cup in front of the green mug with the handle facing backwards right side up with the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,0,114,114,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,114,240,126,place,green bowl,right,-,-,-,-,right,white mug,right,none,none,none,Put the green bowl to the right of the white mug with the right hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,240,393,153,pick,white mug,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal lip grip at the bottom. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,393,549,156,place,white mug,left,-,-,-,-,left,white coffee cup,left,top_left,none,none,Put the white mug to the left of the white coffee cup with the handle facing top left with the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,549,762,213,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,762,966,204,place,green mug,left,-,-,-,-,left,white mug,left,bottom_left,up,none,Put the green mug to the left of the white mug with the handle facing bottom left right side up with the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,966,1113,147,pick,white coffee cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand from the top at the right side using a lip grip. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1113,1227,114,place,white coffee cup,left,-,-,-,-,behind,white mug,behind,bottom_left,up,none,Put the white coffee cup behind the white mug with the handle facing bottom left right side up using the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1227,1344,117,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the left. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1344,1428,84,place,green bowl,left,-,-,-,-,right,white mug,right,none,none,none,Put the green bowl to the right of the white mug with the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1428,1608,180,pick,carrot,left,side,top,diagonal,green mug,-,-,-,-,-,-,Pick up the carrot from the green mug with the left hand using a side grip at the top from a diagonal angle. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1608,1731,123,place,carrot,left,-,-,-,-,inside,green bowl,inside,bottom_right,none,none,Put the carrot inside the green bowl with the left hand facing bottom right. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1731,1827,96,pick,white mug,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,1827,2010,183,place,white mug,left,-,-,-,-,right,green bowl,right,forwards,up,none,Put the white mug to the right of the green bowl with the handle facing forwards right side up using the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,2010,2193,183,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,2193,2421,228,place,green mug,left,-,-,-,-,right,white mug,right,backwards,none,none,Put the green mug to the right of the white mug with the handle facing backwards with the left hand. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,2421,2619,198,pick,white coffee cup,left,handle,handle,straight,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a side grasp at the handle. +2026-04-21-22-16-25-261000,pick_place_diverse,set 2 data collection day 1,2619,2724,105,place,white coffee cup,left,-,-,-,-,left,green bowl,left,backwards,up,none,Put the white coffee cup to the left of the green bowl with the handle facing backwards right side up using the left hand. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,0,141,141,pick,white coffee cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,141,414,273,place,white coffee cup,left,-,-,-,-,right,white mug,right,bottom_left,up,none,Put the white coffee cup to the right of the white mug with the handle facing bottom left right side up with the left hand. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,414,624,210,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,624,750,126,place,green mug,right,-,-,-,-,right,white coffee cup,right,backwards,up,none,Put the green mug to the right of the white coffee cup with the handle facing backwards right side up using the right arm. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,750,930,180,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,930,996,66,dump,carrot,left,-,-,-,-,left,white mug,left,none,none,none,Dump the carrot from the green bowl to the left of the white mug with the left hand. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,996,1140,144,place,green bowl,left,-,-,-,-,left,carrot,left,none,none,none,Put the green bowl to the left of the carrot with the left hand. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,1140,1311,171,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,1311,1428,117,place,green mug,right,-,-,-,-,behind,beige mug,behind,backwards,up,none,Put the green mug behind the beige mug with the handle facing backwards using the right hand right side up front. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,1428,1566,138,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,1566,1767,201,place,carrot,left,-,-,-,-,left,green bowl,left,forwards,none,none,Put the carrot to the left of the green bowl with the left hand facing forwards. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,1917,2049,132,pick,white coffee cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand from the top at the right side using a lip grasp. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,2049,2163,114,place,beige mug,right,-,-,-,-,right,green mug,right,backwards,up,none,Place the beige mug to the right of the green mug with the handle facing backwards right side up using the right arm. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,2343,2406,63,pick,white mug,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip from the top at the right. +2026-04-21-22-18-34-313000,pick_place_diverse,set 2 data collection day 1,2601,2841,240,pick,green bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip from the top right. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,0,138,138,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,138,291,153,place,red marker,left,-,-,-,-,on_top,white plate,on_top,forwards,none,none,Put the red marker on top of the white plate with the left hand with the tip facing forwards. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,291,453,162,pick,blue stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the middle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,453,546,93,place,blue stuffed toy,left,-,-,-,-,front,white plate,front,bottom_right,none,none,Place the blue stuffed animal in front of the white plate with the left hand facing bottom right relative to the front. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,546,720,174,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,720,864,144,place,blue soda can,left,-,-,-,-,left,blue stuffed toy,left,none,none,none,Put the blue soda can to the left of the blue stuffed animal with the left hand. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,864,957,93,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand at a diagonal angle from the middle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,957,1041,84,place,blue stuffed toy,left,-,-,-,-,right,white plate,right,bottom_right,none,none,Put the blue stuffed animal to the right of the white plate with the left hand facing bottom right from the front. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1041,1203,162,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1203,1356,153,place,pink mug,right,-,-,-,-,right,coffee pod,right,bottom_right,none,none,Put the pink mug to the right of the coffee pod with the handle facing bottom right using the right hand. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1524,1602,78,pick,blue stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the entire object. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1602,1674,72,place,blue stuffed toy,left,-,-,-,-,front,white plate,front,bottom_right,none,none,Put the blue stuffed animal in front of the white plate with the left hand facing bottom right relative to the front. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1674,1800,126,pick,red marker,left,plain,middle,diagonal,plate,-,-,-,-,-,-,Pick up the red marker from the plate with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1800,1917,117,place,red marker,left,-,-,-,-,behind,coffee pod,behind,top_right,none,none,Place the red marker behind the coffee pod and to the right of the white plate with the left hand facing top right with the tip as the reference point. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,1917,2070,153,pick,blue stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,2070,2196,126,place,blue stuffed toy,left,-,-,-,-,behind,pink mug,behind,bottom_left,none,none,Put the blue stuffed animal behind the pink mug with the left hand facing bottom left from the front. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,2196,2442,246,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,2442,2547,105,place,pink mug,right,-,-,-,-,right,blue stuffed toy,right,backwards,up,none,Put the pink mug to the right of the blue stuffed animal with the handle facing backwards right side up using the right arm. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,2547,2733,186,pick,blue stuffed toy,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand using a side grasp at the bottom from a diagonal angle. +2026-04-21-22-21-29-310000,pick_place_diverse,set 2 data collection day 1,2733,2838,105,place,blue stuffed toy,left,-,-,-,-,front,pink mug,front,backwards,none,none,Put the blue stuffed animal in front of the pink mug with the left hand facing backwards relative to the front. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,0,126,126,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,126,258,132,place,red marker,left,-,-,-,-,front,white plate,front,top_left,none,none,Put the red marker in front of the white plate with the left hand with its tip facing top left. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,258,399,141,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,399,519,120,place,blue soda can,left,-,-,-,-,right,white plate,right,none,none,none,Put the blue soda can to the right of the white plate with the left hand. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,705,765,60,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand by the handle from the side. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,765,885,120,place,pink mug,right,-,-,-,-,right,coffee pod,right,bottom_right,up,none,Place the pink mug to the right of the coffee pod with the handle facing bottom right right side up using the right hand. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,885,1008,123,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1008,1098,90,place,blue stuffed toy,right,-,-,-,-,right,pink mug,right,bottom_left,none,none,Put the blue stuffed animal to the right of the pink mug with the right hand facing bottom left from the front. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1098,1272,174,pick,blue soda can,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the top at the middle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1272,1416,144,place,blue soda can,left,-,-,-,-,behind,blue stuffed toy,behind,none,none,none,Put the blue soda can behind the blue stuffed animal with the left hand. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1416,1572,156,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1572,1698,126,place,red marker,left,-,-,-,-,behind,,none,top_right,none,none,Put the red marker behind coffee pod with the left hand with its tip facing top right. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1698,1791,93,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1791,1902,111,pick,blue stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1902,1977,75,place,blue stuffed toy,right,-,-,-,-,right,blue soda can,right,left,none,none,Put the blue stuffed animal to the right of the blue soda can with the right hand facing left. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,1977,2217,240,pick,blue soda can,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand from the side at the middle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,2217,2346,129,place,blue soda can,right,-,-,-,-,right,blue stuffed toy,right,none,none,none,Put the blue soda can to the right of the blue stuffed animal with the right hand. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,2346,2457,111,pick,blue stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal from the top of the object. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,2457,2562,105,place,blue stuffed toy,right,-,-,-,-,right,blue soda can,right,top_left,none,none,Put the blue stuffed animal to the right of the blue soda can with the right hand facing top left from the front. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,2562,2793,231,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-22-23-37-686000,pick_place_diverse,set 2 data collection day 1,2793,3000,207,place,pink mug,right,-,-,-,-,left,blue soda can,left,backwards,none,none,Put the pink mug to the left of the blue soda can with the handle facing backwards using the right hand. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,0,111,111,pick,blue soda can,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand from the side at the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,111,225,114,place,blue soda can,right,-,-,-,-,front,red marker,front,none,none,none,Put the blue soda can in front of the red marker with the right hand. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,225,297,72,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,297,417,120,place,blue stuffed toy,right,-,-,-,-,on_top,plate,on_top,top_left,none,none,Place the blue stuffed animal on top of the plate with the right hand facing top left. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,417,522,105,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,522,672,150,place,red marker,right,-,-,-,-,right,blue soda can,right,top_right,none,none,Put the red marker to the right of the blue soda can with the right hand with its tip facing top right. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,672,777,105,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,777,948,171,place,pink mug,right,-,-,-,-,right,white plate,right,backwards,up,none,Put the pink mug to the right of the white plate with the handle facing backwards right side up using the right arm. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,948,1086,138,pick,coffee pod,left,side,top,top,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grip from the top. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,1167,1296,129,pick,red marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand from the top at the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,1296,1404,108,place,red marker,right,-,-,-,-,right,pink mug,right,top_left,none,none,Put the red marker to the right of the pink mug with the right hand facing top left. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,1524,1557,33,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,1557,1650,93,place,blue soda can,right,-,-,-,-,right,red marker,right,none,none,none,Put the blue soda can to the right of the red marker with the right hand. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,1902,1974,72,pick,coffee pod,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand from the top at the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,1974,2064,90,place,coffee pod,left,-,-,-,-,left,white plate,left,none,up,none,Put the coffee pod to the left of the white plate right side up with the front as the reference using the left hand. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,2064,2229,165,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,2229,2370,141,place,red marker,right,-,-,-,-,right,blue soda can,right,forwards,none,none,Put the red marker to the right of the blue soda can with the right hand facing forwards with the tip as the reference point. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,2370,2514,144,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,2514,2607,93,place,blue soda can,right,-,-,-,-,right,pink mug,right,none,none,none,Put the blue soda can to the right of the pink mug with the right hand. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,2607,2709,102,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-33-16-132000,pick_place_diverse,set 2 data collection day 1,2709,2817,108,place,red marker,right,-,-,-,-,right,blue soda can,right,top_right,none,none,Put the red marker to the right of the blue soda can with the right hand with its tip facing top right. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,0,114,114,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,114,192,78,place,eggplant,left,-,-,-,-,front,blue marker,front,forwards,none,none,Put the eggplant in front of the blue marker with the left hand facing forwards with the tip as the orientation reference point. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,192,327,135,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,327,450,123,place,blue marker,left,-,-,-,-,left,eggplant,left,forwards,none,none,Put the blue marker to the left of the eggplant with the left hand facing forwards. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,450,582,132,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,714,858,144,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,858,972,114,place,asparagus,right,-,-,-,-,front,silver bowl,front,bottom_right,none,none,Put the asparagus in front of the silver bowl with the right hand facing bottom right with the tip as reference. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,972,1131,159,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1131,1233,102,place,silver bowl,right,-,-,-,-,right,asparagus,right,none,none,none,Put the silver bowl to the right of the asparagus with the right hand. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1233,1284,51,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1284,1398,114,pick,blue screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1500,1635,135,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1635,1770,135,place,eggplant,left,-,-,-,-,behind,blue marker,behind,right,none,none,Put the eggplant behind the blue marker with the left hand with the tip facing right. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1770,1902,132,pick,asparagus,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand from the top at the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,1902,2004,102,place,asparagus,left,-,-,-,-,right,blue marker,right,bottom_left,none,none,Put the asparagus to the right of the blue marker with the left hand with its tip facing bottom left. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,2004,2190,186,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,2190,2322,132,place,blue marker,left,-,-,-,-,left,silver bowl,left,top_right,none,none,Place the blue marker to the left of the silver bowl with the left hand with its tip facing top right. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,2322,2472,150,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,2472,2580,108,place,asparagus,left,-,-,-,-,left,blue marker,left,bottom_left,none,none,Put the asparagus to the left of the blue marker with the left hand with the tip facing bottom left. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,2580,2802,222,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-21-22-50-45-117000,pick_place_diverse,set 2 data collection day 1,2880,3000,120,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left arm. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,0,99,99,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,99,183,84,place,blue screwdriver,left,-,-,-,-,inside,silver bowl,inside,none,down,none,Put the blue screwdriver inside the silver bowl with the left hand upside down. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,183,297,114,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,297,393,96,place,asparagus,left,-,-,-,-,inside,silver bowl,inside,none,down,none,Put the asparagus inside the silver bowl upside down with the tip as the reference point using the left hand. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,393,540,147,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,540,696,156,place,blue marker,left,-,-,-,-,table,table,none,forwards,none,top,Place the blue marker on the top side of the table with the left hand facing forwards with the tip as the reference point. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,696,861,165,pick,eggplant,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the bottom diagonally. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,861,954,93,place,eggplant,left,-,-,-,-,left,blue marker,left,forwards,none,none,Place the eggplant to the left of the blue marker with the left hand facing forwards with the tip as the reference point. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,954,1116,162,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1116,1209,93,place,silver bowl,right,-,-,-,-,right,blue marker,right,none,none,none,Place the silver bowl to the right of the blue marker with the right hand. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1209,1374,165,pick,eggplant,left,side,top,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand using a side grip at the bottom from the top. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1374,1527,153,place,eggplant,left,-,-,-,-,front,blue marker,front,right,none,none,Put the eggplant in front of the blue marker with the left hand with its tip facing right. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1527,1590,63,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1590,1731,141,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1731,1830,99,place,silver bowl,right,-,-,-,-,right,eggplant,right,none,none,none,Put the silver bowl to the right of the eggplant with the right hand. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1830,1977,147,pick,blue marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand from the top at the middle. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,1977,2145,168,place,blue marker,right,-,-,-,-,right,silver bowl,right,top_left,none,none,Put the blue marker to the right of the silver bowl with the right hand with its tip facing top left. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,2145,2286,141,pick,silver bowl,right,lip,right,top,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand from the top at the right side using a lip grip. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,2286,2361,75,dump,asparagus,right,-,-,-,-,corner,table,none,none,none,top_right,Dump the asparagus and the blue screwdriver from the silver bowl on the top right side of the table with the right hand. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,2361,2562,201,place,silver bowl,right,-,-,-,-,right,blue marker,right,none,none,none,Put the silver bowl to the right of the blue marker with the right hand. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,2724,2826,102,pick,blue screwdriver,right,side,top,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from the top. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,2826,2925,99,place,blue screwdriver,right,-,-,-,-,right,eggplant,right,forwards,none,none,Place the blue screwdriver to the right of the eggplant with the right hand facing forwards with the tip forwards. +2026-04-21-22-52-52-055000,pick_place_diverse,set 2 data collection day 1,2925,3000,75,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,0,141,141,pick,silver bowl,right,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the left side. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,141,243,102,place,silver bowl,right,-,-,-,-,right,eggplant,right,none,none,none,Put the silver bowl to the right of the eggplant with the right hand. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,243,360,117,pick,blue marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand from the top at the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,360,483,123,place,blue marker,right,-,-,-,-,right,silver bowl,right,forwards,none,none,Put the blue marker to the right of the silver bowl with the right hand with the tip facing forwards. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,483,651,168,pick,asparagus,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand from the top at the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,651,765,114,place,asparagus,left,-,-,-,-,front,eggplant,front,backwards,none,none,Put the asparagus in front of the eggplant with the left hand facing backwards with the tip as the reference point. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,765,921,156,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,921,1065,144,place,silver bowl,right,-,-,-,-,left,eggplant,left,none,none,none,Put the silver bowl to the left of the eggplant with the right hand. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1065,1230,165,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1230,1350,120,place,blue marker,right,-,-,-,-,behind,eggplant,behind,forwards,none,none,Put the blue marker behind the eggplant with the right hand facing forwards with the tip forwards. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1350,1452,102,pick,eggplant,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand from the top at the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1452,1554,102,place,eggplant,right,-,-,-,-,right,blue marker,right,bottom_right,none,none,Put the eggplant to the right of the blue marker with the right hand with the tip facing bottom right. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1554,1683,129,pick,silver bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand from the top at the left side using a lip grip. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1683,1749,66,dump,blue screwdriver,left,-,-,-,-,left,blue marker,left,none,none,none,Dump the blue screwdriver from the silver bowl to the left of the blue marker with the left hand. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1749,1863,114,place,silver bowl,left,-,-,-,-,front,blue screwdriver,front,none,up,none,Put the silver bowl right side up with the front in front of the blue screwdriver and to the left of the asparagus using the left hand. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1863,1980,117,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,1980,2067,87,place,blue screwdriver,left,-,-,-,-,left,silver bowl,left,backwards,none,none,Put the blue screwdriver to the left of the silver bowl with the left hand facing backwards with the tip as the reference point. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2067,2208,141,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2208,2292,84,place,blue marker,right,-,-,-,-,inside,silver bowl,inside,none,up,none,Place the blue marker inside the silver bowl with the right hand right side up. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2292,2397,105,pick,asparagus,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand from the top at the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2397,2475,78,place,asparagus,right,-,-,-,-,inside,silver bowl,inside,none,down,none,Put the asparagus inside the silver bowl with the right hand upside down. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2475,2595,120,pick,eggplant,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand from the top at the middle. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2595,2691,96,place,eggplant,right,-,-,-,-,right,silver bowl,right,bottom_right,none,none,Put the eggplant to the right of the silver bowl with the right hand with its tip facing bottom right. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2691,2733,42,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2733,2868,135,pick,silver bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a lip grip from the top at the bottom. +2026-04-21-22-55-55-374000,pick_place_diverse,set 2 data collection day 1,2868,2946,78,dump,asparagus,left,-,-,-,-,between,blue screwdriver and the eggplant,between,none,none,none,Dump the asparagus and the blue marker from the silver bowl between the blue screwdriver and the eggplant with the left hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,0,120,120,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,120,222,102,place,croissant,left,-,-,-,-,inside,silver bowl,inside,none,none,none,Place the croissant inside the silver bowl with the left hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,222,348,126,pick,cabbage,left,side,top,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the bottom from the top. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,348,459,111,place,cabbage,left,-,-,-,-,front,silver bowl,front,forwards,none,none,Put the cabbage in front of the silver bowl with the left hand facing forwards. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,459,594,135,pick,pink mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand at a diagonal angle by the handle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,594,738,144,place,pink mug,left,-,-,-,-,left,silver bowl,left,none,up,none,Put the pink mug to the left of the silver bowl with the left hand right side up with the front as the orientation reference point. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,738,942,204,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,942,1074,132,place,green bag of chips,left,-,-,-,-,right,silver bowl,right,top_left,none,none,Put the green bag of chips to the right of the silver bowl with the left hand facing top left. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1074,1164,90,pick,green bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip at the top left from the top. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1164,1302,138,place,green bowl,left,-,-,-,-,front,green bag of chips,front,none,none,none,Put the green bowl in front of the green bag of chips with the left hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1302,1500,198,pick,pink mug,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table by the handle at a diagonal angle with the left hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1500,1638,138,place,pink mug,left,-,-,-,-,right,green bowl,right,backwards,up,none,Put the pink mug to the right of the green bowl with the handle facing backwards right side up using the left hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1638,1806,168,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1806,1941,135,place,cabbage,left,-,-,-,-,behind,pink mug,behind,top_right,none,none,Put the cabbage behind the pink mug with the left hand facing top right from the front. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,1941,2184,243,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2184,2292,108,place,pink mug,right,-,-,-,-,right,cabbage,right,backwards,none,none,Put the pink mug to the right of the cabbage with the right hand with the handle facing backwards. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2292,2430,138,pick,green bowl,right,lip,right,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip from the top at the right side. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2430,2517,87,place,green bowl,right,-,-,-,-,front,pink mug,front,none,none,none,Put the green bowl in front of the pink mug with the right hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2517,2547,30,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2547,2691,144,pick,cabbage,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2691,2793,102,place,cabbage,left,-,-,-,-,inside,green bowl,inside,top_right,none,none,Place the cabbage inside the green bowl with the left hand facing top right relative to the front. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2793,2931,138,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal pick angle. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2931,2982,51,place,green bag of chips,left,-,-,-,-,left,green bowl,left,left,none,none,Put the green bag of chips to the left of the green bowl with the left hand facing left. +2026-04-21-23-54-17-885000,pick_place_diverse,set 2 data collection day 1,2982,3000,18,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,0,129,129,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,129,198,69,dump,croissant,left,-,-,-,-,left,green bag of chips,left,none,none,none,Dump the croissant from the silver bowl to the left of the green bag of chips with the left hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,198,357,159,place,silver bowl,left,-,-,-,-,behind,green bag of chips,behind,none,none,none,Put the silver bowl behind the green bag of chips with the left hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,357,486,129,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,486,588,102,place,croissant,left,-,-,-,-,left,silver bowl,left,none,none,none,Put the croissant to the left of the silver bowl with the left hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,588,750,162,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,837,942,105,place,green bowl,right,-,-,-,-,right,pink mug,right,none,none,none,Put the green bowl to the right of the pink mug with the right hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,942,1101,159,pick,cabbage,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand from the top at the middle. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,1131,1392,261,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,1392,1572,180,place,pink mug,right,-,-,-,-,right,green bowl,right,backwards,up,none,Put the pink mug to the right of the green bowl with the handle facing backwards using the right arm right side up from the front. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,1572,1785,213,pick,green bag of chips,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,1785,1881,96,place,green bag of chips,right,-,-,-,-,inside,silver bowl,inside,none,down,none,Put the green bag of chips inside the silver bowl with the right hand upside down. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,1881,2022,141,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,2022,2118,96,place,croissant,left,-,-,-,-,front,silver bowl,front,none,none,none,Put the croissant in front of the silver bowl with the left hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,2118,2184,66,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,2184,2268,84,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-23-56-26-195000,pick_place_diverse,set 2 data collection day 1,2385,2571,186,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table by the handle at a diagonal angle with the right hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,0,120,120,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand by the handle from the side. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,120,297,177,place,pink mug,right,-,-,-,-,right,green bowl,right,backwards,up,none,Put the pink mug to the right of the green bowl with the handle facing backwards right side up with the front as reference using the right hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,297,426,129,pick,green bag of chips,right,side,right,diagonal,silver bowl,-,-,-,-,-,-,Pick up the green bag of chips from the silver bowl with the right hand using a side grip at the right with a diagonal angle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,426,540,114,place,green bag of chips,right,-,-,-,-,front,silver bowl,front,backwards,none,none,Put the green bag of chips in front of the silver bowl with the right hand facing backwards. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,540,690,150,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,690,795,105,place,green bowl,right,-,-,-,-,right,silver bowl,right,none,none,none,Put the green bowl to the right of the silver bowl with the right hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,795,933,138,pick,green bag of chips,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the left from a diagonal angle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,933,1053,120,place,green bag of chips,left,-,-,-,-,inside,silver bowl,inside,none,down,none,Put the green bag of chips inside the silver bowl upside down with the left hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,1053,1257,204,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,1257,1401,144,place,pink mug,right,-,-,-,-,right,green bowl,right,backwards,up,none,Put the pink mug to the right of the green bowl with the handle facing backwards using the right hand right side up. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,1401,1614,213,pick,silver bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,1614,1755,141,place,silver bowl,left,-,-,-,-,center,,none,none,none,none,Put the silver bowl to the center of the table with the left hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,1755,1911,156,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal grasp at the handle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,1911,2136,225,place,pink mug,right,-,-,-,-,behind,silver bowl,behind,bottom_left,up,none,Place the pink mug behind the silver bowl with the right hand right side up with the front facing bottom left. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,2136,2280,144,pick,silver bowl,left,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a lip grip at the bottom right with a diagonal angle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,2280,2316,36,dump,green bag of chips,left,-,-,-,-,front,pink mug,front,none,none,none,Dump the green bag of chips from the silver bowl in front of the pink mug with the left hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,2316,2487,171,place,silver bowl,left,-,-,-,-,left,pink mug,left,none,none,none,Put the silver bowl to the left of the pink mug with the left hand. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,2487,2718,231,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-04-21-23-58-38-546000,pick_place_diverse,set 2 data collection day 1,2817,2925,108,pick,green bag of chips,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal angle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,0,78,78,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,78,165,87,place,pink bowl,right,-,-,-,-,center,,none,none,none,none,Put the pink bowl on the center of the table with the right hand. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,165,279,114,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,279,366,87,place,pink stuffed toy,right,-,-,-,-,right,pink bowl,right,forwards,none,none,Put the pink stuffed animal to the right of the pink bowl with the right hand facing forwards. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,366,495,129,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip from the top. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,495,585,90,place,juice pouch,left,-,-,-,-,between,corn and the pink bowl,between,none,up,none,Put the juice pouch between the corn and the pink bowl with the left hand right side up. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,585,708,123,pick,corn,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the side at the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,708,798,90,place,corn,left,-,-,-,-,corner,juice pouch,corner,bottom_left,none,none,Put the corn on the bottom left of the juice pouch with the left hand facing bottom left. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,798,927,129,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,927,1008,81,place,pink stuffed toy,right,-,-,-,-,table,table,none,top_left,none,bottom,Put the pink stuffed animal on the bottom side of the table with the right hand facing top left with the front as the reference point. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1008,1125,117,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1125,1203,78,place,pink bowl,right,-,-,-,-,table,table,none,none,none,none,Put the pink bowl on the right side of the table with the right hand. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1203,1326,123,pick,corn,left,side,top,side,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand using a side grip at the top from the side. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1326,1497,171,place,corn,left,-,-,-,-,corner,pink stuffed toy,corner,bottom_right,none,none,Put the corn to the top left of the pink stuffed animal with the left hand facing bottom right by the tip. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1497,1683,186,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip from the top. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1683,1863,180,place,juice pouch,left,-,-,-,-,corner,,none,none,up,none,Put the juice pouch to the bottom left corn with the left hand right side up with the front as the reference point. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,1863,2055,192,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl on the center of the table with the right hand using a lip grip from the right at a diagonal angle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2055,2118,63,dump,eggplant,right,-,-,-,-,right,corn,right,none,none,none,Dump the eggplant from the pink bowl to the right of the corn with the right hand. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2118,2226,108,place,pink bowl,right,-,-,-,-,right,eggplant,right,none,none,none,Put the pink bowl to the right of the eggplant with the right hand. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2226,2343,117,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2343,2430,87,place,eggplant,right,-,-,-,-,inside,pink bowl,inside,none,up,none,Put the eggplant inside the pink bowl with the right hand right side up. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2430,2526,96,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2526,2589,63,place,pink stuffed toy,right,-,-,-,-,between,corn and the pink bowl,between,forwards,none,none,Put the pink stuffed animal between the corn and the pink bowl with the right hand facing forwards. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2589,2691,102,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2691,2784,93,place,corn,right,-,-,-,-,front,pink stuffed toy,front,bottom_right,none,none,Put the corn in front of the pink stuffed animal with the right hand facing bottom right. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2784,2901,117,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-06-03-204000,pick_place_diverse,set 2 data collection day 1,2901,2982,81,place,pink stuffed toy,right,-,-,-,-,front,pink bowl,front,forwards,none,none,Put the pink stuffed animal in front of the pink bowl and to the right of the corn with the right hand facing forwards. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,0,108,108,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle from the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,108,210,102,place,pink stuffed toy,right,-,-,-,-,behind,corn,behind,forwards,none,none,Put the pink stuffed animal behind the corn and to the left of the pink bowl with the right hand facing forwards. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,210,324,114,pick,juice pouch,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,324,393,69,place,juice pouch,right,-,-,-,-,left,pink stuffed toy,left,none,up,none,Put the juice pouch to the left of the pink stuffed animal with the right hand right side up. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,393,477,84,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,477,603,126,place,corn,right,-,-,-,-,front,juice pouch,front,top_right,none,none,Put the corn in front of the juice pouch with the right hand facing top right with the tip as the reference point. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,603,765,162,pick,pink bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,765,822,57,dump,eggplant,right,-,-,-,-,corner,pink stuffed toy,corner,none,none,none,Dump the eggplant from the pink bowl to the bottom right of the pink stuffed animal with the right hand. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,822,948,126,place,pink bowl,right,-,-,-,-,corner,eggplant,corner,none,none,none,Put the pink bowl to the top right of the eggplant with the right hand. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,948,1077,129,pick,eggplant,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand from the top at the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1077,1227,150,place,eggplant,right,-,-,-,-,left,juice pouch,left,top_left,none,none,Place the eggplant to the left of the juice pouch with the right hand with the tip facing top left. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1227,1422,195,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1422,1551,129,place,corn,left,-,-,-,-,left,eggplant,left,top_right,none,none,Put the corn to the left of the eggplant with the left hand with its tip facing top right. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1551,1743,192,pick,juice pouch,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle from the top using a side grasp. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1743,1839,96,place,juice pouch,left,-,-,-,-,left,corn,left,none,up,none,Place the juice pouch to the left of the corn with the left hand right side up with the front as the reference point. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1839,1956,117,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,1956,2100,144,place,eggplant,left,-,-,-,-,left,juice pouch,left,top_right,none,none,Put the eggplant to the left of the juice pouch with the left hand with its tip facing top right. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,2100,2262,162,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuff animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,2262,2367,105,place,pink stuffed toy,right,-,-,-,-,right,corn,right,forwards,none,none,Put the pink stuffed animal to the right of the corn with the right hand facing forwards. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,2367,2508,141,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,2508,2595,87,place,pink bowl,right,-,-,-,-,right,pink stuffed toy,right,none,none,none,Put the pink bowl to the right of the pink stuffed animal with the right hand. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,2595,2781,186,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-22-00-08-20-380000,pick_place_diverse,set 2 data collection day 1,2781,2928,147,place,corn,left,-,-,-,-,left,eggplant,left,top_right,none,none,Put the corn to the left of the eggplant with the left hand with the tip facing top right. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,0,81,81,pick,bag of juice,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand using a side grip at the top right with a diagonal angle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,81,132,51,place,bag of juice,left,-,-,-,-,left,corn,left,none,up,none,Put the bag of juice to the left of the corn with the left hand right side up. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,132,210,78,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,267,387,120,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,387,474,87,place,pink bowl,right,-,-,-,-,right,eggplant,right,none,none,none,Put the pink bowl to the right of the eggplant with the right hand. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,474,609,135,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,702,795,93,pick,bag of juice,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand from the top at the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,795,891,96,place,bag of juice,left,-,-,-,-,left,eggplant,left,none,up,none,Put the bag of juice to the left of the eggplant with the left hand right side up. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,891,990,99,pick,pink bowl,left,lip,right,top,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand from the top at the right side using a lip grip. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,990,1137,147,place,pink bowl,left,-,-,-,-,behind,bag of juice,behind,none,none,none,Put the pink bowl behind the bag of juice with the left hand. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1137,1239,102,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1239,1383,144,place,corn,left,-,-,-,-,left,pink bowl,left,forwards,none,none,Put the corn to the left of the pink bowl with the left hand facing forwards with the tip as the reference point. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1383,1497,114,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1497,1584,87,place,eggplant,left,-,-,-,-,right,pink bowl,right,backwards,none,none,Put the eggplant to the right of the pink bowl with the left hand facing backwards with the tip as the reference point. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1584,1689,105,pick,bag of juice,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand using a side grip at the top right diagonally. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1689,1776,87,place,bag of juice,left,-,-,-,-,right,eggplant,right,none,up,none,Put the bag of juice to the right of the eggplant with the left hand right side up. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1776,1878,102,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,1878,2037,159,place,eggplant,left,-,-,-,-,left,bag of juice,left,bottom_left,none,none,Put the eggplant to the left of the bag of juice with the left hand with its tip facing bottom left. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2037,2139,102,pick,pink bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a lip grasp at the right side with a diagonal angle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2139,2199,60,dump,pink stuffed toy,left,-,-,-,-,right,corn,right,none,none,none,Dump the pink stuffed animal from the pink bowl to the right of the corn with the left hand. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2199,2286,87,place,pink bowl,left,-,-,-,-,front,pink stuffed toy,front,none,none,none,Put the pink bowl in front of the pink stuffed animal with the left hand. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2286,2367,81,pick,corn,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the left hand from the top at the middle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2367,2457,90,place,corn,left,-,-,-,-,front,bag of juice,front,top_right,none,none,Put the corn in front of the bag of juice with the left hand facing top right by the tip. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2457,2490,33,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2490,2598,108,pick,bag of juice,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the right hand using a side grip at the top right with a diagonal pick angle. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2598,2694,96,place,bag of juice,right,-,-,-,-,right,eggplant,right,none,up,none,Put the bag of juice to the right of the eggplant with the right hand right side up. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2694,2775,81,pick,eggplant,right,side,top,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand using a side grip from the top at the bottom. +2026-04-22-00-28-39-586000,pick_place_diverse,set 2 data collection day 1,2775,3000,225,place,eggplant,right,-,-,-,-,right,bag of juice,right,top_left,none,none,Put the eggplant to the right of the bag of juice with the right hand with its tip facing top left. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,0,159,159,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the side by the handle. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,159,279,120,place,white mug,left,-,-,-,-,on_top,white plate,on_top,backwards,up,none,Put the white mug on top of the white plate with the left hand right side up with the front facing backwards. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,279,402,123,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grip on the left side. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,402,531,129,place,beige bowl,left,-,-,-,-,front,white plate,front,none,up,none,Put the beige bowl in front of the white plate with the left hand right side up. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,681,753,72,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,753,882,129,place,white cup,right,-,-,-,-,right,coffee pod,right,none,up,none,Put the white cup to the right of the coffee pod with the right hand right side up with the front as the orientation reference point. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,882,1059,177,pick,coffee pod,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,1059,1173,114,place,coffee pod,right,-,-,-,-,corner,white cup,corner,none,up,none,Put the coffee pod to the top left of the white cup with the right hand right side up with the front as the orientation reference. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,1173,1350,177,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,1350,1467,117,place,white cup,right,-,-,-,-,right,coffee pod,right,none,up,none,Put the white cup to the right of the coffee pod with the right hand right side up with the front as the reference point. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,1467,1668,201,pick,coffee pod,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand from the side at the middle. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,1668,1743,75,place,coffee pod,right,-,-,-,-,inside,beige bowl,inside,bottom_right,none,none,Put the coffee pod inside the beige bowl with the right hand facing bottom right from the front. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,1743,2046,303,pick,white mug,right,handle,handle,diagonal,white plate,-,-,-,-,-,-,Pick up the white mug from the top of the white plate with the right hand at a diagonal angle by the handle. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,2046,2238,192,place,white mug,right,-,-,-,-,right,beige bowl,right,backwards,up,none,Put the white mug to the right of the beige bowl with the right hand right side up with the front facing backwards. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,2439,2496,57,pick,white cup,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the side at the middle. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,2496,2592,96,place,white cup,right,-,-,-,-,behind,white mug,behind,none,up,none,Put the white cup right side up behind the white mug and to the right of the white plate with the right hand. +2026-04-22-02-25-58-535000,pick_place_diverse,set 2 data collection day 1,2592,2832,240,pick,white cup,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,0,192,192,pick,white cup,right,lip,right,diagonal,white plate,-,-,-,-,-,-,Pick up the white cup from the white plate with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,327,483,156,pick,beige bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip from the top. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,483,588,105,place,beige bowl,left,-,-,-,-,left,white plate,left,none,none,none,Put the beige bowl to the left of the white plate with the left hand. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,588,768,180,pick,white mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand from the side by the handle. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,768,930,162,place,white mug,right,-,-,-,-,right,white cup,right,backwards,up,none,Put the white mug to the right of the white cup with the handle facing backwards right side up using the right hand. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,930,1080,150,pick,white cup,right,lip,left,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the left side using a lip grip. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,1080,1248,168,place,white cup,right,-,-,-,-,right,white mug,right,none,up,none,Put the white cup to the right of the white mug with the right hand right side up with the front as the orientation reference point. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,1248,1515,267,pick,white plate,left,side,bottom,straight,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a side grip at the bottom left. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,1515,1677,162,place,white plate,left,-,-,-,-,left,beige bowl,left,none,up,none,Put the white plate to the left of the beige bowl right side up with the front as the reference point using the left arm. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,1677,1977,300,pick,white mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at the handle from the side. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,1977,2115,138,place,white mug,right,-,-,-,-,right,beige bowl,right,none,up,none,Put the white mug to the right of the beige bowl with the right hand right side up with the front as the orientation reference point. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2115,2304,189,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2304,2451,147,place,white cup,right,-,-,-,-,right,white mug,right,none,up,none,Put the white cup to the right of the white mug with the right hand right side up with the front as the orientation reference point. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2451,2499,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2499,2604,105,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2604,2703,99,place,beige bowl,left,-,-,-,-,front,white plate,front,none,none,none,Put the beige bowl in front of the white plate with the left hand. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2703,2895,192,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the side by the handle. +2026-04-22-02-28-17-111000,pick_place_diverse,set 2 data collection day 1,2895,3000,105,place,white mug,left,-,-,-,-,right,white plate,right,none,up,none,Put the white mug to the right of the white plate with the left hand right side up with the front as the reference point. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,0,111,111,pick,beige bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the right side. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,162,315,153,place,beige bowl,left,-,-,-,-,front,white cup,front,none,none,none,Put the beige bowl in front of the white cup with the left hand. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,315,501,186,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand by the handle from the side. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,501,627,126,place,white mug,left,-,-,-,-,on_top,white plate,on_top,backwards,up,none,Put the white mug on top of the white plate with the left hand right side up with the front facing backwards. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,627,795,168,pick,coffee pod,left,side,top,straight,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grasp at the top. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,795,906,111,place,coffee pod,left,-,-,-,-,left,beige bowl,left,bottom_left,none,none,Put the coffee pod to the left of the beige bowl with the left hand facing bottom left from the front. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,906,1086,180,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,1086,1176,90,place,white cup,right,-,-,-,-,right,beige bowl,right,none,up,none,Put the white cup to the right of the beige bowl with the right hand right side up with the front as the orientation reference. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,1176,1344,168,pick,white mug,left,handle,handle,side,white plate,-,-,-,-,-,-,Pick up the white mug from the top of the white plate with the left hand by the handle from the side. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,1344,1479,135,place,white mug,left,-,-,-,-,left,coffee pod,left,backwards,up,none,Put the white mug to the left of the coffee pod with the left hand right side up with the front facing backwards. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,1479,1701,222,pick,white plate,left,lip,bottom,side,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand from the side at the bottom left using a lip grip. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,1701,1893,192,place,white plate,left,-,-,-,-,left,white mug,left,forwards,up,none,Put the white plate to the left of the white mug with the left hand right side up facing front. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,1893,2058,165,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,2058,2184,126,place,white cup,right,-,-,-,-,behind,beige bowl,behind,none,up,none,Place the white cup behind the beige bowl with the right hand right side up. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,2184,2373,189,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand by the handle from the side. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,2373,2511,138,place,white mug,left,-,-,-,-,on_top,white plate,on_top,bottom_right,up,none,Put the white mug on top of the white plate with the left hand right side up with the front facing bottom right. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,2511,2739,228,pick,coffee pod,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-22-02-30-32-296000,pick_place_diverse,set 2 data collection day 1,2739,2847,108,place,coffee pod,left,-,-,-,-,behind,white plate,behind,left,none,none,Put the coffee pod behind the white plate with the left hand facing left with the front as the reference point. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,0,75,75,pick,blue stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,75,129,54,place,blue stuffed toy,left,-,-,-,-,behind,pink plate,behind,forwards,none,none,Put the blue stuffed animal behind the pink plate with the left hand facing forwards from the front. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,129,249,120,pick,yellow stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,249,333,84,place,yellow stuffed toy,left,-,-,-,-,left,pink plate,left,forwards,none,none,Put the yellow stuffed animal to the left of the pink plate with the left hand facing forwards. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,333,438,105,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,438,552,114,place,doritos,right,-,-,-,-,right,pink plate,right,right,none,none,Put the doritos to the right of the pink plate with the right hand facing right. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,552,714,162,pick,white mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand from the side by the handle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,714,861,147,place,white mug,right,-,-,-,-,behind,doritos,behind,backwards,up,none,Put the white mug behind the doritos with the right hand right side up with the front facing backwards. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,861,990,129,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,990,1047,57,place,yellow stuffed toy,left,-,-,-,-,left,blue stuffed toy,left,forwards,none,none,Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand facing forwards. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1047,1221,174,pick,orange screwdriver,left,plain,middle,top,pink plate,-,-,-,-,-,-,Pick up the orange screwdriver from the pink plate with the left hand from the top at the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1221,1347,126,place,orange screwdriver,left,-,-,-,-,left,yellow stuffed toy,left,forwards,none,none,Place the orange screwdriver to the left of the yellow stuffed animal with the left hand facing forwards with the tip facing forwards. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1347,1530,183,pick,doritos,right,plain,top,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand from the top at the top of the object. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1530,1620,90,place,doritos,right,-,-,-,-,right,white mug,right,right,none,none,Put the doritos to the right of the white mug with the right hand facing right from the front. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1620,1740,120,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1740,1806,66,place,yellow stuffed toy,left,-,-,-,-,front,orange screwdriver,front,top_left,none,none,Put the yellow stuffed animal in front of the orange screwdriver with the left hand facing top left from the front. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1806,1908,102,pick,blue stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1908,1980,72,place,blue stuffed toy,left,-,-,-,-,right,orange screwdriver,right,top_left,none,none,Put the blue stuffed animal to the right of the orange screwdriver with the left hand facing top left from the front. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,1980,2097,117,pick,pink plate,left,lip,left,top,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a lip grip from the top at the left. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,2097,2208,111,place,pink plate,left,-,-,-,-,right,yellow stuffed toy,right,none,up,none,Place the pink plate to the right of the yellow stuffed animal with the left hand right side up front. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,2208,2346,138,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,2502,2661,159,pick,white mug,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip from the top at the right. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,2661,2820,159,place,white mug,right,-,-,-,-,right,doritos,right,backwards,up,none,Put the white mug to the right of the doritos with the right hand right side up with the front facing backwards. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,2820,2937,117,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-02-35-17-392000,pick_place_diverse,set 2 data collection day 1,2937,3000,63,place,yellow stuffed toy,left,-,-,-,-,above,pink plate,above,top_left,none,none,Place the yellow stuffed animal on the top of the pink plate with the left hand facing top left with the front as the reference point. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,0,120,120,pick,orange screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,120,204,84,place,orange screwdriver,left,-,-,-,-,left,pink plate,left,top_left,none,none,Place the orange screwdriver to the left of the pink plate with the left hand tip facing top left. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,204,321,117,pick,yellow stuffed toy,left,plain,entire,diagonal,pink plate,-,-,-,-,-,-,Pick up the yellow stuffed animal from the pink plate with the left hand at a diagonal angle grasping the entire object. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,321,429,108,place,yellow stuffed toy,left,-,-,-,-,left,blue stuffed toy,left,top_left,none,none,Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand facing top left from the front. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,429,558,129,pick,doritos,left,side,bottom,straight,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,558,663,105,place,doritos,left,-,-,-,-,behind,white coffee cup,behind,top_right,none,none,Put the doritos behind the white coffee cup with the left hand facing top right. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,663,780,117,pick,blue stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,780,873,93,place,blue stuffed toy,left,-,-,-,-,right,pink plate,right,forwards,none,none,Put the blue stuffed animal to the right of the pink plate with the left hand facing forwards. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,873,1020,147,pick,doritos,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1020,1107,87,place,doritos,right,-,-,-,-,behind,blue stuffed toy,behind,top_right,none,none,Put the doritos behind the blue stuffed animal with the right hand facing top right. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1107,1227,120,pick,white coffee cup,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip at the top from a diagonal angle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1227,1386,159,place,white coffee cup,right,-,-,-,-,right,blue stuffed toy,right,left,up,none,Put the white coffee cup to the right of the blue stuffed animal with the handle facing left with the right hand right side up. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1386,1545,159,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1545,1608,63,place,blue stuffed toy,left,-,-,-,-,behind,pink plate,behind,forwards,none,none,Put the blue stuffed animal behind the pink plate with the left hand facing forwards with the front as the orientation reference point. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1608,1809,201,pick,blue stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1809,1890,81,place,blue stuffed toy,right,-,-,-,-,corner,table,none,top_right,none,none,Place the blue stuffed animal to the top right side of the table with the right hand facing top right from the front. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,1890,2016,126,pick,orange screwdriver,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2016,2121,105,place,orange screwdriver,left,-,-,-,-,on_top,pink plate,on_top,top_right,none,none,Put the orange screwdriver on top of the pink plate with the left hand facing top right with the tip as the orientation reference point. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2121,2232,111,pick,yellow stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2232,2319,87,place,yellow stuffed toy,left,-,-,-,-,front,doritos,front,forwards,none,none,Put the yellow stuffed animal in front of the doritos with the left hand facing forwards. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2319,2424,105,pick,blue stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2424,2514,90,place,blue stuffed toy,right,-,-,-,-,right,white coffee cup,right,forwards,none,none,Put the blue stuffed animal to the right of the white coffee cup with the right hand facing forwards. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2514,2652,138,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2652,2847,195,place,white coffee cup,right,-,-,-,-,behind,blue stuffed toy,behind,forwards,up,none,Put the white coffee cup behind the blue stuffed animal with the right hand right side up with the front facing forwards. +2026-04-22-02-37-29-474000,pick_place_diverse,set 2 data collection day 1,2847,2937,90,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right arm. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,0,120,120,pick,screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand from the top at the middle. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,120,198,78,place,screwdriver,left,-,-,-,-,left,pink plate,left,top_left,none,none,Put the screwdriver to the left of the pink plate with the left hand facing top left by the tip. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,198,309,111,pick,yellow stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,309,387,78,place,yellow stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the yellow stuffed animal on top of the pink plate with the left hand facing top left from the front. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,387,489,102,pick,doritos,left,side,bottom,straight,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,489,591,102,place,doritos,left,-,-,-,-,behind,screwdriver,behind,left,none,none,Put the doritos behind the screwdriver with the left hand facing left with the front as the reference point. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,591,723,132,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,723,807,84,place,blue stuffed toy,left,-,-,-,-,behind,pink plate,behind,forwards,none,none,Put the blue stuffed animal behind the pink plate with the left hand facing forwards. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,807,990,183,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,990,1128,138,place,white coffee cup,right,-,-,-,-,right,pink plate,right,forwards,none,none,Put the white coffee cup to the right of the pink plate with the handle facing forwards using the right hand. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1128,1191,63,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1191,1302,111,pick,screwdriver,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1302,1431,129,place,screwdriver,left,-,-,-,-,behind,white coffee cup,behind,top_right,none,none,Put the screwdriver behind the white coffee cup with the left hand facing top right with the tip as the reference point. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1431,1584,153,pick,blue stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1584,1713,129,place,blue stuffed toy,left,-,-,-,-,right,white coffee cup,right,forwards,none,none,Put the blue stuffed animal to the right of the white coffee cup with the left hand facing forwards. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1713,1851,138,pick,doritos,left,side,right,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip from the top at the right side. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1851,1956,105,place,doritos,left,-,-,-,-,left,pink plate,left,left,none,none,Put the doritos to the left of the pink plate with the left hand facing left with the front as the reference point. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,1956,2100,144,pick,yellow stuffed toy,left,plain,middle,top,pink plate,-,-,-,-,-,-,Pick up the yellow stuffed animal from the top of the pink plate with the left hand from the top at the middle. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2100,2193,93,place,yellow stuffed toy,left,-,-,-,-,behind,doritos,behind,forwards,none,none,Put the yellow stuffed animal behind the doritos with the left hand facing forwards. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2193,2304,111,pick,screwdriver,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2304,2421,117,place,screwdriver,left,-,-,-,-,behind,pink plate,behind,top_right,none,none,Put the screwdriver behind the pink plate with the left hand with the tip facing top right. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2421,2565,144,pick,white coffee cup,left,side,left,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a side grasp at the left from the top. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2565,2667,102,place,white coffee cup,left,-,-,-,-,right,screwdriver,right,forwards,up,none,Put the white coffee cup to the right of the screwdriver with the left hand right side up with the front facing forwards. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2667,2802,135,pick,blue stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2802,2868,66,place,blue stuffed toy,left,-,-,-,-,right,pink plate,right,forwards,none,none,Put the blue stuffed animal to the right of the pink plate with the left hand facing forwards. +2026-04-22-02-44-14-010000,pick_place_diverse,set 2 data collection day 1,2868,2970,102,pick,yellow stuffed toy,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,0,122,122,pick,blue marker,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,204,318,114,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,318,405,87,place,brown stuffed toy,left,-,-,-,-,left,canned goods,left,forwards,none,none,Put the brown stuffed animal to the left of the canned goods with the left hand facing forwards from the front. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,405,555,150,pick,blue screwdriver,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,555,690,135,place,blue screwdriver,left,-,-,-,-,behind,canned goods,behind,bottom_right,none,none,Place the blue screwdriver behind the canned goods with the left hand with its tip facing bottom right. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,690,948,258,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,948,1071,123,place,white coffee cup,right,-,-,-,-,table,table,none,backwards,up,none,Put the white coffee cup to the right side of the table with the right hand right side up with the front facing backwards. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,1071,1251,180,pick,asparagus,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand from the top at the middle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,1251,1356,105,place,asparagus,right,-,-,-,-,front,carrot,front,top_left,none,none,Put the asparagus in front of the carrot with the right hand with the tip facing top left. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,1356,1605,249,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,1605,1764,159,place,green mug,left,-,-,-,-,left,carrot,left,bottom_left,up,none,Put the green mug to the left of the carrot with the left hand right side up with the front facing bottom left. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,1764,1881,117,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,1962,2115,153,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,2250,2370,120,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,2370,2454,84,place,brown stuffed toy,left,-,-,-,-,behind,canned goods,behind,forwards,none,none,Put the brown stuffed animal behind the canned goods with the left hand facing forwards. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,2454,2499,45,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,2499,2571,72,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle from the middle. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,2688,2820,132,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at the handle from the side. +2026-04-22-02-50-42-144000,pick_place_diverse,set 2 data collection day 1,2820,3000,180,place,white coffee cup,right,-,-,-,-,right,green mug,right,backwards,up,none,Put the white coffee cup to the right of the green mug with the handle facing backwards with the right hand right side up. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,0,114,114,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,114,216,102,place,brown stuffed toy,left,-,-,-,-,left,canned goods,left,top_left,none,none,Place the brown stuffed animal to the left of the canned goods with the left hand facing top left with the front as the reference point. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,216,351,135,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,351,441,90,place,blue screwdriver,left,-,-,-,-,behind,canned goods,behind,bottom_right,none,none,Put the blue screwdriver behind the canned goods with the left hand facing bottom right at the tip. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,441,564,123,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,564,723,159,place,blue marker,left,-,-,-,-,behind,brown stuffed toy,behind,backwards,none,none,Put the blue marker behind the brown stuffed animal with the left hand facing backwards with the tip as the reference point. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,723,948,225,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,948,1107,159,place,green mug,left,-,-,-,-,right,blue marker,right,backwards,up,none,Place the green mug to the right of the blue marker with the left hand right side up with the front facing backwards. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1107,1257,150,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1257,1317,60,place,asparagus,right,-,-,-,-,right,white cup,right,top_left,none,none,Put the asparagus to the right of the white cup with the right hand facing top left by the tip. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1317,1401,84,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1401,1482,81,place,carrot,right,-,-,-,-,front,white cup,front,forwards,none,none,Put the carrot in front of the white cup with the right hand facing forwards. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1482,1602,120,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1701,1893,192,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,1893,2055,162,place,blue screwdriver,left,-,-,-,-,left,carrot,left,backwards,none,none,Place the blue screwdriver to the left of the carrot with the left hand facing backwards with the tip as the reference point. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,2055,2232,177,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand by the handle from the side. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,2232,2334,102,place,green mug,left,-,-,-,-,table,table,none,backwards,up,top,Put the green mug on the top side of the table with the left hand right side up with the front facing backwards. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,2334,2487,153,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,2487,2691,204,place,blue marker,left,-,-,-,-,right,screwdriver,right,bottom_right,none,none,Put the blue marker to the right of the screwdriver with the left hand with its tip facing bottom right. +2026-04-22-02-55-57-557000,pick_place_diverse,set 2 data collection day 1,2691,2862,171,pick,blue screwdriver,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand from the top at the middle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,0,222,222,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,222,321,99,place,blue screwdriver,right,-,-,-,-,right,asparagus,right,backwards,none,none,Place the blue screwdriver to the right of the asparagus with the right hand facing backwards with the tip as the orientation reference point. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,321,456,135,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,456,618,162,place,asparagus,right,-,-,-,-,between,blue marker and the carrot,between,top_left,none,none,Put the asparagus between the blue marker and the carrot with the right hand with the tip facing top left. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,618,723,105,pick,blue marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand from the top at the middle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,723,903,180,place,blue marker,right,-,-,-,-,right,green cup,right,bottom_right,none,none,Put the blue marker to the right of the green cup with the right hand with its tip facing bottom right. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,903,1077,174,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand at a diagonal angle by the handle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,1077,1212,135,place,green mug,right,-,-,-,-,between,blue marker and the blue screwdriver,between,bottom_right,up,none,Put the green mug between the blue marker and the blue screwdriver with the handle facing bottom right right side up using the right hand. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,1212,1467,255,pick,brown stuffed toy,left,side,top,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand using a side grip from the top. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,1467,1551,84,place,brown stuffed toy,left,-,-,-,-,behind,white canned goods,behind,forwards,none,none,Put the brown stuffed animal behind the white canned goods with the left hand facing forwards. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,1551,1704,153,pick,white canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,1704,1854,150,place,white canned goods,left,-,-,-,-,right,brown stuffed toy,right,none,none,none,Put the white canned goods to the right of the brown stuffed animal with the left hand. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,1854,2013,159,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2012,2121,109,place,asparagus,right,-,-,-,-,left,blue marker,left,forwards,none,none,Put the asparagus to the left of the blue marker with the right hand facing forwards with the tip forwards. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2121,2220,99,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2220,2367,147,place,carrot,right,-,-,-,-,between,white canned goods and the asparagus,between,top_left,none,none,Put the carrot between the white canned goods and the asparagus with the right hand facing top left with the tip as the reference point. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2367,2517,150,pick,white mug,right,lip,top,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the top right from a diagonal angle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2517,2655,138,place,white mug,right,-,-,-,-,corner,asparagus,corner,none,up,none,Put the white mug to the bottom right of the asparagus with the right hand right side up with the front as the reference point. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2655,2760,105,pick,green mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand at a diagonal angle by the handle. +2026-04-22-02-58-16-127000,pick_place_diverse,set 2 data collection day 1,2760,2892,132,place,green mug,right,-,-,-,-,front,blue marker,front,backwards,up,none,Place the green mug in front of the blue marker with the handle facing backwards right side up using the right arm. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,0,81,81,pick,gray stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,81,144,63,place,gray stuffed toy,left,-,-,-,-,left,blue soda can,left,forwards,none,none,Put the gray stuffed animal to the left of the blue soda can with the left hand facing forwards from the front. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,144,273,129,pick,tomato,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,273,387,114,place,tomato,left,-,-,-,-,front,gray stuffed toy,front,none,up,none,Put the tomato in front of the gray stuffed animal with the left hand right side up. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,387,534,147,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping its middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,534,681,147,place,blue soda can,left,-,-,-,-,corner,red marker,corner,none,none,none,Put the blue soda can to the bottom right of the red marker with the left hand. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,681,888,207,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,888,1041,153,place,red marker,right,-,-,-,-,right,blue soda can,right,forwards,none,none,Put the red marker to the right of the blue soda can with the tip facing forwards using the right hand. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1041,1176,135,pick,tomato,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1176,1284,108,place,tomato,left,-,-,-,-,left,blue soda can,left,none,up,none,Put the tomato to the left of the blue soda can right side up with the front as the orientation reference using the left hand. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1284,1380,96,pick,gray stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1380,1449,69,place,gray stuffed toy,left,-,-,-,-,left,tomato,left,top_left,none,none,Put the gray stuffed animal to the left of the tomato with the left hand facing top left from the front. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1449,1614,165,pick,blue soda can,right,side,top,top,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip from the top. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1614,1734,120,place,blue soda can,right,-,-,-,-,right,red marker,right,none,none,none,Put the blue soda can to the right of the red marker with the right hand. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1734,1911,177,pick,tomato,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand at a diagonal angle from the middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,1911,2055,144,place,tomato,left,-,-,-,-,left,red marker,left,none,up,none,Put the tomato to the left of the red marker with the left hand right side up front. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,2055,2163,108,pick,gray stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the middle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,2280,2460,180,pick,red marker,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,2460,2631,171,place,red marker,right,-,-,-,-,right,blue soda can,right,forwards,none,none,Put the red marker to the right of the blue soda can with the tip facing forwards using the right hand. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,2631,2772,141,pick,gray stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-03-02-02-854000,pick_place_diverse,set 2 data collection day 1,2772,3000,228,place,gray stuffed toy,right,-,-,-,-,between,tomato and the blue soda can,between,forwards,none,none,Place the gray stuffed animal between the tomato and the blue soda can with the right hand facing forwards. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,0,99,99,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,99,195,96,place,gray stuffed toy,right,-,-,-,-,behind,tomato,behind,forwards,none,none,Put the gray stuffed animal behind the tomato with the right hand facing forwards. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,195,327,132,pick,blue soda can,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,327,411,84,place,blue soda can,right,-,-,-,-,right,gray stuffed toy,right,none,none,none,Put the blue soda can to the right of the gray stuffed animal with the right hand. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,411,495,84,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,495,645,150,place,red marker,right,-,-,-,-,right,blue soda can,right,top_right,none,none,Put the red marker to the right of the blue soda can with the right hand with its tip facing top right. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,645,804,159,pick,tomato,right,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand from the top grasping the entire object. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,804,954,150,place,tomato,right,-,-,-,-,right,red marker,right,none,up,none,Put the tomato to the right of the red marker with the right hand right side up with the front as the orientation reference point. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,954,1128,174,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1128,1248,120,place,blue soda can,right,-,-,-,-,corner,red marker,corner,none,none,none,Put the blue soda can to the bottom right of the red marker with the right hand. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1248,1341,93,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1341,1407,66,place,gray stuffed toy,right,-,-,-,-,left,blue soda can,left,forwards,none,none,Put the gray stuffed animal to the left of the blue soda can with the right hand facing forwards with the front as the reference point. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1407,1506,99,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1506,1605,99,place,red marker,right,-,-,-,-,behind,gray stuffed toy,behind,top_left,none,none,Place the red marker behind the gray stuffed animal with the right hand with its tip facing top left. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1605,1824,219,pick,tomato,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1824,1950,126,place,tomato,right,-,-,-,-,right,red marker,right,none,up,none,Put the tomato to the right of the red marker with the right hand right side up with the front as the reference point. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,1950,2091,141,pick,red marker,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2091,2178,87,place,red marker,right,-,-,-,-,left,gray stuffed toy,left,forwards,none,none,Put the red marker to the left of the gray stuffed animal with the right hand facing forwards with the tip as the reference point. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2178,2253,75,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2253,2343,90,place,gray stuffed toy,right,-,-,-,-,left,red marker,left,forwards,none,none,Place the gray stuffed animal to the left of the red marker with the right hand facing forwards. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2343,2544,201,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2544,2652,108,place,red marker,left,-,-,-,-,left,gray stuffed toy,left,forwards,none,none,Put the red marker to the left of the gray stuffed animal with the left hand facing forwards with the tip as the reference point. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2652,2769,117,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2769,2841,72,place,gray stuffed toy,left,-,-,-,-,behind,red marker,behind,forwards,none,none,Put the gray stuffed animal behind the red marker with the left hand facing forwards. +2026-04-22-03-04-16-390000,pick_place_diverse,set 2 data collection day 1,2841,2937,96,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,0,114,114,pick,tomato,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,114,222,108,place,tomato,right,-,-,-,-,right,blue soda can,right,none,up,none,Put the tomato to the right of the blue soda can with the right hand right side up. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,222,384,162,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,384,474,90,place,blue soda can,right,-,-,-,-,right,tomato,right,none,none,none,Put the blue soda can to the right of the tomato with the right hand. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,474,603,129,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the entire object. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,603,660,57,place,gray stuffed toy,left,-,-,-,-,left,red marker,left,top_left,none,none,Put the gray stuffed animal to the left of the red marker with the left hand facing top left relative to the front. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,660,753,93,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,753,882,129,place,red marker,left,-,-,-,-,left,gray stuffed toy,left,top_right,none,none,Put the red marker to the left of the gray stuffed animal with the left hand with its tip facing top right. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,882,1020,138,pick,tomato,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1020,1128,108,place,tomato,left,-,-,-,-,right,gray stuffed toy,right,none,up,none,Put the tomato to the right of the gray stuffed animal with the left hand right side up with the front as the orientation reference point. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1128,1248,120,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1248,1341,93,place,gray stuffed toy,left,-,-,-,-,between,tomato and the blue soda can,between,forwards,none,none,Put the gray stuffed animal in between the tomato and the blue soda can with the left hand facing forwards from the front. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1341,1470,129,pick,red marker,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1470,1548,78,place,red marker,left,-,-,-,-,left,tomato,left,top_left,none,none,Place the red marker to the left of the tomato with the left hand with its tip facing top left. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1548,1710,162,pick,gray stuffed toy,right,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand from the top grasping the entire object. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1710,1824,114,place,gray stuffed toy,right,-,-,-,-,behind,blue soda can,behind,forwards,none,none,Put the gray stuffed animal behind the blue soda can with the right hand facing forwards from the front. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,1824,2004,180,pick,tomato,left,side,top,straight,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand using a side grip at the top. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2004,2094,90,place,tomato,left,-,-,-,-,corner,red marker,corner,none,up,none,Place the tomato to the top right of the red marker with the left hand right side up front. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2094,2178,84,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2178,2271,93,place,red marker,left,-,-,-,-,left,tomato,left,forwards,none,none,Put the red marker to the left of the tomato with the tip facing forwards using the left hand. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2268,2412,144,pick,gray stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2412,2496,84,place,gray stuffed toy,right,-,-,-,-,right,blue soda can,right,forwards,none,none,Put the gray stuffed animal to the right of the blue soda can with the right hand facing forwards with the front forward. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2496,2610,114,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2610,2706,96,place,blue soda can,right,-,-,-,-,behind,gray stuffed toy,behind,none,none,none,Put the blue soda can behind the gray stuffed animal with the right hand. +2026-04-22-03-06-24-661000,pick_place_diverse,set 2 data collection day 1,2745,2844,99,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,0,93,93,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,93,186,93,place,eggplant,right,-,-,-,-,right,green bowl,right,bottom_right,none,none,Put the eggplant to the right of the green bowl with the right hand with its tip facing bottom right. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,186,300,114,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,300,363,63,place,yellow stuffed toy,right,-,-,-,-,front,green bowl,front,top_left,none,none,Put the yellow stuffed animal in front of the green bowl with the right hand facing top left from the front. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,363,504,141,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,504,645,141,place,red marker,left,-,-,-,-,left,pink plate,left,top_right,none,none,Place the red marker to the left of the pink plate with the left hand with its tip facing top right. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,645,789,144,pick,yellow stuffed toy,left,plain,entire,side,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the side by grasping the entire object. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,789,900,111,place,yellow stuffed toy,left,-,-,-,-,on_top,pink plate,on_top,forwards,none,none,Put the yellow stuffed animal on top of the pink plate with the left hand facing forwards. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,900,1035,135,pick,red marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1035,1137,102,place,red marker,left,-,-,-,-,front,pink plate,front,forwards,none,none,Put the red marker in front of the pink plate with the left hand facing forwards with the tip facing forwards. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1137,1236,99,pick,silver bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1236,1362,126,place,silver bowl,left,-,-,-,-,left,pink plate,left,none,none,none,Put the silver bowl to the left of the pink plate with the left hand. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1362,1467,105,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1467,1575,108,place,red marker,left,-,-,-,-,right,pink plate,right,top_left,none,none,Place the red marker to the right of the pink plate with the left hand facing top left with the tip as the reference point. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1575,1683,108,pick,green bowl,left,lip,left,straight,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a top lip grasp on the left side. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1683,1770,87,place,green bowl,left,-,-,-,-,front,pink plate,front,none,none,none,Put the green bowl in front of the pink plate with the left hand. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1770,1896,126,pick,yellow stuffed toy,left,plain,middle,top,pink plate,-,-,-,-,-,-,Pick up the yellow stuffed animal from the pink plate with the left hand from the top at the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1896,1992,96,place,yellow stuffed toy,left,-,-,-,-,right,red marker,right,forwards,none,none,Put the yellow stuffed animal to the right of the red marker with the left hand facing forwards. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,1992,2112,120,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2112,2181,69,place,eggplant,right,-,-,-,-,right,yellow stuffed toy,right,bottom_right,none,none,Put the eggplant to the right of the yellow stuffed animal with the tip facing bottom right using the right hand. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2181,2268,87,pick,yellow stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2268,2328,60,place,yellow stuffed toy,right,-,-,-,-,right,eggplant,right,top_left,none,none,Put the yellow stuffed animal to the right of the eggplant with the right hand facing top left with the front as the reference point. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2328,2421,93,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2550,2601,51,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2601,2697,96,pick,eggplant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2697,2820,123,place,eggplant,right,-,-,-,-,right,yellow stuffed toy,right,bottom_right,none,none,Put the eggplant to the right of the yellow stuffed animal with the right hand with the tip facing bottom right. +2026-04-22-04-17-55-743000,pick_place_diverse,set 2 data collection day 2,2820,2937,117,pick,red marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand from the top at the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,green bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,99,207,108,place,green bowl,left,-,-,-,-,corner,yellow stuffed toy,corner,forwards,up,none,Put the green bowl right side up with its front facing forward to the top left of the yellow stuffed animal with the left hand. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,207,354,147,pick,silver bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the left hand using a diagonal lip grasp on the right side. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,354,459,105,place,silver bowl,left,-,-,-,-,left,green bowl,left,none,none,none,Put the silver bowl to the left of the green bowl with the left hand. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,459,618,159,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,618,705,87,place,red marker,right,-,-,-,-,table,table,none,top_right,none,bottom,Put the red marker on the bottom side of the table with the right hand with the tip facing top right. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,705,822,117,pick,yellow stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,822,924,102,place,yellow stuffed toy,right,-,-,-,-,inside,green bowl,inside,top_left,none,none,Put the yellow stuffed animal inside the green bowl with the right hand facing top left with the front as the reference point. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,924,1032,108,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1032,1110,78,place,eggplant,right,-,-,-,-,right,green bowl,right,bottom_right,none,none,Put the eggplant to the right of the green bowl with the right hand with its tip facing bottom right. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1110,1203,93,pick,red marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand from the top at the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1203,1323,120,place,red marker,right,-,-,-,-,right,eggplant,right,forwards,none,none,Put the red marker to the right of the eggplant with the right hand facing forwards with the tip as the reference point. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1323,1452,129,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1452,1488,36,dump,yellow stuffed toy,right,-,-,-,-,corner,silver bowl,corner,none,none,none,Dump the yellow stuffed animal from the green bowl to the bottom right of the silver bowl with the right hand. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1488,1578,90,place,green bowl,right,-,-,-,-,front,eggplant,front,none,none,none,Put the green bowl in front of the eggplant with the right hand. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1578,1686,108,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1746,1869,123,pick,pink plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand using a lip grip at the left side with a diagonal angle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1869,1983,114,place,pink plate,left,-,-,-,-,front,silver bowl,front,none,up,none,Put the pink plate in front of the silver bowl with the left hand right side up with the front as the orientation reference point. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,1982,2112,130,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle gripping the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2112,2187,75,place,yellow stuffed toy,right,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the yellow stuffed animal on top of the pink plate with the right hand facing top left from the front. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2187,2328,141,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2328,2430,102,place,eggplant,right,-,-,-,-,right,pink plate,right,bottom_right,none,none,Put the eggplant to the right of the pink plate with the right hand facing bottom right by the tip. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2430,2538,108,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2538,2661,123,place,red marker,right,-,-,-,-,table,table,none,top_left,none,none,Place the red marker to the top side of the table with the right hand with its tip facing top left. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2661,2763,102,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2763,2847,84,place,green bowl,right,-,-,-,-,right,red marker,right,none,none,none,Put the green bowl to the right of the red marker with the right hand. +2026-04-22-04-20-24-543000,pick_place_diverse,set 2 data collection day 2,2847,2940,93,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,0,153,153,pick,red marker,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,153,249,96,place,red marker,right,-,-,-,-,right,pink plate,right,top_right,none,none,Place the red marker to the right of the pink plate with the right hand facing top right. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,249,339,90,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,339,420,81,place,eggplant,right,-,-,-,-,right,silver bowl,right,backwards,none,none,Put the eggplant to the right of the silver bowl with the right hand facing backwards. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,420,513,93,pick,green bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,513,588,75,place,green bowl,right,-,-,-,-,right,red marker,right,none,none,none,Place the green bowl to the right of the red marker with the right hand. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,588,696,108,pick,eggplant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,696,816,120,place,eggplant,right,-,-,-,-,right,green bowl,right,bottom_right,none,none,Put the eggplant to the right of the green bowl with the right hand with its tip facing bottom right. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,816,951,135,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,951,1047,96,place,silver bowl,right,-,-,-,-,behind,green bowl,behind,none,none,none,Put the silver bowl behind the green bowl with the right hand. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1047,1167,120,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1167,1248,81,place,eggplant,right,-,-,-,-,right,silver bowl,right,bottom_right,none,none,Put the eggplant to the right of the silver bowl with the right hand facing bottom right from the front. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1248,1362,114,pick,yellow stuffed toy,right,plain,middle,top,pink plate,-,-,-,-,-,-,Pick up the yellow stuffed animal from the pink plate with the right hand from the top at the middle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1362,1419,57,place,yellow stuffed toy,right,-,-,-,-,inside,silver bowl,inside,top_left,none,none,Put the yellow stuffed animal inside the silver bowl with the right hand facing top left. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1419,1527,108,pick,eggplant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1527,1602,75,place,eggplant,right,-,-,-,-,inside,green bowl,inside,backwards,none,none,Place the eggplant inside the green bowl with the right hand facing backwards with the tip as the orientation reference point. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1602,1722,120,pick,red marker,right,side,top,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand using a side grasp at the bottom from the top. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1722,1863,141,place,red marker,right,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the red marker on top of the pink plate with the right hand with its tip facing top left. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1863,1965,102,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,1965,2028,63,dump,yellow stuffed toy,right,-,-,-,-,center,,none,none,none,none,Dump the yellow stuffed animal to the center of the table with the right hand. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2027,2142,115,place,silver bowl,right,-,-,-,-,right,green bowl,right,none,none,none,Place the silver bowl to the right of the green bowl with the right hand. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2142,2238,96,pick,yellow stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2238,2307,69,place,yellow stuffed toy,right,-,-,-,-,inside,silver bowl,inside,bottom_right,none,none,Put the yellow stuffed animal inside the silver bowl with the right hand facing bottom right from the front. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2307,2436,129,pick,pink plate,right,lip,right,top,table,-,-,-,-,-,-,Pick up the pink plate from the table with the right hand using a lip grip from the top at the right. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2436,2565,129,place,pink plate,right,-,-,-,-,behind,green bowl,behind,none,up,none,Place the pink plate behind the green bowl with the right hand right side up with the front as the orientation reference point. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2565,2700,135,pick,red marker,right,plain,middle,diagonal,pink plate,-,-,-,-,-,-,Pick up the red marker from the pink plate with the right hand at a diagonal angle grasping the middle. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2700,2796,96,place,red marker,right,-,-,-,-,left,pink plate,left,forwards,none,none,Place the red marker to the left of the pink plate with the right hand facing forwards with the tip forwards. +2026-04-22-04-22-48-946000,pick_place_diverse,set 2 data collection day 2,2796,2928,132,pick,eggplant,right,side,top,side,green bowl,-,-,-,-,-,-,Pick up the eggplant from the green bowl with the right hand using a side grip at the top from the side. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,0,138,138,pick,white coffee cup,left,handle,handle,straight,white plate,-,-,-,-,-,-,Pick up the white coffee cup from the white plate with the left hand using a side grasp on the handle. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,138,228,90,place,white coffee cup,left,-,-,-,-,front,white plate,front,backwards,none,none,Place the white coffee cup in front of the white plate with the handle facing backwards using the left hand. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,354,486,132,pick,tomato,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the right hand from the top at the middle. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,486,573,87,place,tomato,right,-,-,-,-,center,,none,forwards,up,none,Put the tomato right side up with the front facing forward to the center of the table using the right hand. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,573,669,96,pick,coffee pod,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,669,723,54,place,coffee pod,right,-,-,-,-,right,tomato,right,none,down,none,Put the coffee pod to the right of the tomato with the right hand upside down. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,723,858,135,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,858,939,81,place,brown stuffed toy,right,-,-,-,-,right,coffee pod,right,forwards,none,none,Put the brown stuffed animal to the right of the coffee pod with the right hand facing forwards with the front as the orientation reference point. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,939,1008,69,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,1008,1092,84,place,doritos,right,-,-,-,-,behind,coffee pod,behind,bottom_right,none,none,Put the doritos behind the coffee pod with the right hand facing bottom right. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,1302,1347,45,pick,white coffee cup,left,lip,left,straight,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand using a top lip grasp on the left side. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,1347,1578,231,place,white coffee cup,left,-,-,-,-,on_top,white plate,on_top,backwards,up,none,Place the white coffee cup on top of the white plate with the handle facing backwards using the left hand right side up. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,1578,1764,186,pick,tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top grasping the entire object. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,1764,1881,117,place,tomato,left,-,-,-,-,left,white plate,left,none,up,none,Put the tomato to the left of the white plate with the left hand right side up with the front as the orientation reference point. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,1881,2013,132,pick,coffee pod,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2012,2112,100,place,coffee pod,right,-,-,-,-,right,doritos,right,none,down,none,Put the coffee pod to the right of the doritos with the right hand upside down. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2112,2199,87,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2199,2274,75,place,doritos,right,-,-,-,-,right,coffee pod,right,bottom_right,none,none,Put the doritos to the right of the coffee pod with the right hand facing bottom right. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2274,2343,69,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2343,2427,84,place,brown stuffed toy,right,-,-,-,-,left,coffee pod,left,top_left,none,none,Put the brown stuffed animal to the left of the coffee pod with the right hand facing top left with the front as the reference point. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2427,2583,156,pick,tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top grasping the entire object. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2583,2658,75,place,tomato,left,-,-,-,-,corner,white plate,corner,forwards,up,none,Place the tomato to the bottom left of the white plate with the left hand right side up facing front. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2658,2766,108,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2766,2856,90,place,brown stuffed toy,right,-,-,-,-,front,coffee pod,front,top_left,none,none,Put the brown stuffed animal in front of the coffee pod with the right hand facing top left from the front. +2026-04-22-05-02-17-179000,pick_place_diverse,set 2 data collection day 2,2856,2919,63,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal from the top of the object. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,0,102,102,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal from the top of the object. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,102,162,60,place,doritos,right,-,-,-,-,front,coffee pod,front,backwards,none,none,Put the doritos in front of the coffee pod with the right hand facing backwards. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,162,315,153,pick,tomato,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top at the middle. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,315,432,117,place,tomato,left,-,-,-,-,left,white plate,left,none,up,none,Put the tomato to the left of the white plate with the left hand right side up with the front as the reference point. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,432,603,171,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,603,726,123,place,white coffee cup,left,-,-,-,-,left,tomato,left,backwards,none,none,Put the white coffee cup to the left of the tomato with the handle facing backwards with the left hand. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,726,834,108,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal from the top of the object. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,834,912,78,place,doritos,right,-,-,-,-,left,coffee pod,left,backwards,none,none,Put the doritos to the left of the coffee pod with the right hand facing backwards. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,912,1062,150,pick,coffee pod,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand at a diagonal angle from the middle. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1062,1131,69,place,coffee pod,right,-,-,-,-,front,doritos,front,none,down,none,Put the coffee pod in front of the doritos with the right hand upside down. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1131,1221,90,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1221,1266,45,place,brown stuffed toy,right,-,-,-,-,right,doritos,right,forwards,none,none,Put the brown stuffed animal to the right of the doritos with the right hand facing forwards. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1266,1446,180,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1446,1584,138,place,white coffee cup,left,-,-,-,-,above,white plate,above,backwards,up,none,Put the white coffee cup on the top of the white plate with the left hand right side up with the front facing backwards. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1584,1737,153,pick,coffee pod,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1737,1842,105,place,coffee pod,right,-,-,-,-,right,brown stuffed toy,right,none,down,none,Put the coffee pod to the right of the brown stuffed animal with the right hand upside down. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1842,1923,81,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1922,1994,72,place,doritos,right,-,-,-,-,front,brown stuffed toy,front,backwards,none,none,Put the doritos in front of the brown stuffed animal with the right hand facing backwards. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,1995,2127,132,pick,tomato,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2127,2262,135,place,tomato,left,-,-,-,-,front,white plate,front,none,up,none,Put the tomato in front of the white plate with the left hand right side up front. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2262,2433,171,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2433,2526,93,place,brown stuffed toy,right,-,-,-,-,left,doritos,left,forwards,none,none,Put the brown stuffed animal to the left of the doritos with the right hand facing forwards. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2526,2601,75,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2601,2673,72,place,doritos,right,-,-,-,-,behind,,none,backwards,none,none,Put the doritos behind to the center of the table with the right hand facing backwards with the front as the reference point. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2673,2796,123,pick,coffee pod,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-14-00-019000,pick_place_diverse,set 2 data collection day 2,2796,2856,60,place,coffee pod,right,-,-,-,-,right,brown stuffed toy,right,none,down,none,Put the coffee pod to the right of the brown stuffed animal with the right hand upside down. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,0,72,72,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,72,141,69,place,brown stuffed toy,right,-,-,-,-,right,doritos,right,forwards,none,none,Put the brown stuffed animal to the right of the doritos with the right hand facing forwards front. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,141,207,66,pick,doritos,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,207,282,75,place,doritos,right,-,-,-,-,left,coffee pod,left,bottom_right,none,none,Put the doritos to the left of the coffee pod with the right hand facing bottom right. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,282,420,138,pick,tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top grasping the entire object. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,420,516,96,place,tomato,left,-,-,-,-,left,white plate,left,top_left,none,none,Put the tomato to the left of the white plate with the left hand facing top left from the front. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,516,693,177,pick,white mug,left,handle,handle,side,white plate,-,-,-,-,-,-,Pick up the white mug from the top of the white plate with the left hand by the handle from the side. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,693,816,123,place,white mug,left,-,-,-,-,left,tomato,left,bottom_right,up,none,Put the white mug to the left of the tomato with the handle facing bottom right right side up with the left hand. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,816,957,141,pick,brown stuffed toy,right,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand from the top at the entire object. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,957,1044,87,place,brown stuffed toy,right,-,-,-,-,behind,doritos,behind,top_left,none,none,Put the brown stuffed animal behind the doritos with the right hand facing top left from the front. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1044,1134,90,pick,doritos,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand from the top at the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1134,1191,57,place,doritos,right,-,-,-,-,between,brown stuffed toy and the white plate,between,none,down,none,Put the doritos between the brown stuffed animal and the white plate with the right hand upside down. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1191,1401,210,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand at the handle from the side. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1401,1503,102,place,white mug,left,-,-,-,-,on_top,white plate,on_top,bottom_right,up,none,Put the white mug on top of the white plate with the left hand right side up with the front facing bottom right. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1503,1665,162,pick,doritos,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the doritosl from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1665,1755,90,place,doritos,right,-,-,-,-,front,brown stuffed toy,front,backwards,none,none,Put the doritos with the right hand in front of the brown stuffed animal and to the left of the coffee pod facing backwards. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1755,1965,210,pick,white mug,left,handle,handle,straight,white plate,-,-,-,-,-,-,Pick up the white mug from the top of the white plate with the left hand using a side grasp at the handle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,1965,2097,132,place,white mug,left,-,-,-,-,left,tomato,left,backwards,up,none,Put the white mug to the left of the tomato with the left hand right side up with the front facing backwards. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2097,2229,132,pick,doritos,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand from the top at the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2229,2298,69,place,doritos,right,-,-,-,-,right,coffee pod,right,bottom_left,none,none,Put the doritos to the right of the coffee pod with the right hand facing bottom left. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2298,2406,108,pick,brown stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2406,2466,60,place,brown stuffed toy,right,-,-,-,-,behind,coffee pod,behind,top_left,none,none,Put the brown stuffed animal behind the coffee pod with the right hand facing top left from the front. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2466,2568,102,pick,coffee pod,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2568,2637,69,place,coffee pod,right,-,-,-,-,behind,doritos,behind,none,down,none,Put the coffee pod behind the doritos with the right hand upside down at the front. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2637,2706,69,pick,doritos,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the middle. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2706,2754,48,place,doritos,right,-,-,-,-,front,brown stuffed toy,front,none,up,none,Put the doritos in front of the brown stuffed animal with the right hand right side up. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2754,2787,33,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2787,2949,162,pick,tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the tomato from the table with the left hand from the top grasping the entire object. +2026-04-22-05-16-38-928000,pick_place_diverse,set 2 data collection day 2,2949,3000,51,place,tomato,left,-,-,-,-,on_top,white plate,on_top,top_left,none,none,Put the tomato on top of the white plate with the left hand facing top left with the front as the reference point. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,0,135,135,pick,juice pouch,right,side,bottom,straight,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the bottom. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,135,321,186,place,juice pouch,right,-,-,-,-,between,croissant and the pink stuffed toy,between,none,up,none,Put the juice pouch between the croissant and the pink stuffed animal with the right hand right side up. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,321,453,132,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,453,567,114,place,croissant,right,-,-,-,-,front,white mug,front,none,none,none,Put the croissant in front of the white mug with the right hand. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,567,717,150,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,717,789,72,place,cabbage,left,-,-,-,-,left,croissant,left,forwards,none,none,Put the cabbage to the left of the croissant with the left hand facing forwards. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,789,963,174,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,963,1062,99,place,pink stuffed toy,right,-,-,-,-,right,croissant,right,top_left,none,none,Put the pink stuffed animal to the right of the croissant with the right hand facing top left from the front. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1062,1212,150,pick,white mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1212,1488,276,place,white mug,right,-,-,-,-,right,juice pouch,right,right,up,none,Put the white mug to the right of the juice pouch with the handle facing right using the right hand right side up from the front. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1488,1659,171,pick,pink stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand using a side grip at the top diagonally. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1659,1704,45,place,pink stuffed toy,right,-,-,-,-,behind,croissant,behind,top_left,none,none,Put the pink stuffed animal behind the croissant with the right hand facing top left from the front. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1704,1800,96,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1800,1944,144,place,cabbage,right,-,-,-,-,behind,pink stuffed toy,behind,top_left,none,none,Put the cabbage behind the pink stuffed animal with the right hand facing top left from the front. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,1944,2055,111,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2055,2154,99,place,juice pouch,right,-,-,-,-,right,pink stuffed toy,right,none,up,none,Put the juice pouch to the right of the pink stuffed animal with the right hand right side up. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2154,2220,66,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2220,2337,117,place,croissant,right,-,-,-,-,front,white mug,front,none,none,none,Put the croissant in front of the white mug with the right hand. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2337,2418,81,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2418,2535,117,place,pink stuffed toy,right,-,-,-,-,inside,white mug,inside,none,up,none,Put the pink stuffed animal inside the white mug with the right hand right side up. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2535,2619,84,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2619,2712,93,place,juice pouch,right,-,-,-,-,left,croissant,left,none,up,none,Place the juice pouch to the left of the croissant with the right hand right side up with the front as the reference point. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2712,2805,93,pick,cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-32-31-333000,pick_place_diverse,set 2 data collection day 2,2805,3000,195,place,cabbage,right,-,-,-,-,left,juice pouch,left,top_left,none,none,Put the cabbage to the left of the juice pouch with the right hand facing top left from the front. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,0,120,120,pick,bag of juice,right,side,top,straight,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the right hand using a side grip at the top. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,120,261,141,place,bag of juice,right,-,-,-,-,left,green cabbage,left,none,up,none,Put the bag of juice to the left of the green cabbage with the right hand right side up. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,261,393,132,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,393,510,117,place,croissant,right,-,-,-,-,left,bag of juice,left,none,none,none,Put the croissant to the left of the bag of juice with the right hand. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,660,768,108,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand from the side by the handle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,768,897,129,place,white coffee cup,right,-,-,-,-,behind,croissant,behind,backwards,up,none,Put the white coffee cup behind the croissant with the handle facing backwards right side up using the right hand. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,897,1041,144,pick,green cabbage,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the right hand from the side at the middle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1041,1194,153,place,green cabbage,right,-,-,-,-,left,croissant,left,top_left,none,none,Put the green cabbage to the left of the croissant with the right hand facing top left from the front. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1194,1380,186,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1380,1473,93,place,croissant,left,-,-,-,-,left,green cabbage,left,none,none,none,Put the croissant to the left of the green cabbage with the left hand. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1473,1572,99,pick,bag of juice,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the right hand using a side grip at the top from a diagonal angle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1572,1668,96,place,bag of juice,right,-,-,-,-,behind,green cabbage,behind,none,up,none,Put the bag of juice to the left of the white coffee cup and behind the green cabbage with the right hand right side up. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1668,1725,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1725,1797,72,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1797,1902,105,place,croissant,left,-,-,-,-,corner,bag of juice,corner,none,none,none,Put the croissant to the top left of the bag of juice with the left hand. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,1902,2037,135,pick,green cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the left hand from the top at the middle. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2037,2175,138,place,green cabbage,left,-,-,-,-,corner,croissant,corner,top_right,none,none,Place the green cabbage with the left hand to the bottom left of the croissant facing top right from the front. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2175,2403,228,pick,white coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the left hand by the handle from the side. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2403,2490,87,dump,pink stuffed toy,left,-,-,-,-,left,green cabbage,left,none,none,none,Dump the pink stuffed animal from the white coffee cup to the left of the green cabbage with the left hand. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2490,2610,120,place,white coffee cup,left,-,-,-,-,front,pink stuffed toy,front,bottom_left,up,none,Put the white coffee cup in front of the pink stuffed animal with the left hand right side up with the front facing bottom left. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2610,2751,141,pick,bag of juice,left,side,top,straight,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the left hand using a side grip at the top. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2751,2856,105,place,bag of juice,left,-,-,-,-,front,white coffee cup,front,none,up,none,Put the bag of juice in front of the white coffee cup with the left hand right side up. +2026-04-23-03-34-42-011000,pick_place_diverse,set 2 data collection day 2,2856,2961,105,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,asparagus,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand from the top at the middle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,99,237,138,place,asparagus,left,-,-,-,-,left,green mug,left,backwards,none,none,Put the asparagus to the left of the green mug with the left hand facing backwards by the tip. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,237,333,96,pick,blue stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the entire object. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,333,420,87,place,blue stuffed toy,left,-,-,-,-,front,green mug,front,bottom_left,none,none,Put the blue stuffed animal in front of the green mug with the left hand facing bottom left with the front as the reference point. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,420,519,99,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,519,615,96,place,orange screwdriver,left,-,-,-,-,front,corn,front,forwards,none,none,Put the orange screwdriver in front of the corn with the left hand facing forwards with the tip as the reference point. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,615,810,195,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,903,984,81,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,983,1059,76,place,green bag of chips,right,-,-,-,-,front,corn,front,backwards,none,none,Put the green bag of chips in front of the corn with the right hand facing backwards. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1059,1266,207,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand from the side by the handle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1266,1506,240,place,green mug,left,-,-,-,-,center,,none,bottom_right,up,none,Put the green mug to the center of the table with the left hand right side up with the front facing bottom right. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1506,1641,135,pick,asparagus,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1641,1767,126,place,asparagus,left,-,-,-,-,left,orange screwdriver,left,bottom_right,none,none,Put the asparagus to the left of the orange screwdriver with the left hand with the tip facing bottom right. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1767,1854,87,pick,blue stuffed toy,left,side,top,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand using a side grip from the top. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1854,1944,90,place,blue stuffed toy,left,-,-,-,-,behind,asparagus,behind,bottom_left,none,none,Place the blue stuffed animal behind the asparagus with the left hand facing bottom left from the front. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,1944,2061,117,pick,pink bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a lip grip from the left at a diagonal angle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2061,2172,111,place,pink bowl,left,-,-,-,-,left,blue stuffed toy,left,none,none,none,Put the pink bowl to the left of the blue stuffed animal with the left hand. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2172,2262,90,pick,asparagus,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand from the top at the middle. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2262,2391,129,place,asparagus,left,-,-,-,-,behind,blue stuffed toy,behind,bottom_right,none,none,Put the asparagus behind the blue stuffed animal with the left hand facing bottom right with the tip as the reference point. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2391,2646,255,pick,green mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand by the handle from the side. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2646,2793,147,place,green mug,right,-,-,-,-,right,corn,right,backwards,up,none,Put the green mug to the right of the corn with the right hand right side up with the front facing backwards. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2793,2865,72,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-23-03-37-30-664000,pick_place_diverse,set 2 data collection day 2,2865,2976,111,pick,blue stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,0,93,93,pick,orange screwdriver,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand from the side at the middle. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,225,375,150,pick,pink bowl,left,side,left,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the left hand using a side grip at the left in a diagonal angle. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,420,540,120,place,pink bowl,left,-,-,-,-,front,asparagus,front,none,none,none,Put the pink bowl in front of the asparagus with the left hand. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,540,678,138,pick,blue stuffed toy,left,side,top,side,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand using a side grip at the top from the side. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,678,741,63,place,blue stuffed toy,left,-,-,-,-,left,asparagus,left,bottom_right,none,none,Put the blue stuffed animal to the left of the asparagus with the left hand facing bottom right from the front. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,741,963,222,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,963,1095,132,place,orange screwdriver,right,-,-,-,-,right,pink bowl,right,top_left,none,none,Place the orange screwdriver to the right of the pink bowl with the right hand with its tip facing top left. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1095,1329,234,pick,asparagus,left,side,top,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the left hand using a side grip at the bottom from the top. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1329,1398,69,place,asparagus,left,-,-,-,-,inside,pink bowl,inside,bottom_left,none,none,Put the asparagus inside the pink bowl with the left hand facing bottom left with the tip as the reference point. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1398,1542,144,pick,orange screwdriver,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip at the top diagonally. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1542,1644,102,place,orange screwdriver,right,-,-,-,-,right,pink bowl,right,none,none,none,Put the orange screwdriver to the right of the pink bowl with the right hand facing the tip top right. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1644,1788,144,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle from the middle. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1857,1995,138,pick,green mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand from the side by the handle. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,1995,2097,102,place,green mug,right,-,-,-,-,behind,corn,behind,backwards,up,none,Put the green mug behind the corn with the handle facing backwards right side up using the right arm. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2097,2172,75,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal angle from the top of the object. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2172,2289,117,place,green bag of chips,right,-,-,-,-,behind,pink bowl,behind,backwards,none,none,Place the green bag of chips behind the pink bowl with the right hand facing backwards. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2289,2400,111,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2400,2490,90,place,corn,right,-,-,-,-,left,green mug,left,bottom_right,none,none,Put the corn to the left of the green mug with the right hand facing bottom right with the tip as the reference point. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2490,2598,108,pick,orange screwdriver,right,side,top,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand using a side grip from the top at the bottom. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2598,2682,84,place,orange screwdriver,right,-,-,-,-,front,green mug,front,forwards,none,none,Put the orange screwdriver in front of the green mug with the right hand with its tip facing forwards. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2682,2757,75,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2757,2802,45,dump,asparagus,right,-,-,-,-,front,corn,front,none,none,none,Dump the asparagus from the pink bowl in front of the corn with the right hand. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2802,2901,99,place,pink bowl,right,-,-,-,-,right,green mug,right,none,none,none,Put the pink bowl to the right of the green mug with the right hand. +2026-04-23-03-39-40-493000,pick_place_diverse,set 2 data collection day 2,2901,2973,72,pick,orange screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,0,96,96,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,96,162,66,place,asparagus,right,-,-,-,-,front,green coffee cup,front,top_left,none,none,Put the asparagus in front of the green coffee cup with the tip facing top left using the right hand. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,162,261,99,pick,screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,261,351,90,place,screwdriver,right,-,-,-,-,left,asparagus,left,top_left,none,none,Place the screwdriver to the left of the asparagus with the right hand facing top left by the tip. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,441,483,42,pick,blue stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top at the entire object. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,483,546,63,place,blue stuffed toy,left,-,-,-,-,front,green bag of chips,front,backwards,none,none,Put the blue stuffed animal in front of the green bag of chips with the left hand facing backwards. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,546,642,96,pick,green bag of chips,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand at a diagonal angle grasping the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,642,717,75,place,green bag of chips,left,-,-,-,-,left,blue stuffed toy,left,backwards,none,none,Put the green bag of chips to the left of the blue stuffed animal with the left hand facing backwards. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,717,837,120,pick,screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,837,939,102,place,screwdriver,right,-,-,-,-,left,corn,left,top_left,none,none,Place the screwdriver to the left of the corn with the right hand facing top left with the tip as the reference point. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,939,1032,93,pick,asparagus,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1032,1095,63,place,asparagus,right,-,-,-,-,inside,pink bowl,inside,none,up,none,Put the asparagus inside the pink bowl with the right hand right side up. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1095,1179,84,pick,green coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the right hand by the handle from the side. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1179,1341,162,place,green coffee cup,right,-,-,-,-,left,screwdriver,left,bottom_right,up,none,Put the green coffee cup to the left of the screwdriver with the handle facing bottom right right side up using the right hand. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1341,1431,90,pick,blue stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1431,1488,57,place,blue stuffed toy,right,-,-,-,-,front,corn,front,bottom_right,none,none,Put the blue stuffed animal in front of the corn with the right hand facing bottom right from the front. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1488,1569,81,pick,green bag of chips,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand from the top at the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1569,1665,96,place,green bag of chips,left,-,-,-,-,left,green coffee cup,left,backwards,none,none,Put the green bag of chips to the left of the green coffee cup with the left hand facing backwards. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1665,1806,141,pick,blue stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the left hand from the top around the entire object. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1806,1890,84,place,blue stuffed toy,left,-,-,-,-,front,green bag of chips,front,bottom_right,none,none,Put the blue stuffed animal in front of the green bag of chips with the left hand facing bottom right from the front. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,1890,2016,126,pick,screwdriver,left,side,top,top,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the left hand using a side grip from the top at the bottom. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2016,2175,159,place,screwdriver,left,-,-,-,-,left,blue stuffed toy,left,top_left,none,none,Put the screwdriver to the left of the blue stuffed animal with the left hand facing top left by the tip. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2175,2235,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2235,2385,150,pick,corn,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand from the top at the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2385,2466,81,place,corn,right,-,-,-,-,right,green coffee cup,right,backwards,none,none,Put the corn to the right of the green coffee cup with the tip facing backwards using the right hand. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2466,2634,168,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2634,2730,96,place,pink bowl,right,-,-,-,-,right,corn,right,none,none,none,Put the pink bowl to the right of the corn with the right hand. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2730,2844,114,pick,corn,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand from the top at the middle. +2026-04-23-03-42-31-355000,pick_place_diverse,set 2 data collection day 2,2844,2952,108,place,corn,right,-,-,-,-,front,pink bowl,front,bottom_left,none,none,Put the corn in front of the pink bowl with the right hand facing bottom left by the tip. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,0,153,153,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,153,234,81,place,blue marker,left,-,-,-,-,left,white cup,left,bottom_right,none,none,Put the blue marker to the left of the white cup with the left hand with its tip facing bottom right. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,234,366,132,pick,gray stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,366,456,90,place,gray stuffed toy,left,-,-,-,-,corner,blue marker,corner,top_left,none,none,Put the gray stuffed animal with the front facing top left to the bottom left of the blue marker with the left hand. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,456,600,144,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,600,732,132,place,carrot,left,-,-,-,-,front,white cup,front,forwards,none,none,Put the carrot in front of the white cup and to the left of the screwdriver with the left hand facing forwards with the tip as the reference point. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,732,894,162,pick,beige bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip from the top at the left. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,894,1032,138,place,beige bowl,left,-,-,-,-,right,screwdriver,right,none,none,none,Put the beige bowl to the right of the screwdriver with the left hand. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1032,1164,132,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1164,1245,81,place,blue marker,left,-,-,-,-,inside,beige bowl,inside,none,none,none,Put the blue marker inside the beige bowl with the left hand. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1245,1368,123,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1368,1449,81,place,carrot,left,-,-,-,-,behind,screwdriver,behind,forwards,none,none,Put the carrot behind the screwdriver with the left hand facing forwards with the tip as the reference point. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1449,1590,141,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1590,1635,45,place,gray stuffed toy,left,-,-,-,-,left,screwdriver,left,top_left,none,none,Put the gray stuffed animal to the left of the screwdriver with the left hand facing top left from the front. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1635,1797,162,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1797,1878,81,dump,blue marker,right,-,-,-,-,right,screwdriver,right,none,none,none,Dump the blue marker from the beige bowl to the right of the screwdriver with the right hand. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,1878,2010,132,place,beige bowl,right,-,-,-,-,right,blue marker,right,none,none,none,Place the beige bowl to the right of the blue marker with the right hand. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2010,2160,150,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2160,2241,81,place,carrot,left,-,-,-,-,inside,beige bowl,inside,top_right,none,none,Put the carrot inside the beige bowl with the left hand facing top right with the tip as reference. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2241,2361,120,pick,gray stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the middle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2361,2457,96,place,gray stuffed toy,left,-,-,-,-,corner,blue marker,corner,forwards,none,none,Put the gray stuffed animal to the bottom right of the blue marker with the left hand facing forwards. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2457,2583,126,pick,gray stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2583,2661,78,place,gray stuffed toy,right,-,-,-,-,right,beige bowl,right,top_right,none,none,Put the gray stuffed animal to the right of the beige bowl with the right hand facing top right from the front. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2661,2751,90,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the right side diagonally. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2751,2847,96,dump,carrot,right,-,-,-,-,right,screwdriver,right,none,none,none,Dump the carrot from the beige bowl to the right of the screwdriver with the right hand. +2026-04-23-03-45-22-234000,pick_place_diverse,set 2 data collection day 2,2847,2955,108,place,beige bowl,right,-,-,-,-,front,gray stuffed toy,front,none,none,none,Put the beige bowl in front of the gray stuffed animal with the right hand. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,0,150,150,pick,white cup,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the side at the middle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,150,285,135,place,white cup,left,-,-,-,-,right,blue screwdriver,right,none,up,none,Put the white cup to the right of the blue screwdriver with the left hand right side up with the front as the reference point. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,285,378,93,pick,blue marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand from the top at the middle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,378,534,156,place,blue marker,left,-,-,-,-,between,carrot and the blue screwdriver,between,forwards,none,none,Place the blue marker between the carrot and the blue screwdriver with the left hand facing forwards with the tip as the reference point. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,534,633,99,pick,carrot,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,753,927,174,pick,blue marker,left,side,top,straight,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand using a side grip at the top. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,927,1071,144,place,blue marker,left,-,-,-,-,front,blue screwdriver,front,top_right,none,none,Put the blue marker in front of the blue screwdriver with the left hand facing top right with the tip as the reference point. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1071,1224,153,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1224,1320,96,place,gray stuffed toy,right,-,-,-,-,front,beige bowl,front,forwards,none,none,Put the gray stuffed animal in front of the beige bowl with the right hand facing forwards. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1320,1458,138,pick,white cup,left,lip,left,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand by the left side using a lip grasp from the top. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1458,1557,99,place,white cup,left,-,-,-,-,left,blue screwdriver,left,none,up,none,Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the orientation reference point. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1557,1701,144,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1701,1821,120,place,gray stuffed toy,left,-,-,-,-,front,white cup,front,forwards,none,none,Put the gray stuffed animal in front of the white cup with the left hand facing forwards. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,1821,1944,123,pick,carrot,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand from the top at the middle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2058,2178,120,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2178,2259,81,place,blue marker,left,-,-,-,-,right,blue screwdriver,right,forwards,none,none,Put the blue marker to the right of the blue screwdriver with the left hand facing forwards with the tip as the reference point. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2259,2358,99,pick,gray stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top at the middle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2358,2409,51,place,gray stuffed toy,left,-,-,-,-,behind,blue screwdriver,behind,top_left,none,none,Put the gray stuffed animal behind the blue screwdriver with the left hand facing top left. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2409,2490,81,pick,white cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip from the top at the right side. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2490,2547,57,place,white cup,left,-,-,-,-,front,blue screwdriver,front,none,up,none,Put the white cup in front of the blue screwdriver with the left hand right side up with the front as the orientation reference point. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2547,2676,129,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the right side with a diagonal pick angle. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2676,2739,63,place,beige bowl,right,-,-,-,-,right,blue marker,right,none,none,none,Put the beige bowl to the right of the blue marker with the right hand. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2739,2787,48,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2787,2892,105,pick,white cup,left,lip,left,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the top at the left side using a lip grip. +2026-04-23-03-48-33-728000,pick_place_diverse,set 2 data collection day 2,2892,3000,108,place,white cup,left,-,-,-,-,left,gray stuffed toy,left,none,up,none,Put the white cup to the left of the gray stuffed animal with the left hand right side up with the front as the reference point. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,0,201,201,pick,blue marker,left,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,201,369,168,place,blue marker,left,-,-,-,-,front,beige bowl,front,bottom_right,none,none,Put the blue marker in front of the beige bowl with the left hand with its tip facing bottom right. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,369,534,165,pick,carrot,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand at a diagonal angle from the middle. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,534,663,129,place,carrot,left,-,-,-,-,front,blue screwdriver,front,backwards,none,none,Put the carrot in front of the blue screwdriver with the left hand facing backwards. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,663,804,141,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,804,876,72,place,beige bowl,right,-,-,-,-,table,table,none,none,none,none,Put the beige bowl to the right side of the table with the right hand. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,876,984,108,pick,blue marker,right,side,top,top,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,983,1041,58,place,blue marker,right,-,-,-,-,inside,beige bowl,inside,bottom_right,none,none,Put the blue marker inside the beige bowl with the right hand facing bottom right with the tip as the reference point. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1041,1143,102,pick,carrot,left,side,top,straight,table,-,-,-,-,-,-,Pick up the carrot from the table with the left hand using a side grip at the top. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1287,1434,147,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top around the entire object. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1434,1536,102,place,gray stuffed toy,left,-,-,-,-,left,carrot,left,forwards,none,none,Put the gray stuffed animal to the left of the carrot with the left hand facing forwards. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1536,1665,129,pick,white cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the top at the right side using a lip grip. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1665,1782,117,place,white cup,left,-,-,-,-,behind,blue screwdriver,behind,none,up,none,Put the white cup behind the blue screwdriver with the left hand right side up with the front as the orientation reference point. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1782,1995,213,pick,gray stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,1995,2070,75,place,gray stuffed toy,right,-,-,-,-,right,beige bowl,right,forwards,none,none,Put the gray stuffed animal to the right of the beige bowl with the right hand facing forwards with the front as the orientation reference point. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,2070,2142,72,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,2142,2235,93,place,beige bowl,right,-,-,-,-,behind,gray stuffed toy,behind,none,none,none,Put the beige bowl behind the gray stuffed animal with the right hand. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,2235,2331,96,pick,carrot,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,2331,2460,129,place,carrot,right,-,-,-,-,left,beige bowl,left,bottom_right,none,none,Put the carrot to the left of the beige bowl with the right hand with its tip facing bottom right. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,2460,2673,213,pick,white cup,left,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a lip grip from the top at the right side. +2026-04-23-03-52-30-479000,pick_place_diverse,set 2 data collection day 2,2673,2796,123,place,white cup,left,-,-,-,-,left,blue screwdriver,left,none,up,none,Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the reference point. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,99,207,108,place,canned goods,left,-,-,-,-,corner,white coffee cup,corner,none,none,none,Put the canned goods to the bottom left of the white coffee cup with the left hand. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,207,381,174,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,381,501,120,place,blue soda can,left,-,-,-,-,corner,canned goods,corner,none,none,none,Put the blue soda can to the top left of the canned goods with the left hand. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,558,852,294,pick,white coffee cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip from the top at the right side. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,852,972,120,place,white coffee cup,right,-,-,-,-,right,pink coffee cup,right,bottom_left,up,none,Put the white coffee cup to the right of the pink coffee cup with the handle facing bottom left right side up using the right arm. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,1065,1119,54,pick,pink coffee cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the pink coffee cup from the table with the right hand from the top at the right side using a lip grip. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,1119,1299,180,place,pink coffee cup,right,-,-,-,-,corner,white coffee cup,corner,backwards,up,none,Put the pink coffee cup to the top right of the white coffee cup with the handle facing backwards right side up using the right arm. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,1299,1464,165,pick,blue soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,1464,1659,195,place,blue soda can,left,-,-,-,-,right,canned goods,right,none,none,none,Put the blue soda can to the right of the canned goods with the left hand. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,1659,1809,150,pick,white coffee cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grasp from the top at the right. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,1809,2034,225,place,white coffee cup,right,-,-,-,-,corner,pink coffee cup,corner,bottom_left,none,none,Put the white coffee cup to the bottom right of the pink coffee cup with the handle facing bottom left using the right hand. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,2034,2202,168,pick,blue soda can,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand from the side at the middle. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,2202,2325,123,place,blue soda can,right,-,-,-,-,left,pink coffee cup,left,none,none,none,Put the blue soda can to the left of the pink coffee cup with the right hand. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,2325,2472,147,pick,canned goods,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand using a side grip at the top diagonally. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,2472,2580,108,place,canned goods,left,-,-,-,-,corner,blue soda can,corner,none,none,none,Put the canned goods to the bottom left of the blue soda can with the left hand. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,2580,2802,222,pick,white coffee cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle. +2026-04-23-03-58-10-520000,pick_place_diverse,set 2 data collection day 2,2802,2901,99,place,white coffee cup,right,-,-,-,-,right,pink coffee cup,right,bottom_right,up,none,Put the white coffee cup to the right of the pink coffee cup with the handle facing bottom right right side up with the right hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,0,156,156,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,156,318,162,place,blue soda can,right,-,-,-,-,left,canned goods,left,none,none,none,Put the blue soda can to the left of the canned goods with the right hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,318,429,111,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at the handle from the side. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,429,603,174,place,pink mug,right,-,-,-,-,behind,blue soda can,behind,backwards,up,none,Put the pink mug behind the blue soda can with the handle facing backwards right side up with the right hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,603,756,153,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand from the side by the handle. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,756,897,141,place,white coffee cup,right,-,-,-,-,corner,table,none,bottom_right,up,top_right,Put the white coffee cup on the top right side of the table with the right hand right side up with the front facing bottom right. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,897,1011,114,pick,canned goods,right,side,top,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top from the side. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1011,1116,105,place,canned goods,right,-,-,-,-,front,white coffee cup,front,none,none,none,Put the canned goods in front of the white coffee cup with the right hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1116,1284,168,pick,blue soda can,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1284,1419,135,place,blue soda can,left,-,-,-,-,left,pink mug,left,none,none,none,Put the blue soda can to the left of the pink mug with the left hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1419,1656,237,pick,canned goods,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1656,1776,120,place,canned goods,right,-,-,-,-,between,pink mug and the white coffee cup,between,none,none,none,Put the canned goods between the pink mug and the white coffee cup with the right hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1776,1971,195,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,1971,2193,222,place,pink mug,right,-,-,-,-,front,canned goods,front,backwards,up,none,Put the pink mug in front of the canned goods with the handle facing backwards right side up using the right arm. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,2193,2367,174,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,2367,2487,120,place,blue soda can,left,-,-,-,-,left,pink mug,left,none,none,none,Put the blue soda can to the left of the pink mug with the left hand. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,2487,2727,240,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-23-04-00-38-547000,pick_place_diverse,set 2 data collection day 2,2727,2886,159,place,pink mug,right,-,-,-,-,right,white coffee cup,right,backwards,up,none,Put the pink mug to the right of the white coffee cup with the handle facing backwards using the right hand right side up front. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,99,219,120,place,pink mug,right,-,-,-,-,right,white coffee cup,right,bottom_right,up,none,Put the pink mug to the right of the white coffee cup with the handle facing bottom right right side up using the right arm. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,219,444,225,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,444,537,93,place,blue soda can,left,-,-,-,-,left,canned goods,left,none,none,none,Put the blue soda can to the left of the canned goods with the left hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,537,735,198,pick,pink mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the right. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,735,936,201,place,pink mug,right,-,-,-,-,front,blue soda can,front,bottom_left,none,none,Put the pink mug in front of the blue soda can with the handle facing bottom left using the right hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,936,1134,198,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand by the handle from the side. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,1134,1284,150,place,white coffee cup,right,-,-,-,-,right,canned goods,right,backwards,up,none,Put the white coffee cup to the right of the canned goods with the right hand right side up with the front facing backwards. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,1284,1479,195,pick,pink mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand from the side by the handle. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,1479,1671,192,place,pink mug,left,-,-,-,-,left,blue soda can,left,backwards,up,none,Put the pink mug to the left of the blue soda can with the left hand right side up with the front facing backwards. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,1671,1824,153,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand from the side by the handle. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,1824,1941,117,place,white coffee cup,right,-,-,-,-,front,blue soda can,front,bottom_right,none,none,Put the white coffee cup in front of the blue soda can with the handle facing bottom right using the right hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,1941,2097,156,pick,blue soda can,right,side,top,straight,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2097,2229,132,place,blue soda can,right,-,-,-,-,right,white coffee cup,right,none,none,none,Put the blue soda can to the right of the white coffee cup with the right hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2229,2394,165,pick,pink mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand by the handle from the side. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2394,2547,153,place,pink mug,left,-,-,-,-,corner,white coffe cup,corner,none,up,none,Put the pink mug to the bottom left of the white coffe cup with the front right side up using the left hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2547,2622,75,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2622,2733,111,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2733,2832,99,place,blue soda can,right,-,-,-,-,right,canned goods,right,none,none,none,Put the blue soda can to the right of the canned goods with the right hand. +2026-04-23-04-03-27-173000,pick_place_diverse,set 2 data collection day 2,2832,2949,117,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand by the handle from the side. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,0,105,105,pick,croissant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,105,216,111,place,croissant,left,-,-,-,-,left,cabbage,left,none,none,none,Put the croissant to the left of the cabbage with the left hand. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,216,378,162,pick,bag of juice,right,side,top,straight,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the right hand using a side grip at the top. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,378,459,81,place,bag of juice,right,-,-,-,-,table,table,none,none,up,top,Put the bag of juice on the top side of the table with the right hand right side up. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,459,630,171,pick,white mug,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left side. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,630,723,93,place,white mug,left,-,-,-,-,front,cabbage,front,forwards,up,none,Put the white mug in front of the cabbage with the handle facing forwards right side up with the left hand. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,723,867,144,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,867,978,111,place,croissant,left,-,-,-,-,front,pink stuffed toy,front,none,none,none,Put the croissant in front of the pink stuffed animal and to the right of the white mug with the left hand. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,978,1134,156,pick,pink stuffed toy,right,plain,entire,top,table,-,-,-,-,-,-,Pick up the pink stuffed from the table with the right hand from the top at the entire object. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,1251,1413,162,pick,croissant,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand from the top at the middle. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,1413,1524,111,place,croissant,right,-,-,-,-,front,pink stuffed toy,front,none,none,none,Place the croissant in front of the pink stuffed animal with the right hand. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,1524,1656,132,pick,bag of juice,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the bag of juice from the table with the right hand using a side grip at the top right diagonal. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,1836,1980,144,pick,white mug,left,lip,left,top,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand using a lip grasp from the top at the left. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,1980,2157,177,place,white mug,left,-,-,-,-,left,croissant,left,forwards,up,none,Put the white mug to the left of the croissant with the left hand right side up with the front facing forwards. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,2157,2370,213,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,2493,2553,60,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,2553,2670,117,pick,pink stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-23-05-00-08-228000,pick_place_diverse,set 2 data collection day 1,2670,2814,144,place,pink stuffed toy,right,-,-,-,-,right,bag of juice,right,forwards,none,none,Put the pink stuffed animal to the right of the bag of juice with the right hand facing forwards from the front. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,0,96,96,pick,croissant,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,96,231,135,place,croissant,left,-,-,-,-,corner,blue marker,corner,none,none,none,Place the croissant to the bottom left of the blue marker with the left hand. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,231,417,186,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,417,513,96,place,gray stuffed toy,left,-,-,-,-,inside,beige bowl,inside,top_left,none,none,Put the gray stuffed animal inside the beige bowl with the left hand facing top left from the front. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,513,708,195,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,708,810,102,place,corn,right,-,-,-,-,right,beige bowl,right,top_left,none,none,Put the corn to the right of the beige bowl with the right hand facing top left. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,810,1023,213,pick,croissant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the croissant from the table with the left hand from the top at the middle. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,1023,1185,162,place,croissant,left,-,-,-,-,front,corn,front,none,none,none,Put the croissant in front of the corn with the left hand. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,1185,1407,222,pick,blue marker,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,1407,1635,228,place,blue marker,left,-,-,-,-,right,croissant,right,forwards,none,none,Put the blue marker to the right of the croissant with the left hand facing forwards with the tip as the reference point. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,1635,1791,156,pick,croissant,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal from the top of the object. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,1791,1848,57,place,croissant,right,-,-,-,-,right,blue marker,right,none,none,none,Place the croissant to the right of the blue marker with the right hand. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,1848,1950,102,pick,corn,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand from the top at the middle. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2052,2175,123,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip from the left at a diagonal angle. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2175,2301,126,place,beige bowl,left,-,-,-,-,right,blue marker,right,none,none,none,Put the beige bowl to the right of the blue marker with the left hand. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2301,2433,132,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2433,2559,126,place,croissant,right,-,-,-,-,behind,corn,behind,none,none,none,Place the croissant behind the corn with the right hand. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2559,2712,153,pick,beige bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip from the top at the left. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2712,2850,138,place,beige bowl,left,-,-,-,-,behind,blue marker,behind,none,none,none,Place the beige bowl behind the blue marker with the left hand. +2026-04-24-03-32-21-466000,pick_place_diverse,set 2 data collection day 2,2850,2916,66,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,0,105,105,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle from the middle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,105,252,147,place,corn,right,-,-,-,-,right,croissant,right,forwards,none,none,Put the corn to the right of the croissant with the right hand facing forwards with the tip as the reference point. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,252,378,126,pick,blue marker,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand from the side at the middle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,537,663,126,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,663,762,99,place,croissant,right,-,-,-,-,front,beige bowl,front,none,none,none,Put the croissant in front of the beige bowl with the right hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,762,852,90,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,852,987,135,place,blue marker,right,-,-,-,-,left,croissant,left,forwards,none,none,Put the blue marker to the left of the croissant with the right hand with its tip facing forwards. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,987,1098,111,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1272,1368,96,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1368,1443,75,place,croissant,right,-,-,-,-,right,beige bowl,right,none,none,none,Put the croissant to the right of the beige bowl with the right hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1443,1539,96,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the right side and a diagonal angle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1539,1614,75,dump,gray stuffed toy,right,-,-,-,-,right,blue marker,right,none,none,none,Dump the gray stuffed animal from the beige bowl to the right of the blue marker with the right hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1614,1710,96,place,beige bowl,right,-,-,-,-,right,croissant,right,none,none,none,Put the beige bowl to the right of the croissant with the right hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1710,1785,75,pick,gray stuffed toy,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand using a side grip at the top with a diagonal pick angle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1785,1842,57,place,gray stuffed toy,right,-,-,-,-,front,croissant,front,bottom_right,none,none,Put the gray stuffed animal in front of the croissant with the right hand facing bottom right from the front. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1842,1929,87,pick,blue marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,1929,2049,120,place,blue marker,right,-,-,-,-,between,corn and the croissant,between,forwards,none,none,Put the blue marker between the corn and the croissant with the right hand facing forwards with the tip facing forwards. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2049,2139,90,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2139,2304,165,place,corn,right,-,-,-,-,front,blue marker,front,top_left,none,none,Put the corn in front of the blue marker with the tip facing top left using the right hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2304,2397,93,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a lip grip at the right side diagonally. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2397,2550,153,place,beige bowl,right,-,-,-,-,left,blue marker,left,none,none,none,Put the beige bowl to the left of the blue marker with the right hand. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2550,2682,132,pick,gray stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2682,2763,81,place,gray stuffed toy,right,-,-,-,-,front,beige bowl,front,backwards,none,none,Put the gray stuffed animal in front of the beige bowl with the right hand facing backwards relative to the front. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2763,2850,87,pick,croissant,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-34-27-275000,pick_place_diverse,set 2 data collection day 2,2850,2934,84,place,croissant,right,-,-,-,-,inside,beige bowl,inside,none,none,none,Place the croissant inside the beige bowl with the right hand. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,0,141,141,pick,gray stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,141,249,108,place,gray stuffed toy,left,-,-,-,-,left,beige bowl,left,bottom_left,none,none,Put the gray stuffed animal to the left of the beige bowl with the left hand facing bottom left with the front as the reference point. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,249,435,186,pick,blue marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grasp at the bottom at a diagonal angle. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,435,582,147,place,blue marker,right,-,-,-,-,front,beige bowl,front,forwards,none,none,Put the blue marker in front of the beige bowl with the tip facing forwards using the right arm. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,582,678,96,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,798,912,114,pick,beige bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,972,1116,144,place,beige bowl,right,-,-,-,-,front,gray stuffed toy,front,none,none,none,Put the beige bowl in front of the gray stuffed animal with the right hand. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,1116,1224,108,pick,corn,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand using a side grip at the bottom and a diagonal pick angle. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,1332,1428,96,pick,croissant,right,side,right,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the right in a diagonal pick. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,1557,1698,141,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a lip grip at the left side with a diagonal angle. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,1698,1800,102,place,beige bowl,left,-,-,-,-,left,gray stuffed toy,left,none,none,none,Put the beige bowl to the left of the gray stuffed animal with the left hand. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,1800,1944,144,pick,gray stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,1944,2007,63,place,gray stuffed toy,left,-,-,-,-,inside,beige bowl,inside,bottom_left,none,none,Put the gray stuffed animal inside the beige bowl with the left hand facing bottom left from the front. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2007,2184,177,pick,blue marker,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the blue marker from the table with the right hand using a side grip at the bottom in a diagonal pick. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2184,2283,99,place,blue marker,right,-,-,-,-,inside,beige bowl,inside,top_left,none,none,Put the blue marker inside the beige bowl with the right hand facing top left with the tip as the reference point. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2283,2433,150,pick,beige bowl,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the left. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2433,2544,111,place,beige bowl,left,-,-,-,-,left,corn,left,none,none,none,Put the beige bowl to the left of the corn with the left hand. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2544,2583,39,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2583,2676,93,pick,croissant,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the croissant from the table with the right hand using a side grip at the bottom from a diagonal angle. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2676,2796,120,place,croissant,right,-,-,-,-,behind,corn,behind,none,none,none,Put the croissant behind the corn with the right hand. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2796,2886,90,pick,corn,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-36-34-784000,pick_place_diverse,set 2 data collection day 2,2886,3000,114,place,corn,right,-,-,-,-,behind,beige bowl,behind,top_right,none,none,Put the corn behind the beige bowl with the right hand with the tip facing top right. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,0,102,102,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,102,165,63,place,yellow stuffed toy,left,-,-,-,-,left,small white coffee cup,left,top_left,none,none,Put the yellow stuffed animal to the left of the small white coffee cup with the left hand facing top left from the front. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,165,336,171,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,336,495,159,place,white cup,right,-,-,-,-,between,small white cup and the green bag of chips,between,none,up,none,Put the white cup between the small white cup and the green bag of chips with the right hand right side up front. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,495,606,111,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal angle from the top of the object. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,606,741,135,place,green bag of chips,right,-,-,-,-,front,white cup,front,bottom_left,none,none,Put the green bag of chips in front of the white cup with the right hand facing bottom left. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,741,873,132,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,873,969,96,place,silver bowl,right,-,-,-,-,right,white cup,right,none,up,none,Put the silver bowl to the right of the white cup with the right hand right side up. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,968,1170,202,pick,coffee pod,left,side,top,top,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grip from the top. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,1170,1278,108,place,coffee pod,left,-,-,-,-,left,yellow stuffed toy,left,none,up,none,Put the coffee pod to the left of the yellow stuffed animal with the left hand right side up with the front as the reference point. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,1278,1431,153,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,1431,1545,114,place,yellow stuffed toy,left,-,-,-,-,left,coffee pod,left,top_left,none,none,Place the yellow stuffed animal to the left of the coffee pod with the left hand facing top left with the front as the reference point. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,1545,1683,138,pick,green bag of chips,right,plain,top,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand from the top at the top of the object. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,1683,1827,144,place,green bag of chips,right,-,-,-,-,right,silver bowl,right,backwards,none,none,Put the green bag of chips to the right of the silver bowl with the right hand facing backwards. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,1827,2019,192,pick,white cup,right,lip,top,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a lip grip from the top right. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,2019,2178,159,place,white cup,right,-,-,-,-,front,small white coffee cup,front,none,up,none,Put the white cup in front of the small white coffee cup with the right hand right side up front. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,2178,2262,84,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,2262,2352,90,pick,yellow stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,2352,2541,189,place,yellow stuffed toy,left,-,-,-,-,left,silver bowl,left,top_right,none,none,Put the yellow stuffed animal to the left of the silver bowl with the left hand facing top right from the front. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,2541,2796,255,pick,coffee pod,left,side,top,top,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the left hand using a side grip at the top from the top. +2026-04-24-03-44-57-502000,pick_place_diverse,set 2 data collection day 2,2871,3000,129,return,-,left,-,-,-,-,-,-,-,-,-,-,Return the left arm to home. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,0,122,122,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a lip grip at the right side with a diagonal pick angle. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,122,216,94,place,silver bowl,right,-,-,-,-,behind,green bag of chips,behind,none,none,none,Put the silver bowl behind the green bag of chips with the right hand. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,216,342,126,pick,yellow stuffed toy,right,side,bottom,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom with a diagonal pick angle. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,342,411,69,place,yellow stuffed toy,right,-,-,-,-,right,white cup,right,bottom_right,none,none,Put the yellow stuffed animal to the right of the white cup with the right hand facing bottom right with the front as the reference point. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,411,606,195,pick,white cup,left,lip,left,straight,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand using a top lip grasp on the left side. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,606,792,186,place,white cup,left,-,-,-,-,left,white mug,left,none,up,none,Put the white cup to the left of the white mug with the left hand right side up with the front as the reference point. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,792,936,144,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,936,1044,108,place,yellow stuffed toy,right,-,-,-,-,right,white mug,right,bottom_right,none,none,Put the yellow stuffed animal to the right of the white mug with the right hand facing bottom right from the front. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1044,1125,81,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1125,1218,93,place,green bag of chips,right,-,-,-,-,right,yellow stuffed toy,right,backwards,none,none,Put the green bag of chips to the right of the yellow stuffed animal with the right hand facing backwards. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1218,1344,126,pick,silver bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a lip grasp at the bottom right in a diagonal pick. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1344,1458,114,place,silver bowl,right,-,-,-,-,right,green bag of chips,right,none,none,none,Put the silver bowl to the right of the green bag of chips with the right hand. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1458,1563,105,pick,yellow stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1563,1626,63,place,yellow stuffed toy,right,-,-,-,-,inside,silver bowl,inside,bottom_right,none,none,Place the yellow stuffed animal inside the silver bowl with the right hand facing bottom right from the front. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1626,1725,99,pick,green bag of chips,right,plain,top,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand from the top at the top of the object. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1725,1806,81,place,green bag of chips,right,-,-,-,-,right,white mug,right,backwards,none,none,Put the green bag of chips to the right of the white mug with the right hand facing backwards. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,1806,2103,297,pick,white cup,left,side,middle,straight,table,-,-,-,-,-,-,Pick up the white cup from the table with the left hand from the middle using a side grasp. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,2103,2214,111,place,white cup,left,-,-,-,-,front,white mug,front,none,up,none,Put the white cup in front of the white mug with the left hand right side up front. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,2214,2403,189,pick,green bag of chips,right,plain,top,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand from the top at the top of the object. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,2403,2478,75,place,green bag of chips,right,-,-,-,-,left,silver bowl,left,backwards,none,none,Put the green bag of chips to the left of the silver bowl with the right hand facing backwards. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,2478,2655,177,pick,silver bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right diagonal. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,2655,2760,105,place,silver bowl,right,-,-,-,-,behind,green bag of chips,behind,none,up,none,Place the silver bowl behind the green bag of chips with the right hand right side up. +2026-04-24-03-47-18-893000,pick_place_diverse,set 2 data collection day 2,2760,2907,147,pick,green bag of chips,right,plain,top,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand from the top at the top of the object. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,99,210,111,place,green bag of chips,right,-,-,-,-,right,silver bowl,right,backwards,none,none,Put the green bag of chips to the right of the silver bowl with the right hand facing backwards. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,210,297,87,pick,white cup,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,297,423,126,place,white cup,right,-,-,-,-,corner,green bag of chips,corner,none,up,none,Put the white cup to the bottom right of the green bag of chips with the right hand right side up with the front as the orientation reference point. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,423,585,162,pick,coffee pod,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,585,699,114,place,coffee pod,right,-,-,-,-,front,silver bowl,front,none,up,none,Put the coffee pod in front of the silver bowl with the right hand right side up with the front as the orientation reference point. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,990,1035,45,pick,white coffee cup,left,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1035,1179,144,place,white coffee cup,left,-,-,-,-,corner,coffee pod,corner,bottom_left,up,none,Put the white coffee cup to the bottom left of the coffee pod with the handle facing bottom left right side up with the left hand. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1179,1347,168,pick,white cup,right,lip,right,top,table,-,-,-,-,-,-,Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1347,1458,111,place,white cup,right,-,-,-,-,corner,white coffee cup,corner,none,up,none,Put the white cup to the bottom right of the white coffee cup with the right hand right side up with the front as the reference point. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1458,1602,144,pick,green bag of chips,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1602,1728,126,place,green bag of chips,right,-,-,-,-,left,white coffee cup,left,backwards,none,none,Put the green bag of chips to the left of the white coffee cup with the right hand facing backwards. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1728,1887,159,pick,silver bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1887,1995,108,place,silver bowl,right,-,-,-,-,right,white cup,right,none,none,none,Put the silver bowl to the right of the white cup with the right hand. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,1995,2157,162,pick,coffee pod,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,2157,2250,93,place,coffee pod,right,-,-,-,-,behind,green bag of chips,behind,none,up,none,Put the coffee pod behind the green bag of chips with the right hand right side up with the front as the orientation reference point. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,2250,2388,138,pick,green bag of chips,left,plain,top,top,table,-,-,-,-,-,-,Pick up the green bag of chips from the table with the left hand from the top at the top of the object. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,2388,2496,108,place,green bag of chips,left,-,-,-,-,left,coffee pod,left,none,none,none,Place the green bag of chips to the left of the coffee pod with the left hand. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,2496,2703,207,pick,white coffee cup,right,lip,top,straight,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a top right lip grasp. +2026-04-24-03-50-07-606000,pick_place_diverse,set 2 data collection day 2,2703,3000,297,place,white coffee cup,right,-,-,-,-,corner,coffee pod,corner,none,up,none,Put the white coffee cup to the top right of the coffee pod with the right hand right side up with the front as the reference point. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,0,99,99,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,99,234,135,place,orange screwdriver,left,-,-,-,-,center,,none,bottom_left,none,none,Put the orange screwdriver to the center of the table with the left hand with its tip facing bottom left. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,234,426,192,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand at the handle from the side. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,426,639,213,place,white coffee cup,right,-,-,-,-,right,pink mug,right,bottom_right,up,none,Put the white coffee cup to the right of the pink mug with the handle facing bottom right right side up using the right arm. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,639,774,135,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table by the handle from the side with the right hand. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,942,1143,201,pick,orange screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the left hand from the top at the middle. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,1143,1398,255,place,orange screwdriver,left,-,-,-,-,front,pink mug,front,top_left,none,none,Put the orange screwdriver in front of the pink mug with the left hand facing top left with the tip as the reference point. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,1398,1590,192,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,1590,1770,180,place,red marker,left,-,-,-,-,left,orange screwdriver,left,backwards,none,none,Place the red marker to the left of the orange screwdriver with the left hand facing backwards with the tip as the reference point. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,1770,2025,255,pick,pink mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,2025,2238,213,place,pink mug,right,-,-,-,-,right,pink bowl,right,backwards,up,none,Put the pink mug to the right of the pink bowl with the handle facing backwards right side up using the right hand. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,2238,2388,150,pick,white coffee cup,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,2388,2505,117,place,white coffee cup,right,-,-,-,-,right,pink mug,right,backwards,up,none,Put the white coffee cup to the right of the pink mug with the handle facing backwards right side up using the right arm. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,2505,2700,195,pick,pink bowl,right,lip,bottom,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right diagonal. +2026-04-24-03-54-56-066000,pick_place_diverse,set 2 data collection day 2,2700,3000,300,place,pink bowl,right,-,-,-,-,right,orange screwdriver,right,none,none,none,Put the pink bowl to the right of the orange screwdriver with the right hand. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,0,138,138,pick,red marker,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand from the top at the middle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,138,339,201,place,red marker,right,-,-,-,-,right,asparagus,right,backwards,none,none,Put the red marker to the right of the asparagus with the right hand facing backwards with the tip as the reference point. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,339,450,111,pick,orange screwdriver,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand from the top at the middle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,450,561,111,place,orange screwdriver,right,-,-,-,-,front,asparagus,front,top_left,none,none,Put the orange screwdriver in front of the asparagus with the right hand facing top left with the tip as the reference point. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,561,717,156,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,717,819,102,place,pink bowl,right,-,-,-,-,front,white mug,front,none,none,none,Put the pink bowl in front of the white mug with the right hand. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,819,969,150,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table with the right hand from the side by the handle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,968,1176,208,place,pink mug,right,-,-,-,-,left,asparagus,left,bottom_right,up,none,Put the pink mug to the left of the asparagus with the handle facing bottom right using the right hand right side up with the front as the reference point. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,1176,1380,204,pick,red marker,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,1380,1536,156,place,red marker,right,-,-,-,-,front,pink mug,front,bottom_left,none,none,Put the red marker in front of the pink mug with the tip facing bottom left using the right hand. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,1536,1722,186,pick,white mug,right,handle,handle,diagonal,table,-,-,-,-,-,-,Pick up the white mug from the table with the right hand at a diagonal angle by the handle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,1722,1935,213,place,white mug,right,-,-,-,-,right,asparagus,right,backwards,up,none,Put the white mug to the right of the asparagus with the right hand right side up with the front facing backwards. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,1935,2091,156,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,2091,2289,198,place,red marker,left,-,-,-,-,left,pink mug,left,backwards,none,none,Put the red marker to the left of the pink mug with the left hand facing backwards with the tip as the orientation reference point. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,2289,2490,201,pick,pink bowl,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,2490,2733,243,place,pink bowl,right,-,-,-,-,front,red marker,front,none,none,none,Put the pink bowl in front of the red marker and to the left of the orange screwdriver with the right hand. +2026-04-24-03-57-13-805000,pick_place_diverse,set 2 data collection day 2,2733,3000,267,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,0,129,129,pick,pink mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the pink mug from the table by the handle from the side with the right hand. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,129,255,126,place,pink mug,right,-,-,-,-,front,asparagus,front,bottom_right,up,none,Put the pink mug in front of the asparagus with the right hand right side up with the front facing bottom right. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,255,432,177,pick,pink mug,left,lip,top,top,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand using a lip grip at the top left from the top. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,432,576,144,place,pink mug,left,-,-,-,-,right,pink bowl,right,top_right,up,none,Put the pink mug to the right of the pink bowl with the handle facing top right right side up using the left hand. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,576,729,153,pick,red marker,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the red marker from the table with the left hand from the top at the middle. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,729,876,147,place,red marker,left,-,-,-,-,behind,pink mug,behind,bottom_right,none,none,Place the red marker behind the pink mug with the left hand with its tip facing bottom right. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,876,1041,165,pick,orange screwdriver,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the orange screwdriver from the table with the right hand from the top at the middle. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,1041,1170,129,place,orange screwdriver,right,-,-,-,-,front,asparagus,front,top_left,none,none,Put the orange screwdriver in front of the asparagus with the right hand with the tip facing top left. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,1170,1314,144,pick,asparagus,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand from the top at the middle. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,1314,1434,120,place,asparagus,right,-,-,-,-,right,orange screwdriver,right,forwards,none,none,Put the asparagus to the right of the orange screwdriver with the right hand facing forwards with the tip as the reference point. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,1434,1659,225,pick,white coffee cup,right,handle,handle,straight,table,-,-,-,-,-,-,Pick up the white coffee cup from the table with the right hand using a side grasp at the handle. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,1659,1875,216,place,white coffee cup,right,-,-,-,-,behind,asparagus,behind,bottom_right,up,none,Put the white coffee cup behind the asparagus with the handle facing bottom right right side up using the right arm. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,1875,2118,243,pick,pink mug,left,lip,top,top,table,-,-,-,-,-,-,Pick up the pink mug from the table with the left hand using a lip grip from the top left. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,2118,2340,222,place,pink mug,left,-,-,-,-,front,orange screwdriver,front,top_right,up,none,Put the pink mug in front of the orange screwdriver with the handle facing top right right side up with the front as the reference using the left hand. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,2340,2499,159,pick,asparagus,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the asparagus from the table with the right hand using a side grip at the top with a diagonal angle. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,2499,2604,105,place,asparagus,right,-,-,-,-,right,pink mug,right,top_left,none,none,Put the asparagus to the right of the pink mug with the right hand facing top left from the front. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,2604,2772,168,pick,white coffee cup,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the white coffee cup from the table by the handle from the side with the right hand. +2026-04-24-04-01-56-892000,pick_place_diverse,set 2 data collection day 2,2772,3000,228,place,white coffee cup,right,-,-,-,-,behind,orange screwdriver,behind,backwards,up,none,Put the white coffee cup behind the orange screwdriver with the handle facing backwards right side up using the right hand. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,81,126,45,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,126,210,84,place,pink stuffed toy,right,-,-,-,-,front,blue stuffed toy,front,top_left,none,none,Put the pink stuffed animal in front of the blue stuffed animal with the right hand facing top left from the front. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,210,294,84,pick,blue stuffed toy,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,294,414,120,place,blue stuffed toy,right,-,-,-,-,inside,white mug,inside,top_left,none,none,Put the blue stuffed animal inside the white mug with the right hand facing top left from the front. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,414,606,192,pick,green mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the left hand from the side by the handle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,606,789,183,place,green mug,left,-,-,-,-,left,pink stuffed toy,left,bottom_left,up,none,Place the green mug to the left of the pink stuffed animal with the left hand right side up with the front facing bottom left. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,789,909,120,pick,blue screwdriver,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the left hand from the top at the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,909,1062,153,place,blue screwdriver,left,-,-,-,-,front,cabbage,front,top_left,none,none,Put the blue screwdriver in front of the cabbage with the left hand facing top left by the tip. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1062,1230,168,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1230,1326,96,place,pink stuffed toy,right,-,-,-,-,right,white mug,right,forwards,none,none,Put the pink stuffed animal to the right of the white mug with the right hand facing forwards. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1326,1434,108,pick,green mug,right,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1434,1587,153,place,green mug,right,-,-,-,-,right,pink stuffed toy,right,backwards,up,none,Put the green mug to the right of the pink stuffed animal with the right hand right side up with the front facing backwards. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1587,1710,123,pick,blue screwdriver,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand from the top at the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1710,1860,150,place,blue screwdriver,right,-,-,-,-,front,green mug,front,top_right,none,none,Put the blue screwdriver in front of the green mug with the front facing top right using the right hand. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1860,1989,129,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,1989,2088,99,place,pink stuffed toy,right,-,-,-,-,front,white mug,front,forwards,none,none,Put the pink stuffed animal in front of the white mug with the right hand facing forwards. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2088,2208,120,pick,green mug,right,handle,handle,side,table,-,-,-,-,-,-,Pick up the green mug from the table with the right hand from the side by the handle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2208,2328,120,place,green mug,right,-,-,-,-,right,white mug,right,backwards,up,none,Put the green mug to the right of the white mug with the handle facing backwards right side up using the right arm. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2328,2430,102,pick,blue screwdriver,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand from the top at the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2430,2541,111,place,blue screwdriver,right,-,-,-,-,right,green mug,right,top_left,none,none,Put the blue screwdriver to the right of the green mug with the tip facing top left using the right hand. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2541,2622,81,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2622,2715,93,place,pink stuffed toy,right,-,-,-,-,right,blue screwdriver,right,top_left,none,none,Put the pink stuffed animal to the right of the blue screwdriver with the right hand facing top left from the front. +2026-04-24-04-05-21-616000,pick_place_diverse,set 2 data collection day 2,2715,2910,195,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the side by the handle. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,0,162,162,pick,cabbage,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand from the top at the middle. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,162,303,141,place,cabbage,left,-,-,-,-,corner,white mug,corner,top_right,none,none,Put the cabbage to the bottom left of the white mug with the left hand facing top right from the front. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,303,495,192,pick,blue screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,495,645,150,place,blue screwdriver,right,-,-,-,-,front,green mug,front,top_right,none,none,Put the blue screwdriver in front of the green mug with the right hand with its tip facing top right. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,645,798,153,pick,pink stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,798,864,66,place,pink stuffed toy,right,-,-,-,-,right,blue screwdriver,right,forwards,none,none,Put the pink stuffed animal to the right of the blue screwdriver with the right hand facing forwards. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,864,1062,198,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand by the handle from the side. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,1062,1191,129,place,white mug,left,-,-,-,-,left,green mug,left,bottom_left,up,none,Place the white mug to the left of the green mug with the handle facing bottom left right side up using the left hand. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,1191,1338,147,pick,cabbage,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,1338,1473,135,place,cabbage,left,-,-,-,-,front,white mug,front,forwards,none,none,Put the cabbage in front of the white mug with the left hand facing forwards with the front as the reference point. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,1473,1689,216,pick,blue screwdriver,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the blue screwdriver from the table with the right hand from the top at the middle. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,1860,2223,363,pick,white mug,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the white mug from the table with the left hand from the side by the handle. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,2223,2415,192,place,white mug,left,-,-,-,-,left,cabbage,left,backwards,up,none,Put the white mug to the left of the cabbage with the left hand right side up with the front facing backwards. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,2415,2613,198,pick,pink stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-24-04-07-53-200000,pick_place_diverse,set 2 data collection day 2,2757,2841,84,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,0,114,114,pick,pink stuffed toy,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,114,198,84,place,pink stuffed toy,right,-,-,-,-,right,green cabbage,right,forwards,none,none,Put the pink stuffed animal to the right of the green cabbage with the right hand facing forwards. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,198,429,231,pick,green coffee cup,left,handle,handle,side,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the left hand by the handle from the side. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,429,585,156,place,green coffee cup,left,-,-,-,-,corner,white coffee cup,corner,backwards,none,none,Put the green coffee cup to the top left of the white coffee cup with the handle facing backwards using the left hand. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,585,795,210,pick,green cabbage,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,795,882,87,place,green cabbage,right,-,-,-,-,right,white coffee cup,right,forwards,none,none,Put the green cabbage to the right of the white coffee cup with the tip facing forwards using the right hand. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,882,1005,123,pick,pink stuffed toy,right,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the right hand from the top at the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1005,1074,69,place,pink stuffed toy,right,-,-,-,-,corner,green cabbage,corner,forwards,none,none,Place the pink stuffed animal with the right hand to the top right of the green cabbage facing forwards. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1074,1209,135,pick,screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1209,1389,180,place,screwdriver,right,-,-,-,-,right,pink stuffed toy,right,top_left,none,none,Put the screwdriver to the right of the pink stuffed animal with the right hand with its tip facing top left. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1389,1551,162,pick,green coffee cup,left,lip,left,top,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the left hand using a lip grip from the top at the left. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1551,1722,171,place,green coffee cup,left,-,-,-,-,left,white coffee cup,left,backwards,up,none,Put the green coffee cup to the left of the white coffee cup with the handle facing backwards right side up with the left hand. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1722,1947,225,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,1947,2076,129,place,pink stuffed toy,left,-,-,-,-,corner,green coffee cup,corner,top_left,none,none,Put the pink stuffed animal with the front facing top left using the left hand to the top left of the green coffee cup. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,2076,2238,162,pick,screwdriver,right,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the screwdriver from the table with the right hand at a diagonal angle from the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,2238,2442,204,place,screwdriver,right,-,-,-,-,behind,green cabbage,behind,top_right,none,none,Put the screwdriver behind the green cabbage with the right hand with its tip facing top right. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,2442,2604,162,pick,pink stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the pink stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,2604,2703,99,place,pink stuffed toy,left,-,-,-,-,behind,green coffee cup,behind,forwards,none,none,Place the pink stuffed animal behind the green coffee cup with the left hand facing forwards. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,2703,2820,117,pick,green coffee cup,left,lip,left,top,table,-,-,-,-,-,-,Pick up the green coffee cup from the table with the left hand from the top at the left side using a lip grip. +2026-04-24-04-11-59-499000,pick_place_diverse,set 2 data collection day 2,2820,2943,123,place,green coffee cup,left,-,-,-,-,left,pink stuffed toy,left,backwards,up,none,Put the green coffee cup to the left of the pink stuffed animal with the left hand right side up with the front facing backwards. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,0,96,96,pick,doritos,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the Doritos from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,96,171,75,place,doritos,right,-,-,-,-,inside,green bowl,inside,none,up,none,Put the Doritos inside the green bowl with the right hand right side up. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,171,318,147,pick,white plate,left,lip,left,diagonal,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a diagonal lip grasp on the left. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,318,468,150,place,white plate,left,-,-,-,-,left,pink plate,left,none,up,none,Put the white plate to the left of the pink plate with the left hand right side up with the front as the reference point. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,468,672,204,pick,toy tomato,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the toy tomato from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,672,768,96,place,toy tomato,left,-,-,-,-,on_top,pink plate,on_top,none,up,none,Put the toy tomato on top of the pink plate right side up with the front as the reference using the left hand. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,768,945,177,pick,green bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip from the top at the left. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,945,1062,117,place,green bowl,left,-,-,-,-,front,pink plate,front,none,none,none,Put the green bowl in front of the pink plate with the left hand. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1062,1161,99,pick,juice pouch,right,side,top,straight,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top right. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1161,1404,243,place,juice pouch,right,-,-,-,-,right,pink plate,right,none,up,none,Place the juice pouch to the right of the pink plate with the right hand right side up with the front as the reference point. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1404,1584,180,pick,white plate,left,lip,bottom,side,table,-,-,-,-,-,-,Pick up the white plate from the table with the left hand using a lip grip at the bottom from the side. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1584,1713,129,place,white plate,left,-,-,-,-,right,green bowl,right,none,up,none,Put the white plate to the right of the green bowl with the left hand right side up with the front as the orientation reference point. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1713,1827,114,pick,juice pouch,left,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grasp at the top diagonally. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1827,1932,105,place,juice pouch,left,-,-,-,-,on_top,white plate,on_top,none,up,none,Put the juice pouch on top of the white plate with the left hand right side up with the front as the reference point. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,1932,2049,117,pick,toy tomato,left,plain,entire,top,pink plate,-,-,-,-,-,-,Pick up the toy tomato from the pink plate with the left hand from the top grasping the entire object. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2049,2142,93,place,toy tomato,left,-,-,-,-,right,pink plate,right,none,up,none,Put the toy tomato to the right of the pink plate with the left hand right side up. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2142,2262,120,pick,green bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grasp from the top at the left. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2262,2367,105,dump,doritos,left,-,-,-,-,front,pink plate,front,none,none,none,Dump the Doritos from the green bowl in front of the pink plate with the left hand. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2367,2532,165,place,green bowl,left,-,-,-,-,left,pink plate,left,none,none,none,Put the green bowl to the left of the pink plate with the left hand. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2532,2682,150,pick,toy tomato,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the toy tomato from the table with the left hand from the top grasping the entire object. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2682,2787,105,place,toy tomato,left,-,-,-,-,inside,green bowl,inside,none,none,none,Place the toy tomato inside the green bowl with the left hand. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2787,2895,108,pick,doritos,left,side,top,top,table,-,-,-,-,-,-,Pick up the Doritos from the table with the left hand using a side grip from the top. +2026-04-24-04-14-43-402000,pick_place_diverse,set 2 data collection day 2,2895,2973,78,place,doritos,left,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the Doritos on top of the pink plate with the left hand facing top left. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,0,108,108,pick,juice pouch,right,side,bottom,side,white plate,-,-,-,-,-,-,Pick up the juice pouch from the white plate with the right hand using a side grip at the bottom from the side. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,108,216,108,place,juice pouch,right,-,-,-,-,between,green bowl and the white plate,between,none,up,none,Put the juice pouch between the green bowl and the white plate with the right hand right side up. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,216,336,120,pick,doritos,left,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand at a diagonal angle grasping the top of the object. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,336,411,75,place,doritos,left,-,-,-,-,on_top,pink plate,on_top,top_left,none,none,Put the doritos on top of the pink plate with the left hand facing top left from the front. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,411,534,123,pick,green bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip at the bottom right from the top. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,534,645,111,place,green bowl,left,-,-,-,-,left,pink plate,left,none,none,none,Put the green bowl to the left of the pink plate with the left hand. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,645,819,174,pick,juice pouch,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,819,924,105,place,juice pouch,right,-,-,-,-,on_top,white plate,on_top,none,up,none,Place the juice pouch on top of the white plate with the right hand right side up with the front as the orientation reference point. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,924,1026,102,pick,doritos,left,plain,top,top,pink plate,-,-,-,-,-,-,Pick up the doritos from the pink plate with the left hand from the top of the object using a top pick. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1026,1101,75,place,doritos,left,-,-,-,-,right,pink plate,right,left,none,none,Put the doritos to the right of the pink plate with the left hand facing left. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1101,1188,87,pick,green bowl,left,lip,right,diagonal,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip at the right side with a diagonal angle. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1188,1281,93,place,green bowl,left,-,-,-,-,front,pink plate,front,none,none,none,Put the green bowl in front of the pink plate with the left hand. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1281,1413,132,pick,pink plate,left,lip,left,top,table,-,-,-,-,-,-,Pick up the pink plate from the table with the left hand from the top at the left side using a lip grip. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1413,1536,123,place,pink plate,left,-,-,-,-,corner,,none,none,up,top_left,Put the pink plate on the top left side of green bowl with the left hand right side up. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1536,1644,108,pick,doritos,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand from the top grasping the entire object. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1644,1710,66,place,doritos,left,-,-,-,-,right,green bowl,right,top_left,none,none,Put the doritos to the right of the green bowl with the left hand facing top left. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1710,1848,138,pick,juice pouch,right,side,top,diagonal,white plate,-,-,-,-,-,-,Pick up the juice pouch from the white plate with the right hand using a side grip at the top from a diagonal angle. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1848,1956,108,place,juice pouch,right,-,-,-,-,left,white plate,left,none,up,none,Put the juice pouch to the left of the white plate with the right hand right side up with the front as the reference point. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,1956,2088,132,pick,doritos,left,side,top,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand using a side grip at the bottom left from the top. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2088,2166,78,place,doritos,left,-,-,-,-,left,juice pouch,left,left,none,none,Put the doritos to the left of the juice pouch with the left hand facing left from the front. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2166,2256,90,pick,green bowl,left,lip,top,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip at the bottom right from the top. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2256,2334,78,place,green bowl,left,-,-,-,-,between,pink plate and the doritos,between,none,none,none,Put the green bowl between the pink plate and the doritos with the left hand. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2334,2448,114,pick,doritos,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the left hand from the top by grasping the entire object. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2448,2580,132,place,doritos,left,-,-,-,-,front,pink plate,front,left,none,none,Put the doritos in front of the pink plate with the left hand facing left. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2580,2712,132,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip from the top. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2712,2823,111,place,juice pouch,left,-,-,-,-,center,,none,none,up,none,Place the juice pouch on the center of the table with the left hand right side up. +2026-04-24-04-17-50-937000,pick_place_diverse,set 2 data collection day 2,2823,2970,147,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from table with the left hand using a side grip from the top. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,0,108,108,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip from the top. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,108,204,96,place,juice pouch,left,-,-,-,-,front,green bowl,front,none,up,none,Put the juice pouch in front of the green bowl with the left hand right side up with the front as the reference point. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,204,312,108,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal from the top of the object. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,312,390,78,place,doritos,right,-,-,-,-,on_top,white plate,on_top,top_left,none,none,Put the doritos on top of the white plate with the right hand facing top left. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,390,513,123,pick,juice pouch,left,side,top,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand using a side grip from the top. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,513,582,69,place,juice pouch,left,-,-,-,-,corner,green bowl,corner,none,up,none,Place the juice pouch with the left hand to the bottom left of the green bowl right side up. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,582,717,135,pick,doritos,right,plain,top,diagonal,white plate,-,-,-,-,-,-,Pick up the doritos from the top of the white plate with the right hand at a diagonal angle grasping the top of the object. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,717,783,66,place,doritos,right,-,-,-,-,front,white plate,front,top_left,none,none,Put the doritos in front of the white plate with the right hand facing top left. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,783,912,129,pick,juice pouch,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand at a diagonal angle from the middle. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,912,1017,105,place,juice pouch,left,-,-,-,-,front,green bowl,front,none,up,none,Put the juice pouch in front of the green bowl with the left hand right side up with the front as the orientation reference point. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1017,1128,111,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1128,1203,75,place,doritos,right,-,-,-,-,right,white plate,right,top_left,none,none,Put the doritos to the right of the white plate with the right hand facing top left. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1203,1335,132,pick,white plate,right,lip,top,top,table,-,-,-,-,-,-,Pick up the white plate from the table with the right hand using a lip grip at the bottom right from the top. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1335,1446,111,place,white plate,right,-,-,-,-,right,doritos,right,none,up,none,Place the white plate to the right of the doritos with the right hand right side up with the front as the reference point. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1446,1572,126,pick,doritos,right,plain,top,top,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand from the top of the object at the top. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1572,1656,84,place,doritos,right,-,-,-,-,corner,white plate,corner,top_left,none,none,Put the doritos to the bottom right of the white plate with the right hand facing top left from the front. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1656,1776,120,pick,juice pouch,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand from the top at the middle. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1776,1869,93,place,juice pouch,left,-,-,-,-,front,pink plate,front,none,up,none,Put the juice pouch in front of the pink plate with the left hand right side up with the front as the reference point. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1869,1971,102,pick,green bowl,left,lip,left,top,table,-,-,-,-,-,-,Pick up the green bowl from the table with the left hand using a lip grip from the top at the left. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,1971,2106,135,place,green bowl,left,-,-,-,-,left,juice pouch,left,none,none,none,Place the green bowl to the left of the juice pouch with the left hand. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,2106,2298,192,pick,doritos,right,plain,top,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand at a diagonal from the top of the object. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,2298,2439,141,place,doritos,right,-,-,-,-,left,white plate,left,forwards,none,none,Put the doritos to the left of the white plate with the right hand facing forwards. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,2439,2559,120,pick,juice pouch,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the juice pouch from the table with the left hand from the top at the middle. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,2559,2661,102,place,juice pouch,left,-,-,-,-,left,green bowl,left,none,up,none,Put the juice pouch to the left of the green bowl with the left hand right side up front. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,2661,2778,117,pick,doritos,right,side,right,diagonal,table,-,-,-,-,-,-,Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal angle. +2026-04-24-04-27-06-747000,pick_place_diverse,set 2 data collection day 2,2778,2892,114,place,doritos,right,-,-,-,-,front,white plate,front,forwards,none,none,Put the doritos in front of the white plate with the right hand facing forwards. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,0,105,105,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,105,213,108,place,eggplant,left,-,-,-,-,left,white canned goods,left,forwards,none,none,Place the eggplant to the left of the white canned goods with the left hand facing forwards with the tip as the reference point. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,213,309,96,pick,brown stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,309,381,72,place,brown stuffed toy,left,-,-,-,-,front,eggplant,front,forwards,none,none,Put the brown stuffed animal in front of the eggplant with the left hand facing forwards from the front. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,381,498,117,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,498,612,114,place,blue soda can,left,-,-,-,-,right,brown stuffed toy,right,none,none,none,Put the blue soda can to the right of the brown stuffed animal with the left hand. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,612,696,84,pick,brown stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,696,783,87,place,brown stuffed toy,left,-,-,-,-,right,blue soda can,right,top_right,none,none,Put the brown stuffed animal to the right of the blue soda can with the left hand facing top right from the front. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,783,903,120,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,903,1002,99,place,eggplant,left,-,-,-,-,left,blue soda can,left,top_left,none,none,Put the eggplant to the left of the blue soda can with the left hand facing top left. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1002,1146,144,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle from the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1146,1272,126,place,blue soda can,left,-,-,-,-,behind,eggplant,behind,none,none,none,Put the blue soda can behind the eggplant with the left hand. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1272,1362,90,pick,brown stuffed toy,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1362,1437,75,place,brown stuffed toy,left,-,-,-,-,right,white canned goods,right,top_left,none,none,Put the brown stuffed animal to the right of the white canned goods with the left hand facing top left from the front. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1437,1596,159,pick,white canned goods,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the left hand from the side at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1596,1701,105,place,white canned goods,left,-,-,-,-,front,brown stuffed toy,front,none,none,none,Put the white canned goods in front of the brown stuffed animal with the left hand. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1701,1908,207,pick,white canned goods,right,side,top,side,table,-,-,-,-,-,-,Pick up the white canned goods from the table with the right hand using a side grip at the top from the side. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,1908,2061,153,place,white canned goods,right,-,-,-,-,right,brown stuffed toy,right,none,none,none,Put the white canned goods to the right of the brown stuffed animal with the right hand. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2061,2118,57,return,-,right,-,-,-,-,-,-,-,-,-,-,Return to home with the right hand. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2118,2205,87,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2205,2364,159,place,eggplant,left,-,-,-,-,left,blue soda can,left,forwards,none,none,Put the eggplant to the left of the blue soda can with the left hand facing forwards with the tip facing forwards. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2364,2514,150,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2514,2688,174,place,blue soda can,left,-,-,-,-,front,eggplant,front,none,none,none,Put the blue soda can in front of the eggplant with the left hand. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2688,2850,162,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2850,2928,78,place,brown stuffed toy,left,-,-,-,-,right,blue soda can,right,left,none,none,Put the brown stuffed animal to the right of the blue soda can with the left hand facing left with the front as the reference point. +2026-04-24-04-31-36-072000,pick_place_diverse,set 2 data collection day 2,2928,3000,72,return,-,left,-,-,-,-,-,-,-,-,-,-,Return to home with the left hand. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,0,114,114,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top at the entire object. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,114,180,66,place,brown stuffed toy,left,-,-,-,-,left,eggplant,left,bottom_left,none,none,Put the brown stuffed animal to the left of the eggplant with the left hand facing bottom left from the front. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,180,267,87,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,267,363,96,place,eggplant,left,-,-,-,-,left,brown stuffed toy,left,top_left,none,none,Put the eggplant to the left of the brown stuffed animal with the left hand facing top left. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,363,537,174,pick,blue soda can,left,side,top,straight,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand using a side grip at the top. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,537,690,153,place,blue soda can,left,-,-,-,-,right,brown stuffed toy,right,none,none,none,Put the blue soda can to the right of the brown stuffed animal with the left hand. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,690,930,240,pick,canned goods,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand from the side at the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,930,1068,138,place,canned goods,left,-,-,-,-,right,blue soda can,right,none,none,none,Put the canned goods to the right of the blue soda can with the left hand. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,1068,1221,153,pick,brown stuffed toy,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,1221,1428,207,place,brown stuffed toy,left,-,-,-,-,right,canned goods,right,bottom_left,none,none,Put the brown stuffed animal to the right of the canned goods with the left hand facing bottom left with the front as reference. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,1428,1575,147,pick,eggplant,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,1575,1674,99,place,eggplant,left,-,-,-,-,front,brown stuffed toy,front,forwards,none,none,Put the eggplant in front of the brown stuffed animal with the left hand facing forwards with the tip forwards. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,1674,1842,168,pick,canned goods,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the canned goods from the table with the left hand at a diagonal from the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,1842,2001,159,place,canned goods,left,-,-,-,-,behind,brown stuffed toy,behind,none,none,none,Put the canned goods behind the brown stuffed animal with the left hand. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2001,2148,147,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand diagonally grasping the entire object. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2148,2208,60,place,brown stuffed toy,right,-,-,-,-,right,eggplant,right,bottom_left,none,none,Put the brown stuffed animal to the right of the eggplant with the right hand facing bottom left from the front. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2208,2325,117,pick,canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand from the side at the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2325,2415,90,place,canned goods,right,-,-,-,-,behind,brown stuffed toy,behind,none,none,none,Put the canned goods behind the brown stuffed animal with the right hand. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2415,2577,162,pick,blue soda can,left,plain,middle,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2577,2718,141,place,blue soda can,left,-,-,-,-,behind,eggplant,behind,none,none,none,Put the blue soda can behind the eggplant and to the left of the canned goods with the left hand. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2718,2886,168,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-24-04-34-32-314000,pick_place_diverse,set 2 data collection day 2,2886,2952,66,place,brown stuffed toy,right,-,-,-,-,right,canned goods,right,bottom_left,none,none,Put the brown stuffed animal to the right of the canned goods with the right hand facing bottom left with the front as the reference point. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,0,150,150,pick,brown stuffed toy,right,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,150,255,105,place,brown stuffed toy,right,-,-,-,-,front,blue soda can,front,left,none,none,Put the brown stuffed animal in front of the blue soda can with the right hand facing left with the front as the reference point. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,255,447,192,pick,blue soda can,right,side,top,diagonal,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,447,588,141,place,blue soda can,right,-,-,-,-,corner,brown stuffed toy,corner,none,none,none,Put the blue soda can to the bottom left of the brown stuffed animal with the right hand. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,588,774,186,pick,eggplant,left,plain,middle,top,table,-,-,-,-,-,-,Pick up the eggplant from the table with the left hand from the top at the middle. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,774,906,132,place,eggplant,left,-,-,-,-,left,blue soda can,left,forwards,none,none,Put the eggplant to the left of the blue soda can with the left hand facing forwards with the tip as the orientation reference point. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,906,1056,150,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1056,1182,126,place,blue soda can,left,-,-,-,-,left,eggplant,left,none,none,none,Put the blue soda can to the left of the eggplant with the left hand. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1182,1299,117,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuff toy from the table with the left hand from the top by grasping the entire object. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1299,1374,75,place,brown stuffed toy,left,-,-,-,-,right,eggplant,right,bottom_left,none,none,Place the brown stuffed animal to the right of the eggplant with the left hand facing bottom left from the front. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1374,1551,177,pick,canned goods,right,plain,middle,side,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand from the side at the middle. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1551,1701,150,place,canned goods,right,-,-,-,-,right,brown stuffed toy,right,none,none,none,Put the canned goods to the right of the brown stuffed animal with the right hand. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1701,1884,183,pick,brown stuffed toy,left,plain,entire,top,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1884,1980,96,place,brown stuffed toy,left,-,-,-,-,front,eggplant,front,bottom_right,none,none,Put the brown stuffed animal in front of the eggplant with the left hand facing bottom right from the front. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,1980,2124,144,pick,blue soda can,left,plain,middle,side,table,-,-,-,-,-,-,Pick up the blue soda can from the table with the left hand from the side at the middle. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,2124,2289,165,place,blue soda can,left,-,-,-,-,behind,eggplant,behind,none,none,none,Put the blue soda can behind the eggplant with the left hand. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,2289,2496,207,pick,brown stuffed toy,left,plain,entire,diagonal,table,-,-,-,-,-,-,Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,2496,2592,96,place,brown stuffed toy,left,-,-,-,-,left,eggplant,left,backwards,none,none,Place the brown stuffed animal to the left of the eggplant with the left hand facing backwards relative to the front. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,2592,2775,183,pick,canned goods,right,side,top,straight,table,-,-,-,-,-,-,Pick up the canned goods from the table with the right hand using a side grip at the top. +2026-04-24-04-37-15-697000,pick_place_diverse,set 2 data collection day 2,2775,2847,72,place,canned goods,right,-,-,-,-,right,eggplant,right,none,none,none,Put the canned goods to the right of the eggplant with the right hand. diff --git a/egomimic/ricl/episode_lists/actions_blue_marker.json b/egomimic/ricl/episode_lists/actions_blue_marker.json new file mode 100644 index 000000000..5379bba54 --- /dev/null +++ b/egomimic/ricl/episode_lists/actions_blue_marker.json @@ -0,0 +1,1573 @@ +{ + "object": "blue marker", + "scene": "pick_place_diverse", + "key": [ + "verb", + "object", + "grip", + "grasp_loc", + "angle", + "hand", + "source", + "ref_direction", + "orientation", + "flip", + "sub_position" + ], + "min_size": 2, + "groups": { + "pick|blue marker|plain|middle|diagonal|left|table|-|-|-|-": { + "n": 23, + "n_episodes": 15, + "members": [ + { + "episode": "2026-03-14-22-59-04-407000", + "start": 267, + "end": 423, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-14-22-59-04-407000", + "start": 948, + "end": 1086, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-14-22-59-04-407000", + "start": 2505, + "end": 2736, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-14-23-05-08-540000", + "start": 2130, + "end": 2343, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-15-23-49-02-171000", + "start": 0, + "end": 132, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-16-03-13-48-270000", + "start": 705, + "end": 807, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-16-03-13-48-270000", + "start": 1653, + "end": 1800, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-16-03-16-02-581000", + "start": 105, + "end": 225, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-03-16-03-16-02-581000", + "start": 2895, + "end": 3000, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-04-21-03-41-00-325000", + "start": 2850, + "end": 3000, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle." + }, + { + "episode": "2026-04-21-03-48-00-324000", + "start": 747, + "end": 972, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "plain", + "grasp_loc": "middle", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up 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"place|blue marker|-|-|-|left|-|right|forwards|none|none": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-03-16-03-13-48-270000", + "start": 807, + "end": 1008, + "verb": "place", + "object": "blue marker", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "plate", + "ref_direction": "right", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the right side of the plate with the left hand facing forwards with the tip as the reference point." + }, + { + "episode": "2026-04-23-03-48-33-728000", + "start": 2178, + "end": 2259, + "verb": "place", + "object": "blue marker", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "blue screwdriver", + "ref_direction": "right", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the right of the blue screwdriver with the left hand facing forwards with the tip as the reference point." + }, + { + "episode": "2026-04-24-03-32-21-466000", + "start": 1407, + "end": 1635, + "verb": "place", + "object": "blue marker", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "croissant", + "ref_direction": "right", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the right of the croissant with the left hand facing forwards with the tip as the reference point." + } + ] + }, + "place|blue marker|-|-|-|right|-|right|forwards|none|none": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-04-21-03-41-00-325000", + "start": 105, + "end": 201, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "asparagus", + "ref_direction": "right", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the right of the asparagus with the right hand facing forwards with the tip as the reference point." + }, + { + "episode": "2026-04-21-19-50-19-707000", + "start": 2625, + "end": 2805, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "green bowl", + "ref_direction": "right", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the right of the green bowl with the right hand facing forwards with the tip as the reference point." + }, + { + "episode": "2026-04-21-22-55-55-374000", + "start": 360, + "end": 483, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "silver bowl", + "ref_direction": "right", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the right of the silver bowl with the right hand with the tip facing forwards." + } + ] + }, + "pick|blue marker|plain|middle|top|right|table|-|-|-|-": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-04-21-22-52-52-055000", + "start": 1830, + "end": 1977, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "plain", + "grasp_loc": "middle", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand from the top at the middle." + }, + { + "episode": "2026-04-21-22-55-55-374000", + "start": 243, + "end": 360, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "plain", + "grasp_loc": "middle", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand from the top at the middle." + }, + { + "episode": "2026-04-22-02-58-16-127000", + "start": 618, + "end": 723, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "plain", + "grasp_loc": "middle", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand from the top at the middle." + } + ] + }, + "place|blue marker|-|-|-|right|-|left|forwards|none|none": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-03-14-23-05-08-540000", + "start": 1986, + "end": 2130, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "white plate", + "ref_direction": "left", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the left side of the white plate with the right hand facing forwards with the tip as the orientation reference point." + }, + { + "episode": "2026-04-24-03-34-27-275000", + "start": 852, + "end": 987, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "croissant", + "ref_direction": "left", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the left of the croissant with the right hand with its tip facing forwards." + } + ] + }, + "pick|blue marker|side|bottom|top|right|table|-|-|-|-": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-03-15-23-43-06-366000", + "start": 1917, + "end": 2157, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "side", + "grasp_loc": "bottom", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top." + }, + { + "episode": "2026-04-23-03-52-30-479000", + "start": 876, + "end": 984, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "side", + "grasp_loc": "bottom", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top." + } + ] + }, + "pick|blue marker|side|top|diagonal|right|table|-|-|-|-": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-03-16-01-55-05-813000", + "start": 1386, + "end": 1683, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "side", + "grasp_loc": "top", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand using a side grip at the top from a diagonal angle." + }, + { + "episode": "2026-04-21-19-48-12-404000", + "start": 504, + "end": 687, + "verb": "pick", + "object": "blue marker", + "hand": "right", + "grip": "side", + "grasp_loc": "top", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the right hand using a side grip at the top with a diagonal angle." + } + ] + }, + "place|blue marker|-|-|-|right|-|front|forwards|none|none": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-04-14-03-33-23-804000", + "start": 138, + "end": 246, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "front", + "ref_object": "yellow stuffed toy", + "ref_direction": "front", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker in front of the yellow stuffed toy with the tip facing forwards using the right hand." + }, + { + "episode": "2026-04-24-03-36-34-784000", + "start": 435, + "end": 582, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "front", + "ref_object": "beige bowl", + "ref_direction": "front", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker in front of the beige bowl with the tip facing forwards using the right arm." + } + ] + }, + "place|blue marker|-|-|-|right|-|between|forwards|none|none": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-04-21-19-48-12-404000", + "start": 687, + "end": 852, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "between", + "ref_object": "cabbage and the green bowl", + "ref_direction": "between", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker between the cabbage and the green bowl with the right hand facing forwards with the tip as the reference point." + }, + { + "episode": "2026-04-24-03-34-27-275000", + "start": 1929, + "end": 2049, + "verb": "place", + "object": "blue marker", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "between", + "ref_object": "corn and the croissant", + "ref_direction": "between", + "orientation": "forwards", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker between the corn and the croissant with the right hand facing forwards with the tip facing forwards." + } + ] + }, + "place|blue marker|-|-|-|left|-|left|top_right|none|none": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-04-21-19-48-12-404000", + "start": 1818, + "end": 1953, + "verb": "place", + "object": "blue marker", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "cabbage", + "ref_direction": "left", + "orientation": "top_right", + "flip": "none", + "sub_position": "none", + "text": "Put the blue marker to the left of the cabbage with the left hand facing top right with the tip as the reference point." + }, + { + "episode": "2026-04-21-22-50-45-117000", + "start": 2190, + "end": 2322, + "verb": "place", + "object": "blue marker", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "silver bowl", + "ref_direction": "left", + "orientation": "top_right", + "flip": "none", + "sub_position": "none", + "text": "Place the blue marker to the left of the silver bowl with the left hand with its tip facing top right." + } + ] + }, + "pick|blue marker|side|bottom|diagonal|left|table|-|-|-|-": { + "n": 2, + "n_episodes": 2, + "members": [ + { + "episode": "2026-04-22-02-50-42-144000", + "start": 0, + "end": 122, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "side", + "grasp_loc": "bottom", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle." + }, + { + "episode": "2026-04-23-03-52-30-479000", + "start": 0, + "end": 201, + "verb": "pick", + "object": "blue marker", + "hand": "left", + "grip": "side", + "grasp_loc": "bottom", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle." + } + ] + } + } +} \ No newline at end of file diff --git a/egomimic/ricl/episode_lists/actions_white_mug.json b/egomimic/ricl/episode_lists/actions_white_mug.json new file mode 100644 index 000000000..da458d432 --- /dev/null +++ b/egomimic/ricl/episode_lists/actions_white_mug.json @@ -0,0 +1,1093 @@ +{ + "object": "white mug", + "scene": "pick_place_diverse", + "key": [ + "verb", + "object", + "grip", + "grasp_loc", + "angle", + "hand", + "source", + "ref_direction", + "orientation", + "flip", + "sub_position" + ], + "min_size": 3, + "groups": { + "pick|white mug|handle|handle|side|left|table|-|-|-|-": { + "n": 10, + "n_episodes": 8, + "members": [ + { + "episode": "2026-03-16-03-33-11-859000", + "start": 435, + "end": 492, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the side by the handle." + }, + { + "episode": "2026-04-21-05-40-09-356000", + "start": 0, + "end": 81, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand at the handle from the side." + }, + { + "episode": "2026-04-22-02-25-58-535000", + "start": 0, + "end": 159, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the side by the handle." + }, + { + "episode": "2026-04-22-02-28-17-111000", + "start": 2703, + "end": 2895, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the side by the handle." + }, + { + "episode": "2026-04-22-02-30-32-296000", + "start": 315, + "end": 501, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand by the handle from the side." + }, + { + "episode": "2026-04-22-02-30-32-296000", + "start": 2184, + "end": 2373, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand by the handle from the side." + }, + { + "episode": "2026-04-22-05-16-38-928000", + "start": 1191, + "end": 1401, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand at the handle from the side." + }, + { + "episode": "2026-04-24-04-05-21-616000", + "start": 2715, + "end": 2910, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the side by the handle." + }, + { + "episode": "2026-04-24-04-07-53-200000", + "start": 864, + "end": 1062, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand by the handle from the side." + }, + { + "episode": "2026-04-24-04-07-53-200000", + "start": 1860, + "end": 2223, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "handle", + "grasp_loc": "handle", + "angle": "side", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the side by the handle." + } + ] + }, + "place|white mug|-|-|-|right|-|right|backwards|up|none": { + "n": 7, + "n_episodes": 7, + "members": [ + { + "episode": "2026-03-14-23-17-15-904000", + "start": 2553, + "end": 2703, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "asparagus", + "ref_direction": "right", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the right of the asparagus with the right hand right side up with the front facing backwards." + }, + { + "episode": "2026-03-16-03-30-50-354000", + "start": 162, + "end": 267, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "gray stuffed toy", + "ref_direction": "right", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the right white mug to the right side of the gray stuffed toy with the right hand right side up with the front facing backwards." + }, + { + "episode": "2026-04-21-19-15-16-930000", + "start": 2841, + "end": 3000, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "green mug", + "ref_direction": "right", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Place the white mug to the right of the green mug with the right hand right side up with the front facing backwards." + }, + { + "episode": "2026-04-22-02-25-58-535000", + "start": 2046, + "end": 2238, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "beige bowl", + "ref_direction": "right", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the right of the beige bowl with the right hand right side up with the front facing backwards." + }, + { + "episode": "2026-04-22-02-28-17-111000", + "start": 768, + "end": 930, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "white cup", + "ref_direction": "right", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the right of the white cup with the handle facing backwards right side up using the right hand." + }, + { + "episode": "2026-04-22-02-35-17-392000", + "start": 2661, + "end": 2820, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "doritos", + "ref_direction": "right", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the right of the doritos with the right hand right side up with the front facing backwards." + }, + { + "episode": "2026-04-24-03-57-13-805000", + "start": 1722, + "end": 1935, + "verb": "place", + "object": "white mug", + "hand": "right", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "right", + "ref_object": "asparagus", + "ref_direction": "right", + "orientation": 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mug|lip|left|diagonal|left|table|-|-|-|-": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-03-15-23-36-23-243000", + "start": 2256, + "end": 2412, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "left", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand using a lip grip at the left side with a diagonal angle." + }, + { + "episode": "2026-04-21-03-48-00-324000", + "start": 519, + "end": 648, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "left", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left." + }, + { + "episode": "2026-04-23-05-00-08-228000", + "start": 459, + "end": 630, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "left", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left side." + } + ] + }, + "pick|white mug|lip|right|top|left|table|-|-|-|-": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-03-15-23-39-06-936000", + "start": 657, + "end": 858, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "right", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the top at the right side using a lip grip." + }, + { + "episode": "2026-04-21-05-36-12-002000", + "start": 1482, + "end": 1659, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "right", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand from the top right side using a lip grip." + }, + { + "episode": "2026-04-21-22-13-59-980000", + "start": 777, + "end": 939, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "right", + "angle": "top", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand using a lip grip from the top at the right side." + } + ] + }, + "pick|white mug|lip|right|diagonal|left|table|-|-|-|-": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-03-16-03-30-50-354000", + "start": 2181, + "end": 2364, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "right", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the left white mug from the table with the left hand using a diagonal lip grasp at the right side." + }, + { + "episode": "2026-04-21-05-36-12-002000", + "start": 846, + "end": 978, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "right", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side." + }, + { + "episode": "2026-04-21-22-16-25-261000", + "start": 1731, + "end": 1827, + "verb": "pick", + "object": "white mug", + "hand": "left", + "grip": "lip", + "grasp_loc": "right", + "angle": "diagonal", + "source": "table", + "relation": "-", + "ref_object": "-", + "ref_direction": "-", + "orientation": "-", + "flip": "-", + "sub_position": "-", + "text": "Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side." + } + ] + }, + "place|white mug|-|-|-|left|-|left|backwards|up|none": { + "n": 3, + "n_episodes": 3, + "members": [ + { + "episode": "2026-04-22-02-30-32-296000", + "start": 1344, + "end": 1479, + "verb": "place", + "object": "white mug", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "coffee pod", + "ref_direction": "left", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the left of the coffee pod with the left hand right side up with the front facing backwards." + }, + { + "episode": "2026-04-22-05-16-38-928000", + "start": 1965, + "end": 2097, + "verb": "place", + "object": "white mug", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "tomato", + "ref_direction": "left", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the left of the tomato with the left hand right side up with the front facing backwards." + }, + { + "episode": "2026-04-24-04-07-53-200000", + "start": 2223, + "end": 2415, + "verb": "place", + "object": "white mug", + "hand": "left", + "grip": "-", + "grasp_loc": "-", + "angle": "-", + "source": "-", + "relation": "left", + "ref_object": "cabbage", + "ref_direction": "left", + "orientation": "backwards", + "flip": "up", + "sub_position": "none", + "text": "Put the white mug to the left of the cabbage with the left hand right side up with the front facing backwards." + } + ] + } + } +} \ No newline at end of file diff --git a/egomimic/ricl/episode_lists/bag_train_episodes.json b/egomimic/ricl/episode_lists/bag_train_episodes.json new file mode 100644 index 000000000..10e6ba7fd --- /dev/null +++ b/egomimic/ricl/episode_lists/bag_train_episodes.json @@ -0,0 +1,102 @@ +[ +"2026-01-22-16-07-27-629000", +"2026-01-22-16-21-07-734000", +"2026-01-22-16-22-39-974000", +"2026-01-22-16-24-20-580000", +"2026-01-22-16-32-08-218000", +"2026-01-22-16-37-59-815000", +"2026-01-22-23-12-50-553000", +"2026-01-22-23-37-48-914000", +"2026-01-22-23-40-53-502000", +"2026-01-22-23-43-00-494000", +"2026-01-22-23-44-36-510000", +"2026-01-22-23-47-47-341000", +"2026-01-22-23-49-19-726000", +"2026-01-23-01-21-40-438000", +"2026-01-23-01-23-56-390000", +"2026-01-23-01-25-45-152000", +"2026-01-23-01-27-19-948000", +"2026-01-23-01-52-52-422000", +"2026-01-23-01-53-56-091000", 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mode 100644 index 000000000..99fece2cf --- /dev/null +++ b/egomimic/ricl/episode_lists/eva_episode_objects.json @@ -0,0 +1,2785 @@ +{ + "anchor": { + "scene": "pick_place_diverse", + "object": "blue marker" + }, + "episodes": { + "2026-03-03-05-03-57-023000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "bell pepper", + "croissant", + "pen", + "pink cup" + ], + "num_picks": 7 + }, + "2026-03-03-05-11-26-461000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "bell pepper", + "bread", + "green bowl", + "orange screwdriver", + "pink mug" + ], + "num_picks": 6 + }, + "2026-03-03-05-15-53-096000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "bell pepper", + "croissant", + "green bowl", + "orange screwdriver", + "pink mug" + ], + "num_picks": 7 + }, + "2026-03-03-05-20-29-363000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "blue stuffed toy", + "brown stuffed toy", + "green bowl", + "white coffee cup", + "yellow stuffed toy" + ], + "num_picks": 7 + }, + "2026-03-03-05-27-14-876000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "blue stuffed toy", + "brown stuffed toy", + "green bowl", + "yellow stuffed toy" + ], + "num_picks": 6 + }, + "2026-03-03-05-29-34-981000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "blue stuffed toy", + "brown stuffed toy", + "green bowl", + "pink plate", + "white mug", + "yellow stuffed toy" + ], + "num_picks": 7 + }, + "2026-03-03-05-32-38-565000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "beige bowl", + "blue screwdriver", + "green bag of chips", + "white canister" + ], + "num_picks": 6 + }, + "2026-03-03-05-35-22-081000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "bag of chips", + "bowl", + "cabbage", + "canister", + "plate", + "screwdriver" + ], + "num_picks": 7 + }, + "2026-03-03-05-42-25-155000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "bag of chips", + "blue plate", + "brown bowl", + "cabbage", + "white coffee pod" + ], + "num_picks": 8 + }, + "2026-03-03-05-47-21-437000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "canned goods", + "green mug", + "stuffed toy", + "white cup", + "white mug" + ], + "num_picks": 8 + }, + "2026-03-03-05-50-12-790000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "canned goods", + "stuffed toy", + "white cup", + "white mug" + ], + "num_picks": 9 + }, + "2026-03-03-05-52-32-417000": { + "scene": "pick_place_div_scene", + "task_description": "pick place play data with large task variations", + "objects": [ + "canned goods", + "coffee cup", + "cup", + "green coffee cup", + "stuffed toy", + "white coffee cup" + ], + "num_picks": 7 + }, + "2026-03-03-06-37-47-140000": { + "scene": "pick_place_div_scene", + "task_description": "pick and place with large task variations", + "objects": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink stuffed toy" + ], + "num_picks": 10 + }, + "2026-03-03-06-40-10-619000": { + "scene": "pick_place_div_scene", + "task_description": "pick and place with large task variations", + "objects": [ + "blue marker", + "carrot", + "green bowl", + "pink stuffed toy", + "red bag of chips" + ], + "num_picks": 8 + }, + 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"scene": "pick_place_div_scene", + "task_description": "pick and place with large task variations", + "objects": [ + "asparagus", + "canned goods", + "juice pouch", + "red marker" + ], + "num_picks": 8 + }, + "2026-03-03-06-58-23-150000": { + "scene": "pick_place_div_scene", + "task_description": "pick and place with large task variations", + "objects": [ + "asparagus", + "canned goods", + "juice pouch", + "red marker" + ], + "num_picks": 8 + }, + "2026-03-03-07-01-06-642000": { + "scene": "pick_place_div_scene", + "task_description": "pick and place with large task variations", + "objects": [ + "asparagus", + "juice pack", + "red marker" + ], + "num_picks": 9 + }, + "2026-03-14-20-06-41-409000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "blue stuffed toy", + "brown stuffed toy", + "green bowl", + "red bell pepper", + "red screwdriver" + ], + "num_picks": 7 + }, + "2026-03-14-20-11-52-724000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "blue stuffed toy", + "brown stuffed toy", + "green bowl", + "orange screwdriver" + ], + "num_picks": 9 + }, + "2026-03-14-20-14-30-527000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "blue stuffed toy", + "brown stuffed toy", + "green bowl", + "pink plate", + "red bell pepper", + "screwdriver" + ], + "num_picks": 10 + }, + "2026-03-14-20-17-36-029000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "bag of chips", + "coffee cup", + "croissant", + "green bowl", + "red marker", + "stuffed toy" + ], + "num_picks": 10 + }, + "2026-03-14-20-20-01-584000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "doritos", + "gray stuffed toy", + "green bowl", + "red marker", + "white coffee cup" + ], + "num_picks": 8 + }, + "2026-03-14-20-23-53-031000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "green bowl", + "juice bag", + "red chips", + "white mug" + ], + "num_picks": 9 + }, + "2026-03-14-20-29-51-405000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "asparagus", + "bowl", + "carrot", + "corn", + "eggplant", + "green bag of chips", + "green cup" + ], + "num_picks": 10 + }, + "2026-03-14-20-32-15-833000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "asparagus", + "bag of chips", + "beige bowl", + "carrot", + "corn", + "eggplant" + ], + "num_picks": 8 + }, + "2026-03-14-20-34-43-723000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "asparagus", + "bag of chips", + "beige bowl", + "corn" + ], + "num_picks": 7 + }, + 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+ "num_picks": 9 + }, + "2026-03-14-20-57-22-308000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "canned goods", + "green bowl", + "pink stuffed toy", + "screwdriver", + "white cup", + "yellow stuffed toy" + ], + "num_picks": 11 + }, + "2026-03-14-20-59-52-076000": { + "scene": "pick_place_diverse", + "task_description": "pick place large number of objects", + "objects": [ + "canned goods", + "pink stuffed toy", + "screwdriver", + "white cup", + "yellow stuffed toy" + ], + "num_picks": 10 + }, + "2026-03-14-22-49-48-005000": { + "scene": "pick_place_diverse", + "task_description": "pick and place on variety of objects", + "objects": [ + "blue screwdriver", + "green bowl", + "green cup", + "orange screwdriver", + "pink cup", + "yellow stuffed toy" + ], + "num_picks": 10 + }, + "2026-03-14-22-51-57-252000": { + "scene": "pick_place_diverse", + "task_description": "pick and place on variety of objects", + "objects": [ + 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mug", + "white coffee cup" + ], + "num_picks": 9 + }, + "2026-04-23-04-03-27-173000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "blue soda can", + "pink mug", + "white coffee cup" + ], + "num_picks": 10 + }, + "2026-04-23-05-00-08-228000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 1", + "objects": [ + "bag of juice", + "cabbage", + "croissant", + "pink stuffed toy", + "white mug" + ], + "num_picks": 10 + }, + "2026-04-24-03-32-21-466000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "beige bowl", + "blue marker", + "corn", + "croissant", + "gray stuffed toy" + ], + "num_picks": 10 + }, + "2026-04-24-03-34-27-275000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "beige bowl", + "blue marker", + "corn", + "croissant", + "gray stuffed toy" + ], + "num_picks": 13 + }, + "2026-04-24-03-36-34-784000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "beige bowl", + "blue marker", + "corn", + "croissant", + "gray stuffed toy" + ], + "num_picks": 12 + }, + "2026-04-24-03-44-57-502000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "coffee pod", + "green bag of chips", + "silver bowl", + "white cup", + "yellow stuffed toy" + ], + "num_picks": 10 + }, + "2026-04-24-03-47-18-893000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "green bag of chips", + "silver bowl", + "white cup", + "yellow stuffed toy" + ], + "num_picks": 12 + }, + "2026-04-24-03-50-07-606000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "coffee pod", + "green bag of chips", + "silver bowl", + "white coffee cup", + "white cup" + ], + "num_picks": 10 + }, + "2026-04-24-03-54-56-066000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "orange screwdriver", + "pink bowl", + "pink mug", + "red marker", + "white coffee cup" + ], + "num_picks": 8 + }, + "2026-04-24-03-57-13-805000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "orange screwdriver", + "pink bowl", + "pink mug", + "red marker", + "white mug" + ], + "num_picks": 8 + }, + "2026-04-24-04-01-56-892000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "asparagus", + "orange screwdriver", + "pink mug", + "red marker", + "white coffee cup" + ], + "num_picks": 9 + }, + "2026-04-24-04-05-21-616000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "blue screwdriver", + "blue stuffed toy", + "green mug", + "pink stuffed toy", + "white mug" + ], + "num_picks": 12 + }, + "2026-04-24-04-07-53-200000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "blue screwdriver", + "cabbage", + "pink stuffed toy", + "white mug" + ], + "num_picks": 8 + }, + "2026-04-24-04-11-59-499000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "green cabbage", + "green coffee cup", + "pink stuffed toy", + "screwdriver" + ], + "num_picks": 10 + }, + "2026-04-24-04-14-43-402000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "doritos", + "green bowl", + "juice pouch", + "toy tomato", + "white plate" + ], + "num_picks": 11 + }, + "2026-04-24-04-17-50-937000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "doritos", + "green bowl", + "juice pouch", + "pink plate" + ], + "num_picks": 14 + }, + "2026-04-24-04-27-06-747000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "doritos", + "green bowl", + "juice pouch", + "white plate" + ], + "num_picks": 13 + }, + "2026-04-24-04-31-36-072000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "blue soda can", + "brown stuffed toy", + "eggplant", + "white canned goods" + ], + "num_picks": 12 + }, + "2026-04-24-04-34-32-314000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "blue soda can", + "brown stuffed toy", + "canned goods", + "eggplant" + ], + "num_picks": 11 + }, + "2026-04-24-04-37-15-697000": { + "scene": "pick_place_diverse", + "task_description": "set 2 data collection day 2", + "objects": [ + "blue soda can", + "brown stuffed toy", + "canned goods", + "eggplant" + ], + "num_picks": 10 + }, + "2026-05-11-21-14-21-049000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-17-50-946000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-21-28-627000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-29-40-946000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-31-52-999000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-35-55-684000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-39-00-800000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-56-11-085000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-21-59-56-771000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-03-57-414000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-09-45-789000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-12-02-421000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-19-50-654000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-22-19-366000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-26-50-596000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-34-50-472000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-37-04-384000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + }, + "2026-05-11-22-41-48-826000": { + "scene": "pick_place_diverse", + "task_description": "set 3 base data", + "objects": [], + "num_picks": 0 + } + } +} \ No newline at end of file diff --git a/egomimic/ricl/episode_lists/eva_episodes_readable.txt b/egomimic/ricl/episode_lists/eva_episodes_readable.txt new file mode 100644 index 000000000..763b0bb67 --- /dev/null +++ b/egomimic/ricl/episode_lists/eva_episodes_readable.txt @@ -0,0 +1,4955 @@ +# All 249 eva pick_place episodes — scene, objects, and annotation segments +# Generated from the zarr `annotations` arrays. One line per distinct segment: [start:end] text +# Companion machine-readable files: eva_episode_objects.json (scene+objects), +# ../episode_annotations.json (full raw annotations w/ all paraphrases, embed_all 183 only) + +### 2026-03-03-06-37-47-140000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=10 | objects=['blue marker', 'carrot', 'doritos', 'green bowl', 'pink stuffed toy'] + [0:141] Pick up the doritos from the table with the right hand using a side grip at the top right from a diagonal angle. + [141:216] Put the doritos to the right side of the pink stuffed toy with the right hand right side up. + [216:369] Pick up the green bowl from the table with the left hand at a diagonal angle grasping the middle. + [369:489] Place the green bowl to the right side of the blue marker with the left hand. + [489:693] Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle. + [759:1056] Pick up the carrot from the table with the right hand at a diagonal angle from the middle. + [1056:1164] Put the carrot inside the green bowl on the table with the right hand facing bottom left. + [1164:1332] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [1332:1428] Place the blue marker inside the bowl on the table with the left hand facing bottom left by the tip. + [1428:1668] Pick up the pink stuffed toy from the table with the left hand using a side grip at the top with a diagonal pick angle. + [1668:1740] Put the pink stuffed toy to the left side of the green bowl with the left hand facing bottom left. + [1740:1896] Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle. + [1896:2010] Put the doritos to the right side of the green bowl with the right hand right side up with the front as the orientation reference point. + [2010:2199] Pick up the green bowl from the table with the right hand using a side grip at the right side and a diagonal angle. + [2199:2307] Dump the carrot and blue marker between the pink stuffed toy and doritos with the right hand. + [2307:2460] Put the green bowl behind the doritos with the right hand. + [2460:2607] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [2607:2706] Put the carrot to the left side of the doritos with the right hand with the tip facing forwards. + [2706:2763] Return to home with the right hand. + [2763:2955] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2955:3000] Place the blue marker to the left side of the carrot with the left hand facing forwards with the tip as the reference point. + +### 2026-03-03-06-40-10-619000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=8 | objects=['blue marker', 'carrot', 'green bowl', 'pink stuffed toy', 'red bag of chips'] + [0:150] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [150:348] Put the blue marker to the left of the pink stuffed toy with the left hand facing forwards with the tip as the reference point. + [348:504] Pick up the red bag of chips from the table with the right hand using a side grip at the bottom right. + [504:621] Put the red bag of chips between the pink stuffed toy and the carrot with the right hand facing forwards. + [621:849] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [849:1014] Put the blue marker on top of the red bag of chips with the left hand facing forwards. + [1013:1185] Pick up the carrot from the table with the right hand using a side grip at the bottom. + [1185:1317] Put the carrot to the right of the green bowl with the right hand facing forwards with the front as the reference point. + [1554:1680] Pick up the green bowl from the table with the right hand using a lip grip from the top at the left side. + [1680:1794] Put the green bowl to the right of the red bag of chips with the right hand. + [1794:2007] Pick up the blue marker from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2007:2130] Place the blue marker inside the green bowl with the right hand facing forwards. + [2130:2301] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2301:2649] Put the pink stuffed toy inside the green bowl with the left hand facing backwards. + [2649:2847] Return to home with the left hand. + [2847:3000] Pick up the red bag of chips from the table with the right hand using a side grip at the bottom left. + +### 2026-03-03-06-43-14-995000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=8 | objects=['blue marker', 'carrot', 'doritos', 'green bowl', 'pink teddy bear'] + [0:201] Pick up the carrots from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [201:399] Put the carrots to the center of the table with the right hand facing forwards with the tip as the reference point. + [399:555] Pick up the doritos from the table with the left hand using a side grip at a diagonal angle from the left. + [555:651] Put the doritos behind of the carrot on the top side with the left hand facing top left. + [651:1002] Pick up the green bowl from the table with the right hand using a diagonal lip grip on the right side. + [1002:1062] Dump the pink teddy bear and blue marker on the table to the right of the doritos with the right hand. + [1062:1194] Put the green bowl to the left of the carrot with the right hand. + [1194:1476] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [1476:1599] Place the blue marker inside the green bowl with the left hand. + [1599:1818] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1818:1950] Put the carrot to the right of the pink teddy bear with the tip facing forwards using the right hand. + [1950:2109] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. + [2109:2205] Dump the blue marker onto the bottom side of the table center with the left hand. + [2205:2343] Put the green bowl in front of the doritos on the bottom side with the left hand. + [2343:2406] Return to home with the left hand. + [2406:2520] Pick up the pink teddy bear from the table with the right hand using a side grip at the top diagonally. + [2520:2643] Put the pink teddy bear inside the green bowl with the right hand facing top left. + [2643:2841] Pick up the doritos from the table with the right hand using a side grip at the bottom left from a diagonal angle. + [2841:3000] Put the doritos to the right of the carrot with the right hand facing forwards. + +### 2026-03-03-06-48-23-857000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=9 | objects=['blue soda can', 'corn', 'eggplant', 'white cup'] + [0:180] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [180:282] Put the corn in front of the eggplant with the right hand on the bottom side with the tip facing left. + [282:489] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [489:546] Put the eggplant to the left of the corn on top with the left hand facing backwards by the tip. + [546:876] Pick up the white cup from the table with the right hand by the handle from the side. + [876:999] Put the white cup to the right of the corn on the bottom right side with the right hand right side up with the front facing backwards. + [998:1146] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1146:1257] Put the corn to the front right of the white cup with the right hand on the bottom side facing top left with the tip as the reference point. + [1257:1611] Pick up the blue soda can from the table with the left hand from the side at the middle. + [1611:1728] Put the blue soda can in between the eggplant and the white cup with the left hand. + [1728:1893] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1893:2013] Put the corn behind the blue soda can on the top left side with the right hand with its tip facing bottom left. + [2012:2187] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [2187:2304] Put the eggplant in front right of the blue soda can on the bottom side with the left hand facing backwards with the tip as the reference point. + [2304:2526] Pick up the white cup from the table with the right hand from the top right side using a lip grip. + [2526:2667] Put the white cup to the right of the eggplant with handle facing backwards right side up on the bottom side with the right hand. + [2667:2709] Return to home with the right hand. + [2709:2802] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [2802:2883] Put the eggplant to the front right of the blue soda can on the top side with the left hand facing backwards by the tip. + [2883:3000] Return to home with the left hand. + +### 2026-03-03-06-50-42-588000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=10 | objects=['corn', 'eggplant', 'soda can', 'soda cup', 'white coffee cup'] + [0:138] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [138:237] Put the eggplant in front of the soda can with the left hand facing bottom right at the tip. + [237:459] Pick up the white coffee cup from the table with the right hand using a lip grip at the right side diagonally. + [459:522] Put the white coffee cup to the top right of the corn with the right hand with its tip facing bottom right. + [522:720] Pick up the eggplant from the middle with the left hand at a diagonal angle. + [720:813] Put the eggplant to the left of the soda can with the left hand facing backwards. + [813:972] Pick up the corn from the table with the right hand using a side grip at the bottom diagonally. + [972:1089] Put the corn in front of the white coffee cup with the right hand facing forwards with the tip as the orientation reference point. + [1089:1311] Pick up the soda can from the table with the left hand using a side grip at the top from a diagonal angle. + [1311:1392] Place the soda can in front of the corn with the left hand. + [1392:1590] Pick up the soda cup from the table with the right hand at a diagonal angle grasping the middle. + [1590:1683] Put the soda cup to the right of the corn with the right hand right side up with the front as the orientation reference point. + [1683:1821] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1821:1902] Put the eggplant to the bottom left of the corn with the left hand facing backwards by the tip. + [2451:2556] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2556:2661] Put the corn to the right of the soda can with the tip facing top left using the right hand. + [2661:2763] Pick up the soda can from the table with the right hand at a diagonal angle grasping the middle. + [2763:2826] Put the soda can to the left of the corn with the right hand right side up. + [2826:2877] Return to home with the right hand. + [2877:2961] Pick up the eggplant from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [2961:3000] Place the eggplant to the left of the soda can with the left hand facing backwards with the tip as the orientation reference point. + +### 2026-03-03-06-53-17-768000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=8 | objects=['corn', 'eggplant', 'white coffee cup'] + [0:75] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [75:162] Put the eggplant to the left of the blue soda can with the left hand facing bottom right with the tip as the reference point. + [327:426] Pick up the white coffee cup from the table with the right hand using a diagonal lip grip at the top right. + [426:660] Put the white coffee cup in front of the blue soda can with the right hand facing backwards from the front. + [1047:1191] Pick up the white coffee cup from the table with the left hand using a lip grip at the top left with a diagonal pick angle. + [1191:1326] Put the white coffee cup to the left of the eggplant with the handle facing to the top right right side up using the left hand. + [1326:1503] Pick up the corn from the table with the right hand at a diagonal angle from the middle. + [1503:1635] Put the corn in front of the blue soda can with the right hand facing left with the tip as the reference point. + [1635:1887] Pick up the eggplant from the table with the left hand at a diagonal angle from the middle. + [1887:1971] Put the eggplant to the left of the white coffee cup with the left hand facing backwards with the tip as the reference point. + [2157:2208] Pick up the corn from the table with the right hand using a side grip at the bottom right from a diagonal angle. + [2208:2358] Put the corn to the right of the blue soda can with the right hand facing forwards with the tip facing forwards. + [2358:2511] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [2511:2655] Put the eggplant between the white coffee cup and the blue can with the left hand facing forwards with the tip as the reference point. + [2655:2727] Return to home with the left hand. + [2880:2934] Pick up the corn from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [2934:2988] Put the corn in front of the blue soda can with the right hand with its tip facing left. + [2988:3000] Return to home with the right hand. + +### 2026-03-03-06-56-07-657000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=8 | objects=['asparagus', 'canned goods', 'juice pouch', 'red marker'] + [0:183] Pick up the canned good from the table with the right hand using a side grip at the top from a diagonal angle. + [183:342] Put the canned good to the right of the red marker on the top right side with the right hand. + [342:573] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [573:633] Place the juice pouch between the asparagus and the red marker on the top side with the left hand facing forwards. + [633:885] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [885:1056] Put the red marker in front of the canned good on the right side with the tip facing top left using the right hand. + [1056:1422] Pick up the asparagus from the table with the left hand from the top at the middle. + [1422:1584] Put the asparagus in front of the juice pouch on the top side with the left hand facing top left from the tip. + [1584:1926] Pick up the juice pouch from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1926:2031] Place the juice pouch to the left of the asparagus with the left hand facing bottom left relative to the front. + [2031:2199] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [2199:2232] Put the juice pouch on the top side of the asparagus with the left hand facing forwards. + [2232:2466] Pick up the canned good from the table with the right hand from the side at the middle. + [2466:2619] Place the canned good between the red marker and the asparagus with the right hand. + [2619:2676] Return to home with the right hand. + [2853:2982] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the entire object. + [2982:3000] Place the juice pouch on the table with the left hand. + +### 2026-03-03-06-58-23-150000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=8 | objects=['asparagus', 'canned goods', 'juice pouch', 'red marker'] + [0:120] Pick up the juice pouch from the table with the left hand from the side at the top of the object. + [120:270] Put the juice pouch in front of the asparagus with the left hand on the bottom side facing left with the front as the reference point. + [474:645] Pick up the canned goods from the table with the right hand from the side at the middle. + [645:762] Put the canned goods to the right side of the juice pouch with the right hand. + [762:909] Pick up the red marker from the table with the right hand at a diagonal angle grasping the entire object. + [909:990] Put the red marker to the right of the canned goods with the right hand facing forwards with the tip as the reference point. + [990:1263] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the entire object. + [1263:1347] Place the asparagus to the left side of the juice pouch with the left hand facing backwards with the tip as the orientation reference point. + [1347:1674] Pick up the canned goods from the table with the right hand from the side grasping the entire object. + [1674:1770] Put the canned goods behind the juice pouch on the top side with the right hand. + [1770:1947] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [1947:2112] Put the asparagus between the juice pouch and the red marker with the left hand facing backwards with the tip at the bottom side. + [2112:2556] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [2556:2757] Place the canned goods behind the asparagus on the top side with the left hand. + [2757:2898] Return to home with the left hand. + [2898:2979] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [2979:3000] Put the red marker to the top right side to the right of the canned goods with the right hand. + +### 2026-03-03-07-01-06-642000 | scene=pick_place_div_scene | desc='pick and place with large task variations' | picks=9 | objects=['asparagus', 'juice pack', 'red marker'] + [0:180] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [180:270] Put the red marker pen to the right of the canned goods with the tip facing forwards using the right hand. + [270:453] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [453:591] Place the asparagus to the left of the canned goods with the left hand facing backwards from the tip. + [591:825] Pick up the red marker from the table with the right hand at a diagonal angle from the middle. + [825:921] Place the red marker to the right of the juice pack with the right hand with its tip facing left. + [921:1104] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [1104:1200] Put the asparagus to the left of the juice pack with the left hand facing backwards with the tip as the reference point. + [1200:1362] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [1362:1446] Place the red marker to the right of the canned goods with the right hand facing forwards with the tip as the reference point. + [1446:1608] Pick up the asparagus from the table with the left hand at a diagonal from the middle. + [1608:1785] Put the asparagus in front of the canned goods with the left hand facing backwards with the tip as the reference point. + [1785:2070] Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2070:2307] Put the red marker behind the juice pack with the right hand with the tip facing top left. + [2307:2628] Pick up the juice pack from the table with the left hand using a side grip at the left from a diagonal angle. + [2628:2805] Place the juice pack to the left of the red marker facing right with the left hand. + [2805:2865] Return to home with the left hand. + [2865:3000] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-03-03-05-03-57-023000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=7 | objects=['bell pepper', 'croissant', 'pen', 'pink cup'] + [0:216] Pick up the bell pepper from the table with the right hand from the side grasping the entire object. + [216:324] Place the bell pepper to the right of the croissant on the top right side with the right hand right side up with the front as the reference point. + [324:582] Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object. + [582:771] Put the croissant to the bottom right side of the bell pepper with the right hand. + [768:1041] Pick up the pink cup from the table with the left hand using a lip grip at the top from a diagonal angle. + [1041:1152] Place the pink cup to the left of the croissant on the bottom side with the left hand handle facing backwards right side up. + [1152:1416] Pick up the croissant from the table with the right hand at a diagonal angle grasping the entire object. + [1416:1581] Put the croissant inside the green bowl with the right hand. + [1581:1917] Pick up the pen from the table with the left hand at a diagonal angle grasping the entire object. + [1917:2169] Put the pen to the left of the pink cup with the left hand on the bottom side facing backwards with the tip as the reference point. + [2331:2472] Pick up the bell pepper from the table with the right hand from the side grasping the entire object. + [2472:2607] Place the bell pepper to the right of the pink cup on the bottom right side right side up with the front as the reference using the right hand. + [2607:2685] Return to home with the right arm. + [2685:3000] Pick up the pink cup from the table with the left hand using a lip grip at the top with a diagonal angle. + +### 2026-03-03-05-11-26-461000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=6 | objects=['bell pepper', 'bread', 'green bowl', 'orange screwdriver', 'pink mug'] + [0:153] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. + [153:243] Dump the bread on the top side of the table with the left hand. + [243:480] Put the green bowl to the left of the orange screwdriver with the left hand. + [474:792] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the entire object. + [792:951] Put the bell pepper to the right of the bread with the right hand right side up with the front as the orientation reference point. + [951:1164] Pick up the pink mug from the table with the right hand using a lip grip at the bottom right from the top. + [1164:1428] Put the pink mug in front of the bell pepper with the handle facing bottom right side up using the right arm. + [1428:1836] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1836:1977] Put the orange screwdriver into the green bowl with the left hand. + [1977:2172] Pick up the bread from the table with the left hand using a side grip at the bottom diagonally. + [2172:2310] Put the bread into the green bowl to the left of the orange screwdriver with the left hand. + [2310:2358] Return to home with the left hand. + [2358:2634] Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the right. + [2634:2799] Place the pink mug to the left of the bell pepper with the handle facing backwards right side up using the right arm. + [2799:3000] Return to home with the right hand. + +### 2026-03-03-05-15-53-096000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=7 | objects=['bell pepper', 'croissant', 'green bowl', 'orange screwdriver', 'pink mug'] + [0:126] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [126:444] Put the pink mug between the orange screwdriver and the bell pepper on the top side right side up with the right hand. + [444:672] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [672:753] Put the croissant inside the green bowl with the left hand. + [753:987] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [987:1074] Put the orange screwdriver inside the green bowl with the left hand facing forwards. + [1074:1272] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [1272:1431] Place the pink mug in front of the bell pepper with the right hand right side up with the front facing bottom left. + [1731:1893] Pick up the bell pepper from the table with the right hand at a diagonal angle gripping the middle. + [1893:2118] Put the bell pepper to the center of the table with the right hand right side up with the front at the bottom side. + [2118:2217] Return to home with the right arm. + [2217:2388] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. + [2388:2475] Dump the orange screwdriver and the croissant on the top side of the table with the left hand. + [2475:2622] Put the green bowl to the left of the orange screwdriver with the left hand. + [2622:2808] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [2808:2940] Put the croissant behind the bell pepper on the top side right side up with the front as reference using the left hand. + [2940:3000] Return to home with the left hand. + +### 2026-03-03-05-20-29-363000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=7 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'white coffee cup', 'yellow stuffed toy'] + [0:153] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [153:288] Put the green bowl to the right of the white coffee cup with the right hand. + [288:492] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [491:654] Place the brown stuffed toy inside the green bowl with the left hand facing forwards. + [654:993] Pick up the white coffee cup from the table with the right hand using a diagonal grip at the handle. + [993:1176] Put the white coffee cup on top of the pink plate with the handle facing backwards right side up using the right arm. + [1176:1410] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1410:1566] Put the blue stuffed toy inside the white coffee cup with the left hand upside down. + [1566:1821] Pick up the white coffee cup from the top of the pink plate with the right hand using a diagonal lip grasp on the right. + [1821:1896] Dump the blue stuffed toy to the right of the pink plate with the right hand. + [1896:2073] Put the white coffee cup to the right of the green bowl with the right hand right side up with the front facing backwards. + [2073:2274] Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [2274:2382] Place the yellow stuffed toy on top of the pink plate with the left hand facing top right. + [2382:2451] Return to home with the left hand. + [2451:2583] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [2583:2730] Put the blue stuffed toy to the left of the green bowl with the right hand facing bottom left. + [2730:3000] Return to home with the right hand. + +### 2026-03-03-05-27-14-876000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=6 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'yellow stuffed toy'] + [0:153] Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [153:261] Put the blue stuffed toy to the right of the pink plate with the right hand facing forwards. + [642:804] Put the white coffee cup to the bottom right of the green bowl with the right hand right side up with the front facing bottom right. + [804:1032] Pick up the yellow stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object. + [1032:1137] Put the yellow stuffed toy to the left of the pink plate with the left hand facing top left. + [1137:1365] Pick up the green bowl from the table with the right hand using a side grip at the right side diagonally. + [1365:1428] Dump the brown stuffed toy to the left of the white coffee cup with the right hand. + [1428:1659] Put the green bowl on the top right side of the table with the right hand. + [1899:2028] Pick up the yellow stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2027:2121] Place the yellow stuffed toy inside the green bowl with the left hand facing top right. + [2121:2226] Return to home with the left hand. + [2226:2331] Pick up the blue stuffed toy from the table with the right hand using a side grip at the top from a diagonal angle. + [2331:2400] Put the blue stuffed toy inside the green bowl with the right hand facing backwards. + [2400:2613] Pick up the brown stuffed toy from the table with the right hand using a side grip at the top with a diagonal angle. + [2613:2754] Put the brown stuffed toy into the green bowl with the right hand facing backwards. + [2754:3000] Return to home with the right hand. + +### 2026-03-03-05-29-34-981000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=7 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'pink plate', 'white mug', 'yellow stuffed toy'] + [0:210] Pick up the pink plate from the table with the right hand using a diagonal lip grasp at the bottom right. + [210:363] Place the pink plate to the left side of the green bowl with the right hand right side up with the front as the orientation reference point. + [654:813] Pick up the green bowl from the table with the right hand using a lip grasp from the right at a diagonal angle. + [813:906] Dump the stuffed toys between the pink plate and white mug with the right hand. + [906:1044] Put the green bowl in front of the pink plate with the right hand. + [1044:1236] Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [1236:1359] Place the brown stuffed toy on top of the pink plate with the right hand facing top right. + [1359:1620] Pick up the yellow stuffed toy from the table with the left hand using a side grip at the top diagonally. + [1620:1755] Place the yellow stuffed toy to the left side of the pink plate with the left hand facing bottom right. + [1755:1812] Return to home with the left hand. + [1812:1953] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1952:2073] Put the blue stuffed toy in front of the white mug with the right hand facing top right. + [2073:2334] Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right side. + [2334:2442] Put the white mug between the green bowl and blue stuffed toy with the front facing top right using the right arm. + [2442:2658] Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2658:2793] Put the stuffed toy inside the green bowl with the right hand facing top right. + [2793:3000] Return to home with the right hand. + +### 2026-03-03-05-32-38-565000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=6 | objects=['beige bowl', 'blue screwdriver', 'green bag of chips', 'white canister'] + [0:264] Pick up the white canister from the table with the right hand at a diagonal angle grasping the middle. + [264:420] Put the white canister inside the beige bowl with the right hand facing top left with the front as the reference point. + [711:849] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom diagonally. + [849:1029] Place the green bag of chips on top of the purple plate with the left hand facing forwards. + [1029:1272] Pick up the blue screwdriver from the table with the right hand using a side grip at the top from a diagonal angle. + [1272:1392] Put the blue screwdriver in front of the cabbage with the right hand facing backwards with the tip as the reference point. + [1392:1677] Pick up the beige bowl from the table with the left hand using a lip grip at the right side with a diagonal angle. + [1677:1755] Dump the white canister between the purple plate and the blue screwdriver with the left hand. + [1755:1908] Place the beige bowl behind the green bag of chips with the left hand. + [1908:2112] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2112:2400] Place the blue screwdriver to the left of the cabbage with the right hand with its tip facing bottom right. + [2400:2619] Return to home with the right hand. + [2619:2859] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2859:2958] Place the blue screwdriver inside the beige bowl with the left hand facing bottom left with the tip as the reference point. + [2958:3000] Return to home with the left hand. + +### 2026-03-03-05-35-22-081000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=7 | objects=['bag of chips', 'bowl', 'cabbage', 'canister', 'plate', 'screwdriver'] + [0:201] Pick up the bowl from the table with the left hand using a diagonal lip grasp at the left side. + [201:264] Dump the screwdriver on the table between the plate and canister with the left hand. + [264:390] Put the bowl to the left side of the green bag of chips with the left hand. + [390:606] Pick up the bowl from the table with the left hand using a diagonal lip grip at the right side. + [606:753] Put the bowl in front of the screwdriver with the left hand. + [753:1023] Pick up the canister from the table with the right hand at a diagonal angle grasping the middle. + [1023:1122] Put the white cup inside the bowl with the right hand upside down. + [1122:1362] Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1362:1488] Place the screwdriver inside the bowl with the left hand facing bottom left by the tip. + [1488:1800] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [1800:1953] Put the cabbage to the right side of the plate with the right hand facing forwards with the tip as the orientation reference point. + [1952:2190] Pick up the bag of chips from the table with the left hand using a side grip at the bottom diagonally. + [2190:2343] Put the bag of chips to the left of the bowl with the left hand upside down. + [2343:2553] Pick up the plate from the table with the left hand using a diagonal lip grasp on the left. + [2553:2694] Place the plate to the right side of the cabbage with the left hand right side up with the front as the orientation reference point. + [2694:2796] Return to home with the left hand. + [2796:3000] Return to home with the right hand. + +### 2026-03-03-05-42-25-155000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=8 | objects=['bag of chips', 'blue plate', 'brown bowl', 'cabbage', 'white coffee pod'] + [0:237] Pick up the cabbage from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [237:333] Put the cabbage inside the brown bowl with the left hand facing bottom left from the front. + [333:624] Pick up the blue plate from the table with the right hand using a lip grip at the right side with a diagonal angle. + [624:762] Put the blue plate to the bottom right of the brown bowl with the right hand right side up with the front as the orientation reference point. + [762:984] Pick up the brown bowl from the table with the left hand using a lip grip at the top with a diagonal angle. + [983:1095] Dump the cabbage blue pen and white coffee pod on the table with the left hand. + [1095:1248] Place the brown bowl to the left of the cabbage with the left hand. + [1248:1515] Pick up the blue plate from the table with the right hand using a lip grip at the right side with a diagonal pick angle. + [1515:1632] Put the blue plate to the right of the white coffee pod with the right hand right side up with the front as the orientation reference point. + [1632:1809] Pick up the brown bowl from the table with the left hand using a diagonal lip grasp at the top. + [1809:1965] Place the brown bowl right side up on the bottom of the blue plate with the left hand. + [1965:2151] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle. + [2151:2241] Put the bag of chips to the left of the table upside down with the left hand. + [2241:2310] Return to home with the left hand. + [2310:2571] Pick up the white coffee pod from the table with the right hand using a side grip at the bottom right from a diagonal angle. + [2571:2640] Place the white coffee pod inside the brown bowl with the right hand upside down. + [2640:2790] Pick up the brown bowl from the table with the right hand using a diagonal lip grip at the top. + [2790:2862] Dump the white coffee pod on the table with the right hand. + [2862:2952] Put the brown bowl to the right of the blue plate with the right hand. + [2952:3000] Return to home with the right hand. + +### 2026-03-03-05-47-21-437000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=8 | objects=['canned goods', 'green mug', 'stuffed toy', 'white cup', 'white mug'] + [0:150] Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right. + [150:312] Put the green mug to the right of the canned goods on its top side with the right hand right side up. + [312:636] Pick up the can good from the table with the left hand at a diagonal angle grasping the middle. + [636:804] Put the canned goods on the bottom side of the white plate with the left hand. + [804:1017] Pick up the green mug from the table with the right hand using a diagonal lip grasp at the right. + [1017:1119] Put the green mug to the right of the white plate on the bottom side with the front facing top right using the right arm. + [1119:1293] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [1293:1416] Put the stuffed toy behind the white plate on the bottom side with the right hand facing right. + [1416:1620] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. + [1620:1725] Put the white cup on the left side of the white plate with the left hand right side up with the front toward the bottom side. + [1725:2001] Pick up the white mug from the table with the right hand at a diagonal angle by the handle. + [2001:2175] Put the white mug behind the green mug with the handle facing backward on the top side right side up with the front as reference using the right hand. + [2175:2415] Pick up the stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2415:2583] Put the stuffed toy inside the white cup with the left hand on the bottom side facing top right. + [2583:2661] Return to home with the left hand. + [2661:2760] Pick up the green mug from the table with the right hand using a lip grip at the top right from a diagonal angle. + [2760:2877] Place the green mug behind the white plate with the right hand with its front facing top right. + [2877:3000] Return to home with the right hand. + +### 2026-03-03-05-50-12-790000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=9 | objects=['canned goods', 'stuffed toy', 'white cup', 'white mug'] + [0:138] Pick up the white mug from the table with the right hand using a side grip at the right in a diagonal pick. + [138:270] Put the white mug to the right of the white plate with the handle facing backwards on the bottom side right side up with the front as the reference using the right hand. + [270:456] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. + [456:564] Put the white cup to the left of the green mug on the top side with the left hand right side up with the front as the reference point. + [564:744] Pick up the canned goods from the white plate with the left hand using a side grasp at the top from a diagonal angle. + [744:855] Put the canned goods to the left of the white plate on the bottom side right side up with the front as the reference using the left hand. + [1032:1125] Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right. + [1125:1302] Put the white mug to the right of the green mug on the top side with the right hand right side up with the front facing backwards. + [1302:1512] Pick up the white mug from the table with the right hand using a diagonal lip grasp at the top right. + [1512:1647] Put the white mug to the right of the white plate with the handle facing bottom left on the top side with the right hand right side up. + [1647:1815] Pick up the stuffed toy from the table with the left hand at a diagonal from the top of the object. + [1815:1923] Put the stuffed toy behind the white cup on the top side with the left hand facing left. + [1922:2166] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [2166:2286] Put the canned goods to the left of the stuffed toy on the top left side with the left hand. + [2286:2469] Pick up the white mug from the table with the right hand using a lip grip at the right side from a diagonal angle. + [2469:2610] Place the white mug to the right of the green mug with the handle facing bottom left right side up on the bottom side using the right arm. + [2610:2658] Return to home with the right hand. + [2658:2781] Pick up the white cup from the table with the left hand using a lip grip at the left side diagonally. + [2781:2862] Place the white cup on the top side of the white plate with the left hand right side up with the front as the orientation reference point. + [2862:3000] Return to home with the left hand. + +### 2026-03-03-05-52-32-417000 | scene=pick_place_div_scene | desc='pick place play data with large task variations' | picks=7 | objects=['canned goods', 'coffee cup', 'cup', 'green coffee cup', 'stuffed toy', 'white coffee cup'] + [0:141] Pick up the cup from the white plate with the left hand using a lip grip at the bottom right with a diagonal angle. + [141:330] Put the cup to the right of the plate with the left hand right side up with the front as the orientation reference point. + [330:651] Pick up the cup from the table with the right hand using a lip grip at the bottom right from a diagonal angle. + [651:870] Put the cup to the right of the white coffee cup with the right hand right side up with the front as the orientation reference point. + [870:954] Return to home with the right hand. + [954:1149] Pick up the coffee cup from the table with the left hand at a diagonal angle by the handle. + [1149:1299] Put the coffee cup on top of the white plate with the handle facing bottom left right side up with the left hand. + [1299:1578] Pick up the green coffee cup from the table with the left hand using a diagonal lip grasp at the left side. + [1578:1773] Put the green coffee cup to the left of the white plate with the handle facing top right with the left hand right side up. + [1773:2043] Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle. + [2042:2157] Put the canned goods to the top left of the green coffee cup with the left hand right side up with the front as the reference point. + [2157:2388] Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2388:2592] Put the stuffed toy inside the white coffee cup with the left hand facing top left. + [2592:2763] Pick up the white coffee cup from the plate with the left hand at a diagonal angle by the handle. + [2763:2832] Dump the stuffed toy between the green coffee cup and white plate with the left hand. + [2832:2922] Put the white coffee cup to the right of the plate with the left hand right side up with the front as the orientation reference point. + [2922:3000] Return to home with the left hand. + +### 2026-04-14-03-33-23-804000 | scene=pick_place_diverse | desc='alignment data set 1' | picks=1 | objects=['blue marker'] + [0:138] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [138:246] Put the blue marker in front of the yellow stuffed toy with the tip facing forwards using the right hand. + [245:294] Return to home with the right hand. + +### 2026-04-14-03-36-19-145000 | scene=pick_place_diverse | desc='alignment data set 1' | picks=1 | objects=['corn'] + [0:120] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [120:204] Put the corn to the left of the blue marker with the left hand with its tip facing right. + [204:288] Return to home with the left hand. + +### 2026-04-14-03-46-38-679000 | scene=pick_place_diverse | desc='alignment data set 1' | picks=1 | objects=['blue screwdriver'] + [0:135] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [135:273] Put the blue screwdriver behind the brown stuffed toy with the left hand with its tip facing right. + [273:333] Return to home with the left hand. + +### 2026-04-14-04-01-06-517000 | scene=pick_place_diverse | desc='alignment data set 1' | picks=1 | objects=['brown stuffed toy'] + [0:105] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [105:222] Put the brown stuffed toy to the left of the corn with the left hand facing forwards. + [222:261] Return to home with the left hand. + +### 2026-04-14-04-04-24-675000 | scene=pick_place_diverse | desc='alignment data set 1' | picks=1 | objects=['yellow stuffed toy'] + [0:114] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [114:195] Put the yellow stuffed animal to the right side of the blue screwdriver with the right hand facing forwards. + [195:240] Return to home with the right hand. + +### 2026-04-14-04-04-45-909000 | scene=pick_place_diverse | desc='alignment data set 1' | picks=1 | objects=['brown stuffed toy'] + [0:108] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [108:177] Put the brown stuffed toy in front of the blue screwdriver with the left hand facing forwards. + [177:234] Return to home with the left hand. + +### 2026-04-14-04-22-46-247000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=1 | objects=['blue stuffed toy'] + [0:120] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [120:189] Place the blue stuffed toy inside the beige bowl with the left hand facing top right. + [189:249] Return to home with the left hand. + +### 2026-04-14-04-23-48-546000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=1 | objects=['blue soda can'] + [0:159] Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle. + [159:255] Put the blue soda can to the right of the cabbage with the right hand. + [255:291] Return to home with the right hand. + +### 2026-04-14-04-25-12-763000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=1 | objects=['beige bowl'] + [0:162] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. + [162:285] Put the beige bowl to the right of the blue soda can with the right hand. + [285:327] Return to home with the right hand. + +### 2026-04-14-04-28-18-000000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=0 | objects=[] + (no annotations) + +### 2026-04-14-04-29-46-000000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=0 | objects=[] + (no annotations) + +### 2026-04-14-04-33-34-590000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=1 | objects=['white mug'] + [0:132] Pick up the white mug from the table with the left hand using a diagonal grasp at the handle. + [132:225] Put the white mug behind the cabbage with handle facing bottom left right side up with the left hand. + [225:300] Return to home with the left hand. + +### 2026-04-14-04-34-24-990000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=1 | objects=['green cabbage'] + [0:156] Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. + [156:279] Put the green cabbage behind the blue soda can with the right hand facing forwards with the tip as the reference point. + [279:363] Return to home with the right hand. + +### 2026-04-14-04-35-45-301000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=1 | objects=['blue soda can'] + [0:138] Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle. + [138:285] Put the blue soda can to the left of the white mug with the right hand. + [285:345] Return to home with the right hand. + +### 2026-04-14-04-38-04-000000 | scene=pick_place_diverse | desc='alignment data set 2' | picks=0 | objects=[] + (no annotations) + +### 2026-04-09-18-59-29-349000 | scene=pick_place_diverse | desc='day 4 of data collection (recollect)' | picks=0 | objects=[] + (no annotations) + +### 2026-04-09-19-25-09-382000 | scene=pick_place_diverse | desc='day 4 of data collection (recollect)' | picks=0 | objects=[] + (no annotations) + +### 2026-04-09-22-41-27-066000 | scene=pick_place_diverse | desc='day 4 of data collection (recollect)' | picks=0 | objects=[] + (no annotations) + +### 2026-04-10-18-51-28-744000 | scene=pick_place_diverse | desc='day 4 of data collection (recollect)' | picks=0 | objects=[] + (no annotations) + +### 2026-04-10-18-55-18-412000 | scene=pick_place_diverse | desc='day 4 of data collection (recollect)' | picks=0 | objects=[] + (no annotations) + +### 2026-03-16-02-54-51-058000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=10 | objects=['blue stuffed toy', 'brown stuffed toy', 'juice pouch', 'pink bowl', 'pink pouch', 'yogurt'] + [0:135] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [135:210] Put the blue stuffed toy to the right of the brown stuffed toy with the right hand facing forwards. + [210:339] Pick up the brown stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [339:444] Put the brown stuffed toy inside the green bowl with the right hand facing forwards. + [444:708] Pick up the yogurt from the table with the right hand at a diagonal angle from the middle. + [708:786] Put the yogurt inside the green bowl with the right hand facing bottom left from the front. + [786:939] Pick up the pink bowl from the table with the left hand using a diagonal lip grip at the bottom left. + [939:1062] Put the pink bowl to the left of the pink plate with the left hand. + [1062:1209] Pick up the juice pouch from the table with the right hand at a diagonal angle grasping the middle. + [1209:1341] Put the juice pouch in front of the green bowl with the right hand facing left. + [1341:1503] Pick up the blue stuffed toy from the table with the right hand at a diagonal from the top of the object. + [1503:1578] Put the blue stuffed toy to the bottom right of the green bowl with the right hand facing top left. + [1578:1830] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1830:1986] Place the blue stuffed toy on top of the pink plate with the left hand facing top left. + [1986:2367] Pick up the blue stuffed toy from the pink plate with the left hand using a side grip at the bottom from a diagonal angle. + [2367:2529] Put the blue stuffed toy inside the pink bowl with the left hand. + [2577:2643] Pick up the pink pouch from the table with the left hand using a side grip at the top left from a diagonal angle. + [2643:2793] Put the juice pouch on top of the pink plate with the left hand facing backwards with the front as the reference point. + [2793:2934] Pick up the pink bowl from the table with the left hand using a side grip at the right in a diagonal angle. + [2934:3000] Put the pink bowl in front of the juice pouch with the left hand. + +### 2026-03-16-02-57-04-244000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=10 | objects=['blue stuffed toy', 'brown stuffed toy', 'canister', 'green bowl', 'juice pouch', 'pink bowl', 'pink plate'] + [0:78] Pick up the pink bowl from the table with the left hand from the right side at a diagonal angle using a lip grip. + [78:249] Put the pink bowl to the right of the green bowl with the left hand. + [249:450] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [450:495] Dump the blue stuffed toy on the table to the right of the green bowl with the right hand. + [495:591] Put the pink bowl behind the right side of the blue stuffed toy with the right hand right side up. + [591:711] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. + [711:753] Dump the canister and brown stuffed toy on the table between pink plate and blue stuffed toy with the left hand. + [753:873] Put the green bowl right side up with its front to the front of the juice pouch using the left hand. + [873:1059] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1059:1182] Place the blue stuffed toy on top of the pink plate with the left hand right side up. + [1182:1305] Pick up the juice pouch from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1305:1455] Put the juice pouch inside the green bowl with the left hand facing bottom left from the front. + [1743:1887] Pick up the canister from the table with the right hand at a diagonal angle grasping the entire object. + [1911:2067] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2067:2148] Put the brown stuffed toy inside the green bowl with the left hand facing backwards. + [2148:2277] Pick up the blue stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object. + [2277:2334] Put the blue stuffed toy inside the green bowl with the left hand facing left. + [2334:2502] Pick up the pink plate from the table with the left hand using a diagonal lip grip at the bottom left. + [2502:2592] Put the pink plate to the right of the green bowl with the left hand right side up with the front as the orientation reference point. + [2592:2772] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2772:2847] Place the pink bowl to the right of the pink plate with the right hand. + [2847:2886] Return to home with the right hand. + [2886:3000] Return to home with the left hand. + +### 2026-03-16-02-59-15-406000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=12 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'juice bag', 'pink bowl'] + [0:122] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side. + [122:168] Dump the stuffed toys and the juice bag to the left of the pink tray with the left hand. + [168:258] Put the green bowl to the left of the brown stuffed toy with the left hand. + [258:384] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [384:444] Put the blue stuffed toy inside the green bowl with the left hand facing backwards. + [444:606] Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. + [606:696] Put the brown stuffed toy on top of the pink tray with the left hand facing top right. + [696:771] Pick up the juice bag from the table with the left hand using a side grip at the bottom right diagonal. + [771:882] Put the juice bag behind the pink tray with the left hand facing bottom left from the front. + [882:1092] Pick up the juice bag from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1092:1215] Put the juice bag behind the pink bowl with the right hand right side up. + [1215:1371] Pick up the green bowl from the table with the left hand using a diagonal lip grip at the right side. + [1371:1437] Put the green bowl to the left of the pink tray with the left hand. + [1437:1686] Pick up the juice bag from the table with the right hand using a side grip at the top right from a diagonal angle. + [1686:1833] Put the juice bag to the right of the pink bowl with the right hand facing bottom left from the front. + [1833:1986] Pick up the brown stuffed toy from the pink tray with the left hand at a diagonal angle grasping the middle. + [1986:2058] Put the brown stuffed toy behind the green bowl with the left hand facing forwards. + [2058:2208] Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the left. + [2208:2247] Dump the blue stuffed toy to the left of the pink tray with the left hand. + [2247:2355] Put the green bowl to the left of the brown stuffed toy with the left hand. + [2355:2481] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2481:2586] Put the blue stuffed toy in front of the white cup with the left hand facing forwards. + [2586:2631] Return to home with the left hand. + [2631:2733] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [2733:2835] Put the blue stuffed toy to the right of the juice bag with the right hand facing forwards. + [2835:2946] Pick up the pink bowl from the table with the right hand using a lip grip from the right at a diagonal angle. + [2946:3000] Put the pink bowl behind the juice bag with the right hand. + +### 2026-03-16-03-13-48-270000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=9 | objects=['blue marker', 'doritos', 'eggplant', 'green mug', 'red marker'] + [0:117] Pick up the green mug from the table by the handle from the side with the left hand. + [117:243] Place the green mug on top of the plate with the left hand facing forwards from the front. + [243:369] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [369:480] Put the red marker to the left side of the plate with the left hand facing backwards with the tip as the reference point. + [705:807] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [807:1008] Put the blue marker to the right side of the plate with the left hand facing forwards with the tip as the reference point. + [1008:1161] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1161:1326] Put the eggplant to the right side of the bowl with the right hand facing forwards with the tip forwards. + [1326:1533] Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [1533:1653] Put the doritos inside of the bowl with the right hand upside down. + [1653:1800] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [1800:1896] Place the blue marker in front of the plate with the left hand with its tip facing left. + [1896:2118] Pick up the green mug from the top of the plate with the left hand using a diagonal lip grasp on the right side. + [2118:2214] Place the green mug to the left side of the bowl with the left hand right side up with the front facing backwards. + [2214:2421] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [2421:2628] Put the eggplant in front of the bowl with the right hand facing backwards with the tip as the reference point. + [2628:2682] Return to home with the right hand. + [2682:2811] Pick up the green mug from the table with the left hand at a diagonal angle by the handle. + [2811:2886] Place the green mug to the left of the egg plant with the handle facing backwards right side up with the left hand. + [2886:3000] Return to home with the left hand. + +### 2026-03-16-03-16-02-581000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=11 | objects=['blue marker', 'doritos', 'eggplant', 'green mug', 'red marker'] + [105:225] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [225:342] Put the blue marker on top of the blue tray with the left hand with its tip facing top left. + [342:480] Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle. + [480:564] Place the red marker on top of the blue tray with the left hand facing bottom right by the tip. + [564:732] Pick up the green mug from the table with the left hand at a diagonal angle by the handle. + [732:825] Put the green mug to the right of the blue tray with the left hand right side up with the front facing backwards. + [825:975] Pick up the eggplant from the table with the right hand using a side grip at the top from a diagonal angle. + [975:1053] Put the eggplant to the right of the beige bowl with the right hand facing forwards with the tip facing forwards. + [1053:1188] Pick up the doritos from the beige bowl with the right hand using a side grip at the bottom with a diagonal pick angle. + [1188:1335] Put the doritos to the right of the eggplant with the right hand facing top right. + [1464:1560] Pick up the green mug from the table with the left hand using a diagonal grasp at the handle. + [1560:1716] Put the green mug in front of the beige bowl with the handle facing backwards right side up using the left hand. + [1716:1872] Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right side. + [1872:1983] Put the green mug in front of the eggplant with the handle facing backwards right side up using the right arm. + [2112:2214] Pick up the blue marker from the blue tray with the left hand at a diagonal angle grasping the middle. + [2214:2322] Put the blue marker to the left of the beige bowl with the left hand facing forwards with the tip as the reference point. + [2322:2454] Pick up the red marker from the blue tray with the left hand at a diagonal angle grasping the middle. + [2454:2550] Put the red marker inside the beige bowl facing bottom left with the left hand right side up. + [2550:2703] Pick up the green mug from the table with the right hand using a lip grip at the bottom left with a diagonal angle. + [2703:2826] Put the green mug in front of the beige bowl with the right hand right side up with the front facing top right. + [2826:2895] Return to home with the right hand. + [2895:3000] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-03-16-03-26-31-137000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=11 | objects=['doritos', 'eggplant', 'green coffee cup', 'red marker', 'violet plate'] + [0:96] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [96:168] Place the eggplant on top of the violet plate with the left hand with its tip facing top left. + [168:399] Pick up the green coffee cup from the table by the handle from the side with the right hand. + [399:591] Put the green coffee cup to the right of the red marker with the right hand right side up with the front facing backwards. + [591:756] Pick up the eggplant from the violet plate with the left hand from the top at the middle. + [756:864] Place the eggplant to the left side of the white bowl with the left hand facing top left by the tip. + [864:1005] Pick up the doritos from the table with the right hand using a side grip at the bottom right from a diagonal angle. + [1005:1140] Put the doritos in front of the green coffee cup with the right hand facing forwards. + [1140:1281] Pick up the violet plate from the table with the left hand using a lip grip at the bottom left with a diagonal angle. + [1281:1431] Put the violet plate to the left of the eggplant with the left hand right side up with the front as the orientation reference point. + [1431:1593] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1593:1659] Put the eggplant on top of the violet plate with the left hand with its tip facing top left. + [1659:1848] Pick up the red marker from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1848:1917] Place the red marker to the right of the white bowl with the right hand facing top left by the tip. + [1917:2040] Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [2040:2154] Put the doritos in front of the red marker with the right hand facing left. + [2154:2379] Pick up the doritos from the table with the left hand using a side grasp at the bottom left from a diagonal angle. + [2379:2478] Put the doritos between the violet plate and the white bowl with the left hand facing backwards. + [2478:2670] Pick up the green coffee cup from the table with the right hand by the handle from the side. + [2670:2787] Put the green coffee cup in front of the red marker with the handle facing backwards right side up with the front as reference using the right arm. + [2787:2844] Return to home with the right hand. + [2844:2934] Pick up the eggplant from the violet plate with the left hand at a diagonal angle grasping the middle. + [2934:2991] Put the eggplant in front of the doritos with the left hand with its tip facing top left. + [2991:3000] Return to home with the left hand. + +### 2026-03-16-03-30-50-354000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=11 | objects=['blue screwdriver', 'gray stuffed toy', 'orange screwdriver', 'white cup', 'white mug'] + [0:162] Pick up the right white mug from the table with the right hand using a diagonal grasp at the handle. + [162:267] Put the right white mug to the right side of the gray stuffed toy with the right hand right side up with the front facing backwards. + [480:534] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [534:600] Place the blue screwdriver to the left side of the left white mug with the left hand facing forwards with the tip facing forwards. + [600:708] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [708:813] Put the orange screwdriver in front of the blue screwdriver with the left hand with the tip facing forwards. + [813:951] Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [951:1020] Put the gray stuffed toy to the top left side of the table with the left hand facing bottom left. + [1020:1179] Pick up the left white mug from the table with the left hand at a diagonal angle by the handle. + [1179:1260] Put the left white mug in front of the gray stuffed toy with handle facing bottom left with the left hand. + [1260:1452] Pick up the white cup from the table with the right hand using a side grip at the top from a diagonal angle. + [1452:1623] Put the white cup to the right side of the right white mug with the right hand right side up with the front as the orientation reference point. + [1623:1770] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1770:1893] Place the orange screwdriver to the left side of the right white mug with the left hand facing forwards with the tip facing forwards. + [1893:2001] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2001:2181] Place the blue screwdriver on the top side of the table with the left hand facing forwards with the tip as the reference point. + [2181:2364] Pick up the left white mug from the table with the left hand using a diagonal lip grasp at the right side. + [2364:2487] Put the left white mug to the center of the table with handle facing backwards using the left hand. + [2487:2607] Pick up the gray stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2607:2700] Put the gray stuffed toy in front of the orange screwdriver with the left hand facing bottom left from the front. + [2700:2754] Return to home with the left hand. + [2754:2856] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [2856:3000] Put the white cup behind the right white mug with the right hand right side up. + +### 2026-03-16-03-33-11-859000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=9 | objects=['beige mug', 'blue screwdriver', 'orange screwdriver', 'stuffed toy', 'white mug'] + [0:132] Pick up the beige mug from the table with the right hand using a diagonal lip grasp on the right side. + [132:291] Place the beige mug to the right of the white cup with handle facing bottom left right side up with the right hand. + [435:492] Pick up the white mug from the table with the left hand from the side by the handle. + [491:630] Place the white mug in front of the beige mug with the handle facing backwards using the left hand. + [627:879] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [879:1008] Place the orange screwdriver to the right of the white mug with the right hand with its tip facing top right. + [1005:1161] Pick up the stuffed toy from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [1161:1251] Put the stuffed toy to the left of the white mug with the left hand facing left from the front. + [1251:1386] Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1386:1467] Put the blue screwdriver to the left of the stuffed toy with the left hand facing forwards with the tip as the reference point. + [1461:1605] Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1605:1749] Put the orange screwdriver in front of the stuffed toy with the right hand with its tip facing bottom left. + [1746:1893] Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom diagonally. + [1893:2010] Put the blue screwdriver to the left of the white cup with the tip facing forwards using the left hand. + [2001:2250] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [2250:2373] Put the stuffed toy to the right of the white mug with the right hand facing left with the front as the reference point. + [2373:2550] Pick up the blue screwdriver from the table with the left hand at a diagonal angle from the middle. + [2550:2694] Put the blue screwdriver behind the orange screwdriver with the left hand facing forwards with the tip as the reference point. + [2694:2742] Return to home with the left hand. + [2871:3000] Return to home with the right hand. + +### 2026-03-16-03-35-33-596000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=9 | objects=['blue marker', 'blue screwdriver', 'orange screwdriver', 'stuffed toy', 'white cup'] + [0:141] Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom diagonally. + [141:267] Put the blue screwdriver behind the stuffed toy with the right hand facing forwards with the tip facing forwards. + [267:468] Pick up the orange screwdriver to the right of the stuffed toy with the right hand from the middle at a diagonal angle. + [468:636] Place the orange screwdriver to the right of the stuffed toy with the right hand facing forwards with the tip forwards. + [636:963] Pick up the white cup from the table by the handle at a diagonal angle with the right hand. + [963:1068] Put the white cup to the front left of the ceramic cup with the handle facing backwards using the right hand. + [1068:1206] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1206:1287] Put the stuffed toy inside the beige cup with the right hand facing top left. + [1287:1422] Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1422:1581] Put the orange screwdriver in front of the beige cup with the right hand facing forwards with the tip as the orientation reference point. + [1581:1764] Pick up the orange screwdriver from the table with the right hand using a side grip at the top from a diagonal angle. + [1764:1899] Put the orange screwdriver inside the ceramic cup with the right hand right side up. + [1899:2121] Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom at a diagonal angle. + [2121:2220] Put the blue screwdriver in front of the beige cup with the right hand with its tip facing top left. + [2220:2412] Pick up the white cup from the table with the left hand using a diagonal grasp at the handle. + [2412:2526] Put the white cup to the right of the ceramic cup with the handle facing backwards with the left hand. + [2526:2595] Return to home with the left hand. + [2754:2877] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [2937:3000] Return to home with the right hand. + +### 2026-03-16-03-38-45-473000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=12 | objects=['bag of chips', 'bell pepper', 'cabbage', 'pink stuffed toy', 'silver bowl'] + [0:117] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [117:216] Put the cabbage inside the silver bowl with the left hand. + [216:381] Pick up the bell pepper from the table with the left hand at a diagonal angle grasping the entire object. + [381:459] Put the bell pepper on the white plate with the left hand facing left with the front as the reference point. + [459:600] Pick up the pink stuffed toy with the left hand at a diagonal angle grasping the entire object. + [600:678] Put the pink stuffed toy to the left of the bag of chips with the left hand facing forwards. + [678:810] Pick up the silver bowl from the table with the right hand using a diagonal lip grip at the top. + [810:861] Dump the cabbage on the table with the right hand. + [861:1011] Put the silver bowl to the bottom of the cabbage with the right hand. + [1011:1194] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [1194:1302] Place the bag of chips to the left of the silver bowl upside down with the left hand. + [1302:1440] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1440:1533] Put the pink stuffed toy from the table with the left hand facing forwards. + [1533:1707] Pick up the silver bowl from the table with the right hand using a lip grip at the top diagonally. + [1707:1788] Put the silver bowl to the right of the cabbage with the right hand. + [1788:1941] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1941:2037] Put the pink stuffed toy to the left of the bag of chips with the left hand facing forwards. + [2037:2178] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [2178:2316] Put the cabbage in front of the white plate with the right hand facing backwards with the front as the reference point. + [2316:2514] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2514:2583] Put the pink stuffed toy to the top left of the bag of chips with the left hand facing forwards. + [2583:2748] Pick up the cabbage from the table with the right hand using a side grip at the top from a diagonal angle. + [2748:2829] Put the cabbage from the silver bowl upside down with the front as the reference point using the right hand. + [2829:2880] Return to home with the right hand. + [2880:3000] Pick up the bag of chips from the table with the left hand using a side grip at the left from a diagonal angle. + +### 2026-03-16-03-41-01-678000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=11 | objects=['bowl', 'cabbage', 'red bell pepper', 'snack pouch', 'stuffed toy'] + [111:243] Pick up the bowl from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle. + [243:327] Put the bowl in front of the plate with the right hand. + [327:438] Pick up the snack pouch from the table with the left hand using a side grip at the left side and a diagonal angle. + [438:504] Put the snack pouch to the left of the stuffed toy with the left hand facing top left. + [504:627] Pick up the bowl from the table with the right hand using a diagonal lip grasp on the right. + [627:657] Dump the green cabbage in front of the plate with the right hand. + [657:816] Put the bowl to the right of the plate with the right hand. + [1029:1164] Pick up the red bell pepper from the plate with the right hand using a side grip from the top at the bottom. + [1164:1284] Put the red bell pepper in front of the cabbage with the right hand facing forwards with the tip as the reference point. + [1284:1404] Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1404:1479] Put the stuffed toy in front of the snack pouch with the left hand facing forwards. + [1479:1548] Pick up the snack pouch from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [1548:1752] Place the snack pouch on top of the plate with the left hand facing top left. + [1752:1902] Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [1902:1953] Place the red bell pepper inside the bowl with the right hand facing top left with the tip as the reference point. + [1952:2097] Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [2097:2208] Put the stuffed toy to the left of the plate with the left hand facing forwards. + [2208:2364] Pick up the cabbage from the table with the right hand at a diagonal angle from the middle. + [2364:2472] Put the cabbage in front of the bowl with the right hand facing backwards. + [2472:2676] Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [2676:2790] Put the stuffed toy in front of the plate with the left hand facing bottom right. + [2790:2838] Return to home with the left hand. + [2838:2931] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [2931:3000] Put the cabbage to the right of the bowl with the right hand facing backwards by the tip. + +### 2026-03-16-03-43-21-495000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=9 | objects=['bag of chips', 'bell pepper', 'cabbage', 'pink stuffed toy', 'stainless bowl', 'white plate'] + [108:198] Pick up the stainless bowl from the table with the right hand using a diagonal lip grasp at the right. + [198:258] Dump the bell pepper to the right of the white plate with a bag of chips on top using the right arm. + [258:372] Put the stainless bowl to the bottom of the bell pepper with the right hand. + [372:552] Pick up the cabbage from the table with the right hand using a side grip at the top from a diagonal angle. + [552:663] Put the cabbage inside the stainless bowl with the right hand. + [663:810] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [810:927] Put the stuffed toy on the bottom left side of the white plate with the left hand facing top right. + [1101:1227] Pick up the bag of chips from the white plate with the left hand using a side grip at the top right from a diagonal angle. + [1227:1404] Place the bag of chips to the top left of the pink stuffed toy with the left hand facing backwards. + [1404:1608] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [1608:1719] Put the bell pepper to the right side of the stainless bowl with the right hand facing bottom left with the front as the reference point. + [1719:1896] Pick up the white plate from the table with the left hand using a lip grip at the left side with a diagonal angle. + [1896:2025] Put the white plate to the bottom left of the bag of chips with the left hand right side up with the front as the orientation reference point. + [2025:2148] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [2148:2232] Put the pink stuffed toy into the white plate with the left hand facing top right. + [2232:2403] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [2403:2640] Put the bell pepper to the top left side of the stainless bowl with the right hand facing forwards with the front facing forwards. + [2640:2736] Return to home with the right hand. + [2736:2853] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal angle. + [2853:2937] Put the bag of chips to the bottom of the bell pepper with the left hand facing backwards. + [2937:3000] Return to home with the left hand. + +### 2026-03-16-03-46-31-025000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=11 | objects=['asparagus', 'bread', 'carrot', 'pink cup', 'white cup'] + [0:111] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [111:201] Place the carrot to the front of the pink cup with the right hand facing backwards with the tip as the orientation reference point. + [201:324] Pick up the bread from the table with the left hand at the middle using a diagonal angle. + [324:387] Put the bread to the left side of the white cup with the left hand. + [387:594] Pick up the pink cup from the table with the right hand from the side by the handle. + [594:720] Place the pink cup to the right side of the asparagus with the handle facing backwards using the right hand right side up from the front. + [714:825] Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. + [825:900] Put the bread to the left side of the soda can with the left hand. + [900:1119] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [1119:1248] Place the asparagus to the left side of the bread with the left hand facing backwards with the tip as the reference point. + [1458:1512] Pick up the white cup from the table by the handle at a diagonal angle with the left hand. + [1512:1629] Put the white cup to the left side of the asparagus with the left hand right side up with the front facing backwards. + [1752:2010] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [2010:2100] Put the carrot to the right side of the pink cup with the tip facing backwards using the right hand. + [2100:2241] Pick up the pink cup from the table with the right hand from the side by the handle. + [2241:2322] Put the pink cup to the front right side of the carrot with the right hand right side up and the front facing backwards. + [2322:2361] Return to home with the right hand. + [2361:2502] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [2502:2613] Put the asparagus to the front left side of the white cup with the left hand facing backwards with the tip as the reference point. + [2613:2754] Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. + [2754:2820] Put the bread to the front right side of the white cup with the left hand. + [2820:2988] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [2988:3000] Put the carrot on the table with the left hand. + +### 2026-03-16-03-48-47-173000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=11 | objects=['asparagus', 'bread', 'carrot', 'pink cup', 'white cup'] + [0:117] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [117:210] Put the asparagus between the soda can and the white cup with the left hand facing backwards with the tip as the reference point. + [210:330] Pick up the white cup from the table with the left hand using a diagonal grip on the handle. + [330:432] Place the white cup to the front right side of the asparagus with the handle facing backwards using the left hand. + [432:585] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [585:663] Place the carrot to the rear left side of the pink cup with the right hand facing backwards with the tip as the orientation reference point. + [663:765] Pick up the asparagus from the table with the left hand using a side grip at the top from a diagonal angle. + [765:888] Put the asparagus to the front right side of the soda can with the left hand facing backwards by the tip. + [888:1032] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1032:1131] Put the carrot to the rear right side of the pink cup with the right hand facing backwards with the tip as the orientation reference point. + [1131:1272] Pick up the bread from the table with the left hand from the top of the object at a diagonal angle. + [1272:1398] Place the bread to the rear right side of the asparagus with the left hand. + [1398:1623] Pick up the bread from the table with the right hand at the middle using a diagonal angle. + [1623:1731] Put the bread to the right side of the pink cup with the right hand. + [1731:1920] Pick up the pink cup from the table with the right hand at the bottom right using a diagonal lip grasp. + [1920:2088] Place the pink cup right side up to the rear right side of the asparagus with the handle facing left using the right arm. + [2088:2241] Pick up the bread from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2241:2394] Put the bread into the pink cup with the right hand. + [2394:2601] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [2601:2691] Put the carrot to the right side of the pink cup with the right hand facing backwards with the tip as the orientation reference point. + [2691:2715] Return to home with the right hand. + [2715:2826] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the right side. + [2826:2910] Put the white cup to the left side of the soda can with the left hand with the front facing backwards. + [2910:3000] Return to home with the left hand. + +### 2026-03-16-03-55-01-379000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=10 | objects=['asparagus', 'carrot', 'croissant', 'pink cup', 'soda can', 'white cup'] + [0:117] Pick up the croissant from the table with the left hand using a side grip at the bottom and a diagonal pick angle. + [117:258] Put the croissant in front left of the white cup with the left hand. + [258:405] Pick up the pink cup from the table with the right hand at a diagonal angle by the handle. + [405:519] Put the pink cup in front of the soda can with the handle facing backward right side up using the right hand. + [519:684] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [684:750] Put the asparagus in front right of the white cup with the left hand with the tip facing bottom left. + [750:921] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [921:1017] Place the carrot to the right side of the asparagus with the left hand facing backwards with the tip as the orientation reference point. + [1017:1164] Pick up the soda can from the table with the right hand at a diagonal angle from the top of the object. + [1164:1272] Place the soda can behind right of the pink cup with the right hand right side up. + [1272:1380] Pick up the carrot from the table with the left hand using a side grip at the top at a diagonal angle. + [1380:1509] Put the carrot behind left of the pink cup with the left hand facing backwards with the tip as the orientation reference point. + [1509:1665] Pick up the soda can from the table with the right hand at a diagonal angle grasping the top of the object. + [1665:1815] Put the soda to the right of the pink cup with the right hand right side up with the front as the orientation reference point. + [2027:2112] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [2112:2202] Put the asparagus behind left of the white cup with the left hand with the tip facing bottom left. + [2379:2424] Pick up the white cup from the table with the left hand at a diagonal angle by the handle. + [2424:2517] Put the white cup to the left of the carrot with the handle facing backward right side up with the front as reference using the left hand. + [2517:2571] Return to home with the left hand. + [2571:2847] Pick up the pink cup from the table with the right hand using a diagonal lip grasp at the top right. + [2847:2988] Put the pink cup to the right of the carrot with the right hand with the front facing backwards. + [2988:3000] Return to home with the right hand. + +### 2026-03-16-03-58-16-144000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=9 | objects=['big can', 'corn', 'small can', 'yellow stuffed toy'] + [0:99] Pick up the yellow stuffed toy from the table with the right hand using a side grasp at the bottom and a diagonal pick angle. + [99:156] Put the yellow stuffed toy to the right side of the corn with the right hand facing bottom right. + [156:294] Pick up the small can from the table with the left hand at a diagonal angle grasping the middle. + [294:393] Put the small can to the left side of the corn with the left hand right side up with the front as the orientation reference point. + [393:603] Pick up the big can from the table with the right hand at a diagonal angle grasping the middle. + [603:699] Place the big can with the right hand to the right side of the yellow stuffed toy. + [699:894] Pick up the small can from the table with the left hand using a side grip at the top with a diagonal angle. + [894:1005] Put the small can in front of the corn with the left hand right side up at the front. + [1005:1215] Pick up the big can from the table with the right hand using a side grip at the bottom diagonally. + [1215:1350] Put the big can in front of the yellow stuffed toy with the right hand. + [1350:1548] Pick up the small can from the table with the left hand using a side grip at the top from a diagonal angle. + [1548:1659] Put the small can right side up to the front left of the big can with the left hand. + [1659:1875] Pick up the small can from the table with the right hand at a diagonal angle grasping the middle. + [1875:2001] Put the small can to the front right of the big can with the right hand right side up. + [2001:2373] Pick up the small can from the table with the right hand at a diagonal angle grasping the middle. + [2373:2595] Put the small can to the right side of the yellow stuffed toy with the right hand. + [2595:2661] Return to home with the right hand. + [2661:2820] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [2820:2916] Put the corn to the front left of the big can with the left hand facing top right with the tip as the reference point. + [2916:3000] Return to home with the left hand. + +### 2026-03-16-04-00-31-037000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=10 | objects=['big canned goods', 'corn', 'small canned goods', 'yellow stuffed toy'] + [0:159] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [159:330] Put the corn to the right of the small canned good with the tip facing forwards using the right arm. + [330:579] Pick up the big canned good from the table with the right hand from the side at the middle. + [579:771] Put the big canned good to the left of the yellow stuffed toy with the right hand. + [771:924] Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [924:1104] Put the yellow stuffed toy to the front left of the big canned good with the right hand facing bottom right. + [1104:1254] Pick up the small canned good from the table with the right hand from the side at the middle. + [1254:1386] Put the small canned good to the front right of the big canned good with the right hand. + [1386:1524] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1524:1653] Put the corn to the rear right of the small canned good with the right hand facing forwards with the tip as the reference point. + [1653:1812] Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1812:1935] Put the yellow stuffed toy to the left of the small canned good with the left hand facing bottom left. + [1935:2100] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2100:2277] Place the corn in front of the small canned good with the right hand facing bottom left with the tip as the reference point. + [2277:2445] Pick up the big canned good from the table with the left hand from the side at the middle. + [2445:2628] Put the big canned good to the left of the yellow stuffed toy with the left hand. + [2628:2679] Return to home with the left hand. + [2679:2796] Pick up the small canned good from the table with the right hand using a side grip at the top with a diagonal pick angle. + [2796:2895] Put the small canned good to the right of the corn with the right hand right side up. + [2895:3000] Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + +### 2026-03-16-04-02-45-158000 | scene=pick_place_diverse | desc='pick and place day 3 of data collection' | picks=10 | objects=['corn', 'white canned goods', 'yellow canned goods', 'yellow duck toy'] + [0:108] Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [108:207] Put the white canned goods to the right side of the yellow duck toy with the right hand. + [207:444] Pick up the yellow canned goods from the table with the left hand at a diagonal angle grasping the middle. + [444:585] Put the yellow canned goods to the left side of the yellow duck toy with the left hand. + [585:762] Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [762:882] Put the white canned goods behind the yellow canned goods with the right hand. + [882:1044] Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle. + [1044:1218] Put the corn to the left side of the yellow canned goods with the left hand facing left with the tip as the reference point. + [1218:1434] Pick up the yellow duck toy from the table with the right hand at a diagonal angle grasping the middle. + [1434:1542] Put the yellow duck toy to the right side of the white canned goods with the right hand facing bottom right. + [1542:1767] Pick up the white canned goods from the table with the right hand at a diagonal angle grasping the middle. + [1767:1860] Put the white canned goods to the right side of the yellow duck toy with the right hand. + [1860:1998] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [1997:2145] Put the corn to the front left of the yellow canned goods with the left hand facing forwards with the tip as the reference point. + [2145:2301] Pick up the yellow duck toy from the table with the right hand using a side grip at the bottom and a diagonal pick angle. + [2301:2424] Put the yellow duck toy to the bottom front right of the yellow canned goods with the right hand facing backwards. + [2424:2550] Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [2550:2664] Put the white canned goods behind the yellow duck toy with the right hand. + [2664:2694] Return to home with the right hand. + [2694:2775] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [2925:3000] Return to home with the left hand. + +### 2026-03-15-23-25-31-934000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=9 | objects=['beige bowl', 'bell pepper', 'eggplant', 'gray stuffed toy', 'juice pack', 'white cup'] + [0:156] Pick up the eggplant from the table with the left hand at a diagonal angle grasping its middle. + [156:240] Put the eggplant in front of the white cup on the bottom left side with the tip facing forwards using the left hand. + [240:573] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [573:723] Put the bell pepper to the right of the beige bowl on the right side right side up with the front as the reference using the right hand. + [723:924] Pick up the gray stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [924:1014] Put the gray stuffed toy to the left of the eggplant on the bottom left side with the left hand facing forwards. + [1013:1176] Pick up the juice pack from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [1224:1488] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right. + [1488:1596] Put the beige bowl to the right of the white cup on the top side with the right hand. + [1596:1833] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [1833:1935] Put the bell pepper to the right of the beige bowl with the right hand right side up with the front on the top side. + [1935:2097] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [2097:2229] Place the eggplant inside the beige bowl on the top left side upside down with the tip as the reference point using the left arm. + [2229:2391] Pick up the white cup from the table with the left hand using a lip grip at the top left diagonally. + [2391:2577] Place the white cup behind the beige bowl on the top side right side up with the front as the reference using the left hand. + [2577:2874] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [2874:3000] Put the bell pepper in front of the beige bowl with the right hand right side up on the bottom side with the front as the orientation reference point. + +### 2026-03-15-23-28-01-570000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=10 | objects=['beige bowl', 'bell pepper', 'juice pouch', 'stuffed toy', 'white bowl', 'white cup'] + [0:159] Pick up the white bowl from the table with the right hand using a side lip grasp at the right. + [159:270] Put the white bowl to the right of the white cup with the right hand. + [270:426] Pick up the bell pepper from the table with the left hand using a side grip at the top left from a diagonal angle. + [426:531] Put the red bell pepper to the center of the table with the left hand right side up with the front as the reference point. + [531:684] Pick up the stuffed toy from the table with the left hand using a lip grip from the top. + [684:774] Place the stuffed toy in front of the red bell pepper with the left hand right side up. + [774:939] Pick up the juice pouch from the table with the left hand using a lip grip from the top. + [939:1017] Put the juice pouch to the top right of the beige bowl with the left hand facing top right. + [1017:1170] Pick up the stuffed toy from the table with the right hand using a side grip at the bottom right from the top. + [1170:1242] Put the stuffed toy to the top right of the beige bowl with the right hand facing top right. + [1362:1434] Pick up the beige bowl from the table with the right hand using a lip grip at the top left from a diagonal angle. + [1434:1530] Dump the eggplant to the top left of the bell pepper with the right hand. + [1530:1659] Put the beige bowl to the bottom of the stuffed toy with the right hand. + [1659:1896] Pick up the white cup from the table with the left hand from the top left using a lip grip. + [1896:2037] Put the white cup to the left side of the juice pouch with the left hand right side up with the front as the reference point. + [2037:2208] Pick up the stuffed toy from the table with the right hand using a side grip from the top at the top right. + [2208:2298] Put the stuffed toy inside the beige bowl with the right hand right side up. + [2298:2442] Pick up the bell pepper from the table with the right hand using a lip grip at the bottom right from a diagonal angle. + [2442:2514] Put the red bell pepper inside the beige bowl with the right hand right side up. + [2625:2706] Pick up the juice pouch from the table with the right hand using a side grip at the top left from the top. + [2706:2955] Place the juice pouch behind the beige bowl with the right hand facing top right from the front. + [2955:3000] Return both hands to home. + +### 2026-03-15-23-30-29-803000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=9 | objects=['beige bowl', 'eggplant', 'juice pack', 'red bell pepper', 'white cup'] + [0:162] Pick up the eggplant from the table with the right hand at a diagonal from the top of the object. + [162:252] Put the eggplant to the right of the white cup on the top side with the right hand facing forwards with the tip facing forwards. + [360:462] Pick up the beige bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle. + [462:723] Put the beige bowl to the right of the eggplant on the top side with the right hand. + [723:987] Pick up the white cup from the table with the left hand using a diagonal top lip grasp. + [987:1167] Put the white cup to the top left of the eggplant on its top side right side up with the front as reference using the left hand. + [1167:1398] Pick up the juice pack from the table with the right hand at a diagonal angle from the top of the object. + [1398:1467] Put the juice pack to the right of the beige plate on the top side with the right hand facing backwards relative to the front. + [1467:1659] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1659:1767] Put the eggplant to the left of the white cup on the top side with the left hand facing forwards with the front as reference. + [1767:1944] Pick up the juice pack from the table with the right hand at a diagonal angle from the top of the object. + [1944:2052] Place the juice pack below the beige bowl with the right hand facing backwards with the front as the orientation reference point. + [2052:2202] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the left side. + [2202:2238] Dump the red bell pepper to the right of the white cup on the top side with the right hand. + [2238:2388] Put the beige bowl to the right of the juice pack on the top side with the right hand. + [2388:2553] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [2553:2658] Put the eggplant in front of the white cup with the left hand on the bottom side facing forwards with the tip as the reference point. + [2658:2682] Return to home with the left hand. + [2910:2961] Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the entire object. + [2961:3000] Put the red bell pepper on the bottom side of the table with the right hand. + +### 2026-03-15-23-33-57-140000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=10 | objects=['blue stuffed toy', 'corn', 'croissant', 'silver bowl', 'white coffee cup'] + [0:138] Pick up the croissant from the table with the left hand at a diagonal from the middle. + [138:243] Place the croissant to the bottom side of the silver bowl with the left hand. + [243:423] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [423:591] Put the corn to the right of the white coffee cup on the bottom left side with the right hand facing backwards by the tip. + [591:729] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal angle. + [729:864] Put the blue stuffed toy to the left of the silver bowl on the top left side with the left hand right side up. + [864:978] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [978:1092] Put the corn to the bottom of the white coffee cup with the right hand on the top side facing backwards with the tip as the reference point. + [1092:1248] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1248:1365] Put the blue stuffed toy to the left of the croissant on the bottom left side right side up with the left hand. + [1365:1542] Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. + [1542:1749] Put the white coffee cup to the right of the corn on the top right side with the right hand right side up with the front facing backwards. + [1749:1923] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1922:1991] Put the blue stuffed toy into the silver bowl with the left hand right side up. + [1992:2148] Pick up the silver bowl from the table with the left hand using a lip grip at the left side diagonally. + [2148:2268] Place the silver bowl to the left of the croissant with the left hand. + [2268:2319] Return to home with the left hand. + [2319:2463] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2463:2607] Put the corn to the right of the white coffee cup on the top right side with the right hand facing backwards with the tip as the reference point. + [2607:2772] Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. + [2772:2892] Put the white coffee cup to the right of the croissant with handle facing the right side of the table on the bottom side with the right hand right side up. + [2892:3000] Return to home with the right hand. + +### 2026-03-15-23-36-23-243000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=10 | objects=['blue stuffed toy', 'bread', 'corn', 'stainless bowl', 'stuffed toy', 'white mug'] + [0:99] Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. + [99:270] Place the bread behind the white mug with the left hand. + [270:489] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [489:588] Put the corn to the right side of the bread on the top side with the right hand facing backwards with the tip as the reference point. + [588:852] Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. + [852:990] Place the bread to the bottom left side of the stainless bowl with the left hand facing backwards relative to the front. + [990:1116] Pick up the stainless bowl from the table with the left hand using a diagonal lip grasp on the left side. + [1116:1170] Dump the blue stuffed toy between the stainless bowl and the white mug with the left hand. + [1170:1404] Put the stainless bowl behind the white mug upside down with the front as the orientation reference point using the left hand. + [1404:1599] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1599:1740] Put the corn inside the stainless bowl with the right hand upside down. + [1740:1941] Pick up the bread from the table with the left hand at a diagonal angle grasping the middle. + [1941:2067] Place the bread to the left side of the stainless bowl with the left hand. + [2067:2187] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [2187:2256] Put the blue stuffed toy to the left side of the bread with the left hand facing forwards. + [2256:2412] Pick up the white mug from the table with the left hand using a lip grip at the left side with a diagonal angle. + [2412:2508] Place the white mug to the left side of the blue stuffed toy on the top left side with the left hand facing forwards from the tip. + [2508:2652] Pick up the corn from the top of the stainless bowl with the right hand at a diagonal angle grasping the middle. + [2652:2751] Put the corn in front of the stainless bowl with the right hand on the bottom side facing backwards with the tip as the reference point. + [2751:2820] Return to home with the right hand. + [2820:2916] Pick up the stuffed toy from the table with the left hand at a diagonal from the middle. + [2916:3000] Put the blue stuffed toy in front of the bread with the left hand. + +### 2026-03-15-23-39-06-936000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=9 | objects=['blue stuffed toy', 'corn', 'croissant', 'white mug'] + [0:105] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [105:177] Put the blue stuffed toy to the right of the white mug with the left hand facing backwards. + [177:321] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [321:423] Put the corn on the bottom side of the table with the right hand facing right with the tip as the reference point. + [423:588] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [588:657] Put the blue stuffed toy in front of the white mug on the bottom right side with the left hand facing backwards. + [657:858] Pick up the white mug from the table with the left hand from the top at the right side using a lip grip. + [858:1041] Put the white mug to the right of the corn with the handle facing right on the bottom side right side up with the left hand. + [1041:1326] Pick up the blue stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle. + [1326:1407] Put the blue stuffed toy to the left of the croissant on the right side with the left hand facing backwards. + [1407:1596] Pick up the white mug from the table with the right hand at a diagonal angle by the handle. + [1596:1731] Put the white mug to the right side of the bowl with the handle facing backwards using the right hand. + [1731:1920] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1920:2043] Put the blue stuffed toy into the bowl on top with the left hand facing left. + [2235:2403] Pick up the white mug from the table with the right hand using a lip grip at the bottom right with a diagonal pick angle. + [2403:2598] Put the white mug to the right of the corn with the handle facing left on the bottom side with the right hand. + [2598:2796] Pick up the croissant from the table with the left hand from the top at the top of the object. + [2796:2886] Put the croissant to the left of the corn on the right side with the left hand. + [2886:2952] Return to home with the left hand. + [2952:3000] Return to home with the right hand. + +### 2026-03-15-23-43-06-366000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=9 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'pink bowl', 'pink stuffed toy', 'red bag of chips', 'yellow stuffed toy'] + [0:210] Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [210:315] Put the yellow stuffed toy to the left of the pink bowl with the right hand facing bottom left. + [315:531] Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [531:606] Put the pink stuffed toy inside the bowl with the right hand facing forwards. + [606:813] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [813:930] Put the asparagus inside the green bowl with the left hand facing top left with the tip as the reference point. + [930:1143] Pick up the red bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [1143:1263] Put the red bag of chips between the pink bowl and the blue screwdriver with the left hand facing forwards. + [1263:1530] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [1530:1677] Put the blue screwdriver to the right of the green bowl with the right hand facing forwards with the tip as the reference point. + [1677:1845] Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1845:1917] Put the yellow stuffed toy in front of the pink bowl with the left hand facing top right. + [1917:2157] Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top. + [2157:2310] Put the blue marker in front of the green bowl with the right hand with its tip facing top left. + [2538:2625] Pick up the yellow stuffed toy from the table with the left hand using a diagonal approach grasping the entire object. + [2625:2682] Put the yellow stuffed toy inside the pink bowl with the left hand facing top right. + [2682:2784] Pick up the pink bowl from the table with the left hand using a diagonal lip grasp on the left side. + [2784:2865] Put the pink bowl behind the bag of chips with the left hand right side up. + [2865:2916] Return to home with the left hand. + [2916:3000] Return to home with the right hand. + +### 2026-03-15-23-45-35-137000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=10 | objects=['bag of chips', 'blue marker', 'blue screwdriver', 'green asparagus', 'green bowl', 'pink bowl', 'pink toy', 'yellow toy'] + [0:138] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [138:219] Put the blue marker inside the green bowl with the right hand facing forwards. + [219:339] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [339:567] Put the blue screwdriver to the right of the bag of chips with the right hand facing top left with the tip as the reference point. + [567:768] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [768:921] Put the blue screwdriver in the pink bowl with the left hand facing top right. + [1056:1137] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [1137:1185] Dump the green asparagus and the blue screwdriver from the green bowl onto the right of the bag of chips with the right hand. + [1185:1278] Put the green bowl to the right of the blue marker with the right hand. + [1278:1443] Pick up the bag of chips in front of the pink bowl with the left hand using a side grip from the left at a diagonal angle. + [1443:1512] Put the red bag of chips to the left of the pink bowl with the left hand facing left. + [1512:1662] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [1662:1746] Put the blue marker to the right of the pink bowl with the right hand with its tip facing right. + [1746:1947] Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left. + [1947:2025] Dump the toys and the blue screwdriver from the pink bowl to the right of the bag of chips with the left hand. + [2025:2163] Put the pink bowl in front of the bag of chips with the left hand. + [2163:2292] Pick up the green asparagus from the table with the right hand at a diagonal angle grasping the middle. + [2292:2364] Put the green asparagus to the right of the pink toy with the right hand facing right with the tip as the reference point. + [2364:2400] Return to home with the right hand. + [2400:2499] Pick up the yellow toy from the table with the left hand at a diagonal angle grasping the middle. + [2499:2568] Put the yellow toy in front of the blue screwdriver with the left hand facing bottom left. + [2568:2685] Pick up the pink toy behind the blue screwdriver with the left hand at a diagonal angle grasping the entire object. + [2685:2802] Put the pink toy to the left of the bag of chips with the left hand facing left. + [2802:3000] Return to home with the left hand. + +### 2026-03-15-23-49-02-171000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=11 | objects=['asparagus', 'bag of chips', 'blue marker', 'blue screwdriver', 'green bowl', 'pink stuffed toy', 'screwdriver'] + [0:132] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [132:219] Put the blue marker inside the pink bowl with the left hand facing forwards with the front forward. + [219:375] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [375:453] Put the asparagus to the right of the pink stuffed toy with the left hand facing forwards with the tip facing forwards. + [453:657] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [657:771] Put the asparagus inside the green bowl with the right hand facing forwards with the tip as the orientation reference point. + [771:960] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [960:1110] Put the blue screwdriver between the pink bowl and the pink stuffed toy with the left hand facing forwards with the tip as the reference point. + [1110:1260] Pick up the pink stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1260:1359] Put the pink stuffed toy to the left of the green bowl with the right hand facing forwards. + [1359:1500] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [1500:1614] Put the bag of chips to the left of the pink bowl with the left hand facing left. + [1614:1887] Pick up the green bowl from the table with the right hand using a lip grip at the right side from a diagonal angle. + [1887:2007] Put the green bowl between the blue screwdriver and pink stop toy with the right hand. + [2007:2160] Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2160:2250] Put the screwdriver inside the green bowl with the left hand. + [2250:2397] Pick up the bag of chips from the table with the left hand using a side grip at the bottom right with a diagonal angle. + [2397:2538] Put the bags of chips between the pink bowl and green bowl with the left hand facing top left. + [2538:2688] Pick up the pink stuffed toy from the table with the right hand using a side grip at the top with a diagonal pick angle. + [2688:2790] Put the pink stuffed toy behind the green bowl with the right hand facing forwards. + [2790:2823] Return to home with the right hand. + [2823:2913] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left with a diagonal pick angle. + [2913:3000] Put the bag of chips behind the pink bowl with the left hand facing top left. + +### 2026-03-15-23-54-15-293000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=9 | objects=['blue soda can', 'cabbage', 'carrot', 'green mug', 'pink mug'] + [0:129] Pick up the pink mug from the table with the right hand from the side by the handle. + [129:246] Put the pink mug in front of the blue soda can on its bottom side right side up with the front facing backwards using the right hand. + [245:435] Pick up the green mug from the table with the left hand by the handle from the side. + [435:591] Place the green mug with the left hand on the top side to the left side of the carrot right side up with the front facing bottom left. + [591:792] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [792:942] Put the cabbage with the left hand on the top side to the right side of the blue soda can with the tip facing top right. + [942:1140] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [1140:1245] Put the carrot to the left side of the pink mug with the left hand facing backwards with the tip at the bottom side. + [1245:1578] Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the top of the object. + [1578:1689] Put the blue soda can in front of the cabbage with the right hand right side up on the bottom side with the front as the orientation reference point. + [1689:1974] Pick up the carrot from the table with the left hand from the top at the middle. + [1974:2109] Put the carrot into the pink mug on top upside down with the tip as the reference point using the left hand. + [2109:2322] Pick up the green mug from the table with the left hand at a diagonal angle by the handle. + [2322:2484] Put the green mug to the left side of the pink mug with the left hand right side up on the bottom side with the front facing bottom left. + [2484:2733] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [2733:2841] Put the cabbage to the bottom right side of the blue soda can with the right hand facing forwards by the tip. + [2841:2871] Return to home with the right hand. + [2871:2976] Pick up the green mug from the table with the left hand using a lip grip at the top left from a diagonal angle. + [2976:3000] Put the green mug on the table with the left hand right side up with the tip as the orientation reference. + +### 2026-03-15-23-56-59-781000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=8 | objects=['blue soda can', 'green cabbage', 'light green mug', 'pink mug'] + [0:147] Pick up the light green mug from the table with the left hand using a lip grip at the bottom right from a diagonal angle. + [147:342] Put the light green mug behind the blue soda can with handle facing top left on the top side right side up with the left hand. + [342:507] Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. + [506:609] Put the green cabbage to the right of the light green mug with the right hand facing forwards with the front forward. + [609:849] Pick up the pink mug from the table by the handle at a diagonal angle with the left hand. + [849:1110] Put the pink mug behind the light green mug with handle facing bottom left right side up with the left hand. + [1110:1308] Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. + [1308:1458] Put the green cabbage to the left of the light green mug with the right hand facing top left from the front. + [1458:1743] Pick up the blue soda can from the table with the right hand using a side grip at the top diagonal. + [1743:1923] Put the blue soda can to the right of the pink mug with the right hand. + [1922:2106] Pick up the green cabbage from the table with the left hand at a diagonal angle grasping the middle. + [2106:2283] Put the green cabbage to the left of the pink mug with the left hand facing forwards. + [2283:2550] Pick up the light green mug from the table with the right hand using a diagonal lip grasp on the right side. + [2550:2697] Put the light green mug to the left of the blue soda can with the handle facing top left using the right arm. + [2697:2745] Return to home with the right hand. + [2745:2868] Pick up the green cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2868:2988] Put the green cabbage in front of the pink mug with the left hand facing top right from the front. + [2988:3000] Return to home with the left hand. + +### 2026-03-15-23-59-50-076000 | scene=pick_place_diverse | desc='pick and place diversity day 3 data collection' | picks=8 | objects=['blue soda can', 'cabbage', 'green cup', 'pink cup'] + [0:141] Pick up the cabbage from the table with the left hand using a side grip at the bottom diagonally. + [141:270] Put the cabbage to the left of the pink cup on the top side with the left hand facing forwards front. + [270:459] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [459:648] Put the blue soda can in front of the cabbage on the top side right side up with the front as the reference point using the right hand. + [648:885] Pick up the pink cup from the table with the left hand at a diagonal angle by the handle. + [885:1038] Put the pink cup to the left of the blue soda can on the top left side with the left hand right side up. + [1038:1230] Pick up the green cup from the table with the right hand using a lip grip at the bottom left with a diagonal pick angle. + [1230:1473] Put the green cup to the right of the blue soda can with the handle facing top left on the top side right side up using the right hand. + [1473:1773] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [1773:1884] Put the blue soda can to the left of the pink cup on the top left side with the left hand. + [1884:2058] Pick up the pink cup from the table with the left hand at a diagonal angle by the handle. + [2058:2226] Place the pink cup to the left of the cabbage on the top left side with the left hand right side up. + [2226:2454] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [2454:2661] Put the blue soda can to the left of the pink cup with the left hand. + [2661:2751] Return to home with the left hand. + [2748:2892] Pick up the green cup from the table with the right hand using a side grip at the top right with a diagonal pick angle. + [2892:3000] Place the green cup to the right side of the cabbage with the handle facing top left using the right hand. + +### 2026-03-14-22-49-48-005000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=10 | objects=['blue screwdriver', 'green bowl', 'green cup', 'orange screwdriver', 'pink cup', 'yellow stuffed toy'] + [0:150] Pick up the blue screwdriver from the table with the left hand using a side grip at the top with a diagonal pick angle. + [150:246] Put the blue screwdriver in front of the pink cup on the bottom left side with the left hand facing forwards by the tip. + [245:381] Pick up the pink cup from the table with the left hand from the side by the handle. + [381:564] Put the pink cup to the left of the green bowl on the bottom side with its front facing right using the left hand. + [564:747] Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. + [747:900] Put the orange screwdriver behind the white cup on the top side with the tip facing forwards using the left hand. + [900:1032] Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right. + [1032:1095] Dump the yellow stuffed toy on the bottom side of the table with the right hand. + [1095:1233] Put the green bowl to the right of the yellow stuffed toy with the right hand. + [1233:1368] Pick up the green cup from the table with the left hand using a diagonal lip grasp on the right side. + [1368:1557] Put the green cup to the left of the white cup on the top left side with the left hand facing left from the front. + [1557:1689] Pick up the pink cup from the table with the right hand using a lip grip at the right side with a diagonal angle. + [1689:1824] Put the pink cup to the right of the orange screwdriver on the top side with the right hand facing right from the front. + [1824:1986] Return to home with the right hand. + [1986:2112] Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. + [2112:2319] Put the blue screwdriver into the green cup with the left hand. + [2319:2430] Pick up the yellow stuffed toy from the table with the right hand using a side grip at the top diagonally. + [2430:2580] Put the yellow stuffed toy to the right of the pink cup on the top side with the front facing left using the right hand. + [2580:2637] Return to home with the right hand. + [2637:2739] Pick up the green cup from the table with the left hand at a diagonal angle by the handle. + [2739:2877] Place the green cup to the right of the white cup with the left hand on the bottom side facing right with the front as reference. + [2877:3000] Pick up the orange screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. + +### 2026-03-14-22-51-57-252000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=11 | objects=['blue screwdriver', 'green bowl', 'light green mug', 'orange screwdriver', 'pink mug', 'white cup', 'yellow stuffed toy'] + [0:6] Put the orange screwdriver in front of the white cup with the left hand with its tip facing top left. + [6:93] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [93:153] Put the orange screwdriver to the left side of the white cup with the left hand facing forwards with the tip facing forwards. + [255:306] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [306:393] Put the green bowl on the right side of the light green mug with the right hand. + [393:537] Pick up the yellow stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [537:645] Put the yellow stuffed toy on the left side of the green bowl with the right hand facing bottom left. + [645:777] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [777:891] Put the orange screwdriver in front of the white cup with the left hand facing forwards with the tip as the reference point. + [891:1020] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left. + [1020:1095] Put the white cup to the left side of the pink mug with the left hand right side up front. + [1095:1275] Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [1275:1383] Put the yellow stuffed toy behind the green bowl with the right hand facing backwards. + [1383:1539] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1539:1632] Put the orange screwdriver to the left side of the white cup with the left hand with the tip facing forwards. + [1632:1881] Pick up the pink mug from the table with the right hand using a diagonal grip on the handle. + [1881:2001] Put the pink mug on the right side of the green bowl with the right hand right side up with the front facing backward. + [2001:2055] Return to home with the right hand. + [2055:2208] Pick up the light green mug from the table with the left hand at a diagonal angle by the handle. + [2325:2553] Pick up the light green mug from the table with the left hand using a diagonal lip grasp at the right side. + [2553:2673] Place the light green mug in front of the orange screwdriver with the handle facing top left using the left hand. + [2673:2805] Pick up the blue screwdriver from the table with the left hand at a diagonal angle from the middle. + [2805:2907] Put the blue screwdriver to the left side of the orange screwdriver with the left hand with its tip facing top right. + [2907:3000] Return to home with the left hand. + +### 2026-03-14-22-54-05-800000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=10 | objects=['blue screwdriver', 'green bowl', 'green mug', 'pink mug', 'red screwdriver', 'yellow stuffed toy'] + [0:141] Pick up the yellow stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [141:258] Put the yellow stuffed toy inside the pink mug with the right hand upside down. + [258:429] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [429:552] Put the blue screwdriver between the green mug and the green bowl with the left hand with its tip facing forwards. + [552:711] Pick up the red screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [711:948] Put the red screwdriver to the right side of the white cup with the left hand facing forwards with the tip as the reference point. + [948:1188] Pick up the green mug from the table with the left hand using a lip grip at the left side with a diagonal angle. + [1188:1332] Place the green mug right side up with its front to the left side of the white cup with handle facing top left using the left hand. + [1332:1578] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [1578:1701] Place the pink mug to the right side of the red screwdriver with handle facing backwards right side up with the right hand. + [1701:1839] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1911:2085] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2085:2154] Put the green bowl in front of the white cup with the right hand. + [2154:2295] Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the left side. + [2295:2439] Place the green bowl to the left side of the green mug with the left hand. + [2439:2613] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2613:2739] Put the blue screwdriver to the center of the table with the left hand facing forwards with the tip as the reference point. + [2739:2781] Return to home with the left hand. + [2781:2958] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2958:3000] Put the blue screwdriver on the table with the right hand. + +### 2026-03-14-22-59-04-407000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=9 | objects=['bag of chips', 'blue marker', 'canned goods', 'purple plate'] + [0:96] Pick up the canned goods from the purple plate with the left hand using a side grip at the top with a diagonal pick angle. + [96:267] Put the canned goods on top of the white plate with the left hand right side up. + [267:423] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [423:537] Place the blue marker to the left of the purple plate on the top right side with the left hand facing backwards from the tip. + [537:777] Pick up the canned goods from the top of the white plate with the right hand using a diagonal lip grip at the top. + [777:948] Put the canned goods to the right of the white plate on the bottom right side with the right hand. + [948:1086] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [1086:1215] Put the blue marker in between the purple plate and white plate on the top right side with the left hand facing backwards with the tip as reference. + [1215:1356] Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. + [1356:1551] Put the canned goods to the right of the silver bowl with the right hand right side up with the front at the top right side. + [1860:2046] Pick up the bag of chips from the silver bowl with the left hand using a side grip at the bottom left with a diagonal pick angle. + [2046:2157] Put the bag of chips behind the purple plate on the top left side with the left hand facing top left. + [2157:2370] Pick up the purple plate from the table with the left hand using a lip grip at the left side and a diagonal angle. + [2370:2505] Put the purple plate to the left of the bag of chips on the top left side with the left hand right side up with the front as the orientation reference point. + [2505:2736] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2736:2838] Put the blue marker in front of the purple plate on the bottom left side with the tip facing bottom left using the left hand. + [2838:2895] Return to home with the left hand. + [2895:3000] Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + +### 2026-03-14-23-02-36-892000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=9 | objects=['bag of chips', 'blue marker', 'bowl', 'green can', 'green canned goods'] + [0:150] Pick up the bag of chips from the table with the left hand using a side grip at the bottom right diagonally. + [150:234] Put the bag of chips to the left of the blue marker with the left hand facing top left. + [234:435] Pick up the green canned goods from the table with the right hand at a diagonal angle grasping the middle. + [435:546] Place the green canned goods inside the bowl with the right hand. + [546:720] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left diagonal. + [720:810] Put the bag of chips to the left of the bowl with the left hand facing forwards. + [810:1032] Pick up the blue marker from the table with the right hand using a side grip at the bottom at a diagonal angle. + [1032:1188] Put the blue marker on top of the white plate with the right hand facing forwards with the tip as the orientation reference point. + [1413:1572] Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle. + [1572:1689] Put the bag of chips to the left of the white plate with the left hand. + [1689:1923] Pick up the green can from the bowl with the left hand at a diagonal angle grasping the middle. + [1922:2085] Put the green can to the left of the bag of chips with the left hand. + [2085:2280] Pick up the blue marker from the top of the white plate with the right hand at a diagonal angle grasping the middle. + [2280:2373] Put the blue marker on top of the blue plate with the right hand facing top right with the tip as the reference point. + [2373:2529] Pick up the bowl from the table with the right hand using a diagonal lip grasp at the right side. + [2529:2640] Put the bowl to the right of the blue plate with the right hand. + [2640:2694] Return to home with the right hand. + [2694:2772] Pick up the green can from the table with the left hand at a diagonal angle grasping the middle. + [2772:2961] Put the green can on top of the white plate with the left hand. + [2961:3000] Return to home with the left hand. + +### 2026-03-14-23-05-08-540000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=8 | objects=['blue marker', 'canned goods', 'green bag of chips', 'silver bowl'] + [0:156] Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle. + [156:276] Put the silver bowl behind the white plate with the right hand. + [276:447] Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [447:540] Put the green bag of chips to the left side of the silver bowl with the left hand facing top left. + [540:780] Pick up the canned goods from the top of the white bowl with the right hand at a diagonal angle grasping the middle. + [780:999] Put the canned goods to the right side of the silver bowl with the right hand. + [998:1266] Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [1266:1389] Put the green bag of chips on top of the white plate with the left hand facing top left. + [1389:1566] Pick up the canned goods from the table with the right hand from the top at the middle. + [1566:1692] Put the canned goods to the left side of the silver bowl with the right hand right side up with the front as the orientation reference point. + [1692:1986] Pick up the blue marker from the top of the purple plate with the right hand at a diagonal angle grasping the middle. + [1986:2130] Put the blue marker to the left side of the white plate with the right hand facing forwards with the tip as the orientation reference point. + [2130:2343] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2343:2487] Place the blue marker to the left side of the canned goods with the left hand facing forwards with the tip facing forwards. + [2487:2799] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2799:3000] Place the silver bowl to the left side of the white bowl with the right hand. + +### 2026-03-14-23-08-21-998000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=9 | objects=['blue stuffed toy', 'brown stuffed toy', 'carrot', 'pink bowl', 'pink stuffed toy', 'white mug'] + [0:150] Pick up the pink stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [150:270] Put the pink stuffed toy inside the pink bowl with the left hand facing backwards. + [270:501] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [501:648] Put the carrot to the right side of the brown stuffed toy with the right hand facing right with the tip as the orientation reference point. + [648:843] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal angle. + [843:960] Put the blue stuffed toy to the left of the brown stuffed toy with the left hand facing forwards. + [960:1212] Pick up the carrot from the table with the right hand at the middle using a diagonal angle. + [1212:1374] Put the carrot to the right side of the white mug with the right hand facing backwards with the tip as the orientation reference point. + [1374:1638] Pick up the white mug from the table with the right hand using a diagonal lip grasp at the left side. + [1638:1764] Place the white mug on the top side of the table with the right hand right side up with the front facing top right. + [1764:1935] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1935:1989] Put the blue stuffed toy inside the pink bowl with the left hand facing backwards. + [1989:2142] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2142:2220] Put the brown stuffed toy inside the pink bowl with the left hand facing backwards. + [2220:2448] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [2448:2625] Put the carrot between the pink bowl and the white mug with the right hand facing backwards with the tip as the reference point. + [2625:2700] Return to home with the right hand. + [2700:2877] Pick up the pink bowl from the table with the left hand using a lip grip at the left side diagonally. + [2877:3000] Dump the stuffed toys to the left of the carrot with the left hand. + +### 2026-03-14-23-11-09-545000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=8 | objects=['blue stuffed toy', 'brown stuffed toy', 'carrot', 'carrot toy', 'pink stuffed toy'] + [0:135] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [135:231] Put the brown stuffed toy in front of the white mug on the bottom right side with the left hand facing backwards. + [231:402] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [402:528] Put the blue stuffed toy in front of the brown stuffed toy on the bottom right side with the left hand facing backwards. + [813:1020] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1020:1221] Place the pink stuffed toy inside the pink bowl with the left hand facing top right. + [1221:1638] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1638:1749] Put the blue stuffed toy to the right of the white mug on the top right side with the right hand facing backwards. + [1749:1929] Pick up the brown stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1929:2043] Put the brown stuffed toy inside the white mug with the right hand upside down. + [2042:2304] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [2304:2427] Put the carrot in front of the pink bowl on the bottom left side with the tip facing backwards using the left hand. + [2427:2613] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [2613:2754] Put the blue stuffed toy to the left of the white mug with the right hand facing backwards. + [2754:2811] Return to home with the right hand. + [2811:2916] Pick up the carrot toy from the table with the left hand using a side grip at the top from a diagonal angle. + [2916:3000] Place the carrot to the right of the pink bowl on the top side with the left hand facing backwards with the tip as the orientation reference point. + +### 2026-03-14-23-13-42-698000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=9 | objects=['blue stuffed toy', 'carrot', 'pink bowl', 'pink stuffed toy'] + [0:117] Pick up the pink bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle. + [117:153] Dump the pink stuffed toy to the left side of the carrot with the left hand. + [153:255] Place the pink bowl to the right side of the carrot with the left hand. + [255:438] Pick up the carrot from the table with the left hand from the top at the middle. + [438:573] Put the carrot in front of the pink stuffed toy on the bottom left side with the left hand facing backwards by the tip. + [573:744] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [744:855] Place the pink bowl to the top right side of the white cup with the right hand right side up with the front as the reference point. + [855:1140] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [1140:1257] Put the carrot in front of the blue stuffed toy with the left hand facing backwards with the tip at the bottom side. + [1257:1443] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1443:1563] Put the pink stuffed toy to the right side of the carrot with the left hand facing top right. + [1563:1824] Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right from the top. + [1824:2016] Place the pink bowl to the right side of the pink stuffed toy with the right hand. + [2016:2232] Pick up the carrot from the table with the left hand from the top at the middle. + [2232:2349] Put the carrot to the left side of the blue stuffed toy with the left hand on the top side facing backwards. + [2349:2673] Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2673:2814] Put the blue toy into the pink bowl with the right hand facing backwards. + [2814:2868] Return to home with the right hand. + [2868:3000] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-03-14-23-17-15-904000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=10 | objects=['asparagus', 'juice pouch', 'red bell pepper', 'small white coffee cup', 'white mug'] + [0:144] Pick up the juice pouch from the table with the left hand from the side at the middle. + [144:231] Place the juice pouch to the left of the red bell pepper with the left hand right side up. + [231:453] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [453:573] Put the asparagus to the right of the small white coffee cup with the right hand facing backwards with the tip as the reference point. + [573:789] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object. + [789:927] Put the red bell pepper to the left of the juice pouch with the left hand right side up with the front as the orientation reference point. + [927:1068] Pick up the juice pouch from the table with the left hand from the side at the middle. + [1068:1173] Place the juice pouch with the left hand to the front left of the white mug right side up with the front facing forward. + [1308:1413] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object. + [1413:1512] Put the red bell pepper to the front left of the juice pouch with the left hand right side up with the front as the orientation reference point. + [1512:1731] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [1731:1836] Put the asparagus in front of the small coffee cup with the right hand facing backwards with the tip as the reference point. + [1836:2004] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the entire object. + [2004:2106] Put the red bell pepper in front of the juice pouch with the left hand right side up front. + [2106:2253] Pick up the juice pouch from the table with the left hand at a diagonal angle from the top of the object. + [2253:2358] Place the juice pouch to the left of the red bell pepper with the left hand right side up. + [2358:2412] Return to home with the left hand. + [2412:2553] Pick up the white mug from the table with the right hand at a diagonal angle by the handle. + [2553:2703] Put the white mug to the right of the asparagus with the right hand right side up with the front facing backwards. + [2703:2874] Pick up the small white coffee cup from the table by the handle at a diagonal angle with the right hand. + [2874:3000] Put the small white coffee cup behind the red bell pepper with the right hand right side up. + +### 2026-03-14-23-19-41-404000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=8 | objects=['asparagus', 'juice pouch', 'red bell pepper', 'white cup'] + [0:120] Pick up the white cup from the table by the handle at a diagonal angle with the right hand. + [120:267] Put the white cup between the red bell pepper and the asparagus on the bottom side with the right hand right side up with the front facing backwards. + [267:417] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [417:519] Put the juice pouch to the left of the white cup on the top side right side up with the front as the reference using the left hand. + [519:756] Pick up the white cup from the table with the left hand using a diagonal grasp at the handle. + [756:963] Put the white cup to the left of the juice pouch on the top side with the left hand right side up with the front as the reference point. + [1125:1197] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. + [1197:1305] Put the red bell pepper in front of the white cup on the left side with the left hand right side up with the front as the reference point. + [1305:1512] Pick up the Asparagus from the table with the right hand at a diagonal angle grasping the middle. + [1512:1689] Put the asparagus behind the white cup on its top side with the tip facing backwards using the right hand. + [1689:1974] Pick up the red bell pepper from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [1974:2073] Put the red bell pepper between the juice pouch and the Asparagus with the left hand right side up with the front on the top side. + [2073:2280] Pick up the white cup from the table with the right hand using a lip grasp at the right side diagonally. + [2280:2412] Put the white cup to the right of the Asparagus on the top side with the right hand right side up with the front facing backwards. + [2412:2484] Return to home with the right hand. + [2613:2745] Pick up the white cup from the table with the left hand using a diagonal grasp at the handle. + [2745:2886] Put the white cup in front of the juice pouch on the top side right side up with the front as the orientation reference using the left hand. + [2886:3000] Return to home with the left hand. + +### 2026-03-14-23-22-18-269000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=8 | objects=['asparagus', 'big white mug', 'juice pack', 'small white mug'] + [0:192] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [192:300] Put the asparagus in front of the big white mug with the right hand facing backwards with the tip as the orientation reference point. + [300:507] Pick up the small white mug from the table with the left hand using a lip grip at the left side diagonally. + [506:690] Put the small white mug to the left of the juice pack with the left hand facing forwards from the front. + [690:966] Pick up the small white mug from the table with the left hand using a lip grasp at the bottom left from a diagonal angle. + [966:1047] Put the small white mug to the left of the juice pack with the handle facing bottom left right side up with the left hand. + [1047:1260] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [1260:1398] Put the asparagus between the bell pepper and the big white mug with the right hand facing backwards with the tip as the reference point. + [1398:1650] Pick up the juice pack from the table with the left hand using a side grip at the top left. + [1650:1809] Place the juice pack to the left of the small white mug with the left hand right side up facing front. + [1809:2040] Pick up the big white mug from the table with the right hand at a diagonal angle by the handle. + [2040:2226] Put the big white mug between the small white mug and the bell pepper with the handle facing backwards right side up using the right hand. + [2226:2580] Pick up the juice pack from the table with the left hand using a side grip at the top left from the side. + [2580:2781] Put the juice pack in front of the big white mug with the left hand right side up with the front as the reference point. + [2781:3000] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-03-14-23-25-39-446000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=10 | objects=['bag of chips', 'corn', 'croissant', 'eggplant'] + [0:150] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [150:318] Put the eggplant to the left side of the croissant with the left hand with its tip facing bottom right. + [318:609] Pick up the corn from the plate with the right hand using a side grip at the bottom from a diagonal angle. + [609:723] Put the corn to the right of the plate with the right hand facing backwards from the tip. + [723:996] Pick up the croissant from the table with the left hand using a side grip at the bottom from a diagonal angle. + [996:1098] Put the croissant to the top left side of the plate with the left hand right side up front. + [1098:1260] Pick up the bag of chips from the table with the right hand using a side grip at the top diagonally. + [1260:1401] Put the bag of chips on top of the plate with the right hand right side up. + [1401:1590] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1590:1686] Put the eggplant to the left side of the croissant with the left hand with its tip facing bottom right. + [1686:1878] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1878:1959] Place the croissant to the right side of the eggplant with the left hand right side up front. + [1959:2121] Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2121:2349] Put the corn in between the eggplant and the plate with the right hand facing backwards by the tip. + [2349:2511] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [2511:2565] Put the croissant behind the eggplant with the left hand right side up with the front as the orientation reference point. + [2565:2682] Pick up the corn from the table with the left hand at a diagonal angle gripping the middle. + [2682:2763] Put the corn to the bottom left side of the table with the left hand facing backwards with the tip as the reference point. + [2763:2817] Return to home with the left hand. + [2817:3000] Pick up the bag of chips from the plate with the right hand using a side grip at the top from a diagonal angle. + +### 2026-03-14-23-30-45-788000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=10 | objects=['bag of chips', 'corn', 'croissant', 'eggplant', 'pink plate'] + [0:114] Pick up the corn from the table with the left hand using a side grip at the top from a diagonal angle. + [114:318] Put the corn to the right side of the croissant with the left hand facing backwards with the tip on the top side. + [318:540] Pick up the bag of chips from the top of the pink plate with the right hand using a side grip at the bottom right diagonal. + [540:630] Put the bag of chips to the right of the pink plate with the right hand facing bottom left. + [630:804] Pick up the pink plate from the table with the right hand using a lip grip at the right side with a diagonal angle. + [804:897] Put the pink plate to the right of the corn with the right hand right side up with the front as the reference point. + [897:1119] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1119:1242] Place the croissant to the right of the eggplant with the left hand right side up with the front at the bottom side. + [1242:1452] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1452:1569] Put the eggplant to the right of the croissant with the left hand facing forwards. + [1569:1776] Pick up the bag of chips from the table with the right hand using a side grip at the bottom with a diagonal angle. + [1776:1908] Put the bag of chips to the right of the pink plate with the right hand facing backwards. + [1908:2109] Pick up the croissant from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2109:2196] Put the croissant to the left of the corn with the left hand right side up with the front facing the top left side. + [2196:2355] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [2355:2478] Put the croissant onto the pink plate on top right side up with the front as the reference point using the left hand. + [2478:2550] Return to home with the left hand. + [2550:2703] Pick up the bag of chips from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [2703:2841] Put the bag of chips to the right of the eggplant with the right hand facing backwards. + [2841:3000] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-03-14-23-33-12-351000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=10 | objects=['bag of chips', 'corn', 'croissant', 'eggplant'] + [0:141] Pick up the bag of chips from the table with the right hand using a side grip at the bottom with a diagonal angle. + [141:228] Put the bag of chips to the right of the pink plate on the top right side with the right hand facing backwards. + [228:420] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [420:519] Put the corn to the left of the eggplant with the left hand facing backwards with the tip as the orientation reference point. + [516:717] Pick up the croissant from the top of the pink plate with the right hand using a side grip at the bottom diagonally. + [717:831] Put the croissant to the right of the eggplant with the right hand on the bottom side. + [831:1050] Pick up the bag of chips from the table with the right hand using a side grip at the bottom right in a diagonal approach. + [1050:1275] Put the bag of chips to the left of the pink plate with the right hand facing backwards. + [1275:1335] Pick up the bag of chips from the table with the right hand using a side grip at the bottom diagonally. + [1335:1365] Put the bag of chips to the left of the pink plate with the right hand facing backwards. + [1365:1620] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [1620:1698] Put the corn to the left of the bag of chips on the top right side with the left hand facing top right with the tip as the reference point. + [1698:1908] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1908:2013] Place the eggplant on the top side of the pink plate with the right hand facing bottom right from the tip. + [2012:2244] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [2244:2355] Put the corn in front of the bag of chips on the left side with the left hand facing forwards with the tip facing forwards. + [2355:2550] Pick up the croissant from the table with the right hand at a diagonal angle from the middle. + [2550:2652] Place the croissant to the right of the pink plate on the top right side with the right hand. + [2652:2706] Return to home with the right hand. + [2706:2895] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [2895:2979] Put the corn in front of the pink plate with the left hand on the bottom side facing forwards with the tip as the reference point. + [2979:3000] Return to home with the left hand. + +### 2026-03-14-23-41-03-851000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=8 | objects=['beige bowl', 'cabbage', 'canned goods', 'pepsi can', 'stuffed toy', 'white coffee pod'] + [0:162] Pick up the stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [162:363] Put the stuffed toy inside the beige bowl with the right hand facing forwards. + [363:600] Pick up the canned goods from the table with the left hand at a diagonal angle from the middle. + [600:744] Put the canned goods to the left of the beige bowl with the left hand right side up with the front as the reference point. + [744:906] Pick up the pepsi can from the table with the right hand at a diagonal angle grasping the middle. + [906:1053] Put the pepsi can to the right of the beige bowl with the right hand. + [1317:1401] Pick up the white coffee pod from the table with the right hand at a diagonal angle grasping the middle. + [1401:1617] Put the white coffee pod to the right of the blue pepsi can with the right hand right side up with the front as the reference point. + [1617:1842] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [1842:1986] Put the cabbage to the left of the canned goods with the left hand facing backwards with the tip as the reference point. + [1986:2163] Pick up the pepsi can from the table with the right hand at a diagonal angle grasping the middle. + [2163:2331] Put the pepsi can to the bottom left of the white coffee pod with the right hand. + [2331:2409] Return to home with the right hand. + [2409:2550] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [2550:2652] Put the canned goods on the top of the beige bowl with the left hand. + [2652:2844] Pick up the beige bowl from the table with the left hand using a lip grip from the left at a diagonal angle. + [2844:3000] Dump the stuffed toy on the table with the left hand. + +### 2026-03-14-23-43-33-660000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=9 | objects=['beige bowl', 'blue soda can', 'gray stuffed toy', 'green cabbage', 'yellow can'] + [0:135] Pick up the green cabbage from the table with the left hand at a diagonal angle grasping the middle. + [135:240] Put the green cabbage in front of the beige bowl on the top side with the left hand facing backwards. + [240:462] Pick up the blue soda can from the table with the right hand using a side grip at the top with a diagonal pick angle. + [462:573] Put the blue soda can to the right side of the yellow can with the right hand. + [573:759] Pick up the green cabbage from the table with the left hand at a diagonal angle grasping the middle. + [759:870] Put the green cabbage into the beige bowl on top with the left hand facing backwards with the tip as the orientation reference point. + [870:1047] Pick up the beige bowl from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle. + [1047:1164] Put the beige bowl to the left side of the gray stuffed toy with the left hand. + [1164:1365] Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1365:1476] Put the gray stuffed toy on the right side of the white canister with the right hand facing backwards. + [1692:1776] Pick up the yellow can from the table with the left hand at a diagonal angle grasping the middle. + [1776:1914] Place the yellow can to the left side of the beige bowl with the left hand. + [1914:2097] Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [2097:2208] Put the gray stuffed toy to the left of the white canister on the top side with the right hand facing backwards. + [2208:2256] Return to home with the right hand. + [2256:2379] Pick up the yellow can from the table with the left hand at a diagonal angle grasping the middle. + [2379:2526] Put the yellow can between the beige bowl and the gray stuffed toy with the left hand. + [2526:2916] Pick up the yellow can from the table with the left hand at a diagonal angle grasping the middle. + [2916:3000] Put the yellow can behind the beige bowl with the left hand. + +### 2026-03-14-23-45-55-986000 | scene=pick_place_diverse | desc='pick and place on variety of objects' | picks=8 | objects=['beige bowl', 'cabbage', 'canister', 'canned goods', 'stuffed toy'] + [0:174] Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally. + [174:252] Dump the cabbage to the bottom right of the canned goods with the left hand. + [252:468] Put the bowl to the left of the cabbage with the left hand. + [468:657] Pick up the stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [657:780] Put the stuffed toy to the right of the canister with the right hand facing backwards. + [780:1038] Pick up the stuffed toy from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [1038:1158] Put the stuffed toy to the left of the canister with the right hand facing backwards. + [1158:1461] Pick up the canned goods from the table with the left hand from the side at the middle. + [1461:1686] Put the canned goods to the left side of the bowl with the left hand. + [1686:1911] Pick up the canister from the table with the right hand using a side grip at the top with a diagonal pick angle. + [1911:2046] Put the canister behind the cabbage with the right hand. + [2046:2247] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [2247:2406] Put the cabbage in front of the canned goods with the left hand facing forwards with the tip as the reference point. + [2406:2586] Pick up the stuffed toy from the table with the right hand using a side grip at the left in a diagonal angle. + [2586:2673] Place the stuffed toy on the center of the table with the right hand right side up. + [2673:2727] Return to home with the right arm. + [2727:2904] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [2904:2994] Put the canned goods inside the bowl with the left hand. + [2994:3000] Return to home with the left hand. + +### 2026-03-14-20-06-41-409000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=7 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'red bell pepper', 'red screwdriver'] + [0:126] Pick up the brown stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [126:249] Put the brown stuffed toy inside the green bowl with the right hand facing bottom right. + [249:453] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [453:552] Put the blue stuffed toy on top of the pink plate with the left hand facing top left. + [660:819] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. + [957:1161] Pick up the green bowl from the table with the right hand using a lip grip at the right side and a diagonal angle. + [1161:1197] Dump the brown stuffed toy from the green bowl to the right of the pink plate with the right hand. + [1197:1455] Put the green bowl behind the brown stuffed toy on the top side with the right hand. + [1659:1779] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. + [1779:1908] Put the red bell pepper inside the green bowl with the left hand facing top right from the front. + [2085:2175] Pick up the red screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2175:2403] Put the red screwdriver to the right of the brown stuffed toy on the bottom side with the right hand facing backwards with the tip as the reference point. + [2403:2463] Return to home with the right hand. + [2460:2601] Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [2601:2700] Put the brown stuffed toy to the left of the pink plate on the left side with the left hand facing backwards. + [2700:3000] Return to home with the left hand. + +### 2026-03-14-20-11-52-724000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=9 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'orange screwdriver'] + [0:132] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [132:231] Put the brown stuffed toy to the left of the green bowl on the top side facing backwards with the left hand. + [231:429] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [429:585] Place the orange screwdriver to the right of the pink tray on its top side with the tip facing forwards using the right hand. + [582:873] Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom diagonally. + [873:957] Place the orange screwdriver to the left of the pink tray with the left hand facing forwards with the tip facing forwards. + [1104:1164] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [1212:1425] Put the green bowl to the right of the pink tray on the top side with the right hand. + [1425:1638] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1638:1755] Put the brown stuffed toy inside the green bowl with the left hand facing bottom left. + [1755:1947] Pick up the blue stuffed toy from the pink tray with the left hand using a side grip at the bottom from a diagonal angle. + [1947:2034] Put the blue stuffed toy behind the pink tray on the top side with the left hand facing forwards. + [2034:2229] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [2229:2304] Dump the brown stuffed toy to the bottom side with the right hand. + [2304:2418] Place the green bowl to the right of the brown stuffed toy with the right hand. + [2418:2466] Return to home with the right hand. + [2466:2598] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [2598:2700] Place the blue stuffed toy to the left of the orange screwdriver on the top left side with the left hand facing top left. + [2802:2850] Pick up the brown stuffed toy from the table with the left hand using a side grip at the bottom at a diagonal angle. + [2850:2901] Put the brown stuffed toy behind the pink tray on the top left side with the left hand facing bottom right. + [2901:3000] Return to home with the left hand. + +### 2026-03-14-20-14-30-527000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=10 | objects=['blue stuffed toy', 'brown stuffed toy', 'green bowl', 'pink plate', 'red bell pepper', 'screwdriver'] + [0:108] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [108:204] Put the green bowl behind the red bell pepper with the right hand. + [204:408] Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [408:513] Put the red bell pepper to the right of the green bowl with the right hand right side up with the front as the reference point. + [513:681] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [681:801] Put the blue stuffed toy to the right of the pink plate with the left hand facing forwards. + [801:948] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the top of the object. + [948:1032] Put the blue stuffed toy inside the bowl with the right hand facing top right. + [1032:1194] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1194:1281] Place the brown stuffed toy on top of the pink plate with the left hand facing bottom right. + [1281:1491] Pick up the red bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [1491:1680] Place the red bell pepper to the right of the pink plate with the right hand right side up with the front as the orientation reference point. + [1680:1878] Pick up the screw driver from the table with the left hand at a diagonal angle grasping the middle. + [1878:2013] Put the screwdriver behind the pink plate with the left hand facing backwards with the tip as the orientation reference point. + [2012:2229] Pick up the brown stuffed toy from the plate with the left hand using a side grip at the top from a diagonal angle. + [2229:2328] Put the brown stuffed toy to the left of the screwdriver with the left hand facing bottom right. + [2328:2568] Pick up the pink plate from the table with the left hand using a side grip at the top left with a diagonal angle. + [2568:2733] Put the pink plate to the left of the brown stuffed toy with the left hand right side up with the front as the orientation reference point. + [2733:2802] Return to home with the left hand. + [2802:2970] Pick up the red bell pepper from the table with the right hand using a side grip at the top from a diagonal angle. + [2970:3000] Put the red bell pepper to the right side of the green bowl with the right hand. + +### 2026-03-14-20-17-36-029000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=10 | objects=['bag of chips', 'coffee cup', 'croissant', 'green bowl', 'red marker', 'stuffed toy'] + [0:138] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [138:276] Put the red marker to the left of the stuffed toy with the left hand facing backwards with the tip as the reference point. + [276:471] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the left side. + [471:498] Dump the croissant to the right of the bag of chips with the right hand. + [498:612] Put the bowl to the right of the coffee cup with the right hand. + [612:834] Pick up the stuffed toy from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [834:936] Put the stuffed toy to the left of the bag of chips with the left hand facing backwards. + [936:1089] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [1089:1185] Place the croissant in front of the bowl with the right hand right side up. + [1185:1287] Pick up the bag of chips from the table with the left hand using a side grip from the left at a diagonal angle. + [1287:1371] Put the bag of chips to the left of the juice pack with the left hand facing backwards. + [1578:1632] Pick up the coffee cup from the table with the right hand at a diagonal angle grasping the right side by the lip. + [1632:1833] Put the coffee cup to the right of the stuffed toy with the handle facing to the left using the right hand right side up. + [1833:2079] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [2079:2154] Place the croissant inside the bowl with the right hand right side up. + [2154:2331] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [2331:2457] Place the red marker inside the coffee cup with the left hand upside down with the tip as the reference point. + [2457:2616] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2616:2742] Put the green bowl to the right side of the coffee cup with the right hand. + [2742:2799] Return to home with the right hand. + [2799:2883] Pick up the stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle. + [2883:2961] Put the stuffed toy to the left of the bag of chips with the left hand facing backwards. + [2961:3000] Return to home with the left hand. + +### 2026-03-14-20-20-01-584000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=8 | objects=['doritos', 'gray stuffed toy', 'green bowl', 'red marker', 'white coffee cup'] + [0:174] Pick up the gray stuffed toy from the table with the left hand using a side grip at the bottom from a diagonal angle. + [174:342] Put the gray stuffed behind the green bowl with the left hand facing bottom left from the front. + [342:576] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [576:612] Dump the croissant to the front right of the white coffee cup with the right hand. + [612:870] Put the green bowl to the left of the white coffee cup with the right hand. + [870:1152] Pick up the gray stuffed toy from the table with the right hand using a side grip at the top right from a diagonal angle. + [1152:1254] Put the gray stuffed toy to the right of the croissant with the right hand facing backwards. + [1254:1449] Pick up the red marker from the white coffee cup with the left hand using a side grasp at the top from a diagonal angle. + [1449:1524] Place the red marker inside the green bowl with the left hand facing bottom left with the tip as the reference point. + [1524:1725] Pick up the white coffee cup from the table with the left hand using a lip grip at the bottom right from the top. + [1725:1893] Put the white coffee cup to the right of the green bowl with the left hand right side up with the front as the reference point. + [1893:2112] Pick up the green bowl from the table with the left hand using a diagonal lip grip on the left. + [2112:2214] Put the green bowl to the left of the doritos with the left hand. + [2214:2535] Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. + [2535:2673] Put the white coffee cup on the top side of the table with the right hand right side up with the front as the reference point. + [2673:2856] Pick up the doritos from the table with the left hand at a diagonal angle grasping the middle. + [2856:2952] Put the doritos to the left of the croissant with the left hand facing bottom left. + [2952:3000] Return to home with the left hand. + +### 2026-03-14-20-23-53-031000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=9 | objects=['green bowl', 'juice bag', 'red chips', 'white mug'] + [0:180] Pick up the juice bag from the table with the left hand at a diagonal angle grasping the middle. + [180:249] Put the juice bag in front of the green bowl on the top side with the front facing top right using the left hand. + [249:447] Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal pick angle. + [447:588] Put the white mug to the right of the gray stuffed toy on the bottom side with the right hand right side up with the front facing top left. + [588:768] Pick up the green bowl from the table with the left hand using a lip grip from the left at a diagonal angle. + [768:867] Place the green bowl to the left of the juice bag with the left hand. + [867:1128] Pick up the red chips from the table with the right hand using a side grip at the bottom right from a diagonal angle. + [1128:1227] Put the red chips to the right of the white mug on the bottom right side with the right hand facing left. + [1227:1458] Pick up the white mug from the table with the right hand using a lip grip at the top right diagonal. + [1458:1695] Put the white mug in front of the gray stuffed toy on its top side right side up with the front facing left using the right hand. + [1695:1899] Pick up the juice bag from the table with the left hand at a diagonal angle grasping the middle. + [1899:2010] Put the juice bag to the left of the white mug on the top side with the left hand facing forwards relative to the front. + [2010:2148] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right. + [2148:2232] Put the green bowl on the top left side of the table with the left hand. + [2232:2436] Pick up the white mug from the table with the right hand using a lip grip at the top right from a diagonal angle. + [2436:2592] Put the white mug behind the juice bag on the top side with the right hand right side up with the front facing top left. + [2592:2655] Return to home with the right hand. + [2655:2781] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. + [2781:2916] Dump the red marker on the table to the left of the juice bag with the left hand. + [2916:3000] Put the green bowl to the right of the bread with the left hand. + +### 2026-03-14-20-29-51-405000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=10 | objects=['asparagus', 'bowl', 'carrot', 'corn', 'eggplant', 'green bag of chips', 'green cup'] + [0:195] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [195:282] Put the asparagus to the right side of the eggplant with the right hand facing forwards with the tip as the reference point. + [282:423] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [423:528] Put the carrot to the right side of the asparagus with the right hand facing backwards with the tip as the reference point. + [648:831] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [831:918] Put the corn behind the asparagus with the right hand facing backwards by the tip. + [918:1050] Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [1050:1113] Put the green bag of chips to the left of the green cup with the left hand facing bottom right. + [1113:1224] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1224:1341] Put the corn behind the bowl with the right hand facing backwards with the tip as the reference point. + [1341:1491] Pick up the bowl from the table with the left hand at a diagonal angle grasping the left side using a lip grip. + [1491:1638] Put the bowl to the front left side of the green bag of chips with the left hand. + [1638:1905] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1905:2007] Put the eggplant in front of the green cup with the right hand facing top left with the tip as the reference point. + [2007:2349] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2349:2481] Put the corn to the bottom side of the table between the eggplant and the asparagus with the right hand facing backwards with the tip as the reference point. + [2481:2553] Return to home with the right hand. + [2553:2742] Pick up the green cup from the table with the left hand at a diagonal angle by the handle. + [2742:2856] Put the green cup behind the corn with the handle facing bottom left right side up using the left hand. + [2856:3000] Pick up the eggplant from the table with the left hand from the top at the middle. + +### 2026-03-14-20-32-15-833000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=8 | objects=['asparagus', 'bag of chips', 'beige bowl', 'carrot', 'corn', 'eggplant'] + [0:108] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [108:258] Put the carrot inside the green mug with the right hand upside down. + [258:459] Pick up the bag of chips from the table with the left hand using a side grip at the top left with a diagonal angle. + [459:567] Put the bag of chips to the left of the green mug on the top side with the left hand facing bottom right. + [567:753] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [753:834] Put the asparagus to the right of the green mug on the top side with the tip facing forwards using the right hand. + [834:1008] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1008:1128] Put the eggplant inside the beige bowl with the left hand facing left with the tip as the orientation reference point. + [1128:1350] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1350:1539] Put the corn to the left of the bag of chips with the right hand on the left side facing bottom right with the tip as the reference point. + [1539:1938] Pick up the bag of chips from the table with the left hand using a side grip at the left grasp location with a diagonal pick angle. + [1937:2049] Put the bag of chips in front of the corn on the top side with the left hand facing backwards. + [2049:2211] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [2211:2328] Put the asparagus to the front left of the green mug with the right hand facing forwards with the tip at the bottom side. + [2328:2370] Return to home with the right hand. + [2370:2613] Pick up the beige bowl from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [2613:2748] Dump the eggplant behind the green mug with the left hand. + [2748:2877] Place the beige bowl in between the bag of chips and the asparagus with the left hand. + [2877:3000] Return to home with the left hand. + +### 2026-03-14-20-34-43-723000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=7 | objects=['asparagus', 'bag of chips', 'beige bowl', 'corn'] + [0:204] Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally. + [204:393] Put the beige bowl to the right of the asparagus on the top right side with the left hand. + [393:570] Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [570:672] Put the bag of chips inside the beige bowl on the right side with the left hand facing backwards. + [672:993] Pick up the corn from the table with the left hand at a diagonal angle from the middle. + [993:1107] Put the corn to the left of the asparagus with the left hand on its bottom side facing backwards from the tip. + [1107:1251] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. + [1251:1341] Dump the bag of chips to the right of the asparagus with the right hand. + [1341:1500] Put the beige bowl to the left of the corn on the bottom right side with the right hand. + [1500:1746] Pick up the corn from the table with the left hand using a side grip at the bottom in a diagonal pick. + [1746:1902] Put the corn to the left of the eggplant with the left hand on the top side facing bottom right with the tip as the reference point. + [2172:2304] Pick up the asparagus from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2304:2490] Put the asparagus behind the beige bowl with the right hand facing bottom left with the tip as the reference point. + [2490:2643] Return to home with the left hand. + [2643:2823] Pick up the bag of chips from the table with the right hand using a side grip at the left in a diagonal angle. + [2823:3000] Put the bag of chips to the right of the green cup on the top right side with the right hand. + +### 2026-03-14-20-38-10-457000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=8 | objects=['large canned goods', 'pink mug', 'purple plate', 'small canned goods', 'soda can'] + [0:135] Pick up the pink mug from the table with the left hand using a lip grip at the bottom left with a diagonal pick angle. + [135:213] Place the pink mug on top of the purple tray right side up with the front facing forwards using the left hand. + [213:573] Pick up the soda can from the table with the right hand at a diagonal angle grasping the middle. + [573:726] Put the soda can on top of the white plate on the bottom right side with the right hand right side up with the front as the reference point. + [726:936] Pick up the pink mug from the purple plate with the left hand using a lip grip from the top at the right. + [936:1068] Place the pink mug to the left of the purple tray on the top left side with the left hand right side up with the front facing top left side. + [1068:1350] Pick up the small canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [1350:1446] Put the small canned goods behind the pink mug on the top left side right side up with the front as reference using the left hand. + [1446:1743] Pick up the large canned goods from the table with the right hand at a diagonal angle grasping the middle. + [1743:1890] Put the large canned goods to the right of the white plate on the bottom side with the right hand right side up with the front as the orientation reference point. + [1890:2157] Pick up the purple plate from the table with the left hand using a diagonal lip grasp at the left. + [2157:2295] Place the purple plate behind the white plate on its top side right side up with the front as reference using the left hand. + [2295:2514] Pick up the small canned goods from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2514:2619] Place the small canned goods on top of the purple tray with the left hand. + [2619:2760] Pick up the pink mug from the table with the left hand using a diagonal lip grasp on the right. + [2760:2844] Put the pink mug to the left of the white plate on the bottom side with the left hand facing top right from the front. + [2844:2910] Return to home with the left hand. + [2910:3000] Return to home with the right hand. + +### 2026-03-14-20-40-25-366000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=9 | objects=['big canned goods', 'blue soda can', 'pink coffee cup', 'small canned goods'] + [0:168] Pick up the pink coffee cup from the table with the left hand using a lip grasp at the bottom left from a diagonal angle. + [168:294] Put the pink coffee cup to the left of the purple plate with the handle facing bottom left right side up using the left hand. + [294:507] Pick up the small canned goods from the top of the purple plate with the left hand using a side grasp at the top from a diagonal angle. + [506:660] Put the small canned goods in front of the pink coffee cup with the left hand right side up front. + [660:864] Pick up the big canned goods from the table with the right hand at the middle using a side grasp. + [864:969] Put the big canned goods on top of the purple plate with the right hand. + [968:1173] Pick up the small canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [1173:1275] Put the small canned goods to the left of the pink cup with the left hand. + [1275:1602] Pick up the blue soda can from the top of the white plate with the right hand using a side grip at the top with a diagonal angle. + [1602:1725] Put the blue soda can to the right of the purple plate with the right hand. + [1725:1950] Pick up the pink coffee cup from the table by the handle from the side with the left hand. + [1950:2094] Put the pink coffee cup in front of the small canned goods with the left hand right side up with the front facing backwards. + [2094:2328] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [2328:2478] Put the blue soda can to the right of the white plate with the right hand. + [2475:2667] Pick up the pink coffee cup from the table with the left hand using a lip grip at the bottom right from a diagonal angle. + [2667:2784] Put the pink coffee cup to the left of the white plate with the left hand right side up with the front facing backwards. + [2784:2964] Pick up the small canned goods from the table with the left hand using a side grip at the top with a diagonal angle. + [2964:3000] Put the small canned goods to the left of the purple plate with the left hand. + +### 2026-03-14-20-42-46-713000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=7 | objects=['blue soda can', 'pink cup', 'white canned goods', 'white plate'] + [0:126] Pick up the pink cup from the table with the left hand using a lip grip at the top left with a diagonal pick angle. + [126:240] Put the pink cup to the left side of the canned goods on the top side with the left hand right side up with the front as the reference point. + [240:489] Pick up the white plate from the table with the left hand using a side grip at the left in a diagonal pick angle. + [489:669] Put the white plate to the front of the pink cup with the left hand right side up on its bottom side with the front as the orientation reference point. + [669:852] Pick up the pink cup from the table with the left hand using a diagonal grasp at the handle. + [852:1023] Place the pink cup on top of the white plate right side up with the front facing top right using the left hand. + [1023:1260] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [1260:1455] Put the blue soda can to the right of the blue plate on the top side with the right hand. + [1455:1698] Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the middle. + [1698:1878] Put the white canned goods to the front of the blue plate with the left hand right side up on the bottom side. + [1878:2100] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [2100:2277] Put the blue soda in between the white plate and white cup on the bottom side right side up with the front as the reference using the right hand. + [2277:2613] Pick up the pink cup on top of the white plate with the left hand using a lip grip at the top right from a diagonal angle. + [2613:2796] Put the pink cup behind the white plate on the top left side with the left hand right side up with the front as the reference point. + [2796:3000] Return to home with the right hand. + +### 2026-03-14-20-55-04-184000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=9 | objects=['bowl', 'canned goods', 'pen', 'pink stuffed toy', 'white cup', 'yellow stuffed toy'] + [0:153] Pick up the pen from the table with the left hand using a side grip at the top from a diagonal angle. + [153:393] Put the pen to the top left side to the left side of the stuffed toy with the left hand facing bottom left by its tip. + [393:507] Pick up the pink stuffed toy from the table with the right hand using a side grip at the top diagonally. + [506:675] Put the pink stuffed toy inside the bowl on the right side of the white cup with the right hand facing backwards. + [675:795] Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [795:921] Put the yellow stuffed toy inside the bowl on the right side of the white cup with the left hand. + [921:1119] Pick up the pen from the top left side of the table with the left hand using a side grip at a diagonal angle from the top. + [1119:1257] Put the pen inside the bowl on the right side of the white cup with the left hand facing bottom left. + [1257:1386] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [1386:1524] Put the canned goods to the left of the white cup on the top side with the left hand. + [1524:1713] Pick up the white cup from the table with the left hand using a lip grip at the top with a diagonal pick angle. + [1713:1950] Put the cup in front of the green bowl with the left hand right side up on the bottom side with the front as the reference point. + [1950:2079] Pick up the bowl from the table with the right hand at a diagonal from the top of the object. + [2079:2205] Dump the stuffed toys and the pen to the left of the white cup using the right arm. + [2205:2436] Put the bowl to the right of the white cup on the bottom side with the right hand. + [2436:2586] Pick up the canned goods from the top left of the table with the left hand using a side grip at the top and a diagonal angle. + [2586:2688] Put the canned goods to the left of the pink stuffed toy on the top right side with the left hand. + [2688:2727] Return to home with the left hand. + [2862:2931] Pick up the yellow stuffed toy from the top side of the table with the right hand at a diagonal angle grasping the entire object. + [2931:3000] Place the yellow stuffed toy inside the bowl on the right side with the right hand. + +### 2026-03-14-20-57-22-308000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=11 | objects=['canned goods', 'green bowl', 'pink stuffed toy', 'screwdriver', 'white cup', 'yellow stuffed toy'] + [0:144] Pick up the pink stuffed toy from the table with the left hand using a side grip from the top. + [144:234] Place the pink stuffed toy at the back of the canned goods with the left hand on the top side facing top left. + [234:456] Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [456:525] Put the yellow stuffed toy at the back of the pink stuffed toy on the top side with the left hand. + [525:660] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [660:753] Put the green bowl at the back of the screwdriver on its top side with the right hand. + [753:918] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [918:1017] Place the canned goods between the pink stuffed toy and the green bowl with the left hand. + [1017:1170] Pick up the screwdriver from the table with the left hand from the top at the middle. + [1170:1284] Put the screwdriver in front of the pink stuffed toy with the left hand on its bottom side facing forwards with the tip as the reference point. + [1284:1506] Pick up the white cup from the table with the right hand from the top at the right using a lip grip. + [1506:1620] Put the white cup to the right of the green bowl on the top side right side up with the front as the orientation reference point using the right arm. + [1620:1782] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. + [1782:1890] Put the green bowl to the right of the screwdriver with the left hand. + [1890:2052] Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2052:2145] Put the yellow stuffed toy to the left of the screwdriver with the left hand facing backwards. + [2145:2304] Pick up the white cup from the table with the right hand from the top right side using a lip grip. + [2304:2451] Put the white cup to the right of the green bowl on the bottom side with the right hand right side up with the front as the reference point. + [2451:2496] Return to home with the right hand. + [2496:2667] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2667:2781] Put the pink stuffed toy to the right of the canned goods on the top side with the left hand. + [2781:2937] Pick up the yellow stuffed toy from the table with the left hand from the top around the entire object. + [2937:3000] Put the yellow stuffed toy to the left of the canned goods on the top side with the left hand. + +### 2026-03-14-20-59-52-076000 | scene=pick_place_diverse | desc='pick place large number of objects' | picks=10 | objects=['canned goods', 'pink stuffed toy', 'screwdriver', 'white cup', 'yellow stuffed toy'] + [0:117] Pick up the screwdriver from the table with the left hand by the bottom at a diagonal angle using a side grip. + [117:270] Put the screwdriver to the right side of the pink stuffed toy on its top side with the tip facing forwards using the left hand. + [270:462] Pick up the white cup from the table with the right hand using a lip grip at the right side with a diagonal angle. + [462:582] Put the white cup to the top right side of the screwdriver with the right hand right side up with the front as the reference point. + [582:750] Pick up the yellow stuffed toy from the table with the left hand using a side grip from the top. + [750:849] Put the yellow stuffed toy inside the green bowl with the left hand facing bottom left. + [849:1044] Pick up the canned good from the table with the left hand using a side grip at the top with a diagonal pick angle. + [1044:1152] Put the canned good to the front right side of the screwdriver with the left hand right side up on the bottom side from the front. + [1152:1383] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right. + [1383:1521] Place the white cup to the right side of the canned good with the right hand right side up with the front as the orientation reference point. + [1521:1701] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [1701:1818] Put the pink stuffed toy to the left side of the green bowl with the left hand facing forwards. + [1818:2001] Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2001:2124] Put the screwdriver behind the pink stuffed toy on the top left side with the left hand facing forwards from the tip. + [2124:2313] Pick up the white cup from the table with the right hand using a lip grip at the right side with a diagonal angle. + [2313:2448] Place the white cup behind the canned good on its top side right side up with the front as the reference point using the right hand. + [2448:2505] Return to home with the right hand. + [2505:2655] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the top of the object. + [2655:2745] Put the pink stuffed toy behind the green bowl on the top side with the left hand facing forwards. + [2745:2916] Pick up the screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2916:3000] Put the screwdriver to the left side of the green bowl with the left hand facing forwards with the tip forwards. + +### 2026-04-14-01-20-42-745000 | scene=pick_place_diverse | desc='pick place recollect day 4' | picks=0 | objects=[] + (no annotations) + +### 2026-03-16-01-09-25-900000 | scene=pick_place_diverse | desc='pick_place' | picks=11 | objects=['blue stuffed toy', 'brown stuffed toy', 'pink bowl', 'red marker', 'silver bowl', 'white coffee cup'] + [0:108] Pick up the brown stuffed toy from the table with the left hand using a side grip at the top from a diagonal angle. + [108:222] Place the brown stuffed toy inside the silver bowl with the left hand facing backwards. + [222:348] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [348:444] Place the blue stuffed toy inside the silver bowl with the left hand facing top left. + [444:588] Pick up the red marker from the table with the left hand using a diagonal lip grasp on the left side. + [588:717] Place the red marker inside the pink bowl with the left hand facing backwards. + [717:939] Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. + [939:1077] Put the white coffee cup to the right of the silver bowl with handle facing backwards using the right hand right side up. + [1077:1311] Pick up the pink bowl from the table with the right hand using a lip grasp at the right side with a diagonal angle. + [1311:1407] Put the pink bowl to the right of the white coffee cup with the right hand. + [1407:1545] Pick up the silver bowl from the table with the left hand using a lip grip from the left at a diagonal angle. + [1545:1593] Dump the stuffed toys to the left of the white coffee cup with the left hand. + [1593:1725] Put the silver bowl to the left of the stuffed toys with the left hand. + [1725:1833] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [1833:1941] Put the blue stuffed toy to the left of the silver bowl with the left hand facing forwards. + [1941:2067] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [2067:2169] Put the brown stuffed toy to the bottom of the silver bowl with the left hand facing forwards. + [2169:2337] Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. + [2337:2511] Put the white coffee cup to the right of the silver bowl with handle facing backwards with the right hand right side up. + [2511:2736] Pick up the pink bow from the table with the right hand using a diagonal lip grasp on the right side. + [2736:2847] Put the pink bowl to the right of the white coffee cup with the right hand. + [2847:2868] Return to home with the right hand. + [2868:2958] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [2958:3000] Put the blue stuffed toy to the left of the brown stuffed toy with the left hand. + +### 2026-03-16-01-11-55-594000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['blue stuffed toy', 'brown stuffed toy', 'coffee cup', 'pink bowl', 'red marker', 'stainless bowl'] + [0:75] Pick up the blue stuffed toy from the table with the left hand using a side grip at the bottom diagonally. + [75:186] Put the blue stuffed toy in front of the coffee cup on the bottom side with the left hand facing left. + [186:348] Pick up the pink bowl from the table with the right hand using a lip grip at the top from a diagonal angle. + [348:384] Dump the red marker on the table on the right side with the right hand. + [384:501] Put the pink bowl to the right of the red marker with the right hand. + [501:630] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [630:714] Put the blue stuffed toy inside the coffee cup with the left hand facing forwards. + [714:834] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [834:906] Put the brown stuffed toy inside the stainless bowl with the left hand facing backwards. + [906:1026] Pick up the red marker from the table with the left hand using a side grip at the top from a diagonal angle. + [1026:1146] Put the red marker inside the stainless bowl with the left hand. + [1146:1272] Pick up the pink bowl from the table with the right hand using a diagonal top lip grasp. + [1272:1377] Put the pink bowl to the right of the coffee cup on the top right side with the right hand. + [1377:1650] Pick up the stainless bowl from the table with the left hand using a lip grip at the top from a diagonal angle. + [1650:1710] Dump the red marker and brown stuffed toy on the left side of the table with the left hand. + [1710:1827] Put the stainless bowl to the left of the red marker with the left hand. + [1827:2052] Pick up the coffee cup from the table with the right hand at a diagonal angle by the handle. + [2052:2214] Put the coffee cup to the right of the red marker pen on the bottom side with the right hand facing bottom right relative to the front. + [2400:2502] Pick up the red marker from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [2502:2619] Put the red marker in front of the pink bowl with the left hand facing bottom left with the tip as the reference point. + [2619:2742] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2742:2835] Put the brown stuffed toy inside the stainless bowl with the left hand facing backwards. + [2835:2883] Return to home with the left hand. + +### 2026-03-16-01-14-08-782000 | scene=pick_place_diverse | desc='pick_place' | picks=11 | objects=['blue stuffed toy', 'brown stuffed toy', 'cup', 'marker', 'pink bowl', 'silver bowl'] + [0:108] Pick up the marker from the table with the left hand using a side grip at the top from a diagonal angle. + [108:195] Put the marker inside the pink bowl with the left hand facing bottom left with the tip as the reference point. + [195:333] Pick up the silver bowl from the table with the left hand using a lip grip at the bottom left with a diagonal angle. + [333:387] Dump the brown stuffed toy to the left of the white cup with the left hand. + [387:510] Put the silver bowl to the right of the brown stuffed toy with the left hand. + [510:690] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [690:747] Put the brown stuffed toy inside the pink bowl with the left hand. + [747:969] Pick up the cup from the table with the right hand at a diagonal angle by the handle. + [968:1062] Put the cup to the right of the pink bowl with the handle facing bottom right right side up with the right hand. + [1206:1278] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the right side. + [1278:1365] Put the silver bowl in front of the pink bowl with the left hand. + [1365:1542] Pick up the cup from the table with the right hand at a diagonal angle by the handle. + [1542:1620] Dump the blue stuffed toy on the center of the table with the right hand. + [1620:1785] Put the cup to the right of the silver bowl with the right hand right side up with the front facing bottom left. + [1785:1941] Pick up the blue stuffed toy from the table with the right hand at a diagonal angle grasping the top of the object. + [1941:2004] Put the blue stuffed toy to the right of the pink bowl upside down with the right hand. + [2004:2121] Pick up the pink bowl from the table with the left hand using a diagonal lip grasp on the left. + [2121:2184] Dump the marker and the brown stuffed toy behind the silver bowl with the left hand. + [2184:2325] Put the pink bowl to the left side of the table with the left hand. + [2325:2463] Pick up the brown stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2463:2541] Place the brown stuffed toy behind the pink bowl with the left hand right side up. + [2541:2745] Pick up the blue stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2745:2826] Put the blue stuffed toy to the top right of the cup with the right hand facing top left. + [2826:2874] Return to home with the right hand. + [2874:3000] Pick up the marker from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-03-16-01-17-36-624000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['bag of chips', 'croissant', 'pink mug', 'white plate', 'yellow stuffed toy'] + [0:132] Pick up the yellow stuffed toy from the table with the right hand using a side grip at the bottom left from a diagonal angle. + [132:240] Put the yellow stuffed toy into the pink plate with the right hand facing left. + [240:354] Pick up the croissant from the table with the left hand using a side grip at the top diagonally. + [354:453] Put the croissant into the white plate with the left hand. + [453:579] Pick up the bag of chips from the table with the left hand using a side grip at the left from a diagonal angle. + [579:714] Put the bag of chips to the bottom of the pink mug with the left hand facing top right. + [714:930] Pick up the pink mug from the table with the left hand at a diagonal angle by the handle. + [930:1125] Put the pink mug to the left of the bag of chips with the left hand right side up front. + [1125:1287] Pick up the yellow stuffed toy from the pink plate with the right hand using a side grip at the top diagonally. + [1287:1368] Put the yellow stuffed toy to the bottom of the white plate with the right hand facing top right. + [1368:1575] Pick up the croissant from the white plate with the right hand using a side grip at the bottom left from a diagonal angle. + [1575:1725] Place the croissant to the right of the pink plate with the right hand. + [1725:1770] Return to home with the right hand. + [1770:1872] Pick up the yellow stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1872:1998] Put the yellow stuffed toy into the pink mug with the left hand. + [1997:2118] Pick up the bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [2118:2232] Put the bag of chips on the bottom left of the pink mug with the left hand facing bottom left. + [2232:2448] Pick up the white plate from the table with the left hand using a side grip at the bottom left with a diagonal angle. + [2448:2571] Place the white plate behind the pink mug with the left hand. + [2571:2715] Pick up the bag of chips from the table with the left hand using a side grip at the top left from a diagonal angle. + [2715:2787] Put the bag of chips to the left of the pink cup with the left hand facing top right. + +### 2026-03-16-01-22-26-448000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['bag of chips', 'croissant', 'pink cup', 'pink plate'] + [0:87] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left and a diagonal angle. + [87:165] Put the bag of chips on top of the pink plate with the left hand facing top left. + [342:489] Pick up the pink cup from the table with the left hand using a diagonal lip grasp at the top right. + [489:579] Put the pink cup on top of the white plate with handle facing bottom left right side up with the left hand. + [579:747] Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally. + [747:861] Put the croissant in front of the pink plate with the right hand. + [861:1026] Pick up the bag of chips from the top of the pink plate with the left hand using a side grasp at the left with a diagonal angle. + [1026:1122] Put the bag of chips to the right of the white plate with the left hand. + [1122:1293] Pick up the croissant from the table with the right hand using a side grip at the bottom and a diagonal pick angle. + [1293:1419] Put the croissant to the right of the pink plate with the right hand. + [1419:1536] Pick up the bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [1536:1629] Put the bag of chips to the left of the pink plate with the left hand. + [1629:1797] Pick up the pink plate from the table with the right hand using a lip grip at the bottom from a diagonal angle. + [1797:1914] Put the pink plate in between the white plate and the bag of chips with the right hand right side up front. + [1914:2139] Pick up the pink cup from the top of the white plate with the left hand using a lip grip at the top right diagonal. + [2139:2247] Put the pink cup on top of the pink plate with handle facing bottom left right side up with the left hand. + [2247:2412] Pick up the croissant from the table with the right hand using a side grip at the bottom and a diagonal pick angle. + [2412:2487] Place the croissant to the right of the bag of chips with the right hand. + [2487:2718] Pick up the pink cup from the top of the pink plate with the left hand at a diagonal angle by the handle. + [2718:2868] Place the pink cup in front of the pink plate with the front right side up using the left hand. + [2868:2919] Return to home with the left hand. + [2919:3000] Return to home with the right hand. + +### 2026-03-16-01-24-52-050000 | scene=pick_place_diverse | desc='pick_place' | picks=8 | objects=['bag of chips', 'bread', 'pink plate', 'white plate'] + [0:126] Pick up the bag of chips from the table with the right hand using a side grip at the bottom from a diagonal angle. + [126:246] Place the bag of chips to the right side of the bread with the right hand. + [245:414] Pick up the white plate from the table with the left hand using a diagonal lip grip at the bottom. + [414:555] Put the white plate between the pink plate and the bread with the left hand right side up with the front as the reference point. + [555:885] Pick up the pink plate from the table with the left hand using a diagonal lip grasp on the left side. + [885:1029] Place the pink plate to the left side of the pink cup with the left hand right side up with the front as the reference point. + [1029:1266] Pick up the bread from the table with the right hand at a diagonal angle from the top of the object. + [1266:1404] Put the bread behind the pink cup with the right hand. + [1404:1629] Pick up the bag of chips from the table with the right hand using a side grip at the bottom. + [1629:1737] Put the bag of chips on the white plate with the right hand facing bottom left. + [1737:1932] Pick up the bread from the table with the left hand from the top at the top of the object. + [2100:2343] Pick up the pink plate from the table with the left hand using a lip grip at the bottom from the side. + [2343:2631] Put the pink plate to the left side of the bread with the left hand right side up with the front as the orientation reference point. + [2631:2682] Return to home with the left hand. + [2682:2787] Pick up the bread from the table with the right hand at a diagonal angle grasping the middle. + [2787:2838] Put the bread on the pink plate with the right hand. + [2838:3000] Return to home with the right hand. + +### 2026-03-16-01-28-13-201000 | scene=pick_place_diverse | desc='pick_place' | picks=11 | objects=['carrot', 'doritos', 'eggplant', 'juice pouch', 'light khaki bowl'] + [0:204] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [204:345] Put the juice pouch to the left side of the eggplant with the left hand facing top right from the front. + [345:492] Pick up the eggplant from the table with the left hand using a side grip at the bottom from a diagonal angle. + [491:588] Put the eggplant into the light khaki bowl with the left hand facing top right with the tip as the reference point. + [588:810] Pick up the doritos from the table with the right hand using a side grip at the bottom from a diagonal angle. + [810:876] Put the doritos between the light khaki bowl and the green cup with the right hand facing backwards. + [876:1029] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1029:1161] Put the carrot to the right side of the green cup with the right hand facing forwards with the tip facing forwards. + [1161:1341] Pick up the juice pouch from the table with the left hand using a side grip at the bottom diagonally. + [1341:1395] Put the juice pouch to the left side of the light khaki bowl with the left hand facing top right. + [1395:1623] Pick up the eggplant from the white bowl with the right hand using a side grip at the top with a diagonal pick angle. + [1623:1734] Put the eggplant behind the green cup with the right hand facing forwards with the tip as the reference point. + [1734:1908] Pick up the light khaki bowl from the table with the left hand using a diagonal lip grasp on the left side. + [1908:2016] Place the light khaki bowl to the left side of the juice pouch with the left hand. + [2016:2163] Pick up the doritos from the table with the left hand using a side grip at the left with a diagonal angle. + [2163:2271] Put the doritos to the left side of the light khaki bowl with the left hand facing bottom right. + [2271:2454] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the top using a side grip. + [2520:2712] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [2712:2817] Put the eggplant to the left side of the green cup with the right hand facing forwards with the tip facing forwards. + [2817:2868] Return to home with the right hand. + [2868:2952] Pick up the doritos from the table with the left hand using a side grip at the bottom diagonally. + [2952:3000] Put the doritos on the table with the left hand. + +### 2026-03-16-01-35-03-121000 | scene=pick_place_diverse | desc='pick_place' | picks=9 | objects=['bag of chips', 'bag of juice', 'bowl', 'carrot', 'coffee cup', 'eggplant'] + [0:117] Pick up the bowl from the table with the left hand using a diagonal lip grasp on the left side. + [117:156] Dump the bag of juice to the left of the bag of chips with the left hand. + [156:264] Put the bowl to the left of the bag of juice with the left hand. + [264:459] Pick up the coffee cup from the table with the right hand at a diagonal angle by the handle. + [459:678] Put the coffee cup on top of the eggplant with the right hand facing bottom left from the front. + [678:885] Pick up the bag of chips from the table with the left hand using a lip grip at the top left diagonal. + [885:1026] Put the bag of chips inside the bowl with the left hand. + [1026:1215] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1215:1371] Put the carrot to the top of the bag of juice with the right hand facing forwards with the tip as the reference point. + [1371:1533] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [1533:1644] Put the carrot to the left of the bowl with the left hand facing forwards with the tip as the reference point. + [1644:1818] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1818:1992] Put the eggplant to the left of the coffee cup with the right hand facing top left by the tip. + [1992:2175] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [2175:2280] Place the eggplant to the left of the coffee cup with the left hand with its tip facing top left. + [2526:2658] Pick up the bag of juice from the table with the right hand at a diagonal angle grasping the middle. + [2658:2763] Put the bag of juice to the right of the coffee cup with the right hand facing forwards. + [2763:2817] Return to home with the right hand. + [2817:3000] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-03-16-01-38-30-250000 | scene=pick_place_diverse | desc='pick_place' | picks=9 | objects=['bag of juice', 'carrot', 'coffee cup', 'eggplant'] + [0:141] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [141:258] Put the carrot to the right of the bowl with the left hand facing forwards with the tip as the orientation reference point. + [258:423] Pick up the bag of juice from the table with the left hand using a side grip at the bottom from a diagonal angle. + [423:594] Put the bag of juice to the left of the bowl with the left hand facing forwards. + [594:795] Pick up the carrot from the table with the right hand using a side grip at the bottom from a diagonal angle. + [795:972] Put the carrot to the right of the coffee cup with the tip facing forwards using the right hand. + [972:1095] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1095:1266] Put the eggplant to the right of the bowl with the left hand facing forwards with the tip as the reference point. + [1266:1398] Pick up the coffee cup from the table with the right hand at a diagonal angle by the handle. + [1398:1665] Put the coffee cup to the top right of the eggplant with the right hand right side up with the front as the orientation reference point. + [1665:1779] Pick up the eggplant from the table with the left hand at a diagonal angle from the middle. + [1779:1917] Put the eggplant to the left of the coffee cup with the left hand facing forwards. + [1917:2022] Pick up the carrot from the table with the right hand using a side grip at the bottom at a diagonal angle. + [2022:2565] Place the carrot to the bottom of the coffee cup with the right hand facing backwards with the tip as the orientation reference point. + [2565:2682] Pick up the eggplant from the table with the left hand using a side grasp at the top with a diagonal pick angle. + [2682:2790] Put the eggplant to the right of the bowl with the left hand facing backwards. + [2790:2850] Return to home with the left hand. + [2850:2964] Pick up the carrot from the table with the right hand using a side grip at the bottom diagonally. + [2964:3000] Put the carrot to the right of the coffee cup with the right hand. + +### 2026-03-16-01-44-28-902000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['asparagus', 'blue screwdriver', 'orange screwdriver', 'yogurt'] + [0:129] Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [129:288] Put the blue screwdriver in front of the green bowl with the left hand facing forwards with the tip at the bottom side. + [288:513] Pick up the orange screwdriver from the table with the right hand at a diagonal angle from the middle. + [513:645] Place the orange screwdriver to the right of the yogurt with the right hand upside down with the tip at the top right side. + [645:789] Pick up the asparagus from the table with the left hand using a side grip at the top from a diagonal angle. + [789:954] Put the asparagus to the left of the blue screwdriver with the left hand on the bottom left side facing backwards with the tip as the reference point. + [954:1209] Pick up the yogurt from the table with the right hand at a diagonal angle grasping the middle. + [1209:1320] Put the yogurt to the right of the orange screwdriver on the top right side with the right hand right side up with the front as the orientation reference point. + [1320:1557] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [1557:1662] Put the orange screwdriver to the right of the yogurt with the right hand facing forwards with the tip forwards. + [1662:1821] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [1821:1917] Put the asparagus to the left of the green bowl on the top left side with the left hand facing backwards with the tip facing backwards. + [1917:2103] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2103:2265] Put the blue screwdriver to the right side of the green bowl on its top side with the left hand facing backwards. + [2265:2523] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2523:2637] Put the orange screwdriver to the right of the blue screwdriver on the top side with the tip facing forwards using the right arm. + [2637:2772] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [2772:2841] Put the asparagus inside the green bowl on top with the left hand facing backwards with the tip as the orientation reference point. + [2841:2889] Return to home with the left hand. + [2841:3000] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-03-16-01-47-54-984000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['asparagus', 'blue screwdriver', 'green bowl', 'orange screwdriver', 'white canister'] + [0:108] Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [108:207] Put the blue screwdriver into the green bowl on top with the left hand facing top right by the tip. + [207:399] Pick up the white canister from the table with the right hand at a diagonal angle grasping the middle. + [399:519] Put the white canister to the right of the black screwdriver on the top side with the front facing forwards using the right arm. + [519:660] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [660:780] Place the orange screwdriver to the left of the green bowl on the top left side with the left hand facing backwards by the tip. + [780:942] Pick up the white canister from the table with the right hand at a diagonal angle grasping the entire object. + [942:1014] Put the white canister to the right of the green bowl on the top side with the right hand. + [1013:1071] Return to home with the right hand. + [1071:1149] Pick up the green bowl from the table with the left hand using a lip grip from the top at the left. + [1149:1185] Dump the asparagus and the blue screwdriver onto the top side of the table to the left of the white canister with the left hand. + [1185:1335] Put the green bowl to the left of the orange screwdriver on the top left side with the left hand. + [1335:1539] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1539:1647] Place the blue screwdriver in front of the green bowl with the left hand on the bottom left side with the tip facing right. + [1647:1878] Pick up the asparagus from the table with the left hand from the top at the middle. + [1878:1998] Put the asparagus to the right of the white canister on its top side with the left hand facing backwards by the tip. + [1997:2166] Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the right side. + [2166:2334] Put the green bowl to the right of the asparagus on the top right side with the left hand. + [2334:2559] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [2559:2688] Put the orange screwdriver to the front right of the asparagus with the left hand on the bottom side facing backwards with the tip as the reference point. + [2688:2853] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [2853:2964] Put the blue screwdriver into the green bowl on top with the left hand facing bottom left by the tip. + [2964:3000] Return to home with the left hand. + +### 2026-03-16-01-50-34-036000 | scene=pick_place_diverse | desc='pick_place' | picks=8 | objects=['asparagus', 'blue screwdriver', 'canister', 'green bowl', 'orange screwdriver'] + [0:138] Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. + [138:297] Put the orange screwdriver to the right of the green bowl with the tip facing backwards using the right hand. + [297:555] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [555:672] Put the asparagus to the left of the canister with the left hand facing backwards. + [672:1059] Pick up the canister from the table with the right hand at a diagonal angle grasping the entire object. + [1059:1278] Put the canister behind the orange screwdriver with the right hand. + [1278:1509] Pick up the green bowl from the table with the right hand using a lip grip at the top from a diagonal angle. + [1509:1572] Dump the blue screwdriver on the table to the left of the orange screwdriver with the right hand. + [1572:1704] Put the green bowl to the right of the orange screwdriver with the right hand. + [1704:1902] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [1902:2043] Put the asparagus to the left of the blue screwdriver with the left hand facing backwards with the tip as the reference point. + [2042:2109] Return to home with the left hand. + [2109:2199] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [2199:2283] Put the asparagus in front of the blue screwdriver with the right hand with the tip facing bottom right. + [2283:2511] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2511:2619] Place the blue screwdriver to the left of the orange screwdriver with the right hand with its tip facing right. + [2619:2796] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2796:2925] Put the orange screwdriver to the left of the green bowl with the right hand facing bottom right with the tip as the reference point. + [2925:3000] Return to home with the right hand. + +### 2026-03-16-01-55-05-813000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['blue marker', 'canned goods', 'corn', 'green cabbage', 'pink stuffed toy', 'red bell pepper', 'white coffee cup'] + [0:102] Pick up the green cabbage from the table with the left hand at a diagonal angle from the middle. + [102:258] Put the green cabbage to the left of the canned goods with the left hand facing forwards. + [258:468] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [468:591] Put the corn to the right of the blue plate with the right hand facing backwards with the tip as the reference point. + [591:741] Pick up the canned goods from the table with the left hand at a diagonal angle from the middle. + [741:840] Put the canned goods to the left of the green cabbage with the left hand right side up with the front as the reference point. + [840:1023] Pick up the white coffee cup from the table with the right hand at a diagonal angle by the handle. + [1023:1137] Place the white coffee cup on top of the blue plate with the right hand right side up with the front facing backwards. + [1137:1290] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. + [1290:1386] Put the red bell pepper in front of the canned goods with the left hand right side up with the front as the orientation reference point. + [1386:1683] Pick up the blue marker from the table with the right hand using a side grip at the top from a diagonal angle. + [1683:1941] Put the blue marker between the white coffee cup and the blue plate with the right hand facing backwards with the tip as the orientation reference point. + [1941:2010] Return to home with the right hand. + [2012:2109] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [2112:2226] Put the pink stuffed toy to the left side of the white coffee cup with the left hand facing forwards. + [2226:2409] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [2409:2529] Put the canned goods behind the pink stuffed toy with the left hand right side up with the front as the orientation reference point. + [2529:2673] Pick up the red bell pepper from the table with the left hand at a diagonal angle grasping the middle. + [2673:2823] Put the red bell pepper behind the white coffee cup with the left hand facing left with the front as the reference point. + [2823:2955] Pick up the pink stuffed toy from the table with the left hand using a side grip at the top diagonally. + [2955:3000] Put the pink stuffed toy to the left of the green cabbage with the left hand. + +### 2026-03-16-01-57-33-654000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['bell pepper', 'blue marker', 'cabbage', 'canned goods', 'pink stuffed toy', 'small white mug'] + [0:120] Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. + [120:207] Put the cabbage in front of the canned goods with the left hand facing forwards. + [207:318] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [318:408] Put the stuffed toy behind the blue marker with the left hand facing forwards. + [408:639] Pick up the pink stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + [639:762] Put the pink stuffed toy in front of the purple plate with the right hand facing forwards. + [762:885] Pick up the blue marker from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [885:993] Put the blue marker behind the purple plate with the right hand facing backwards with the tip as the reference point. + [993:1245] Pick up the bell pepper from the table with the left hand at a diagonal angle grasping the middle. + [1245:1422] Put the bell pepper to the left of the purple plate with the left hand facing forwards with the front as the reference point. + [1422:1656] Pick up the small white mug from the purple plate with the right hand using a diagonal grasp at the handle. + [1656:1785] Put the small white mug behind the corn with the right hand right side up with the front facing backwards. + [1785:1968] Pick up the blue marker from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1967:2058] Put the blue marker on top of the purple plate with the right hand with its tip facing bottom right. + [2058:2169] Pick up the bell pepper from the table with the right hand at a diagonal angle grasping the middle. + [2169:2304] Place the bell pepper to the right of the corn with the right hand facing forwards from the front. + [2304:2517] Pick up the pink stuffed toy from the table with the right hand using a side grip at the top from a diagonal angle. + [2517:2637] Put the pink stuffed toy behind the purple plate with the right hand facing forwards. + [2637:2685] Return to home with the right hand. + [2685:2799] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [2799:2901] Put the canned goods to the left of the cabbage with the left hand right side up with the front as the reference point. + [2901:3000] Return to home with the left hand. + +### 2026-03-16-02-00-05-454000 | scene=pick_place_diverse | desc='pick_place' | picks=9 | objects=['cabbage', 'canned goods', 'corn', 'pink stuffed toy'] + [0:171] Pick up the pink stuffed toy from the table with the right hand at the middle using a diagonal angle. + [171:384] Put the pink stuffed toy to the right of the coffee cup with the right hand facing top right. + [381:516] Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal pick angle. + [516:675] Put the canned goods in between the white mug and the blue tray with the left hand. + [675:840] Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [840:942] Put the canned goods behind the blue tray with the right hand. + [942:1098] Pick up the pink stuffed toy from the table with the right hand at a diagonal angle grasping the middle. + [1098:1245] Put the pink stuffed toy in between the white mug and the blue tray with the right hand facing forwards. + [1245:1383] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [1383:1515] Put the cabbage behind the white mug with the left hand facing forwards from the front. + [1515:1653] Pick up the pink stuffed toy from the table with the left hand at a diagonal angle grasping the middle. + [1653:1776] Put the pink stuffed toy to the left of the white mug with the left hand facing forwards. + [2010:2172] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2172:2289] Put the corn in between the white mug and the blue tray with the right hand facing backwards from the front. + [2289:2442] Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. + [2442:2559] Put the canned goods to the right of the blue tray with the right hand right side up with the front as the orientation reference point. + [2556:2772] Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2772:2919] Put the cabbage to the left of the pink stuffed toy with the left hand facing forwards. + [2919:2970] Return to home with the left hand. + [2970:3000] Return to home with the right hand. + +### 2026-03-16-02-03-42-045000 | scene=pick_place_diverse | desc='pick_place' | picks=9 | objects=['canned goods', 'pepsi can', 'stuffed toy', 'white cup'] + [0:231] Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle. + [231:342] Put the cup to the bottom of the canned goods with the left hand. + [342:561] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [561:672] Put the stuffed toy on the bottom right of the white cup with the right hand facing left. + [672:954] Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle. + [954:1095] Put the canned goods to the top right of the stuffed toy with the right hand. + [1095:1239] Pick up the pepsi can from the table with the left hand using a side grip at the top diagonally. + [1239:1350] Put the pepsi can to the top of the white cup with the left hand. + [1350:1536] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1536:1686] Put the stuffed toy to the right of the canned goods with the right hand facing left. + [1686:1857] Pick up the white cup from the table with the left hand using a diagonal top lip grasp. + [1857:2064] Put the cup to the right of the pepsi can with the left hand. + [2064:2328] Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [2328:2505] Put the canned goods to the right of the stuffed toy with the right hand. + [2679:2736] Pick up the pepsi can from the table with the left hand using a side grip at the top with a diagonal pick angle. + [2736:2844] Put the pepsi can to the bottom of the white cup with the left hand. + [2844:2898] Return to home with the left hand. + [2898:3000] Pick up the stuffed toy from the table with the right hand using a side grip at the bottom from a diagonal angle. + +### 2026-03-16-02-06-02-007000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['blue can', 'gray stuffed toy', 'white cup', 'yellow canned goods'] + [0:153] Pick up the yellow canned good from the table with the right hand at a diagonal angle grasping the middle. + [153:258] Put the yellow canned good to the right side of the gray stuffed toy with the right hand. + [258:477] Pick up the blue can from the table with the left hand at a diagonal angle grasping the middle. + [477:588] Place the blue can on the left side of the white cup with the left hand. + [588:789] Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [789:894] Put the gray stuffed toy to the right side of the yellow canned good with the right hand facing bottom right. + [894:1068] Pick up the blue can from the table with the left hand at a diagonal angle grasping the middle. + [1068:1185] Place the blue can right side up with the front facing to the front left side of the white cup with the left hand. + [1185:1395] Pick up the yellow canned good from the table with the right hand at a diagonal angle grasping the middle. + [1395:1479] Put the yellow canned good to the right side of the white cup with the right hand. + [1479:1638] Pick up the blue can from the table with the left hand at a diagonal angle grasping the middle. + [1638:1725] Put the blue can on the left side of the white cup with the left hand. + [1725:1878] Pick up the gray stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1878:2019] Put the gray stuffed toy to the front right side of the white cup with the right hand facing bottom right. + [2019:2187] Pick up the white cup from the table with the left hand using a lip grip from the top. + [2187:2286] Put the white cup right side up with its front to the front left side of the blue can using the left hand. + [2286:2502] Pick up the gray stuffed toy from the table with the right hand at a diagonal angle gripping the entire object. + [2502:2625] Put the gray stuffed toy on the right side of the table with the right hand right side up. + [2625:2688] Return to home with the right hand. + [2688:2823] Pick up the blue can from the table with the left hand using a side grip at the top with a diagonal pick angle. + [2823:2913] Place the blue can to the rear left side of the white cup with the left hand. + [2913:3000] Return to home with the left hand. + +### 2026-03-16-02-08-19-887000 | scene=pick_place_diverse | desc='pick_place' | picks=10 | objects=['cup', 'soda can', 'stuffed toy'] + [0:90] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [90:189] Put the stuffed toy to the left of the canned goods with the right hand facing forwards. + [189:357] Pick up the soda can from the table with the left hand at a diagonal angle grasping the top of the object. + [357:456] Put the soda can to the bottom right of the cup with the left hand. + [456:639] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [639:741] Put the stuffed toy in front of the canned goods with the right hand facing right. + [741:909] Pick up the soda can from the table with the left hand at a diagonal angle grasping the top of the object. + [909:1053] Put the soda can to the left of the cup with the left hand. + [1053:1182] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1182:1305] Put the stuffed toy to the left of the canned goods with the right hand facing forwards. + [1305:1455] Pick up the soda can from the table with the left hand at a diagonal angle grasping the top of the object. + [1455:1542] Put the soda can to the top left of the cup with the left hand. + [1542:1716] Pick up the stuffed toy from the table with the right hand at a diagonal angle grasping the entire object. + [1716:1830] Put the stuffed toy to the right of the cup with the right hand facing backwards with the front as the reference point. + [1830:2010] Pick up the stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [2010:2124] Put the stuffed toy to the left of the soda can with the left hand facing right. + [2124:2262] Pick up the cup from the table with the left hand using a diagonal lip grip at the top. + [2262:2343] Put the cup to the left of the stuffed toy with the left hand. + [2343:2541] Pick up the soda can from the table with the left hand using a side grip at the top from a diagonal angle. + [2541:2682] Put the soda can to the left of the canned goods with the left hand. + [2682:2739] Return to home with the left hand. + [2895:3000] Return to home with the right hand. + +### 2026-04-21-03-32-03-298000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['green bowl', 'pink bowl', 'pink coffee cup', 'red bag of chips', 'white cup'] + [0:126] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right. + [126:225] Place the pink bowl to the right of the red bag of chips with the right hand. + [225:351] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side. + [351:474] Put the green bowl to the right of the white cup with the left hand. + [474:660] Pick up the white cup from the table with the left hand at a diagonal angle grasping the middle. + [660:774] Put the white cup in front of the green bowl with the left hand right side up with the front as the orientation reference point. + [774:912] Pick up the pink coffee cup from the table with the left hand using a lip grip at the right side and a diagonal angle. + [912:1020] Put the pink coffee cup to the left of the green bowl with the handle facing top left with the left hand. + [1020:1158] Pick up the red bag of chips from the table with the right hand at a diagonal angle grasping the middle. + [1257:1398] Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + [1398:1548] Place the pink bowl to the right of the green bowl with the right hand. + [1548:1743] Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the right side. + [1743:1857] Put the pink coffee cup to the left of the white cup with the handle facing top right right side up using the left hand. + [1857:2064] Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side. + [2214:2298] Put the white cup to the right of the pink bowl with the right hand right side up with the front as the orientation reference point. + [2298:2445] Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the left. + [2445:2526] Put the pink coffee cup in front of the green bowl with the left hand right side up with the front facing forwards. + [2526:2670] Pick up the red bag of chips from the table with the right hand at a diagonal angle grasping the middle. + [2670:2742] Put the red bag of chips in front of the pink bowl with the right hand facing left. + [2742:2907] Pick up the pink coffee cup from the table with the left hand using a diagonal lip grasp on the left. + [2907:3000] Put the pink coffee cup to the left of the green bowl with the left hand right side up with the front facing forwards. + +### 2026-04-21-03-35-01-274000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['doritos', 'green bowl', 'pink bowl', 'pink mug', 'white cup'] + [0:93] Pick up the doritos from the table with the right hand using a side grip at the bottom right with a diagonal angle. + [93:186] Put the doritos in front of the green bowl with the front facing left using the right hand. + [186:357] Pick up the pink mug from the table with the left hand using a diagonal lip grasp on the right side. + [357:543] Put the pink mug in front of the pink bowl right side up with the front facing forwards using the left hand. + [543:765] Pick up the white cup from the table with the right hand using a lip grip from the top at the right. + [765:876] Put the white cup to the right of the pink coffee cup with the right hand right side up front. + [876:1017] Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1017:1095] Put the doritos inside the green bowl with the left hand facing bottom left. + [1191:1335] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. + [1335:1416] Put the green bowl to the left of the pink mug with the left hand. + [1416:1626] Pick up the pink mug from the table with the right hand using a diagonal lip grip at the top right. + [1626:1740] Put the pink mug behind the white cup with the handle facing top right right side up using the right arm. + [1740:1914] Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. + [2022:2046] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [2046:2103] Put the white cup in front of the pink bowl with the right hand right side up with the front as the orientation reference point. + [2280:2343] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. + [2343:2442] Place the white cup behind the green bowl and to the left of the pink bowl with the left hand right side up front. + [2442:2652] Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the left side. + [2652:2772] Put the pink mug in front of the pink bowl with the handle facing right right side up from the front using the right hand. + [2772:2913] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the right side. + [2913:2979] Put the pink bowl to the right of the pink mug with the right hand. + [2979:3000] Return to home with the right hand. + +### 2026-04-21-03-38-31-054000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['green bowl', 'pink bowl', 'pink coffee cup', 'red bag of chips', 'white coffee cup', 'white cup', 'yellow stuffed toy'] + [0:93] Pick up the white coffee cup from the table with the left hand using a lip grip at the left side with a diagonal angle. + [93:195] Put the white cup to the left of the pink coffee cup with the left hand right side up. + [195:333] Pick up the pink coffee cup from the table with the right hand at a diagonal angle by the handle. + [333:438] Put the pink coffee cup to the right of the pink bowl with the right hand right side up with the front as the reference point. + [438:582] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. + [582:612] Dump the red bag of chips from the green bowl to the left of the yellow stuffed animal with the left hand. + [612:753] Put the green bowl in front of the red bag of chips with the left hand. + [753:924] Pick up the pink coffee cup from the table with the right hand at a diagonal angle by the handle. + [924:1038] Put the pink coffee cup in front of the pink bowl with the right hand right side up with the front facing backwards. + [1038:1215] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [1215:1296] Put the pink bowl to the right of the pink coffee cup with the right hand. + [1437:1476] Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [1476:1617] Put the yellow stuffed animal behind the pink coffee cup with the left hand facing backwards from the front. + [1617:1785] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1785:1884] Put the yellow stuffed animal inside the pink coffee cup with the right hand upside down. + [1884:2010] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left. + [2010:2097] Put the green bowl to the left of the red bag of chips with the left hand. + [2097:2268] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [2268:2364] Place the white cup behind the pink coffee cup with the right hand right side up with the front as the orientation reference point. + [2364:2466] Pick up the red bag of chips from the table with the left hand at a diagonal angle grasping the middle. + [2466:2565] Put the red bag of chips to the left of the pink coffee cup with the left hand facing forwards. + [2565:2772] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the right side. + [2772:2874] Put the green bowl to the left of the red bag of chips with the left hand. + [2874:3000] Return both arms to home. + +### 2026-04-21-03-41-00-325000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=12 | objects=['blue marker', 'blue screwdriver', 'gray stuffed toy', 'juice pouch', 'red marker', 'white cup'] + [0:105] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [105:201] Put the blue marker to the right of the asparagus with the right hand facing forwards with the tip as the reference point. + [201:312] Pick up the gray stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. + [312:405] Put the gray stuffed animal to the right of the red marker with the right hand facing forwards front. + [405:531] Pick up the blue screwdriver from the table with the left hand using a side grip at the bottom diagonally. + [531:630] Put the blue screwdriver in front of the asparagus with the left hand with its tip facing forwards. + [630:771] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [771:876] Put the red marker to the right of the gray stuffed animal with the right hand with its tip facing bottom right. + [876:1053] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [1053:1161] Put the juice pouch to the right of the white cup with the left hand right side up with the front as the orientation reference point. + [1161:1308] Pick up the white cup from the table with the left hand at a diagonal angle by the handle. + [1308:1425] Put the white cup to the left of the asparagus with the left hand right side up with the front facing backwards. + [1425:1659] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [1659:1758] Put the blue screwdriver on the top right of the table with the right hand facing forwards with the tip as the reference point. + [1758:1911] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [1911:2004] Place the blue marker to the center of the table with the right hand with its tip facing top left. + [2004:2199] Pick up the juice pouch from the table with the left hand using a side grip at the top with a diagonal angle. + [2199:2325] Put the juice pouch to the left of the gray stuffed animal with the left hand right side up. + [2325:2532] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [2532:2613] Put the juice pouch in the middle of the asparagus and the blue screwdriver with the right hand right side up. + [2613:2739] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle. + [2739:2850] Place the gray stuffed animal to the right of the blue marker with the right hand facing forwards. + [2850:3000] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-04-21-03-48-00-324000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue marker', 'blue screwdriver', 'gray stuffed toy', 'juice pouch', 'red marker', 'white mug'] + [0:147] Pick up the white mug from the table with the left hand at a diagonal angle by the handle. + [147:243] Put the white mug in front of the blue marker bottom left with the left hand. + [243:432] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [432:519] Put the gray stuffed animal to the right of the white mug with the right hand facing backwards relative to the front. + [519:648] Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left. + [648:747] Put the white mug between the gray stuffed animal and the red marker with the handle facing bottom right using the left hand. + [747:972] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [972:1068] Place the blue marker to the left of the gray stuffed animal with the left hand facing forwards with the tip facing forwards. + [1068:1269] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [1269:1395] Put the red marker behind the blue marker with the right hand facing backwards with the tip as the orientation reference point. + [1395:1563] Pick up the white mug from the table with the right hand using a diagonal lip grasp on the right side. + [1563:1635] Place the white mug in front of the blue screwdriver with the handle facing backwards right side up using the right arm. + [1635:1728] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1728:1812] Place the gray stuffed animal inside the white mug with the right hand facing bottom right from the front. + [1812:2031] Pick up the juice pouch from the table with the right hand using a side grasp at the top with a diagonal pick angle. + [2031:2190] Put the juice pouch in front of the asparagus with the right hand right side up. + [2190:2340] Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2340:2469] Put the blue screwdriver between the juice pouch and the white mug with the right hand facing top right with the tip as the reference point. + [2469:2637] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [2637:2745] Place the red marker to the left of the blue marker with the left hand facing backwards with the tip as the orientation reference point. + [2745:2901] Pick up the juice pouch from the table with the right hand using a side grasp at the top from a diagonal angle. + [2901:3000] Place the juice pouch behind the white mug with the right hand right side up with the front as the reference point. + +### 2026-04-21-03-50-57-718000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'juice pouch', 'red marker', 'white cup'] + [0:132] Pick up the asparagus from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [132:228] Put the asparagus to the center of the table with the right hand facing forwards with the tip as the orientation reference point. + [228:414] Pick up the white cup from the table by the handle at a diagonal angle with the right hand. + [414:555] Put the white cup behind the blue screwdriver with the right hand right side up with the front facing backwards. + [555:696] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [696:786] Place the red marker behind the blue marker with the left hand facing backwards with the tip as the reference point. + [786:984] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [983:1143] Put the asparagus in front of the juice pouch with the right hand with the tip facing top left. + [1143:1311] Pick up the red marker from the taable with the left hand at a diagonal angle grasping the middle. + [1311:1413] Put the red marker to the center of the table with the left hand with its tip facing bottom right. + [1413:1584] Pick up the juice pouch from the table with the right hand using a side grip at the top and a diagonal pick angle. + [1584:1704] Put the juice pouch right side up with the front facing the top side of the table using the right hand. + [1704:1857] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [1857:1935] Put the asparagus to the right of the white cup with the right hand with its tip facing top right. + [1935:2079] Pick up the blue screwdriver from the table with the right hand using a side grip at the top with a diagonal angle. + [2079:2157] Put the blue screwdriver in front of the asparagus with the right hand facing forwards with the tip facing forwards. + [2157:2301] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2301:2397] Place the blue marker to the left of the juice pouch with the left hand facing forwards with the tip as the reference point. + [2397:2571] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [2571:2667] Put the red marker in front of the white cup with the right hand facing bottom right with the tip as the reference point. + [2667:2886] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2886:3000] Put the blue marker to the left of the red marker with the left hand with the tip facing right. + +### 2026-04-21-04-08-55-290000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['beige bowl', 'corn', 'green mug', 'white cup', 'yogurt'] + [0:150] Pick up the beige bowl from the table with the right hand at a diagonal angle using a lip grip. + [150:288] Put the beige bowl in front of the white cup with the right hand right side up. + [288:471] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [471:564] Put the corn to the left of the yogurt with the left hand facing backwards. + [564:771] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. + [771:894] Put the beige bowl in front of the yogurt with the right hand right side up with the front as the orientation reference. + [894:1035] Pick up the green mug from the table with the right hand at a diagonal angle by the handle. + [1035:1134] Put the green mug to the right of the beige bowl with the handle facing backwards right side up using the right arm. + [1134:1317] Pick up the corn from the table with the left hand at a diagonal angle grasping the middle. + [1317:1425] Put the corn inside the beige bowl with the left hand facing bottom left. + [1425:1734] Pick up the yogurt from the table with the left hand at a diagonal angle grasping the middle. + [1734:1887] Put the yogurt to the left of the beige bowl with the left hand right side up with the front as the reference point. + [2004:2118] Pick up the white cup from the table with the right hand at a diagonal angle by the handle. + [2118:2232] Put the white cup to the right of the green mug with the handle facing backwards right side up using the right hand. + [2232:2415] Pick up the yogurt from the table with the left hand at a diagonal angle grasping the middle. + [2415:2538] Put the yogurt behind the beige bowl with the left hand right side up. + [2538:2610] Return to home with the left hand. + [2610:2862] Pick up the yogurt from the table with the right hand at a diagonal angle gripping the middle. + [2862:2970] Put the yogurt behind the green mug with the right hand right side up with the front as the orientation reference point. + [2970:3000] Return to home with the right hand. + +### 2026-04-21-04-17-23-858000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['beige bowl', 'brown stuffed toy', 'corn', 'green mug', 'white cup', 'yogurt'] + [0:180] Pick up the white cup from the table with the left hand using a lip grip at the left side diagonally. + [297:513] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [513:636] Put the brown stuffed animal inside the green mug with the right hand. + [636:774] Pick up the green mug from the table with the right hand at a diagonal angle by the handle. + [774:942] Put the green mug behind the corn with the handle facing backwards right side up using the right hand. + [942:1116] Pick up the yogurt from the table with the left hand using a side grip at the top from a diagonal angle. + [1116:1200] Put the yogurt inside the beige bowl upside down with the front as the reference point using the left hand. + [1200:1389] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. + [1389:1509] Put the white cup to the left of the beige bowl with the handle facing bottom left right side up with the left hand. + [1509:1680] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1680:1779] Put the corn to the right of the beige bowl with the right hand facing backwards by the tip. + [1779:1950] Pick up the green mug from the table with the right hand from the side by the handle. + [1950:2049] Put the green mug to the right of the corn with the right hand right side up with the front facing backwards. + [2049:2202] Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side. + [2202:2313] Put the beige bowl behind the white cup right side up with the front as the reference using the left hand. + [2313:2529] Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2529:2658] Put the corn to the right of the green mug with the right hand facing bottom right from the tip. + [2658:2703] Return to home with the right hand. + [2703:2853] Pick up the white cup from the table with the left hand using a lip grip at the right side with a diagonal angle. + [2853:2922] Put the white cup in front of the beige bowl with the left hand right side up with the front facing backwards. + [2922:3000] Return to home with the left hand. + +### 2026-04-21-04-19-41-976000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=8 | objects=['beige bowl', 'brown stuffed toy', 'corn', 'green coffee cup', 'white coffee cup'] + [0:135] Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side. + [135:237] Put the beige bowl to the right of the white coffee cup with the left hand. + [237:390] Pick up the white coffee cup from the table with the left hand using a lip grasp at the left side with a diagonal angle. + [390:552] Put the white coffee cup behind the beige bowl with handle facing backwards right side up with the left hand. + [552:774] Pick up the green coffee cup from the table with the right hand using a diagonal grasp at the handle. + [774:882] Put the green coffee cup to the left of the beige bowl with the right hand right side up with the front as the reference point. + [882:1056] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1056:1329] Put the corn behind the green coffee cup with the right hand facing bottom right from the tip. + [1329:1698] Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp at the left. + [1698:1815] Put the white coffee cup to the left of the beige bowl with the left hand right side up with the front facing backwards. + [1815:2088] Pick up the green coffee cup from the table with the right hand at a diagonal angle by the handle. + [2088:2169] Dump the brown stuffed animal from the green coffee cup to the bottom right of the beige bowl with the right hand. + [2169:2352] Put the green coffee cup to the right of the corn with the right hand right side up with the front facing backwards. + [2352:2496] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2496:2622] Put the brown stuffed animal behind the beige bowl with the right hand facing bottom left from the front. + [2622:2805] Pick up the white coffee cup from the table with the left hand using a diagonal lip grasp on the left. + [2805:2907] Put the white coffee cup on the top side of the table with the left hand right side up with the front facing backwards. + [2907:3000] Return both arms to home. + +### 2026-04-21-04-23-29-156000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['blue stuffed toy', 'croissant', 'orange screwdriver', 'pink plate'] + [0:114] Pick up the croissant from the pink plate with the left hand at a diagonal angle grasping the middle. + [114:231] Put the croissant to the left of the pink plate with the left hand. + [231:360] Pick up the blue stuffed toy from the table with the left hand at a diagonal angle grasping the entire object. + [360:435] Put the blue stuffed toy on top of the pink plate with the left hand facing top right. + [435:609] Pick up the orange screwdriver from the white plate with the left hand using a side grip at the top from a diagonal angle. + [609:753] Put the orange screwdriver to the left of the white plate with the left hand with its tip facing top right. + [753:924] Pick up the blue stuffed toy from the pink plate with the left hand at a diagonal angle grasping the entire object. + [924:1077] Put the blue stuffed toy to the right of the pink plate with the left hand facing top right. + [1077:1203] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1203:1335] Put the croissant to the right of the blue stuffed toy with the left hand. + [1335:1584] Pick up the pink plate from the table with the left hand using a side grip at the left in a diagonal pick angle. + [1584:1803] Put the pink plate to the right of the croissant with the left hand right side up with the front as the reference point. + [1803:1995] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1995:2100] Put the orange screwdriver in front of the white plate with the left hand with its tip facing top left. + [2100:2316] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [2316:2469] Place the croissant on top of the pink plate with the right hand. + [2469:2640] Pick up the blue stuffed from the table with the left hand at a diagonal angle grasping the entire object. + [2640:2742] Put the blue stuffed toy on top of the white plate with the left hand facing forwards. + [2742:2877] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2877:3000] Put the orange screwdriver to the left of the white plate with the left hand facing forwards by the tip. + +### 2026-04-21-04-26-06-285000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['blue stuffed toy', 'croissant', 'orange screwdriver', 'white plate'] + [0:141] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [141:240] Put the orange screwdriver in front of the white plate with the left hand with its tip facing top left. + [240:477] Pick up the white plate from the table with the left hand using a diagonal lip grasp at the left. + [477:627] Place the white plate to the left of the pink plate with the left hand right side up with the front as the reference point. + [627:879] Pick up the croissant from the pink plate with the right hand at a diagonal angle grasping the middle. + [879:999] Put the croissant to the right of the pink plate with the right hand. + [998:1167] Pick up the blue stuffed animal from the white plate with the right hand at a diagonal angle grasping the middle. + [1167:1278] Put the blue stuffed animal on top of the pink plate with the right hand facing forwards. + [1425:1593] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1593:1779] Place the orange screwdriver on top of the white plate with the left hand with its tip facing top right. + [1779:2046] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [2046:2184] Put the croissant behind the pink plate with the right hand. + [2184:2427] Pick up the orange screwdriver from the white plate with the left hand at a diagonal angle grasping the middle. + [2427:2541] Put the orange screwdriver behind the white plate with the left hand facing forwards with the tip as the reference point. + [2541:2637] Return to home with the left hand. + [2637:2757] Pick up the blue stuffed animal from the pink plate with the right hand at a diagonal angle grasping the middle. + [2757:2841] Put the blue stuffed animal on top of the white plate with the right hand facing top left. + [2841:3000] Pick up the blue stuffed animal from the white plate with the right hand at a diagonal angle grasping the middle. + +### 2026-04-21-04-28-28-519000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue stuffed toy', 'croissant', 'pink plate', 'screwdriver', 'white plate'] + [0:120] Pick up the blue stuffed animal from the top of the pink plate with the right hand at a diagonal angle grasping the middle. + [120:210] Put the blue stuffed animal on top of the white plate with the right hand facing top left. + [210:375] Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [375:459] Put the screwdriver to the left of the white plate with the left hand facing top right with the tip as the reference point. + [459:615] Pick up the pink plate from the table with the right hand using a lip grip at the right side and a diagonal angle. + [615:783] Place the pink plate behind the screwdriver with the right hand right side up with the front as the orientation reference. + [783:942] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [942:1029] Put the croissant to the right of the white plate with the right hand. + [1029:1185] Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1185:1290] Put the screwdriver to the left of the pink plate with the left hand facing top right with the tip as the reference point. + [1290:1497] Pick up the blue stuffed animal from the white plate with the left hand at a diagonal angle grasping the entire object. + [1497:1587] Put the blue stuffed animal in front of the pink plate and to the left of the white bowl with the left hand facing top left from the front. + [1737:1761] Pick up the croissant from the table with the right hand from the side at the middle. + [1761:1941] Place the croissant on top of the pink plate with the right hand. + [1941:2145] Pick up the blue stuffed animal from the table with the left hand from the top at the middle. + [2145:2199] Place the blue stuffed animal in front of the screwdriver with the left hand facing forwards with the front as the orientation reference point. + [2199:2325] Pick up the screwdriver from the table with the left hand from the top at the middle. + [2325:2439] Put the screwdriver on the top of the white plate with the left hand facing forwards with the tip facing forwards. + [2439:2610] Pick up the white plate from the table with the right hand using a diagonal lip grasp on the right. + [2610:2706] Dump the screwdriver from the white plate to the center of the table with the right hand. + [2706:2796] Place the white plate right side up with the front to the right of the pink plate using the right hand. + [2796:2919] Pick up the blue stuffed animal from the table with the left hand from the top at the middle. + +### 2026-04-21-05-15-41-561000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue soda can', 'cabbage', 'carrot', 'green bag of chips', 'silver bowl', 'tomato'] + [0:129] Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle. + [129:225] Put the tomato inside the silver bowl with the left hand right side up. + [225:378] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [378:468] Put the cabbage in front of the silver bowl with the left hand facing forwards. + [468:639] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [639:768] Put the blue soda can in front of the green bag of chips with the left hand. + [768:1023] Pick up the green bag of chips from the table with the right hand using a side grip at the right in a diagonal angle. + [1023:1143] Put the green bag of chips to the right of the blue soda can with the right hand facing left. + [1143:1287] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1287:1380] Put the carrot behind the blue soda can with the right hand facing forwards with the tip as the reference point. + [1380:1557] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [1557:1626] Put the cabbage to the right of the silver bowl with the left hand facing forwards with the front as the reference point. + [1626:1770] Pick up the carrot from the table with the right hand at a diagonal angle from the middle. + [1770:1845] Put the carrot to the right of the cabbage with the right hand facing forwards with the tip facing forwards. + [1845:2043] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp on the right side. + [2042:2172] Put the silver bowl in front of the carrot with the left hand. + [2172:2334] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [2334:2412] Put the carrot to the left of the silver bowl with the left hand facing top left by the tip. + [2412:2592] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [2592:2694] Put the blue soda can behind the silver bowl with the right hand. + [2694:2844] Pick up the green bag of chips from the table with the right hand using a side grip at the top right diagonal. + [2844:3000] Put the green bag of chips to the right of the blue soda can with the right hand facing left. + +### 2026-04-21-05-18-34-680000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue soda can', 'cabbage', 'carrot', 'green bag of chips', 'silver bowl', 'tomato'] + [0:111] Pick up the carrot from the table with the left hand using a side grasp from the top. + [111:195] Put the carrot to the left of the cabbage with the left hand facing forwards with the tip facing forwards. + [195:345] Pick up the cabbage from the table with the left hand from the side at the middle. + [345:438] Put the cabbage inside the silver bowl with the left hand facing forwards. + [438:633] Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal angle. + [633:720] Put the blue soda can to the left of the tomato with the left hand. + [720:834] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [834:933] Put the carrot on the center of the table with the left hand with the tip facing top left. + [933:1128] Pick up the green bag of chips from the table with the left hand using a side grip from the top left. + [1263:1416] Pick up the blue soda can from the table with the left hand using a side grip from the top. + [1416:1515] Put the blue soda can to the top left of the carrot with the left hand. + [1515:1734] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the right side. + [1734:1839] Put the silver bowl to the right of the green bag of chips with the right hand. + [1839:1962] Pick up the tomato from the table with the right hand from the side grasping the entire object. + [1962:2082] Put the tomato to the right of the silver bowl with the right hand facing backwards relative to the front. + [2082:2331] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom diagonally. + [2331:2415] Put the green bag of chips in front of the blue soda can with the left hand facing left. + [2415:2607] Pick up the carrot from the table with the left hand from the side at the middle. + [2607:2700] Put the carrot to the left of the green bag of chips with the left hand facing forwards with the tip as the orientation reference point. + [2700:2910] Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. + +### 2026-04-21-05-21-14-485000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue soda can', 'cabbage', 'carrot', 'green bag of chips', 'silver bowl', 'tomato'] + [0:84] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [84:201] Place the carrot in front of the tomato with the left hand with the tip facing top right. + [201:390] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. + [390:450] Dump the cabbage from the silver bowl to the right of the tomato with the right hand. + [450:570] Put the silver bowl in front of the cabbage with the right hand. + [564:690] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [690:804] Put the blue soda can to the left of the green bag of chips with the left hand. + [804:951] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [951:1065] Put the carrot behind the green bag of chips with the left hand facing forwards with the tip as the orientation reference point. + [1065:1191] Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle. + [1191:1281] Put the blue soda can to the left of the carrot with the left hand. + [1464:1470] Pick up the cabbage from the table with the right hand at a diagonal angle gripping the middle. + [1575:1725] Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. + [1725:1806] Put the tomato in between the green bag of chips and the silver bowl with the right hand facing forwards. + [1806:1959] Pick up the carrot from the table with the left hand at a diagonal angle grasping the middle. + [1959:2100] Put the carrot to the left of the green bag of chips with the left hand facing forwards with the tip forwards. + [2100:2250] Pick up the green bag of chips from the table with the left hand using a side grip at the right grasp location and a diagonal pick angle. + [2250:2349] Put the green bag of chips to the left side of the table with the left hand facing top right. + [2349:2505] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2505:2700] Put the silver bowl behind the tomato with the right hand. + [2700:2835] Pick up the cabbage from the table with the right hand at a diagonal angle from the top of the object. + [2835:3000] Put the cabbage to the right of the tomato with the right hand facing top left from the front. + +### 2026-04-21-05-34-03-612000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['canned goods', 'eggplant', 'pink stuffed toy', 'white cup'] + [0:132] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [132:204] Put the eggplant to the right of the canned goods with the left hand with the tip facing top left. + [204:309] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [309:375] Put the canned goods on the center of the table with the left hand. + [375:564] Pick up the white cup from the table with the right hand at a diagonal angle by the handle. + [564:708] Put the white cup to the right of the canned goods with the right hand right side up with the front facing bottom left. + [708:813] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [813:894] Put the pink stuffed animal in front of the white cup with the right hand facing top left with the front as the reference point. + [894:1026] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1026:1098] Put the eggplant to the left of the canned goods with the left hand with its tip facing top left. + [1098:1248] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [1248:1329] Put the canned goods behind the eggplant with the left hand. + [1329:1470] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1470:1554] Put the pink stuffed animal to the right of the white cup with the right hand facing top left from the front. + [1554:1782] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left. + [1782:1899] Put the white cup to the right of the eggplant with the handle facing backwards right side up with the front as the reference using the left hand. + [1899:2064] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2064:2232] Put the pink stuffed animal on the center of the table with the right hand facing top left with the front as reference. + [2232:2301] Return to home with the right hand. + [2301:2409] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [2409:2505] Put the eggplant to the bottom left of the white cup with the left hand facing forwards with the tip as the reference point. + [2652:2763] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [2763:3000] Put the canned goods in the middle of the eggplant and pink stuffed animal with the left hand. + +### 2026-04-21-05-36-12-002000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=12 | objects=['canned goods', 'eggplant', 'pink stuffed toy', 'white mug'] + [0:138] Pick up the white mug from the table with the left hand at a diagonal angle by the handle. + [138:255] Put the white mug to the left of the eggplant with the left hand right side up with the front facing bottom left. + [255:387] Pick up the canned goods from the table with the left hand using a side grip at the top. + [387:483] Put the canned goods behind the white mug with the left hand. + [483:582] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [582:675] Put the eggplant to the right of the canned goods with the left hand facing forwards with the tip forwards. + [675:777] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [777:846] Put the pink stuffed animal to the right of eggplant with the left hand facing forwards. + [846:978] Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side. + [1260:1383] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [1383:1482] Put the pink stuffed animal in front of the canned goods with the left hand facing forwards. + [1482:1659] Pick up the white mug from the table with the left hand from the top right side using a lip grip. + [1659:1782] Put the white mug in front of the eggplant with the left hand right side up with the front facing backwards. + [1782:1980] Pick up the eggplant from the table with the left hand using a side grip at the top from a diagonal angle. + [1980:2073] Put the eggplant to the right of the white mug with the left hand facing forwards with the tip as the reference point. + [2073:2175] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [2175:2259] Put the canned goods to the right of the eggplant with the left hand. + [2370:2439] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [2439:2538] Put the pink stuffed animal behind the canned goods with the left hand facing forwards. + [2538:2601] Return to home with the left hand. + [2601:2721] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2721:2799] Place the pink stuffed animal on the center of the table with the right hand facing forwards. + [2799:2895] Pick up the canned goods from the table with the right hand using a side grip at the top with a diagonal pick angle. + [2895:2961] Put the canned goods to the right of the pink stuffed animal with the right hand. + [2961:3000] Return to home with the right hand. + +### 2026-04-21-05-40-09-356000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['eggplant', 'pink stuffed toy', 'white canned goods', 'white mug'] + [0:81] Pick up the white mug from the table with the left hand at the handle from the side. + [81:216] Put the white mug to the right of the white canned goods with the handle facing backwards right side up using the left hand. + [216:396] Pick up the pink stuffed animal from the table with the left hand from the side at the middle. + [396:453] Put the pink stuffed toy in front of the white canned goods with the left hand facing forwards. + [453:639] Pick up the eggplant from the table with the left hand using a side grip at the top from a diagonal angle. + [639:738] Put the eggplant to the right of the canned goods with the left hand with its tip facing bottom left. + [738:849] Pick up the pink stuffed animal from the table with the left hand using a side grip at the bottom diagonally. + [849:939] Put the pink stuffed animal to the left of the eggplant with the left hand facing forwards from the front. + [939:1119] Pick up the eggplant from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1119:1245] Put the eggplant in front of the white canned goods with the left hand with its tip facing left. + [1245:1419] Pick up the pink stuffed animal from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1419:1524] Put the pink stuffed animal to the left of the white canned goods with the left hand facing forwards from the front. + [1524:1770] Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal pick angle. + [1770:1941] Put the white canned goods to the right of the white mug with the right hand. + [1941:2094] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [2094:2235] Put the eggplant to the right of the white canned goods with the tip facing forwards using the right hand. + [2235:2370] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [2370:2487] Put the pink stuffed animal to the left of the white mug with the left hand facing top right relative to the front. + [2487:2538] Return to home with the left hand. + [2538:2700] Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [2700:2823] Put the white canned goods in front of the white mug with the right hand. + [2823:2946] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-04-21-21-44-50-400000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['croissant', 'doritos', 'pink bowl', 'pink stuffed toy', 'white canned goods'] + [0:78] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [78:162] Put the pink stuffed animal to the left of the croissant with the left hand facing forwards. + [162:246] Pick up the croissant from the table with the left hand from the top at the middle. + [245:318] Put the croissant in front of the white canned goods with the left hand. + [318:441] Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [441:558] Put the white canned goods to the right of the doritos with the left hand. + [558:759] Pick up the pink bowl from the table with the right hand using a lip grip from the top at the right side. + [759:840] Put the pink bowl on the right side of the table with the right hand. + [840:990] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [990:1065] Put the doritos inside the pink bowl with the right hand facing top right. + [1065:1212] Pick up the white canned goods from the table with the right hand using a side grip at the top and a diagonal angle. + [1212:1266] Put the white canned goods to the left of the pink bowl with the right hand. + [1266:1401] Pick up the croissant from the table with the left hand from the top at the middle. + [1401:1527] Put the croissant to the left of the white canned goods with the left hand. + [1527:1632] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [1746:1929] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1929:2037] Put the pink stuffed animal in front of the croissant with the right hand facing top right from the front. + [2037:2217] Pick up the white canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [2217:2337] Put the white canned goods in front of the pink bowl with the right hand. + [2337:2427] Pick up the pink stuffed animal from the table with the right hand from the top at the middle. + [2427:2511] Put the pink stuffed animal to the right of the pink bowl with the right hand facing forwards. + [2511:2613] Pick up the croissant from the table with the right hand from the top at the middle. + [2613:2712] Put the croissant to the left of the pink bowl with the right hand. + [2712:2844] Pick up the white canned goods from the table with the right hand using a side grip at the top with a diagonal angle. + [2844:3000] Put the white canned goods to the left of the croissant with the right hand. + +### 2026-04-21-21-47-08-082000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['canned goods', 'croissant', 'pink bowl', 'pink stuffed toy'] + [0:147] Pick up the canned goods from the table with the left hand at a diagonal angle grasping the middle. + [147:222] Put the canned goods to the bottom left of the croissant with the left hand. + [222:351] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp at the right side. + [351:486] Put the pink bowl to the left of the croissant with the right hand. + [486:579] Pick up the pink stuffed animal from the table with the right hand at the middle using a diagonal angle. + [579:648] Put the pink stuffed animal to the right of the croissant with the right hand facing forwards from the front. + [648:795] Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. + [795:891] Put the canned goods to the right of the pink stuffed animal with the right hand. + [891:1008] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [1008:1092] Put the croissant in front of the pink stuffed animal with the right hand. + [1092:1233] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [1233:1320] Put the pink bowl to the left of the pink stuffed animal with the right hand. + [1470:1590] Put the croissant in front of the pink bowl with the right hand. + [1590:1746] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1746:1833] Put the pink stuffed animal to the left of the croissant with the right hand facing forwards with the front as the reference point. + [1833:2073] Pick up the canned goods from the table with the right hand from the side at the middle. + [2073:2205] Put the canned goods to the left of the pink bowl with the right hand. + [2205:2403] Pick up the canned goods from the table with the left hand from the side at the middle. + [2403:2463] Put the canned goods to the left of the pink stuffed animal with the left hand. + [2463:2568] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [2568:2667] Put the pink stuffed animal to the left of the canned goods with the left hand facing forwards from the front. + [2667:2775] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [2775:2898] Put the croissant to the left of the pink stuffed animal with the left hand. + +### 2026-04-21-21-50-40-835000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=14 | objects=['croissant', 'doritos', 'pink bowl', 'pink stuffed toy', 'white canned goods'] + [0:69] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [69:150] Put the croissant in front of the pink bowl with the left hand. + [150:219] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [219:273] Put the pink stuffed animal in front of the white canned goods with the left hand facing forwards. + [273:372] Pick up the doritos from the table with the left hand using a side grip at the bottom right with a diagonal pick angle. + [372:447] Put the doritos inside the pink bowl with the left hand. + [447:513] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [513:609] Put the croissant to the left of the pink stuffed animal with the left hand. + [609:804] Pick up the white canned goods from the table with the left hand from the side at the middle. + [804:924] Put the white canned goods to the left of the croissant with the left hand. + [924:1053] Pick up the pink bowl from the table with the left hand using a lip grip at the bottom with a diagonal pick angle. + [1053:1095] Dump the doritos from the pink bowl to the right of the pink stuffed animal with the left hand. + [1095:1191] Put the pink bowl to the right of the doritos with the left hand. + [1191:1275] Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1275:1359] Put the doritos to the right of the pink bowl with the left hand. + [1359:1491] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [1491:1545] Put the pink stuffed animal behind the pink bowl with the left hand facing forwards. + [1653:1728] Pick up the white canned goods from the table with the left hand at a diagonal angle grasping the middle. + [1728:1872] Put the white canned goods inside the pink bowl with the left hand. + [1872:1962] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1962:2031] Put the croissant to the left of the pink bowl with the left hand. + [2031:2127] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [2127:2193] Put the pink stuffed animal on the left side of the table with the left hand facing forwards with the front as the reference point. + [2193:2364] Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally. + [2364:2460] Put the doritos on the center of the table with the right hand facing bottom left. + [2460:2592] Pick up the croissant from the table with the left hand at a diagonal angle from the top of the object. + [2592:2682] Put the croissant behind the pink bowl with the left hand. + [2682:2862] Pick up the croissant from the table with the right hand at a diagonal angle from the top of the object. + [2862:3000] Put the croissant in front of the doritos with the right hand. + +### 2026-04-21-21-54-48-935000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['beige bowl', 'cabbage', 'green bag of chips', 'juice pouch'] + [0:69] Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the left side. + [69:171] Put the beige bowl in front of the green bag of chips with the left hand. + [171:267] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [267:333] Put the juice pouch to the right of the beige bowl with the left hand right side up with the front as the reference point. + [333:444] Pick up the cabbage from the table with the left hand from the top at the middle. + [534:750] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal angle. + [750:870] Put the green bag of chips to the right of the juice pouch with the left hand facing top right. + [870:1068] Pick up the cabbage from the table with the left hand from the top at the middle. + [1068:1146] Put the cabbage behind the green bag of chips with the left hand facing top left relative to the front. + [1146:1308] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [1308:1368] Put the green bag of chips to the right of the cabbage with the right hand facing forwards. + [1368:1494] Pick up the juice pouch from the table with the right hand using a side grip at the top from the side. + [1494:1584] Put the juice pouch in front of the green bag of chips right side up with the front as the reference point using the right hand. + [1584:1716] Pick up the beige bowl from the table with the left hand from the right side at a diagonal angle using a lip grasp. + [1716:1827] Place the beige bowl in front of the cabbage with the left hand. + [1827:2019] Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. + [2019:2106] Put the green bag of chips to the right of the juice pouch with the right hand facing top right. + [2106:2235] Pick up the juice pouch from the table with the right hand using a side grip at the top with a diagonal angle. + [2235:2310] Put the juice pouch behind the green bag of chips with the right hand right side up with the front as the orientation reference point. + [2310:2418] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2418:2472] Put the beige bowl to the left of the green bag of chips with the right hand. + [2472:2634] Pick up the cabbage from the table with the left hand from the top at the middle. + [2634:2712] Put the cabbage to the left of the beige bowl with the left hand facing top left from the front. + [2712:2838] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [2838:2919] Put the juice pouch to the right of the green bag of chips with the right hand right side up. + +### 2026-04-21-21-56-58-170000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['beige bowl', 'cabbage', 'gray stuffed toy', 'green bag of chips', 'juice pouch'] + [0:81] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. + [81:201] Put the beige bowl behind the cabbage with the right hand. + [201:309] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. + [309:375] Put the green bag of chips to the right of the beige bowl with the right hand facing top left. + [375:468] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [468:549] Put the juice pouch in front of the green bag of chips right side up with the front as the reference point using the right arm. + [549:684] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. + [684:735] Dump the gray stuffed animal from the beige bowl in between the cabbage and the juice pouch with the right hand. + [735:879] Put the beige bowl to the right of the juice pouch with the right hand. + [879:987] Pick up the juice pouch from the table with the right hand using a side grip at the top with a diagonal pick angle. + [987:1086] Place the juice pouch to the right of the beige bowl with the right hand right side up with the front as the reference point. + [1086:1206] Pick up the gray stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1206:1263] Put the gray stuffed animal inside the beige bowl with the right hand facing backwards relative to the front. + [1263:1374] Pick up the cabbage from the table with the right hand from the side at the middle. + [1374:1488] Put the cabbage to the right of the green bag of chips with the right hand facing top left front. + [1488:1635] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. + [1635:1710] Put the green bag of chips to the left of the beige bowl with the right hand facing top left. + [1710:1866] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [1866:1956] Put the juice pouch behind the green bag of chips with the right hand right side up with the front as the reference point. + [2019:2064] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [2064:2181] Put the cabbage to the left of the green bag of chips with the right hand facing forwards. + [2181:2295] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [2295:2376] Put the juice pouch to the top left of the cabbage with the right hand right side up with the front as the orientation reference point. + [2376:2583] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [2583:2649] Put the cabbage on the center of the table with the left hand facing forwards with the front forward. + [2802:2883] Pick up the juice pouch from the table with the left hand using a side grasp at the top from the top. + [2883:2955] Place the juice pouch to the right of the cabbage with the left hand right side up with the front as the reference point. + +### 2026-04-21-21-59-28-113000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=12 | objects=['bag of juice', 'beige bowl', 'cabbage', 'gray stuffed toy', 'green bag of chips'] + [0:165] Pick up the bag of juice from the table with the left hand at a diagonal angle grasping the middle. + [165:276] Put the bag of juice to the left of the cabbage with the left hand right side up. + [276:357] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [357:474] Put the cabbage to the left of the juice pouch with the left hand facing forwards from the front. + [474:747] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom left. + [747:840] Put the green bag of chips to the right of the beige bowl with the right hand facing forwards. + [840:942] Pick up the beige bowl from the table with the right hand using a lip grip from the right at a diagonal. + [942:972] Dump the gray stuffed animal from the beige bowl to the left of the green bag of chips using the right arm. + [972:1071] Place the beige bowl to the left of the gray stuffed animal with the right hand. + [1071:1197] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom left. + [1197:1278] Put the green bag of chips inside the beige bowl upside down with the right hand. + [1389:1464] Pick up the bag of juice from the table with the left hand from the side at the middle. + [1464:1551] Put the bag of juice to the left of the beige bowl with the left hand right side up. + [1551:1695] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [1695:1782] Put the cabbage to the bottom left of the juice pouch with the left hand facing top right from the front. + [1782:1902] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1902:1974] Place the gray stuffed animal to the bottom right of the beige bowl with the right hand facing backwards relative to the front. + [1971:2100] Pick up the cabbage from the table with the left hand from the top at the middle. + [2100:2238] Put the cabbage with the left hand on the top left of the juice pouch facing top left from the front. + [2238:2382] Pick up the bag of juice from the table with the left hand from the top at the middle. + [2382:2463] Put the bag of juice to the left of the cabbage with the left hand right side up. + [2463:2619] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle. + [2619:2676] Put the gray stuffed animal to the right of the beige bowl with the right hand facing backwards with the front facing backwards. + [2676:2823] Pick up the beige bowl from the table with the left hand from the top at the left side using a lip grip. + [2823:2934] Put the beige bowl to the left of the juice pouch with the left hand. + +### 2026-04-21-22-03-39-663000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['brown stuffed toy', 'corn', 'small white cup', 'tomato', 'white cup', 'yellow stuffed toy'] + [0:84] Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [84:198] Place the brown stuffed animal inside the white cup with the left hand. + [198:300] Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle. + [300:357] Put the tomato in front of the pink plate with the left hand facing top left with the front as the reference point. + [357:510] Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [510:609] Put the yellow stuffed animal to the right of the corn with the left hand facing top right from the front. + [609:744] Pick up the tomato from the table with the left hand from the top grasping the entire object. + [744:837] Put the tomato in front of the corn with the left hand facing forwards with the front as the reference point. + [837:1041] Pick up the small white cup from the table with the left hand using a lip grip at the top from a diagonal angle. + [1041:1161] Put the small white cup in front of the pink plate with the left hand right side up with the front facing bottom left. + [1161:1320] Pick up the white cup from the table with the left hand using a lip grip at the right side and a diagonal angle. + [1320:1422] Place the white cup to the left of the pink plate with the left hand right side up with the front as the reference point. + [1422:1599] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1599:1677] Put the corn in front of the yellow stuffed animal and to the right of the tomato with the right hand facing bottom right from the tip. + [1677:1812] Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle. + [1812:1938] Put the tomato to the right of the corn with the right hand facing backwards relative to the front. + [1937:2052] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2052:2148] Put the yellow stuffed animal behind the tomato with the right hand facing top left relative to the front. + [2148:2295] Pick up the corn from the table with the right hand from the top at the middle. + [2295:2418] Put the corn to the left of the yellow stuffed animal with the right hand facing bottom left with the tip as the reference point. + [2418:2607] Pick up the small white cup from the table with the left hand using a lip grip from the top at the right side. + [2607:2745] Put the small white cup to the right of the pink plate with the handle facing backwards using the left hand right side up with the front as reference. + +### 2026-04-21-22-07-19-157000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['corn', 'orange screwdriver', 'pink plate', 'tomato', 'white cup', 'white mug', 'yellow stuffed toy'] + [0:99] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [171:303] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [303:411] Put the yellow stuffed animal in front of the tomato with the right hand facing forwards. + [639:699] Pick up the white mug from the table with the right hand from the side by the handle. + [699:801] Put the white mug to the right of the yellow stuffed animal with the front facing bottom left using the right hand. + [801:963] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [963:1068] Put the corn to the right of the white mug with the right hand facing bottom right with the tip as the reference point. + [1125:1374] Pick up the tomato from the table with the right hand using a side grip at the top from a diagonal angle. + [1374:1554] Put the tomato to the left of the yellow stuffed animal with the right hand right side up front. + [1554:1821] Pick up the white cup from the table with the left hand from the top at the middle. + [1821:1914] Put the white cup to the right of the pink plate right side up with the front as the reference using the left hand. + [1914:2001] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [2001:2127] Put the orange screwdriver on top of the pink plate with the left hand with its tip facing top right. + [2127:2316] Pick up the tomato from the table with the left hand from the top at the middle. + [2316:2415] Put the tomato in front of the white cup with the left hand right side up with the front as the reference point. + [2415:2553] Pick up the pink plate from the table with the left hand using a diagonal lip grasp at the bottom right. + [2553:2745] Put the pink plate to the left of the tomato with the left hand right side up. + [2745:2919] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-04-21-22-09-28-505000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['corn', 'tomato', 'white coffee cup', 'white cup', 'yellow stuffed toy'] + [0:117] Pick up the tomato from the table with the left hand from the top at the top of the object. + [117:279] Place the tomato behind the pink plate with the left hand right side up with the front as the orientation reference point. + [279:423] Pick up the white cup from the table with the left hand using a lip grip at the right side with a diagonal angle. + [423:522] Put the white cup to the right of the pink plate with the left hand right side up with the front as the reference point. + [522:666] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [666:792] Put the corn to the left of the white coffee cup with the right hand facing backwards with the tip as the reference point. + [792:927] Pick up the white coffee cup from the table with the right hand using a lip grip at the right side with a diagonal angle. + [927:1140] Put the white coffee cup to the left of the corn with the handle facing bottom left right side up using the right arm. + [1140:1323] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [1323:1431] Put the yellow stuffed animal to the right of the corn with the right hand facing top left with the front as the reference point. + [1431:1653] Pick up the tomato from the table with the left hand from the top grasping the entire object. + [1653:1764] Put the tomato to the left of the white coffee cup with the left hand right side up front. + [1764:1896] Pick up the white cup from the table with the left hand using a diagonal lip grasp at the right side. + [1896:2022] Put the white cup in front of the tomato with the left hand right side up with the front as the orientation reference point. + [2022:2238] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [2238:2343] Put the white cup to the right of the yellow stuffed animal with the right hand right side up with the front as the reference point. + [2343:2508] Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. + [2508:2628] Put the tomato to the right of the white cup with the right hand right side up front. + [2628:2667] Return to home with the right hand. + [2667:2847] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [2847:2943] Put the white coffee cup to the right of the pink plate with the handle facing backwards using the left hand right side up from the front. + [2943:3000] Return to home with the left hand. + +### 2026-04-21-22-13-59-980000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=8 | objects=['carrot', 'green bowl', 'green mug', 'white coffee cup', 'white mug'] + [0:138] Pick up the green bowl from the table with the left hand using a lip grip from the top right. + [138:303] Place the green bowl to the right of the carrot with the left hand. + [546:600] Pick up the white coffee cup from the table by the handle at a diagonal angle with the right hand. + [600:777] Put the white coffee cup in front of the carrot with the handle facing backwards right side up with the right hand. + [777:939] Pick up the white mug from the table with the left hand using a lip grip from the top at the right side. + [1083:1236] Pick up the green mug from the table with the left hand at a diagonal angle by the handle. + [1236:1416] Put the green mug to the left of the white mug with the handle facing bottom left right side up using the left hand. + [1416:1569] Pick up the carrot from the table with the left hand using a side grip at the bottom from the top. + [1569:1725] Put the carrot in front of the green mug with the left hand facing forwards. + [1725:1878] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [1878:1980] Put the green bowl to the right of the white coffee cup with the right hand. + [1980:2106] Pick up the carrot from the table with the left hand from the top at the middle. + [2106:2304] Put the carrot inside the green mug with the left hand right side up. + [2304:2511] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [2511:2766] Put the white coffee cup in front of the green mug with the handle facing backwards right side up with the left hand. + +### 2026-04-21-22-16-25-261000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['carrot', 'green bowl', 'green mug', 'white coffee cup', 'white mug'] + [0:114] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [114:240] Put the green bowl to the right of the white mug with the right hand. + [240:393] Pick up the white mug from the table with the left hand using a diagonal lip grip at the bottom. + [393:549] Put the white mug to the left of the white coffee cup with the handle facing top left with the left hand. + [549:762] Pick up the green mug from the table with the left hand by the handle from the side. + [762:966] Put the green mug to the left of the white mug with the handle facing bottom left right side up with the left hand. + [966:1113] Pick up the white coffee cup from the table with the left hand from the top at the right side using a lip grip. + [1113:1227] Put the white coffee cup behind the white mug with the handle facing bottom left right side up using the left hand. + [1227:1344] Pick up the green bowl from the table with the left hand using a diagonal lip grasp at the left. + [1344:1428] Put the green bowl to the right of the white mug with the left hand. + [1428:1608] Pick up the carrot from the green mug with the left hand using a side grip at the top from a diagonal angle. + [1608:1731] Put the carrot inside the green bowl with the left hand facing bottom right. + [1731:1827] Pick up the white mug from the table with the left hand using a diagonal lip grasp on the right side. + [1827:2010] Put the white mug to the right of the green bowl with the handle facing forwards right side up using the left hand. + [2010:2193] Pick up the green mug from the table with the left hand by the handle from the side. + [2193:2421] Put the green mug to the right of the white mug with the handle facing backwards with the left hand. + [2421:2619] Pick up the white coffee cup from the table with the left hand using a side grasp at the handle. + [2619:2724] Put the white coffee cup to the left of the green bowl with the handle facing backwards right side up using the left hand. + +### 2026-04-21-22-18-34-313000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=8 | objects=['carrot', 'green bowl', 'green mug', 'white coffee cup', 'white mug'] + [0:141] Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand. + [141:414] Put the white coffee cup to the right of the white mug with the handle facing bottom left right side up with the left hand. + [414:624] Pick up the green mug from the table with the right hand at a diagonal angle by the handle. + [624:750] Put the green mug to the right of the white coffee cup with the handle facing backwards right side up using the right arm. + [750:930] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. + [930:996] Dump the carrot from the green bowl to the left of the white mug with the left hand. + [996:1140] Put the green bowl to the left of the carrot with the left hand. + [1140:1311] Pick up the green mug from the table with the right hand at a diagonal angle by the handle. + [1311:1428] Put the green mug behind the beige mug with the handle facing backwards using the right hand right side up front. + [1428:1566] Pick up the carrot from the table with the left hand from the top at the middle. + [1566:1767] Put the carrot to the left of the green bowl with the left hand facing forwards. + [1917:2049] Pick up the white coffee cup from the table with the right hand from the top at the right side using a lip grasp. + [2049:2163] Place the beige mug to the right of the green mug with the handle facing backwards right side up using the right arm. + [2343:2406] Pick up the white mug from the table with the right hand using a lip grip from the top at the right. + [2601:2841] Pick up the green bowl from the table with the left hand using a lip grip from the top right. + +### 2026-04-21-22-21-29-310000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['blue soda can', 'blue stuffed toy', 'pink mug', 'red marker'] + [0:138] Pick up the red marker from the table with the left hand from the top at the middle. + [138:291] Put the red marker on top of the white plate with the left hand with the tip facing forwards. + [291:453] Pick up the blue stuffed animal from the table with the left hand from the top at the middle. + [453:546] Place the blue stuffed animal in front of the white plate with the left hand facing bottom right relative to the front. + [546:720] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [720:864] Put the blue soda can to the left of the blue stuffed animal with the left hand. + [864:957] Pick up the blue stuffed animal from the table with the left hand at a diagonal angle from the middle. + [957:1041] Put the blue stuffed animal to the right of the white plate with the left hand facing bottom right from the front. + [1041:1203] Pick up the pink mug from the table with the right hand from the side by the handle. + [1203:1356] Put the pink mug to the right of the coffee pod with the handle facing bottom right using the right hand. + [1524:1602] Pick up the blue stuffed animal from the table with the left hand from the top at the entire object. + [1602:1674] Put the blue stuffed animal in front of the white plate with the left hand facing bottom right relative to the front. + [1674:1800] Pick up the red marker from the plate with the left hand at a diagonal angle grasping the middle. + [1800:1917] Place the red marker behind the coffee pod and to the right of the white plate with the left hand facing top right with the tip as the reference point. + [1917:2070] Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [2070:2196] Put the blue stuffed animal behind the pink mug with the left hand facing bottom left from the front. + [2196:2442] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [2442:2547] Put the pink mug to the right of the blue stuffed animal with the handle facing backwards right side up using the right arm. + [2547:2733] Pick up the blue stuffed animal from the table with the left hand using a side grasp at the bottom from a diagonal angle. + [2733:2838] Put the blue stuffed animal in front of the pink mug with the left hand facing backwards relative to the front. + +### 2026-04-21-22-23-37-686000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['blue soda can', 'blue stuffed toy', 'pink mug', 'red marker'] + [0:126] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [126:258] Put the red marker in front of the white plate with the left hand with its tip facing top left. + [258:399] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [399:519] Put the blue soda can to the right of the white plate with the left hand. + [705:765] Pick up the pink mug from the table with the right hand by the handle from the side. + [765:885] Place the pink mug to the right of the coffee pod with the handle facing bottom right right side up using the right hand. + [885:1008] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1008:1098] Put the blue stuffed animal to the right of the pink mug with the right hand facing bottom left from the front. + [1098:1272] Pick up the blue soda can from the table with the left hand from the top at the middle. + [1272:1416] Put the blue soda can behind the blue stuffed animal with the left hand. + [1416:1572] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [1572:1698] Put the red marker behind coffee pod with the left hand with its tip facing top right. + [1698:1791] Return to home with the left hand. + [1791:1902] Pick up the blue stuffed animal from the table with the right hand using a side grip at the top with a diagonal pick angle. + [1902:1977] Put the blue stuffed animal to the right of the blue soda can with the right hand facing left. + [1977:2217] Pick up the blue soda can from the table with the right hand from the side at the middle. + [2217:2346] Put the blue soda can to the right of the blue stuffed animal with the right hand. + [2346:2457] Pick up the blue stuffed animal from the table with the right hand at a diagonal from the top of the object. + [2457:2562] Put the blue stuffed animal to the right of the blue soda can with the right hand facing top left from the front. + [2562:2793] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [2793:3000] Put the pink mug to the left of the blue soda can with the handle facing backwards using the right hand. + +### 2026-04-21-22-33-16-132000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue soda can', 'blue stuffed toy', 'coffee pod', 'pink mug', 'red marker'] + [0:111] Pick up the blue soda can from the table with the right hand from the side at the middle. + [111:225] Put the blue soda can in front of the red marker with the right hand. + [225:297] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [297:417] Place the blue stuffed animal on top of the plate with the right hand facing top left. + [417:522] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [522:672] Put the red marker to the right of the blue soda can with the right hand with its tip facing top right. + [672:777] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [777:948] Put the pink mug to the right of the white plate with the handle facing backwards right side up using the right arm. + [948:1086] Pick up the coffee pod from the table with the left hand using a side grip from the top. + [1167:1296] Pick up the red marker from the table with the right hand from the top at the middle. + [1296:1404] Put the red marker to the right of the pink mug with the right hand facing top left. + [1524:1557] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [1557:1650] Put the blue soda can to the right of the red marker with the right hand. + [1902:1974] Pick up the coffee pod from the table with the left hand from the top at the middle. + [1974:2064] Put the coffee pod to the left of the white plate right side up with the front as the reference using the left hand. + [2064:2229] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [2229:2370] Put the red marker to the right of the blue soda can with the right hand facing forwards with the tip as the reference point. + [2370:2514] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [2514:2607] Put the blue soda can to the right of the pink mug with the right hand. + [2607:2709] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [2709:2817] Put the red marker to the right of the blue soda can with the right hand with its tip facing top right. + +### 2026-04-21-22-50-45-117000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'eggplant', 'silver bowl'] + [0:114] Pick up the eggplant from the table with the left hand from the top at the middle. + [114:192] Put the eggplant in front of the blue marker with the left hand facing forwards with the tip as the orientation reference point. + [192:327] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [327:450] Put the blue marker to the left of the eggplant with the left hand facing forwards. + [450:582] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [714:858] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [858:972] Put the asparagus in front of the silver bowl with the right hand facing bottom right with the tip as reference. + [972:1131] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the right side. + [1131:1233] Put the silver bowl to the right of the asparagus with the right hand. + [1233:1284] Return to home with the right hand. + [1284:1398] Pick up the blue screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [1500:1635] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1635:1770] Put the eggplant behind the blue marker with the left hand with the tip facing right. + [1770:1902] Pick up the asparagus from the table with the left hand from the top at the middle. + [1902:2004] Put the asparagus to the right of the blue marker with the left hand with its tip facing bottom left. + [2004:2190] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2190:2322] Place the blue marker to the left of the silver bowl with the left hand with its tip facing top right. + [2322:2472] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [2472:2580] Put the asparagus to the left of the blue marker with the left hand with the tip facing bottom left. + [2580:2802] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [2880:3000] Return to home with the left arm. + +### 2026-04-21-22-52-52-055000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'eggplant', 'silver bowl'] + [0:99] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [99:183] Put the blue screwdriver inside the silver bowl with the left hand upside down. + [183:297] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [297:393] Put the asparagus inside the silver bowl upside down with the tip as the reference point using the left hand. + [393:540] Pick up the blue marker from the table with the left hand from the top at the middle. + [540:696] Place the blue marker on the top side of the table with the left hand facing forwards with the tip as the reference point. + [696:861] Pick up the eggplant from the table with the left hand using a side grip at the bottom diagonally. + [861:954] Place the eggplant to the left of the blue marker with the left hand facing forwards with the tip as the reference point. + [954:1116] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. + [1116:1209] Place the silver bowl to the right of the blue marker with the right hand. + [1209:1374] Pick up the eggplant from the table with the left hand using a side grip at the bottom from the top. + [1374:1527] Put the eggplant in front of the blue marker with the left hand with its tip facing right. + [1527:1590] Return to home with the left hand. + [1590:1731] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. + [1731:1830] Put the silver bowl to the right of the eggplant with the right hand. + [1830:1977] Pick up the blue marker from the table with the right hand from the top at the middle. + [1977:2145] Put the blue marker to the right of the silver bowl with the right hand with its tip facing top left. + [2145:2286] Pick up the silver bowl from the table with the right hand from the top at the right side using a lip grip. + [2286:2361] Dump the asparagus and the blue screwdriver from the silver bowl on the top right side of the table with the right hand. + [2361:2562] Put the silver bowl to the right of the blue marker with the right hand. + [2724:2826] Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom from the top. + [2826:2925] Place the blue screwdriver to the right of the eggplant with the right hand facing forwards with the tip forwards. + [2925:3000] Return to home with the right hand. + +### 2026-04-21-22-55-55-374000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=12 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'eggplant', 'silver bowl'] + [0:141] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp at the left side. + [141:243] Put the silver bowl to the right of the eggplant with the right hand. + [243:360] Pick up the blue marker from the table with the right hand from the top at the middle. + [360:483] Put the blue marker to the right of the silver bowl with the right hand with the tip facing forwards. + [483:651] Pick up the asparagus from the table with the left hand from the top at the middle. + [651:765] Put the asparagus in front of the eggplant with the left hand facing backwards with the tip as the reference point. + [765:921] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. + [921:1065] Put the silver bowl to the left of the eggplant with the right hand. + [1065:1230] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [1230:1350] Put the blue marker behind the eggplant with the right hand facing forwards with the tip forwards. + [1350:1452] Pick up the eggplant from the table with the right hand from the top at the middle. + [1452:1554] Put the eggplant to the right of the blue marker with the right hand with the tip facing bottom right. + [1554:1683] Pick up the silver bowl from the table with the left hand from the top at the left side using a lip grip. + [1683:1749] Dump the blue screwdriver from the silver bowl to the left of the blue marker with the left hand. + [1749:1863] Put the silver bowl right side up with the front in front of the blue screwdriver and to the left of the asparagus using the left hand. + [1863:1980] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [1980:2067] Put the blue screwdriver to the left of the silver bowl with the left hand facing backwards with the tip as the reference point. + [2067:2208] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [2208:2292] Place the blue marker inside the silver bowl with the right hand right side up. + [2292:2397] Pick up the asparagus from the table with the right hand from the top at the middle. + [2397:2475] Put the asparagus inside the silver bowl with the right hand upside down. + [2475:2595] Pick up the eggplant from the table with the right hand from the top at the middle. + [2595:2691] Put the eggplant to the right of the silver bowl with the right hand with its tip facing bottom right. + [2691:2733] Return to home with the right hand. + [2733:2868] Pick up the silver bowl from the table with the left hand using a lip grip from the top at the bottom. + [2868:2946] Dump the asparagus and the blue marker from the silver bowl between the blue screwdriver and the eggplant with the left hand. + +### 2026-04-21-23-54-17-885000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['cabbage', 'croissant', 'green bag of chips', 'green bowl', 'pink mug'] + [0:120] Pick up the croissant from the table with the left hand from the top at the middle. + [120:222] Place the croissant inside the silver bowl with the left hand. + [222:348] Pick up the cabbage from the table with the left hand using a side grip at the bottom from the top. + [348:459] Put the cabbage in front of the silver bowl with the left hand facing forwards. + [459:594] Pick up the pink mug from the table with the left hand at a diagonal angle by the handle. + [594:738] Put the pink mug to the left of the silver bowl with the left hand right side up with the front as the orientation reference point. + [738:942] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [942:1074] Put the green bag of chips to the right of the silver bowl with the left hand facing top left. + [1074:1164] Pick up the green bowl from the table with the left hand using a lip grip at the top left from the top. + [1164:1302] Put the green bowl in front of the green bag of chips with the left hand. + [1302:1500] Pick up the pink mug from the table by the handle at a diagonal angle with the left hand. + [1500:1638] Put the pink mug to the right of the green bowl with the handle facing backwards right side up using the left hand. + [1638:1806] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [1806:1941] Put the cabbage behind the pink mug with the left hand facing top right from the front. + [1941:2184] Pick up the pink mug from the table with the right hand from the side by the handle. + [2184:2292] Put the pink mug to the right of the cabbage with the right hand with the handle facing backwards. + [2292:2430] Pick up the green bowl from the table with the right hand using a lip grip from the top at the right side. + [2430:2517] Put the green bowl in front of the pink mug with the right hand. + [2517:2547] Return to home with the right hand. + [2547:2691] Pick up the cabbage from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2691:2793] Place the cabbage inside the green bowl with the left hand facing top right relative to the front. + [2793:2931] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [2931:2982] Put the green bag of chips to the left of the green bowl with the left hand facing left. + [2982:3000] Return to home with the left hand. + +### 2026-04-21-23-56-26-195000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['cabbage', 'croissant', 'green bag of chips', 'green bowl', 'pink mug', 'silver bowl'] + [0:129] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side. + [129:198] Dump the croissant from the silver bowl to the left of the green bag of chips with the left hand. + [198:357] Put the silver bowl behind the green bag of chips with the left hand. + [357:486] Pick up the croissant from the table with the left hand from the top at the middle. + [486:588] Put the croissant to the left of the silver bowl with the left hand. + [588:750] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [837:942] Put the green bowl to the right of the pink mug with the right hand. + [942:1101] Pick up the cabbage from the table with the right hand from the top at the middle. + [1131:1392] Pick up the pink mug from the table with the right hand from the side by the handle. + [1392:1572] Put the pink mug to the right of the green bowl with the handle facing backwards using the right arm right side up from the front. + [1572:1785] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. + [1785:1881] Put the green bag of chips inside the silver bowl with the right hand upside down. + [1881:2022] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [2022:2118] Put the croissant in front of the silver bowl with the left hand. + [2118:2184] Return to home with the left hand. + [2184:2268] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [2385:2571] Pick up the pink mug from the table by the handle at a diagonal angle with the right hand. + +### 2026-04-21-23-58-38-546000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['cabbage', 'green bag of chips', 'green bowl', 'pink mug', 'silver bowl'] + [0:120] Pick up the pink mug from the table with the right hand by the handle from the side. + [120:297] Put the pink mug to the right of the green bowl with the handle facing backwards right side up with the front as reference using the right hand. + [297:426] Pick up the green bag of chips from the silver bowl with the right hand using a side grip at the right with a diagonal angle. + [426:540] Put the green bag of chips in front of the silver bowl with the right hand facing backwards. + [540:690] Pick up the green bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + [690:795] Put the green bowl to the right of the silver bowl with the right hand. + [795:933] Pick up the green bag of chips from the table with the left hand using a side grip at the left from a diagonal angle. + [933:1053] Put the green bag of chips inside the silver bowl upside down with the left hand. + [1053:1257] Pick up the pink mug from the table with the right hand from the side by the handle. + [1257:1401] Put the pink mug to the right of the green bowl with the handle facing backwards using the right hand right side up. + [1401:1614] Pick up the silver bowl from the table with the left hand using a diagonal lip grip at the bottom. + [1614:1755] Put the silver bowl to the center of the table with the left hand. + [1755:1911] Pick up the pink mug from the table with the right hand using a diagonal grasp at the handle. + [1911:2136] Place the pink mug behind the silver bowl with the right hand right side up with the front facing bottom left. + [2136:2280] Pick up the silver bowl from the table with the left hand using a lip grip at the bottom right with a diagonal angle. + [2280:2316] Dump the green bag of chips from the silver bowl in front of the pink mug with the left hand. + [2316:2487] Put the silver bowl to the left of the pink mug with the left hand. + [2487:2718] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [2817:2925] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom with a diagonal angle. + +### 2026-04-22-00-06-03-204000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['corn', 'eggplant', 'juice pouch', 'pink bowl', 'pink stuffed toy'] + [0:78] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [78:165] Put the pink bowl on the center of the table with the right hand. + [165:279] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [279:366] Put the pink stuffed animal to the right of the pink bowl with the right hand facing forwards. + [366:495] Pick up the juice pouch from the table with the left hand using a side grip from the top. + [495:585] Put the juice pouch between the corn and the pink bowl with the left hand right side up. + [585:708] Pick up the corn from the table with the left hand from the side at the middle. + [708:798] Put the corn on the bottom left of the juice pouch with the left hand facing bottom left. + [798:927] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [927:1008] Put the pink stuffed animal on the bottom side of the table with the right hand facing top left with the front as the reference point. + [1008:1125] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [1125:1203] Put the pink bowl on the right side of the table with the right hand. + [1203:1326] Pick up the corn from the table with the left hand using a side grip at the top from the side. + [1326:1497] Put the corn to the top left of the pink stuffed animal with the left hand facing bottom right by the tip. + [1497:1683] Pick up the juice pouch from the table with the left hand using a side grip from the top. + [1683:1863] Put the juice pouch to the bottom left corn with the left hand right side up with the front as the reference point. + [1863:2055] Pick up the pink bowl on the center of the table with the right hand using a lip grip from the right at a diagonal angle. + [2055:2118] Dump the eggplant from the pink bowl to the right of the corn with the right hand. + [2118:2226] Put the pink bowl to the right of the eggplant with the right hand. + [2226:2343] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [2343:2430] Put the eggplant inside the pink bowl with the right hand right side up. + [2430:2526] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2526:2589] Put the pink stuffed animal between the corn and the pink bowl with the right hand facing forwards. + [2589:2691] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2691:2784] Put the corn in front of the pink stuffed animal with the right hand facing bottom right. + [2784:2901] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2901:2982] Put the pink stuffed animal in front of the pink bowl and to the right of the corn with the right hand facing forwards. + +### 2026-04-22-00-08-20-380000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['corn', 'eggplant', 'juice pouch', 'pink bowl', 'pink stuffed toy'] + [0:108] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle from the middle. + [108:210] Put the pink stuffed animal behind the corn and to the left of the pink bowl with the right hand facing forwards. + [210:324] Pick up the juice pouch from the table with the right hand at a diagonal angle grasping the middle. + [324:393] Put the juice pouch to the left of the pink stuffed animal with the right hand right side up. + [393:477] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [477:603] Put the corn in front of the juice pouch with the right hand facing top right with the tip as the reference point. + [603:765] Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right with a diagonal angle. + [765:822] Dump the eggplant from the pink bowl to the bottom right of the pink stuffed animal with the right hand. + [822:948] Put the pink bowl to the top right of the eggplant with the right hand. + [948:1077] Pick up the eggplant from the table with the right hand from the top at the middle. + [1077:1227] Place the eggplant to the left of the juice pouch with the right hand with the tip facing top left. + [1227:1422] Pick up the corn from the table with the left hand from the top at the middle. + [1422:1551] Put the corn to the left of the eggplant with the left hand with its tip facing top right. + [1551:1743] Pick up the juice pouch from the table with the left hand at a diagonal angle from the top using a side grasp. + [1743:1839] Place the juice pouch to the left of the corn with the left hand right side up with the front as the reference point. + [1839:1956] Pick up the eggplant from the table with the left hand from the top at the middle. + [1956:2100] Put the eggplant to the left of the juice pouch with the left hand with its tip facing top right. + [2100:2262] Pick up the pink stuff animal from the table with the right hand at a diagonal angle grasping the middle. + [2262:2367] Put the pink stuffed animal to the right of the corn with the right hand facing forwards. + [2367:2508] Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + [2508:2595] Put the pink bowl to the right of the pink stuffed animal with the right hand. + [2595:2781] Pick up the corn from the table with the left hand from the top at the middle. + [2781:2928] Put the corn to the left of the eggplant with the left hand with the tip facing top right. + +### 2026-04-22-00-28-39-586000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=14 | objects=['bag of juice', 'corn', 'eggplant', 'pink bowl'] + [0:81] Pick up the bag of juice from the table with the left hand using a side grip at the top right with a diagonal angle. + [81:132] Put the bag of juice to the left of the corn with the left hand right side up. + [132:210] Pick up the eggplant from the table with the left hand from the top at the middle. + [267:387] Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + [387:474] Put the pink bowl to the right of the eggplant with the right hand. + [474:609] Pick up the corn from the table with the left hand from the top at the middle. + [702:795] Pick up the bag of juice from the table with the left hand from the top at the middle. + [795:891] Put the bag of juice to the left of the eggplant with the left hand right side up. + [891:990] Pick up the pink bowl from the table with the left hand from the top at the right side using a lip grip. + [990:1137] Put the pink bowl behind the bag of juice with the left hand. + [1137:1239] Pick up the corn from the table with the left hand from the top at the middle. + [1239:1383] Put the corn to the left of the pink bowl with the left hand facing forwards with the tip as the reference point. + [1383:1497] Pick up the eggplant from the table with the left hand from the top at the middle. + [1497:1584] Put the eggplant to the right of the pink bowl with the left hand facing backwards with the tip as the reference point. + [1584:1689] Pick up the bag of juice from the table with the left hand using a side grip at the top right diagonally. + [1689:1776] Put the bag of juice to the right of the eggplant with the left hand right side up. + [1776:1878] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1878:2037] Put the eggplant to the left of the bag of juice with the left hand with its tip facing bottom left. + [2037:2139] Pick up the pink bowl from the table with the left hand using a lip grasp at the right side with a diagonal angle. + [2139:2199] Dump the pink stuffed animal from the pink bowl to the right of the corn with the left hand. + [2199:2286] Put the pink bowl in front of the pink stuffed animal with the left hand. + [2286:2367] Pick up the corn from the table with the left hand from the top at the middle. + [2367:2457] Put the corn in front of the bag of juice with the left hand facing top right by the tip. + [2457:2490] Return to home with the left hand. + [2490:2598] Pick up the bag of juice from the table with the right hand using a side grip at the top right with a diagonal pick angle. + [2598:2694] Put the bag of juice to the right of the eggplant with the right hand right side up. + [2694:2775] Pick up the eggplant from the table with the right hand using a side grip from the top at the bottom. + [2775:3000] Put the eggplant to the right of the bag of juice with the right hand with its tip facing top left. + +### 2026-04-22-02-25-58-535000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['beige bowl', 'coffee pod', 'white cup', 'white mug'] + [0:159] Pick up the white mug from the table with the left hand from the side by the handle. + [159:279] Put the white mug on top of the white plate with the left hand right side up with the front facing backwards. + [279:402] Pick up the beige bowl from the table with the left hand using a diagonal lip grip on the left side. + [402:531] Put the beige bowl in front of the white plate with the left hand right side up. + [681:753] Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. + [753:882] Put the white cup to the right of the coffee pod with the right hand right side up with the front as the orientation reference point. + [882:1059] Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the entire object. + [1059:1173] Put the coffee pod to the top left of the white cup with the right hand right side up with the front as the orientation reference. + [1173:1350] Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side. + [1350:1467] Put the white cup to the right of the coffee pod with the right hand right side up with the front as the reference point. + [1467:1668] Pick up the coffee pod from the table with the right hand from the side at the middle. + [1668:1743] Put the coffee pod inside the beige bowl with the right hand facing bottom right from the front. + [1743:2046] Pick up the white mug from the top of the white plate with the right hand at a diagonal angle by the handle. + [2046:2238] Put the white mug to the right of the beige bowl with the right hand right side up with the front facing backwards. + [2439:2496] Pick up the white cup from the table with the right hand from the side at the middle. + [2496:2592] Put the white cup right side up behind the white mug and to the right of the white plate with the right hand. + [2592:2832] Pick up the white cup from the table with the left hand using a diagonal lip grasp on the left side. + +### 2026-04-22-02-28-17-111000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['beige bowl', 'white cup', 'white mug', 'white plate'] + [0:192] Pick up the white cup from the white plate with the right hand using a lip grip at the right side with a diagonal angle. + [327:483] Pick up the beige bowl from the table with the left hand using a lip grip from the top. + [483:588] Put the beige bowl to the left of the white plate with the left hand. + [588:768] Pick up the white mug from the table with the right hand from the side by the handle. + [768:930] Put the white mug to the right of the white cup with the handle facing backwards right side up using the right hand. + [930:1080] Pick up the white cup from the table with the right hand from the top at the left side using a lip grip. + [1080:1248] Put the white cup to the right of the white mug with the right hand right side up with the front as the orientation reference point. + [1248:1515] Pick up the white plate from the table with the left hand using a side grip at the bottom left. + [1515:1677] Put the white plate to the left of the beige bowl right side up with the front as the reference point using the left arm. + [1677:1977] Pick up the white mug from the table with the right hand at the handle from the side. + [1977:2115] Put the white mug to the right of the beige bowl with the right hand right side up with the front as the orientation reference point. + [2115:2304] Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. + [2304:2451] Put the white cup to the right of the white mug with the right hand right side up with the front as the orientation reference point. + [2451:2499] Return to home with the right hand. + [2499:2604] Pick up the beige bowl from the table with the left hand using a diagonal lip grasp on the left side. + [2604:2703] Put the beige bowl in front of the white plate with the left hand. + [2703:2895] Pick up the white mug from the table with the left hand from the side by the handle. + [2895:3000] Put the white mug to the right of the white plate with the left hand right side up with the front as the reference point. + +### 2026-04-22-02-30-32-296000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=9 | objects=['beige bowl', 'coffee pod', 'white cup', 'white mug', 'white plate'] + [0:111] Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the right side. + [162:315] Put the beige bowl in front of the white cup with the left hand. + [315:501] Pick up the white mug from the table with the left hand by the handle from the side. + [501:627] Put the white mug on top of the white plate with the left hand right side up with the front facing backwards. + [627:795] Pick up the coffee pod from the table with the left hand using a side grasp at the top. + [795:906] Put the coffee pod to the left of the beige bowl with the left hand facing bottom left from the front. + [906:1086] Pick up the white cup from the table with the right hand using a diagonal lip grasp at the right side. + [1086:1176] Put the white cup to the right of the beige bowl with the right hand right side up with the front as the orientation reference. + [1176:1344] Pick up the white mug from the top of the white plate with the left hand by the handle from the side. + [1344:1479] Put the white mug to the left of the coffee pod with the left hand right side up with the front facing backwards. + [1479:1701] Pick up the white plate from the table with the left hand from the side at the bottom left using a lip grip. + [1701:1893] Put the white plate to the left of the white mug with the left hand right side up facing front. + [1893:2058] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [2058:2184] Place the white cup behind the beige bowl with the right hand right side up. + [2184:2373] Pick up the white mug from the table with the left hand by the handle from the side. + [2373:2511] Put the white mug on top of the white plate with the left hand right side up with the front facing bottom right. + [2511:2739] Pick up the coffee pod from the table with the left hand at a diagonal angle grasping the entire object. + [2739:2847] Put the coffee pod behind the white plate with the left hand facing left with the front as the reference point. + +### 2026-04-22-02-35-17-392000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['blue stuffed toy', 'doritos', 'orange screwdriver', 'pink plate', 'white mug', 'yellow stuffed toy'] + [0:75] Pick up the blue stuffed animal from the table with the left hand from the top at the middle. + [75:129] Put the blue stuffed animal behind the pink plate with the left hand facing forwards from the front. + [129:249] Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [249:333] Put the yellow stuffed animal to the left of the pink plate with the left hand facing forwards. + [333:438] Pick up the doritos from the table with the right hand using a side grip at the bottom diagonally. + [438:552] Put the doritos to the right of the pink plate with the right hand facing right. + [552:714] Pick up the white mug from the table with the right hand from the side by the handle. + [714:861] Put the white mug behind the doritos with the right hand right side up with the front facing backwards. + [861:990] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [990:1047] Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand facing forwards. + [1047:1221] Pick up the orange screwdriver from the pink plate with the left hand from the top at the middle. + [1221:1347] Place the orange screwdriver to the left of the yellow stuffed animal with the left hand facing forwards with the tip facing forwards. + [1347:1530] Pick up the doritos from the table with the right hand from the top at the top of the object. + [1530:1620] Put the doritos to the right of the white mug with the right hand facing right from the front. + [1620:1740] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [1740:1806] Put the yellow stuffed animal in front of the orange screwdriver with the left hand facing top left from the front. + [1806:1908] Pick up the blue stuffed animal from the table with the left hand from the top at the middle. + [1908:1980] Put the blue stuffed animal to the right of the orange screwdriver with the left hand facing top left from the front. + [1980:2097] Pick up the pink plate from the table with the left hand using a lip grip from the top at the left. + [2097:2208] Place the pink plate to the right of the yellow stuffed animal with the left hand right side up front. + [2208:2346] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [2502:2661] Pick up the white mug from the table with the right hand using a lip grip from the top at the right. + [2661:2820] Put the white mug to the right of the doritos with the right hand right side up with the front facing backwards. + [2820:2937] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [2937:3000] Place the yellow stuffed animal on the top of the pink plate with the left hand facing top left with the front as the reference point. + +### 2026-04-22-02-37-29-474000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=12 | objects=['blue stuffed toy', 'doritos', 'orange screwdriver', 'white coffee cup', 'yellow stuffed toy'] + [0:120] Pick up the orange screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [120:204] Place the orange screwdriver to the left of the pink plate with the left hand tip facing top left. + [204:321] Pick up the yellow stuffed animal from the pink plate with the left hand at a diagonal angle grasping the entire object. + [321:429] Put the yellow stuffed animal to the left of the blue stuffed animal with the left hand facing top left from the front. + [429:558] Pick up the doritos from the table with the left hand using a side grip at the bottom. + [558:663] Put the doritos behind the white coffee cup with the left hand facing top right. + [663:780] Pick up the blue stuffed animal from the table with the left hand from the top grasping the entire object. + [780:873] Put the blue stuffed animal to the right of the pink plate with the left hand facing forwards. + [873:1020] Pick up the doritos from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [1020:1107] Put the doritos behind the blue stuffed animal with the right hand facing top right. + [1107:1227] Pick up the white coffee cup from the table with the right hand using a lip grip at the top from a diagonal angle. + [1227:1386] Put the white coffee cup to the right of the blue stuffed animal with the handle facing left with the right hand right side up. + [1386:1545] Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [1545:1608] Put the blue stuffed animal behind the pink plate with the left hand facing forwards with the front as the orientation reference point. + [1608:1809] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1809:1890] Place the blue stuffed animal to the top right side of the table with the right hand facing top right from the front. + [1890:2016] Pick up the orange screwdriver from the table with the left hand at a diagonal angle grasping the middle. + [2016:2121] Put the orange screwdriver on top of the pink plate with the left hand facing top right with the tip as the orientation reference point. + [2121:2232] Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [2232:2319] Put the yellow stuffed animal in front of the doritos with the left hand facing forwards. + [2319:2424] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2424:2514] Put the blue stuffed animal to the right of the white coffee cup with the right hand facing forwards. + [2514:2652] Pick up the white coffee cup from the table with the right hand using a lip grip at the right side with a diagonal angle. + [2652:2847] Put the white coffee cup behind the blue stuffed animal with the right hand right side up with the front facing forwards. + [2847:2937] Return to home with the right arm. + +### 2026-04-22-02-44-14-010000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['blue stuffed toy', 'doritos', 'screwdriver', 'white coffee cup', 'yellow stuffed toy'] + [0:120] Pick up the screwdriver from the table with the left hand from the top at the middle. + [120:198] Put the screwdriver to the left of the pink plate with the left hand facing top left by the tip. + [198:309] Pick up the yellow stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [309:387] Put the yellow stuffed animal on top of the pink plate with the left hand facing top left from the front. + [387:489] Pick up the doritos from the table with the left hand using a side grip at the bottom. + [489:591] Put the doritos behind the screwdriver with the left hand facing left with the front as the reference point. + [591:723] Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [723:807] Put the blue stuffed animal behind the pink plate with the left hand facing forwards. + [807:990] Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle. + [990:1128] Put the white coffee cup to the right of the pink plate with the handle facing forwards using the right hand. + [1128:1191] Return to home with the right hand. + [1191:1302] Pick up the screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. + [1302:1431] Put the screwdriver behind the white coffee cup with the left hand facing top right with the tip as the reference point. + [1431:1584] Pick up the blue stuffed animal from the table with the left hand from the top at the middle. + [1584:1713] Put the blue stuffed animal to the right of the white coffee cup with the left hand facing forwards. + [1713:1851] Pick up the doritos from the table with the left hand using a side grip from the top at the right side. + [1851:1956] Put the doritos to the left of the pink plate with the left hand facing left with the front as the reference point. + [1956:2100] Pick up the yellow stuffed animal from the top of the pink plate with the left hand from the top at the middle. + [2100:2193] Put the yellow stuffed animal behind the doritos with the left hand facing forwards. + [2193:2304] Pick up the screwdriver from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2304:2421] Put the screwdriver behind the pink plate with the left hand with the tip facing top right. + [2421:2565] Pick up the white coffee cup from the table with the left hand using a side grasp at the left from the top. + [2565:2667] Put the white coffee cup to the right of the screwdriver with the left hand right side up with the front facing forwards. + [2667:2802] Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [2802:2868] Put the blue stuffed animal to the right of the pink plate with the left hand facing forwards. + [2868:2970] Pick up the yellow stuffed animal from the table with the left hand using a side grip at the top from a diagonal angle. + +### 2026-04-22-02-50-42-144000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'brown stuffed toy', 'carrot', 'green mug', 'white coffee cup'] + [0:122] Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle. + [204:318] Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [318:405] Put the brown stuffed animal to the left of the canned goods with the left hand facing forwards from the front. + [405:555] Pick up the blue screwdriver from the table with the left hand using a side grip at the top from a diagonal angle. + [555:690] Place the blue screwdriver behind the canned goods with the left hand with its tip facing bottom right. + [690:948] Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp on the right side. + [948:1071] Put the white coffee cup to the right side of the table with the right hand right side up with the front facing backwards. + [1071:1251] Pick up the asparagus from the table with the right hand from the top at the middle. + [1251:1356] Put the asparagus in front of the carrot with the right hand with the tip facing top left. + [1356:1605] Pick up the green mug from the table with the left hand by the handle from the side. + [1605:1764] Put the green mug to the left of the carrot with the left hand right side up with the front facing bottom left. + [1764:1881] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [1962:2115] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2250:2370] Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. + [2370:2454] Put the brown stuffed animal behind the canned goods with the left hand facing forwards. + [2454:2499] Return to home with the left hand. + [2499:2571] Pick up the carrot from the table with the right hand at a diagonal angle from the middle. + [2688:2820] Pick up the white coffee cup from the table with the right hand at the handle from the side. + [2820:3000] Put the white coffee cup to the right of the green mug with the handle facing backwards with the right hand right side up. + +### 2026-04-22-02-55-57-557000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'brown stuffed toy', 'carrot', 'green mug', 'white cup'] + [0:114] Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. + [114:216] Place the brown stuffed animal to the left of the canned goods with the left hand facing top left with the front as the reference point. + [216:351] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [351:441] Put the blue screwdriver behind the canned goods with the left hand facing bottom right at the tip. + [441:564] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [564:723] Put the blue marker behind the brown stuffed animal with the left hand facing backwards with the tip as the reference point. + [723:948] Pick up the green mug from the table with the left hand by the handle from the side. + [948:1107] Place the green mug to the right of the blue marker with the left hand right side up with the front facing backwards. + [1107:1257] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [1257:1317] Put the asparagus to the right of the white cup with the right hand facing top left by the tip. + [1317:1401] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1401:1482] Put the carrot in front of the white cup with the right hand facing forwards. + [1482:1602] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [1701:1893] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [1893:2055] Place the blue screwdriver to the left of the carrot with the left hand facing backwards with the tip as the reference point. + [2055:2232] Pick up the green mug from the table with the left hand by the handle from the side. + [2232:2334] Put the green mug on the top side of the table with the left hand right side up with the front facing backwards. + [2334:2487] Pick up the blue marker from the table with the left hand from the top at the middle. + [2487:2691] Put the blue marker to the right of the screwdriver with the left hand with its tip facing bottom right. + [2691:2862] Pick up the blue screwdriver from the table with the right hand from the top at the middle. + +### 2026-04-22-02-58-16-127000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'brown stuffed toy', 'carrot', 'green mug', 'white canned goods', 'white mug'] + [0:222] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [222:321] Place the blue screwdriver to the right of the asparagus with the right hand facing backwards with the tip as the orientation reference point. + [321:456] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [456:618] Put the asparagus between the blue marker and the carrot with the right hand with the tip facing top left. + [618:723] Pick up the blue marker from the table with the right hand from the top at the middle. + [723:903] Put the blue marker to the right of the green cup with the right hand with its tip facing bottom right. + [903:1077] Pick up the green mug from the table with the right hand at a diagonal angle by the handle. + [1077:1212] Put the green mug between the blue marker and the blue screwdriver with the handle facing bottom right right side up using the right hand. + [1212:1467] Pick up the brown stuffed animal from the table with the left hand using a side grip from the top. + [1467:1551] Put the brown stuffed animal behind the white canned goods with the left hand facing forwards. + [1551:1704] Pick up the white canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [1704:1854] Put the white canned goods to the right of the brown stuffed animal with the left hand. + [1854:2013] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [2012:2121] Put the asparagus to the left of the blue marker with the right hand facing forwards with the tip forwards. + [2121:2220] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [2220:2367] Put the carrot between the white canned goods and the asparagus with the right hand facing top left with the tip as the reference point. + [2367:2517] Pick up the white mug from the table with the right hand using a lip grip at the top right from a diagonal angle. + [2517:2655] Put the white mug to the bottom right of the asparagus with the right hand right side up with the front as the reference point. + [2655:2760] Pick up the green mug from the table with the right hand at a diagonal angle by the handle. + [2760:2892] Place the green mug in front of the blue marker with the handle facing backwards right side up using the right arm. + +### 2026-04-22-03-02-02-854000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=11 | objects=['blue soda can', 'gray stuffed toy', 'red marker', 'tomato'] + [0:81] Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [81:144] Put the gray stuffed animal to the left of the blue soda can with the left hand facing forwards from the front. + [144:273] Pick up the tomato from the table with the left hand using a side grip at the top from a diagonal angle. + [273:387] Put the tomato in front of the gray stuffed animal with the left hand right side up. + [387:534] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping its middle. + [534:681] Put the blue soda can to the bottom right of the red marker with the left hand. + [681:888] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [888:1041] Put the red marker to the right of the blue soda can with the tip facing forwards using the right hand. + [1041:1176] Pick up the tomato from the table with the left hand at a diagonal angle grasping the middle. + [1176:1284] Put the tomato to the left of the blue soda can right side up with the front as the orientation reference using the left hand. + [1284:1380] Pick up the gray stuffed animal from the table with the left hand from the top at the middle. + [1380:1449] Put the gray stuffed animal to the left of the tomato with the left hand facing top left from the front. + [1449:1614] Pick up the blue soda can from the table with the right hand using a side grip from the top. + [1614:1734] Put the blue soda can to the right of the red marker with the right hand. + [1734:1911] Pick up the tomato from the table with the left hand at a diagonal angle from the middle. + [1911:2055] Put the tomato to the left of the red marker with the left hand right side up front. + [2055:2163] Pick up the gray stuffed animal from the table with the left hand from the top at the middle. + [2280:2460] Pick up the red marker from the table with the right hand using a side grip at the top from a diagonal angle. + [2460:2631] Put the red marker to the right of the blue soda can with the tip facing forwards using the right hand. + [2631:2772] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. + [2772:3000] Place the gray stuffed animal between the tomato and the blue soda can with the right hand facing forwards. + +### 2026-04-22-03-04-16-390000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['blue soda can', 'gray stuffed toy', 'red marker', 'tomato'] + [0:99] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle from the middle. + [99:195] Put the gray stuffed animal behind the tomato with the right hand facing forwards. + [195:327] Pick up the blue soda can from the table with the right hand at a diagonal angle grasping the middle. + [327:411] Put the blue soda can to the right of the gray stuffed animal with the right hand. + [411:495] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [495:645] Put the red marker to the right of the blue soda can with the right hand with its tip facing top right. + [645:804] Pick up the tomato from the table with the right hand from the top grasping the entire object. + [804:954] Put the tomato to the right of the red marker with the right hand right side up with the front as the orientation reference point. + [954:1128] Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. + [1128:1248] Put the blue soda can to the bottom right of the red marker with the right hand. + [1248:1341] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [1341:1407] Put the gray stuffed animal to the left of the blue soda can with the right hand facing forwards with the front as the reference point. + [1407:1506] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [1506:1605] Place the red marker behind the gray stuffed animal with the right hand with its tip facing top left. + [1605:1824] Pick up the tomato from the table with the right hand at a diagonal angle grasping the entire object. + [1824:1950] Put the tomato to the right of the red marker with the right hand right side up with the front as the reference point. + [1950:2091] Pick up the red marker from the table with the right hand using a side grip at the top with a diagonal pick angle. + [2091:2178] Put the red marker to the left of the gray stuffed animal with the right hand facing forwards with the tip as the reference point. + [2178:2253] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2253:2343] Place the gray stuffed animal to the left of the red marker with the right hand facing forwards. + [2343:2544] Pick up the red marker from the table with the left hand from the top at the middle. + [2544:2652] Put the red marker to the left of the gray stuffed animal with the left hand facing forwards with the tip as the reference point. + [2652:2769] Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object. + [2769:2841] Put the gray stuffed animal behind the red marker with the left hand facing forwards. + [2841:2937] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + +### 2026-04-22-03-06-24-661000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=13 | objects=['blue soda can', 'gray stuffed toy', 'red marker', 'tomato'] + [0:114] Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle. + [114:222] Put the tomato to the right of the blue soda can with the right hand right side up. + [222:384] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [384:474] Put the blue soda can to the right of the tomato with the right hand. + [474:603] Pick up the gray stuffed animal from the table with the left hand from the top at the entire object. + [603:660] Put the gray stuffed animal to the left of the red marker with the left hand facing top left relative to the front. + [660:753] Pick up the red marker from the table with the left hand from the top at the middle. + [753:882] Put the red marker to the left of the gray stuffed animal with the left hand with its tip facing top right. + [882:1020] Pick up the tomato from the table with the left hand using a side grip at the top with a diagonal pick angle. + [1020:1128] Put the tomato to the right of the gray stuffed animal with the left hand right side up with the front as the orientation reference point. + [1128:1248] Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. + [1248:1341] Put the gray stuffed animal in between the tomato and the blue soda can with the left hand facing forwards from the front. + [1341:1470] Pick up the red marker from the table with the left hand using a side grip at the top from a diagonal angle. + [1470:1548] Place the red marker to the left of the tomato with the left hand with its tip facing top left. + [1548:1710] Pick up the gray stuffed animal from the table with the right hand from the top grasping the entire object. + [1710:1824] Put the gray stuffed animal behind the blue soda can with the right hand facing forwards from the front. + [1824:2004] Pick up the tomato from the table with the left hand using a side grip at the top. + [2004:2094] Place the tomato to the top right of the red marker with the left hand right side up front. + [2094:2178] Pick up the red marker from the table with the left hand from the top at the middle. + [2178:2271] Put the red marker to the left of the tomato with the tip facing forwards using the left hand. + [2268:2412] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. + [2412:2496] Put the gray stuffed animal to the right of the blue soda can with the right hand facing forwards with the front forward. + [2496:2610] Pick up the blue soda can from the table with the right hand using a side grip at the top with a diagonal pick angle. + [2610:2706] Put the blue soda can behind the gray stuffed animal with the right hand. + [2745:2844] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-04-23-05-00-08-228000 | scene=pick_place_diverse | desc='set 2 data collection day 1' | picks=10 | objects=['bag of juice', 'cabbage', 'croissant', 'pink stuffed toy', 'white mug'] + [0:105] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [105:216] Put the croissant to the left of the cabbage with the left hand. + [216:378] Pick up the bag of juice from the table with the right hand using a side grip at the top. + [378:459] Put the bag of juice on the top side of the table with the right hand right side up. + [459:630] Pick up the white mug from the table with the left hand using a diagonal lip grasp on the left side. + [630:723] Put the white mug in front of the cabbage with the handle facing forwards right side up with the left hand. + [723:867] Pick up the croissant from the table with the left hand from the top at the middle. + [867:978] Put the croissant in front of the pink stuffed animal and to the right of the white mug with the left hand. + [978:1134] Pick up the pink stuffed from the table with the right hand from the top at the entire object. + [1251:1413] Pick up the croissant from the table with the right hand from the top at the middle. + [1413:1524] Place the croissant in front of the pink stuffed animal with the right hand. + [1524:1656] Pick up the bag of juice from the table with the right hand using a side grip at the top right diagonal. + [1836:1980] Pick up the white mug from the table with the left hand using a lip grasp from the top at the left. + [1980:2157] Put the white mug to the left of the croissant with the left hand right side up with the front facing forwards. + [2157:2370] Pick up the cabbage from the table with the left hand from the top at the middle. + [2493:2553] Return to home with the left hand. + [2553:2670] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2670:2814] Put the pink stuffed animal to the right of the bag of juice with the right hand facing forwards from the front. + +### 2026-04-21-18-43-51-459000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['canned goods', 'carrot', 'croissant', 'pink bowl', 'pink stuffed toy', 'yellow stuffed toy'] + [0:87] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [87:174] Put the yellow stuffed animal inside the pink bowl with the left hand facing forwards. + [174:288] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [288:366] Put the pink stuffed animal inside the pink bowl with the left hand facing top right from the front. + [366:534] Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object. + [534:642] Place the croissant to the left of the canned goods with the left hand. + [642:831] Pick up the carrot from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [831:960] Put the carrot to the right of the canned goods with the right hand facing backwards with the tip as the reference point. + [960:1077] Pick up the croissant from the table with the left hand from the top at the middle. + [1077:1161] Put the croissant to the left of the pink bowl with the left hand. + [1161:1359] Pick up the canned goods from the table with the right hand using a side grip at the top from a diagonal angle. + [1359:1506] Put the canned goods behind the carrot with the right hand. + [1506:1668] Pick up the carrot from the table with the right hand from the top at the middle. + [1668:1806] Put the carrot to the right of the canned goods with the right hand facing bottom right by the tip. + [1806:1938] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1937:2094] Put the croissant in front of the pink bowl with the left hand. + [2310:2397] Pick up the pink bowl from the table with the right hand at the bottom right using a lip grip at a diagonal angle. + [2397:2529] Dump the yellow and the pink stuffed animal from the pink bowl to the right of the carrot with the right hand. + [2529:2706] Put the pink bowl to the left of the canned goods with the right hand. + [2706:2811] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2811:2889] Place the pink stuffed animal to the right of the croissant with the right hand facing bottom left from the front. + +### 2026-04-21-18-46-01-782000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['canned goods', 'carrot', 'croissant', 'pink bowl', 'pink stuffed toy', 'yellow stuffed toy'] + [0:108] Pick up the croissant from the table with the left hand from the top at the middle. + [108:231] Put the croissant to the left of the pink bowl with the left hand. + [231:360] Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left side. + [360:477] Put the pink bowl to the left side of the croissant with the left hand. + [477:621] Pick up the pink stuffed animal from the table with the right hand from the middle using a side grasp. + [756:888] Pick up the yellow stuffed animal from the table with the right hand using a side grip at the top from a diagonal angle. + [888:975] Put the yellow stuffed animal to the right of the carrot with the right hand facing backwards from the front. + [975:1119] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1119:1173] Place the croissant inside the pink bowl with the left hand. + [1173:1287] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [1287:1380] Put the pink stuffed animal to the left of the pink bowl with the left hand facing backwards with the front as the reference point. + [1380:1563] Pick up the canned goods from the table with the left hand using a side grip at the top with a diagonal angle. + [1563:1683] Put the canned goods to the right of the pink bowl with the left hand. + [1683:1830] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [1830:1959] Put the carrot to the right of the white canned goods with the right hand facing backwards by the tip. + [1959:2142] Pick up the carrot from the table with the left hand from the top at the middle. + [2142:2343] Put the carrot in front of the pink bowl with the left hand with the tip facing bottom right. + [2343:2475] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2475:2607] Put the yellow stuffed animal to the right of the carrot with the right hand facing bottom right from the front. + [2607:2766] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [2766:2814] Put the yellow stuffed animal inside the pink bowl upside down with the left hand. + [2814:2928] Pick up the pink stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [2928:3000] Put the pink stuffed animal inside the pink bowl upside down with the left hand. + +### 2026-04-21-18-48-18-231000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['croissant', 'pink bowl', 'pink stuffed toy', 'yellow stuffed toy'] + [0:120] Pick up the pink bowl from the table with the left hand using a diagonal lip grasp at the left. + [120:264] Dump the croissant and the yellow and pink stuffed animals from the pink bowl to the bottom right of the canned goods with the left hand. + [264:393] Put the pink bowl to the right of the croissant with the left hand. + [393:549] Pick up the pink stuffed animal from the table with the left hand using a side grip from the top. + [549:651] Put the pink stuffed animal to the left of the canned goods with the left hand facing forwards. + [651:852] Pick up the croissant from the table with the right hand using a side grip at the bottom. + [852:993] Put the croissant to the right of the pink bowl with the right hand. + [993:1158] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [1158:1239] Put the yellow stuffed animal in front of the canned goods with the left hand facing forwards with the front facing forwards. + [1239:1440] Pick up the croissant from the table with the right hand at a diagonal angle grasping the top of the object. + [1440:1548] Place the croissant between the canned goods and the pink bowl with the right hand. + [1548:1671] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [1671:1809] Put the yellow stuffed animal to the bottom side of the table with the left hand facing top right from the front. + [1809:1953] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [1952:2061] Put the pink stuffed animal in front of the croissant with the left hand facing top right from the front. + [2061:2226] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. + [2226:2325] Put the yellow stuffed animal to the right of the pink bowl with the right hand facing right with the front as the reference point. + [2325:2535] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2535:2685] Place the pink stuffed animal to the right of the yellow stuffed animal with the right hand facing forwards. + [2685:2925] Pick up the croissant from the table with the left hand from the top at the middle. + +### 2026-04-21-18-54-28-704000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['blue stuffed toy', 'eggplant', 'green bag of chips', 'orange screwdriver', 'silver bowl'] + [0:105] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [105:225] Put the eggplant to the left of the silver bowl with the tip facing forwards using the left hand. + [225:417] Pick up the green bag of chips from the table with the left hand using a side grasp at the bottom with a diagonal pick angle. + [417:606] Put the green bag of chips in front of the silver bowl with the left hand facing right. + [606:783] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [783:882] Place the orange screwdriver behind the pink plate with the left hand facing forwards with the tip facing forwards. + [882:1035] Pick up the blue stuffed animal from the pink plate with the left hand from the top at the middle. + [1035:1128] Put the blue stuffed animal to the right of the orange screwdriver with the left hand facing bottom left front. + [1128:1401] Pick up the eggplant from the table with the left hand using a side grasp at the top diagonally. + [1401:1470] Place the eggplant inside the silver bowl with the left hand right side up. + [1470:1611] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1611:1695] Put the blue stuffed animal to the right of the pink plate with the right hand facing backwards. + [1695:1803] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [1803:1974] Put the orange screwdriver on the bottom right side of the table with the right hand with its tip facing top left. + [1974:2169] Pick up the green bag of chips from the table with the left hand using a side grip from the left at a diagonal angle. + [2169:2295] Put the green bag of chips on the top side of the table with the left hand facing right. + [2295:2445] Pick up the silver bowl from the table with the left hand using a lip grip from the left at a diagonal angle. + [2445:2574] Dump the eggplant from the silver bowl to the center of the table with the left hand. + [2574:2694] Put the silver bowl in front of the eggplant with the left hand. + [2694:2829] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2829:3000] Put the blue stuffed animal behind the orange screwdriver with the right hand facing backwards from the front. + +### 2026-04-21-18-56-40-558000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['blue stuffed toy', 'eggplant', 'green bag of chips', 'orange screwdriver', 'pink plate', 'silver bowl'] + [0:81] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [81:174] Put the blue stuffed animal to the right of the orange screwdriver with the right hand facing backwards with the front as the reference point. + [174:264] Pick up the orange screwdriver from the table with the right hand from the side at the middle. + [264:339] Put the orange screwdriver to the right of the green bag of chips with the right hand facing forwards with the tip as the reference point. + [339:447] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [447:525] Put the blue stuffed animal to the right of the pink plate with the right hand facing backwards relative to the front. + [525:663] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side. + [663:774] Put the silver bowl behind the eggplant with the left hand. + [966:1065] Pick up the eggplant from the table with the left hand at a diagonal angle from the middle. + [1065:1155] Put the eggplant on top of the pink plate with the left hand with its tip facing bottom left. + [1155:1215] Return to home with the left hand. + [1215:1293] Pick up the blue stuffed animal from the table with the right hand from the top at the middle. + [1293:1368] Put the blue stuffed animal to the right of the orange screwdriver with the right hand facing backwards with the front as the reference point. + [1368:1494] Pick up the green bag of chips from the table with the right hand using a side grip at the bottom. + [1494:1635] Put the green bag of chips in front of the orange screwdriver with the right hand facing bottom right. + [1635:1872] Pick up the eggplant from the pink plate with the right hand from the top at the middle. + [1872:1962] Put the eggplant to the right of the green bag of chips with the tip facing top left using the right hand. + [1962:2133] Pick up the pink plate from the table with the right hand from the top right side using a lip grip. + [2133:2238] Put the pink plate between the silver bowl and the orange screwdriver with the right hand right side up front. + [2238:2337] Pick up the orange screwdriver from the table with the right hand using a side grip at the bottom diagonally. + [2337:2466] Put the orange screwdriver on top of the pink plate with the right hand with its tip facing top left. + [2466:2601] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2601:2676] Put the blue stuffed animal in front of the pink plate with the right hand facing backwards relative to the front. + [2676:2817] Pick up the eggplant from the table with the right hand from the side at the middle. + [2817:2898] Put the eggplant behind the green bag of chips with the right hand facing top left by the tip. + [2898:3000] Return to home with the right hand. + +### 2026-04-21-19-02-44-418000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['blue stuffed toy', 'eggplant', 'green bag of chips', 'orange screwdriver', 'pink plate', 'silver bowl'] + [0:159] Pick up the pink plate from the table with the left hand using a lip grip at the left side from a diagonal angle. + [159:309] Put the pink plate to the left of the orange screwdriver with the left hand right side up with the front as the orientation reference point. + [309:501] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. + [501:717] Put the silver bowl behind the pink plate with the right hand. + [717:864] Pick up the eggplant from the table with the right hand using a side grip at the bottom from a diagonal angle. + [864:954] Put the eggplant to the right of the orange screwdriver with the right hand facing forwards with the tip facing forwards. + [954:1143] Pick up the green bag of chips from the table with the right hand using a side grip at the top with a diagonal pick angle. + [1143:1266] Put the green bag of chips to the right of the eggplant with the right hand facing right. + [1266:1434] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [1434:1542] Put the orange screwdriver on top of the pink plate with the left hand facing top right with the tip as the reference point. + [1542:1764] Pick up the eggplant from the table with the left hand from the top at the middle. + [1764:1908] Put the eggplant to the left of the pink plate with the left hand with its tip facing top left. + [1908:2085] Pick up the green bag of chips from the table with the left hand using a side grip at the left in a diagonal angle. + [2085:2232] Put the green bag of chips behind the eggplant with the left hand facing top right. + [2232:2418] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left side. + [2418:2496] Dump the blue stuffed animal from the silver bowl to the right of the pink plate with the left hand. + [2496:2595] Put the silver bowl behind the blue stuffed animal with the left hand. + [2595:2745] Pick up the green bag of chips from the table with the left hand using a side grip at the bottom left from a diagonal angle. + [2745:2868] Put the green bag of chips to the left of the eggplant with the left hand facing forwards. + [2868:3000] Pick up the blue stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + +### 2026-04-21-19-05-51-882000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['coffee pod', 'gray stuffed toy', 'green coffee cup', 'white coffee cup'] + [0:141] Pick up the gray stuffed animal from the table with the left hand using a side grip from the top. + [141:249] Put the gray stuffed animal to the right of the coffee pod with the front facing forwards using the left hand. + [249:411] Pick up the coffee pod from the table with the left hand using a side grip at the top from a diagonal angle. + [411:522] Put the coffee pod in front of the beige bowl with the left hand right side up with the front as the orientation reference point. + [522:735] Pick up the white coffee cup from the table by the handle from the side with the left hand. + [735:834] Put the white coffee cup on top of the white plate with the left hand right side up with the front facing backwards. + [834:984] Pick up the green coffee cup from the table with the left hand by the handle from the side. + [983:1110] Put the green coffee cup to the left of the white plate with the handle facing backwards right side up with the front as reference using the left hand. + [1110:1230] Pick up the gray stuffed animal from the table with the left hand at a diagonal angle from the middle. + [1230:1281] Put the gray stuffed animal between the white plate and the beige bowl with the left hand facing forwards from the front. + [1281:1500] Pick up the coffee pod from the table with the right hand at a diagonal angle from the middle. + [1500:1584] Put the coffee pod on the right side of the table with the right hand right side up with the front as the orientation reference point. + [1584:1725] Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [1725:1863] Put the gray stuffed animal in front of the green coffee cup with the left hand facing forwards from the front. + [1863:2070] Pick up the white coffee cup from the white plate with the left hand using a lip grip from the top at the right side. + [2070:2160] Put the white coffee cup in front of the white plate with the handle facing backwards right side up using the left hand. + [2334:2439] Put the coffee pod in front of the beige bowl right side up with the front as the orientation reference point using the right hand. + [2439:2598] Pick up the white coffee cup from the table with the left hand from the top at the right side using a lip grip. + [2598:2718] Place the white coffee cup between the white plate and the beige bowl with the handle facing backwards right side up using the left hand. + [2718:2880] Pick up the green coffee cup from the table by the handle from the side with the left hand. + [2880:3000] Put the green coffee cup on top of the white plate with the handle facing backwards using the left hand. + +### 2026-04-21-19-11-09-622000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=9 | objects=['beige bowl', 'coffee pod', 'gray stuffed toy', 'green mug', 'white coffee cup'] + [0:126] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [126:234] Put the white coffee cup in front of the white plate with the handle facing bottom left using the left hand. + [234:435] Pick up the green mug from the table with the left hand by the handle from the side. + [435:573] Put the green mug in front of the gray stuffed animal with the handle facing bottom left using the left hand. + [573:783] Pick up the gray stuffed animal from the table with the left hand from the top at the middle. + [783:843] Put the gray stuffed animal inside the beige bowl with the left hand facing top right from the front. + [843:1026] Pick up the coffee pod from the white plate with the left hand using a side grip from the top. + [1026:1164] Place the coffee pod behind the green mug with the left hand right side up with the front as the orientation reference point. + [1164:1437] Pick up the green mug from the table with the right hand using a diagonal grasp at the handle. + [1614:1734] Pick up the white coffee cup from the table with the left hand using a diagonal lip grip at the top. + [1734:1869] Put the white coffee cup in front of the coffee pod with the handle facing backwards right side up using the left hand. + [1869:2067] Pick up the beige bowl from the table with the right hand using a lip grip from the right side. + [2067:2115] Dump the gray stuffed animal from the beige bowl to the right of the white coffee cup with the right hand. + [2115:2280] Put the beige bowl in front of the green mug with the right hand. + [2280:2496] Pick up the gray stuffed animal from the table with the left hand from the top at the entire object. + [2496:2619] Put the gray stuffed animal to the left of the green mug with the left hand facing forwards. + [2619:2847] Pick up the beige bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + +### 2026-04-21-19-15-16-930000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=8 | objects=['beige bowl', 'coffee pod', 'green mug', 'white mug'] + [0:192] Pick up the coffee pod from the table with the left hand using a side grip at the top. + [192:294] Place the coffee pod to the left of the beige bowl with the left hand right side up with the front as the orientation reference. + [294:639] Pick up the white mug from the white plate with the left hand from the top by the handle. + [639:768] Put the white mug to the right of the beige bowl with the handle facing bottom left using the left hand. + [768:1113] Pick up the white mug from the table with the right hand using a lip grip from the right at a diagonal angle. + [1113:1284] Put the white mug to the right of the green mug with the handle facing bottom left right side up using the right arm. + [1284:1530] Pick up the beige bowl from the table with the left hand using a lip grip at the left side diagonally. + [1530:1689] Put the beige bowl to the left of the green mug with the left hand. + [1689:1839] Pick up the coffee pod from the table with the left hand using a side grip from the top. + [1839:1941] Put the coffee pod to the right of the white plate with the left hand right side up with the front as the orientation reference point. + [1941:2166] Pick up the beige bowl from the table with the right hand using a lip grip at the left side with a diagonal angle. + [2166:2295] Put the beige bowl to the right of the coffee pod with the right hand. + [2295:2466] Pick up the green mug from the table with the right hand using a lip grip at the left side with a diagonal angle. + [2466:2610] Place the green mug to the right of the beige bowl with the handle facing backwards right side up using the right arm. + [2610:2841] Pick up the white mug from the table with the right hand at the handle from the side. + [2841:3000] Place the white mug to the right of the green mug with the right hand right side up with the front facing backwards. + +### 2026-04-21-19-26-39-915000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=8 | objects=['corn', 'red marker', 'tomato', 'white mug'] + [0:117] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [117:273] Put the red marker to the right of the pink mug with the left hand facing forwards with the tip as the orientation reference point. + [273:498] Pick up the white mug from the table with the left hand using a diagonal grip at the handle. + [498:639] Put the white mug behind the pink mug with the handle facing backwards right side up using the left hand. + [639:780] Pick up the corn from the table with the left hand from the top at the middle. + [780:942] Put the corn to the right of the red marker with the left hand facing backwards by the tip. + [942:1257] Pick up the white mug from the table with the right hand using a lip grip at the right side diagonally. + [1440:1710] Pick up the tomato from the table with the left hand using a side grip at the top. + [1710:1803] Put the tomato behind the pink mug with the left hand right side up. + [1803:1950] Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal angle. + [1950:2058] Put the white mug on the top right side of the table with the right hand right side up with the front facing backwards. + [2058:2217] Pick up the corn from the table with the right hand from the top at the middle. + [2217:2334] Put the corn to the bottom right of the white mug with the right hand with its tip facing bottom right. + [2334:2562] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [2562:2793] Put the red marker to the left of the corn with the right hand facing forwards with the tip as the reference point. + +### 2026-04-21-19-31-09-126000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=8 | objects=['pink mug', 'red marker', 'tomato', 'white mug'] + [0:210] Pick up the pink mug from the table with the right hand using a lip grip at the right side with a diagonal pick angle. + [210:309] Put the pink mug to the right of the red marker with the handle facing bottom left right side up with the front as reference using the right arm. + [309:474] Pick up the tomato from the table with the right hand from the top by grasping the entire object. + [654:795] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [945:1179] Pick up the white mug from the table with the right hand at the handle from the side. + [1179:1437] Put the white mug between the corn and the pink mug with the handle facing bottom right right side up with the right hand. + [1437:1578] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [1578:1746] Put the red marker to the left of the corn with the right hand facing forwards with the tip as the reference point. + [1746:2025] Pick up the white mug from the table with the right hand at a diagonal angle by the handle. + [2025:2196] Place the white mug to the left of the red marker with the handle facing backwards right side up using the right hand. + [2196:2391] Pick up the tomato from the table with the right hand at a diagonal angle grasping the middle. + [2391:2574] Put the tomato with the right hand to the bottom left of the red marker facing top right with the front as the reference point. + [2574:2736] Pick up the pink mug from the table with the right hand using a lip grip at the bottom from the top. + [2736:3000] Put the pink mug to the right of the corn with the right hand right side up with the front facing bottom right. + +### 2026-04-21-19-33-23-568000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=9 | objects=['corn', 'pink mug', 'red marker', 'tomato'] + [0:122] Pick up the pink mug from the table with the right hand using a diagonal grasp at the handle. + [122:249] Put the pink mug in front of the corn with the right hand right side up with the front facing backwards. + [249:423] Pick up the tomato from the table with the left hand from the top at the middle. + [423:564] Put the tomato to the left of the white mug with the left hand facing forwards. + [564:774] Pick up the red marker from the table with the left hand using a side grip at the bottom from a diagonal angle. + [774:933] Place the red marker to the left of the tomato with the left hand facing forwards with the tip as the reference point. + [933:1173] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [1173:1365] Put the pink mug in front of the white mug with the handle facing backwards right side up from the front using the right hand. + [1365:1476] Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. + [1476:1617] Put the corn to the right of the pink mug with the right hand facing bottom right. + [1617:1761] Pick up the red marker from the table with the left hand from the top at the middle. + [1761:1959] Place the red marker to the bottom left of the tomato with the left hand facing top right with the tip as the reference point. + [1959:2139] Pick up the pink mug from the table with the left hand using a lip grasp from the top at the left. + [2139:2313] Put the pink mug to the left of the tomato with the left hand right side up with the front facing backwards. + [2313:2493] Pick up the corn from the table with the left hand from the top at the middle. + [2493:2619] Put the corn in front of the tomato with the left hand facing backwards with the tip as the orientation reference point. + [2619:2811] Pick up the pink mug from the table with the left hand at a diagonal angle by the handle. + [2811:3000] Place the pink mug to the left of the red marker with the handle facing backwards right side up with the left hand. + +### 2026-04-21-19-46-01-388000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'green bowl', 'white cup'] + [0:120] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [120:240] Put the blue marker to the top right of the cabbage with the left hand facing forwards with the tip as the reference point. + [240:369] Pick up the white cup from the table with the left hand from the top at the right side using a lip grip. + [369:486] Put the white cup to the left of the blue marker with the left hand right side up front. + [486:615] Pick up the blue marker from the table with the left hand from the top at the middle. + [615:741] Put the blue marker between the cabbage and the asparagus with the left hand with its tip facing top right. + [741:945] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [945:1080] Place the blue screwdriver to the right of asparagus with the right hand facing top right by the tip. + [1080:1215] Pick up the green bowl from the table with the right hand using a diagonal lip grasp at the right side. + [1215:1401] Put the green bowl to the top right of the table with the right hand. + [1401:1578] Pick up the blue marker from the table with the left hand from the top at the middle. + [1578:1758] Put the blue marker behind the asparagus with the left hand facing forwards with the tip as the orientation reference point. + [1758:1938] Pick up the white cup from the table with the left hand using a lip grip from the top at the right side. + [1937:2060] Put the white cup to the left of the blue marker with the left hand right side up with the front as the reference point. + [2061:2241] Pick up the asparagus from the table with the right hand from the top at the middle. + [2241:2388] Place the asparagus to the right of the green bowl with the right hand facing backwards at the tip. + [2388:2499] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [2499:2622] Put the blue screwdriver in front of asparagus with the right hand facing forwards with the tip as the reference point. + [2622:2760] Pick up the green bowl from the table with the right hand using a lip grip at a diagonal angle on the right side. + [2760:2886] Put the green bowl to the left of the blue screwdriver with the right hand. + +### 2026-04-21-19-48-12-404000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=11 | objects=['asparagus', 'blue marker', 'blue screwdriver', 'cabbage', 'green bowl', 'white cup'] + [0:132] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [132:255] Put the blue marker behind the green bowl with the right hand with its tip facing top left. + [255:414] Pick up the cabbage from the table with the left hand from the top at the middle. + [414:504] Put the cabbage in front of the white cup with the left hand facing backwards with the front as the reference point. + [504:687] Pick up the blue marker from the table with the right hand using a side grip at the top with a diagonal angle. + [687:852] Put the blue marker between the cabbage and the green bowl with the right hand facing forwards with the tip as the reference point. + [852:990] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [990:1080] Put the asparagus inside the green bowl with the right hand upside down. + [1080:1176] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [1176:1341] Place the blue screwdriver behind the blue marker with the right hand with its tip facing top left. + [1341:1560] Pick up the green bowl from the table with the right hand using a lip grip at the right side diagonally. + [1560:1641] Put the green bowl to the right of the blue screwdriver with the right hand. + [1641:1818] Pick up the blue marker from the table with the left hand using a side grip at the top from the top. + [1818:1953] Put the blue marker to the left of the cabbage with the left hand facing top right with the tip as the reference point. + [1952:2055] Pick up the cabbage from the table with the left hand from the top at the middle. + [2055:2145] Place the cabbage to the left of the blue marker with the left hand facing backwards from the front. + [2145:2241] Pick up the blue marker from the table with the left hand using a side grip at the top with a diagonal pick angle. + [2241:2340] Put the blue marker to the center of the table with the left hand with its tip facing top left. + [2340:2508] Pick up the white cup from the table with the left hand using a lip grip from the top left. + [2508:2589] Put the white cup to the right of the cabbage with the left hand right side up with the front as the orientation reference point. + [2589:2757] Pick up the green bowl from the table with the right hand using a lip grip at the bottom right diagonal. + [2757:2856] Put the green bowl in front of the blue screwdriver with the right hand. + +### 2026-04-21-19-50-19-707000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['blue marker', 'blue screwdriver', 'cabbage', 'green bowl', 'white cup'] + [0:99] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [99:264] Put the blue marker to the left of the cabbage with the left hand facing forwards with the tip as the reference point. + [264:408] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [408:543] Put the green bowl in between the blue screwdriver and the white cup with the right hand. + [543:669] Pick up the blue screwdriver from the table with the right hand using a side grip at the bottom in a diagonal pick. + [669:792] Place the blue screwdriver to the right of the green bowl with the right hand facing top right with the tip as the reference point. + [792:921] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [921:1020] Put the green bowl to the right of the blue screwdriver with the right hand. + [1020:1182] Pick up the white cup from the table with the left hand at a diagonal angle from the right side using a lip grip. + [1182:1320] Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the reference point. + [1320:1443] Pick up the cabbage from the table with the left hand using a side grip at the top from a diagonal angle. + [1443:1494] Put the cabbage to the left of the white cup with the left hand facing bottom left from the front. + [1494:1593] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [1593:1707] Put the blue marker to the left of the cabbage with the left hand with its tip facing top left. + [1707:1845] Pick up the white cup from the table with the left hand using a lip grasp from the top at the left side. + [1845:1944] Place the white cup to the top right of the blue marker with the left hand right side up with the front as the reference point. + [1944:2052] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [2052:2163] Put the cabbage to the left of the blue marker with the left hand facing bottom left from the front. + [2163:2346] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2346:2460] Put the blue marker to the left of the blue screwdriver with the left hand facing forwards with the tip as the orientation reference point. + [2460:2625] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [2625:2805] Put the blue marker to the right of the green bowl with the right hand facing forwards with the tip as the reference point. + [2805:2928] Pick up the green bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + [2928:3000] Dump the asparagus from the green bowl to the right of the blue screwdriver with the right hand. + +### 2026-04-21-19-54-35-034000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['blue soda can', 'brown stuffed toy', 'doritos', 'juice pouch', 'white coffee cup'] + [0:183] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [183:288] Put the white coffee cup in front of the blue soda can with the left hand with the front facing backwards. + [288:393] Pick up the juice pouch from the table with the left hand using a side grip at the top left in a diagonal pick angle. + [393:543] Place the juice pouch to the left of the blue soda can with the left hand right side up. + [543:666] Pick up the blue soda can from the table with the left hand using a side grip at the top. + [666:771] Put the blue soda can in front of the juice pouch and to the left of the white coffee cup with the left hand. + [870:909] Pick up the Doritos from the table with the left hand using a side grip at the bottom left with a diagonal angle. + [909:1002] Put the Doritos to the right of the white coffee cup with the left hand facing forwards. + [1002:1164] Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. + [1164:1326] Put the brown stuffed animal to the left of the blue soda can with the left hand facing backwards with the front as the orientation reference point. + [1326:1443] Pick up the Doritos from the table with the left hand using a side grip at the bottom left. + [1443:1581] Put the Doritos to the top left of the brown stuffed animal with the left hand. + [1581:1773] Pick up the blue soda can from the table with the left hand using a side grip at the top. + [1773:1878] Put the blue soda can to the right of the white coffee cup with the left hand. + [1878:1980] Pick up the juice pouch from the table with the left hand using a side grip at the top from the top. + [1980:2094] Put the juice pouch to the right of the blue soda can with the left hand right side up. + [2094:2181] Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. + [2181:2250] Put the brown stuffed animal in front of the blue soda can with the left hand facing backwards from the front. + [2250:2346] Pick up the Doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. + [2346:2454] Put the Doritos behind the white coffee cup with the left hand facing forwards. + [2454:2637] Pick up the brown stuffed animal from the table with the right hand from the top at the middle. + [2637:2724] Put the brown stuffed animal to the right of the juice pouch with the right hand facing backwards with the front as the reference point. + [2724:2808] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [2808:2886] Put the juice pouch on the right side of the table with the right hand right side up with the front as the reference point. + [2886:3000] Pick up the blue soda can from the table with the left hand using a side grip from the top. + +### 2026-04-21-19-58-50-895000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['blue soda can', 'brown stuffed toy', 'doritos', 'juice pouch', 'white coffee cup'] + [0:84] Pick up the juice pouch from the table with the left hand at a diagonal angle grasping the middle. + [84:174] Place the juice pouch to the left of the blue soda can with the left hand right side up. + [174:330] Pick up the white coffee cup from the table with the left hand using a lip grip from the top at the right side. + [330:423] Put the white coffee cup behind the juice pouch with the left hand right side up with the front facing backwards. + [423:549] Pick up the doritos from the table with the left hand using a side grip at the bottom with a diagonal pick angle. + [549:648] Put the doritos to the left of the white coffee cup with the left hand facing forwards. + [648:741] Pick up the juice pouch from the table with the left hand using a side grip at the top. + [741:795] Put the juice pouch behind the blue soda can with the left hand right side up. + [795:1008] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [1008:1134] Put the blue soda can to the right side of the table with the right hand. + [1134:1266] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [1266:1380] Put the juice pouch to the bottom right side of the table with the right hand right side up. + [1380:1569] Pick up the white coffee cup from the table with the right hand using a diagonal lip grasp at the right side. + [1569:1725] Put the white coffee cup behind the blue soda can with the handle facing backwards right side up using the right arm. + [1725:1857] Pick up the doritos from the table with the left hand using a side grip at the bottom from a diagonal angle. + [1857:2010] Put the doritos to the left of the brown stuffed animal with the left hand facing right. + [2010:2199] Pick up the blue soda can from the table with the right hand using a side grip at the top from a diagonal angle. + [2199:2334] Put the blue soda can behind the doritos with the right hand. + [2334:2448] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [2448:2547] Put the juice pouch behind the brown stuffed animal with the right hand right side up. + [2547:2664] Pick up the white coffee cup from the table with the right hand from the side by the handle. + [2778:2883] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2883:3000] Put the brown stuffed animal to the right of the white coffee cup with the right hand facing backwards with the front as the orientation reference point. + +### 2026-04-21-20-01-00-040000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['blue soda can', 'brown stuffed toy', 'doritos', 'juice pouch', 'white cup'] + [0:122] Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle. + [122:231] Put the blue soda can to the left of the Doritos with the left hand. + [231:342] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [342:423] Put the juice pouch behind the white mug with the right hand right side up with the front as the reference point. + [423:492] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [491:621] Place the brown stuffed animal to the center of the table with the right hand facing backwards with the front as the reference point. + [636:780] Pick up the Doritos from the table with the left hand using a side grip at the bottom from the side. + [780:894] Put the Doritos behind the blue soda can with the left hand facing forwards. + [894:1059] Pick up the brown stuffed animal from the table with the right hand from the side grasping the entire object. + [1059:1194] Place the brown stuffed animal to the right of the white cup with the right hand facing bottom right from the front. + [1194:1299] Pick up the juice pouch from the table with the right hand using a side grip at the top. + [1299:1404] Put the juice pouch to the left of the white cup right side up with the front as the reference using the right hand. + [1404:1584] Pick up the Doritos from the table with the left hand using a side grip at the bottom left with a diagonal pick angle. + [1584:1701] Put the Doritos to the right of the blue soda can with the left hand facing forwards. + [1701:1866] Pick up the juice pouch from the table with the right hand using a side grip at the top. + [1866:1995] Place the juice pouch behind the brown stuffed animal with the right hand right side up. + [1995:2136] Pick up the white cup from the table with the right hand using a lip grasp from the right side. + [2136:2268] Put the white cup to the left of the juice pouch with the handle facing bottom right right side up with the front as the orientation reference point using the right hand. + [2268:2421] Pick up the brown stuffed animal from the table with the right hand from the side at the middle. + [2421:2499] Put the brown stuffed animal to the center of the table with the right hand facing bottom right from the front. + [2499:2607] Pick up the Doritos from the table with the right hand using a side grip at the bottom right from the top. + [2607:2721] Put the Doritos in front of the white cup and to the right of the brown stuffed animal with the right hand facing top right from the front. + [2721:2838] Pick up the blue soda can from the table with the left hand using a side grip from the top. + [2838:3000] Put the blue soda can to the left of the brown stuffed animal with the left hand. + +### 2026-04-22-04-17-55-743000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=14 | objects=['eggplant', 'green bowl', 'red marker', 'silver bowl', 'yellow stuffed toy'] + [0:93] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [93:186] Put the eggplant to the right of the green bowl with the right hand with its tip facing bottom right. + [186:300] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [300:363] Put the yellow stuffed animal in front of the green bowl with the right hand facing top left from the front. + [363:504] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [504:645] Place the red marker to the left of the pink plate with the left hand with its tip facing top right. + [645:789] Pick up the yellow stuffed animal from the table with the left hand from the side by grasping the entire object. + [789:900] Put the yellow stuffed animal on top of the pink plate with the left hand facing forwards. + [900:1035] Pick up the red marker from the table with the left hand at a diagonal angle grasping the middle. + [1035:1137] Put the red marker in front of the pink plate with the left hand facing forwards with the tip facing forwards. + [1137:1236] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp at the left. + [1236:1362] Put the silver bowl to the left of the pink plate with the left hand. + [1362:1467] Pick up the red marker from the table with the left hand from the top at the middle. + [1467:1575] Place the red marker to the right of the pink plate with the left hand facing top left with the tip as the reference point. + [1575:1683] Pick up the green bowl from the table with the left hand using a top lip grasp on the left side. + [1683:1770] Put the green bowl in front of the pink plate with the left hand. + [1770:1896] Pick up the yellow stuffed animal from the pink plate with the left hand from the top at the middle. + [1896:1992] Put the yellow stuffed animal to the right of the red marker with the left hand facing forwards. + [1992:2112] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [2112:2181] Put the eggplant to the right of the yellow stuffed animal with the tip facing bottom right using the right hand. + [2181:2268] Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2268:2328] Put the yellow stuffed animal to the right of the eggplant with the right hand facing top left with the front as the reference point. + [2328:2421] Pick up the red marker from the table with the left hand from the top at the middle. + [2550:2601] Return to home with the left hand. + [2601:2697] Pick up the eggplant from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2697:2820] Put the eggplant to the right of the yellow stuffed animal with the right hand with the tip facing bottom right. + [2820:2937] Pick up the red marker from the table with the right hand from the top at the middle. + +### 2026-04-22-04-20-24-543000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=14 | objects=['eggplant', 'green bowl', 'pink plate', 'red marker', 'silver bowl', 'yellow stuffed toy'] + [0:99] Pick up the green bowl from the table with the left hand using a diagonal lip grasp on the left side. + [99:207] Put the green bowl right side up with its front facing forward to the top left of the yellow stuffed animal with the left hand. + [207:354] Pick up the silver bowl from the table with the left hand using a diagonal lip grasp on the right side. + [354:459] Put the silver bowl to the left of the green bowl with the left hand. + [459:618] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [618:705] Put the red marker on the bottom side of the table with the right hand with the tip facing top right. + [705:822] Pick up the yellow stuffed animal from the table with the right hand using a side grip at the top from a diagonal angle. + [822:924] Put the yellow stuffed animal inside the green bowl with the right hand facing top left with the front as the reference point. + [924:1032] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1032:1110] Put the eggplant to the right of the green bowl with the right hand with its tip facing bottom right. + [1110:1203] Pick up the red marker from the table with the right hand from the top at the middle. + [1203:1323] Put the red marker to the right of the eggplant with the right hand facing forwards with the tip as the reference point. + [1323:1452] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [1452:1488] Dump the yellow stuffed animal from the green bowl to the bottom right of the silver bowl with the right hand. + [1488:1578] Put the green bowl in front of the eggplant with the right hand. + [1578:1686] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1746:1869] Pick up the pink plate from the table with the left hand using a lip grip at the left side with a diagonal angle. + [1869:1983] Put the pink plate in front of the silver bowl with the left hand right side up with the front as the orientation reference point. + [1982:2112] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle gripping the middle. + [2112:2187] Put the yellow stuffed animal on top of the pink plate with the right hand facing top left from the front. + [2187:2328] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [2328:2430] Put the eggplant to the right of the pink plate with the right hand facing bottom right by the tip. + [2430:2538] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [2538:2661] Place the red marker to the top side of the table with the right hand with its tip facing top left. + [2661:2763] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right. + [2763:2847] Put the green bowl to the right of the red marker with the right hand. + [2847:2940] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-04-22-04-22-48-946000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=14 | objects=['eggplant', 'green bowl', 'pink plate', 'red marker', 'silver bowl', 'yellow stuffed toy'] + [0:153] Pick up the red marker from the table with the right hand using a side grip at the top with a diagonal pick angle. + [153:249] Place the red marker to the right of the pink plate with the right hand facing top right. + [249:339] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [339:420] Put the eggplant to the right of the silver bowl with the right hand facing backwards. + [420:513] Pick up the green bowl from the table with the right hand using a diagonal lip grasp on the right side. + [513:588] Place the green bowl to the right of the red marker with the right hand. + [588:696] Pick up the eggplant from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [696:816] Put the eggplant to the right of the green bowl with the right hand with its tip facing bottom right. + [816:951] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. + [951:1047] Put the silver bowl behind the green bowl with the right hand. + [1047:1167] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1167:1248] Put the eggplant to the right of the silver bowl with the right hand facing bottom right from the front. + [1248:1362] Pick up the yellow stuffed animal from the pink plate with the right hand from the top at the middle. + [1362:1419] Put the yellow stuffed animal inside the silver bowl with the right hand facing top left. + [1419:1527] Pick up the eggplant from the table with the right hand at a diagonal angle grasping the middle. + [1527:1602] Place the eggplant inside the green bowl with the right hand facing backwards with the tip as the orientation reference point. + [1602:1722] Pick up the red marker from the table with the right hand using a side grasp at the bottom from the top. + [1722:1863] Put the red marker on top of the pink plate with the right hand with its tip facing top left. + [1863:1965] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. + [1965:2028] Dump the yellow stuffed animal to the center of the table with the right hand. + [2027:2142] Place the silver bowl to the right of the green bowl with the right hand. + [2142:2238] Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2238:2307] Put the yellow stuffed animal inside the silver bowl with the right hand facing bottom right from the front. + [2307:2436] Pick up the pink plate from the table with the right hand using a lip grip from the top at the right. + [2436:2565] Place the pink plate behind the green bowl with the right hand right side up with the front as the orientation reference point. + [2565:2700] Pick up the red marker from the pink plate with the right hand at a diagonal angle grasping the middle. + [2700:2796] Place the red marker to the left of the pink plate with the right hand facing forwards with the tip forwards. + [2796:2928] Pick up the eggplant from the green bowl with the right hand using a side grip at the top from the side. + +### 2026-04-22-05-02-17-179000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['brown stuffed toy', 'coffee pod', 'doritos', 'tomato', 'white coffee cup'] + [0:138] Pick up the white coffee cup from the white plate with the left hand using a side grasp on the handle. + [138:228] Place the white coffee cup in front of the white plate with the handle facing backwards using the left hand. + [354:486] Pick up the tomato from the table with the right hand from the top at the middle. + [486:573] Put the tomato right side up with the front facing forward to the center of the table using the right hand. + [573:669] Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. + [669:723] Put the coffee pod to the right of the tomato with the right hand upside down. + [723:858] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [858:939] Put the brown stuffed animal to the right of the coffee pod with the right hand facing forwards with the front as the orientation reference point. + [939:1008] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [1008:1092] Put the doritos behind the coffee pod with the right hand facing bottom right. + [1302:1347] Pick up the white coffee cup from the table with the left hand using a top lip grasp on the left side. + [1347:1578] Place the white coffee cup on top of the white plate with the handle facing backwards using the left hand right side up. + [1578:1764] Pick up the tomato from the table with the left hand from the top grasping the entire object. + [1764:1881] Put the tomato to the left of the white plate with the left hand right side up with the front as the orientation reference point. + [1881:2013] Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. + [2012:2112] Put the coffee pod to the right of the doritos with the right hand upside down. + [2112:2199] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [2199:2274] Put the doritos to the right of the coffee pod with the right hand facing bottom right. + [2274:2343] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2343:2427] Put the brown stuffed animal to the left of the coffee pod with the right hand facing top left with the front as the reference point. + [2427:2583] Pick up the tomato from the table with the left hand from the top grasping the entire object. + [2583:2658] Place the tomato to the bottom left of the white plate with the left hand right side up facing front. + [2658:2766] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2766:2856] Put the brown stuffed animal in front of the coffee pod with the right hand facing top left from the front. + [2856:2919] Pick up the doritos from the table with the right hand at a diagonal from the top of the object. + +### 2026-04-22-05-14-00-019000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['brown stuffed toy', 'coffee pod', 'doritos', 'tomato', 'white coffee cup'] + [0:102] Pick up the doritos from the table with the right hand at a diagonal from the top of the object. + [102:162] Put the doritos in front of the coffee pod with the right hand facing backwards. + [162:315] Pick up the tomato from the table with the left hand from the top at the middle. + [315:432] Put the tomato to the left of the white plate with the left hand right side up with the front as the reference point. + [432:603] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [603:726] Put the white coffee cup to the left of the tomato with the handle facing backwards with the left hand. + [726:834] Pick up the doritos from the table with the right hand at a diagonal from the top of the object. + [834:912] Put the doritos to the left of the coffee pod with the right hand facing backwards. + [912:1062] Pick up the coffee pod from the table with the right hand at a diagonal angle from the middle. + [1062:1131] Put the coffee pod in front of the doritos with the right hand upside down. + [1131:1221] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [1221:1266] Put the brown stuffed animal to the right of the doritos with the right hand facing forwards. + [1266:1446] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [1446:1584] Put the white coffee cup on the top of the white plate with the left hand right side up with the front facing backwards. + [1584:1737] Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. + [1737:1842] Put the coffee pod to the right of the brown stuffed animal with the right hand upside down. + [1842:1923] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [1922:1994] Put the doritos in front of the brown stuffed animal with the right hand facing backwards. + [1995:2127] Pick up the tomato from the table with the left hand using a side grip at the top from a diagonal angle. + [2127:2262] Put the tomato in front of the white plate with the left hand right side up front. + [2262:2433] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2433:2526] Put the brown stuffed animal to the left of the doritos with the right hand facing forwards. + [2526:2601] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [2601:2673] Put the doritos behind to the center of the table with the right hand facing backwards with the front as the reference point. + [2673:2796] Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle. + [2796:2856] Put the coffee pod to the right of the brown stuffed animal with the right hand upside down. + +### 2026-04-22-05-16-38-928000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=14 | objects=['brown stuffed toy', 'coffee pod', 'doritos', 'tomato', 'white mug'] + [0:72] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [72:141] Put the brown stuffed animal to the right of the doritos with the right hand facing forwards front. + [141:207] Pick up the doritos from the table with the right hand at a diagonal angle grasping the middle. + [207:282] Put the doritos to the left of the coffee pod with the right hand facing bottom right. + [282:420] Pick up the tomato from the table with the left hand from the top grasping the entire object. + [420:516] Put the tomato to the left of the white plate with the left hand facing top left from the front. + [516:693] Pick up the white mug from the top of the white plate with the left hand by the handle from the side. + [693:816] Put the white mug to the left of the tomato with the handle facing bottom right right side up with the left hand. + [816:957] Pick up the brown stuffed animal from the table with the right hand from the top at the entire object. + [957:1044] Put the brown stuffed animal behind the doritos with the right hand facing top left from the front. + [1044:1134] Pick up the doritos from the table with the right hand from the top at the middle. + [1134:1191] Put the doritos between the brown stuffed animal and the white plate with the right hand upside down. + [1191:1401] Pick up the white mug from the table with the left hand at the handle from the side. + [1401:1503] Put the white mug on top of the white plate with the left hand right side up with the front facing bottom right. + [1503:1665] Pick up the doritosl from the table with the right hand at a diagonal angle grasping the middle. + [1665:1755] Put the doritos with the right hand in front of the brown stuffed animal and to the left of the coffee pod facing backwards. + [1755:1965] Pick up the white mug from the top of the white plate with the left hand using a side grasp at the handle. + [1965:2097] Put the white mug to the left of the tomato with the left hand right side up with the front facing backwards. + [2097:2229] Pick up the doritos from the table with the right hand from the top at the middle. + [2229:2298] Put the doritos to the right of the coffee pod with the right hand facing bottom left. + [2298:2406] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2406:2466] Put the brown stuffed animal behind the coffee pod with the right hand facing top left from the front. + [2466:2568] Pick up the coffee pod from the table with the right hand using a side grip at the top from a diagonal angle. + [2568:2637] Put the coffee pod behind the doritos with the right hand upside down at the front. + [2637:2706] Pick up the doritos from the table with the right hand at a diagonal angle grasping the middle. + [2706:2754] Put the doritos in front of the brown stuffed animal with the right hand right side up. + [2754:2787] Return to home with the right hand. + [2787:2949] Pick up the tomato from the table with the left hand from the top grasping the entire object. + [2949:3000] Put the tomato on top of the white plate with the left hand facing top left with the front as the reference point. + +### 2026-04-23-03-32-31-333000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['cabbage', 'croissant', 'juice pouch', 'pink stuffed toy', 'white mug'] + [0:135] Pick up the juice pouch from the table with the right hand using a side grip at the bottom. + [135:321] Put the juice pouch between the croissant and the pink stuffed animal with the right hand right side up. + [321:453] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [453:567] Put the croissant in front of the white mug with the right hand. + [567:717] Pick up the cabbage from the table with the left hand from the top at the middle. + [717:789] Put the cabbage to the left of the croissant with the left hand facing forwards. + [789:963] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [963:1062] Put the pink stuffed animal to the right of the croissant with the right hand facing top left from the front. + [1062:1212] Pick up the white mug from the table with the right hand using a lip grip at the right side with a diagonal angle. + [1212:1488] Put the white mug to the right of the juice pouch with the handle facing right using the right hand right side up from the front. + [1488:1659] Pick up the pink stuffed animal from the table with the right hand using a side grip at the top diagonally. + [1659:1704] Put the pink stuffed animal behind the croissant with the right hand facing top left from the front. + [1704:1800] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [1800:1944] Put the cabbage behind the pink stuffed animal with the right hand facing top left from the front. + [1944:2055] Pick up the juice pouch from the table with the right hand using a side grip at the top from a diagonal angle. + [2055:2154] Put the juice pouch to the right of the pink stuffed animal with the right hand right side up. + [2154:2220] Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally. + [2220:2337] Put the croissant in front of the white mug with the right hand. + [2337:2418] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2418:2535] Put the pink stuffed animal inside the white mug with the right hand right side up. + [2535:2619] Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally. + [2619:2712] Place the juice pouch to the left of the croissant with the right hand right side up with the front as the reference point. + [2712:2805] Pick up the cabbage from the table with the right hand at a diagonal angle grasping the middle. + [2805:3000] Put the cabbage to the left of the juice pouch with the right hand facing top left from the front. + +### 2026-04-23-03-34-42-011000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=11 | objects=['bag of juice', 'croissant', 'green cabbage', 'white coffee cup'] + [0:120] Pick up the bag of juice from the table with the right hand using a side grip at the top. + [120:261] Put the bag of juice to the left of the green cabbage with the right hand right side up. + [261:393] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [393:510] Put the croissant to the left of the bag of juice with the right hand. + [660:768] Pick up the white coffee cup from the table with the right hand from the side by the handle. + [768:897] Put the white coffee cup behind the croissant with the handle facing backwards right side up using the right hand. + [897:1041] Pick up the green cabbage from the table with the right hand from the side at the middle. + [1041:1194] Put the green cabbage to the left of the croissant with the right hand facing top left from the front. + [1194:1380] Pick up the croissant from the table with the left hand from the top at the middle. + [1380:1473] Put the croissant to the left of the green cabbage with the left hand. + [1473:1572] Pick up the bag of juice from the table with the right hand using a side grip at the top from a diagonal angle. + [1572:1668] Put the bag of juice to the left of the white coffee cup and behind the green cabbage with the right hand right side up. + [1668:1725] Return to home with the right hand. + [1725:1797] Pick up the croissant from the table with the left hand at a diagonal angle grasping the middle. + [1797:1902] Put the croissant to the top left of the bag of juice with the left hand. + [1902:2037] Pick up the green cabbage from the table with the left hand from the top at the middle. + [2037:2175] Place the green cabbage with the left hand to the bottom left of the croissant facing top right from the front. + [2175:2403] Pick up the white coffee cup from the table with the left hand by the handle from the side. + [2403:2490] Dump the pink stuffed animal from the white coffee cup to the left of the green cabbage with the left hand. + [2490:2610] Put the white coffee cup in front of the pink stuffed animal with the left hand right side up with the front facing bottom left. + [2610:2751] Pick up the bag of juice from the table with the left hand using a side grip at the top. + [2751:2856] Put the bag of juice in front of the white coffee cup with the left hand right side up. + [2856:2961] Pick up the croissant from the table with the left hand from the top at the middle. + +### 2026-04-23-03-37-30-664000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['asparagus', 'blue stuffed toy', 'corn', 'green bag of chips', 'green mug', 'orange screwdriver', 'pink bowl'] + [0:99] Pick up the asparagus from the table with the left hand from the top at the middle. + [99:237] Put the asparagus to the left of the green mug with the left hand facing backwards by the tip. + [237:333] Pick up the blue stuffed animal from the table with the left hand from the top at the entire object. + [333:420] Put the blue stuffed animal in front of the green mug with the left hand facing bottom left with the front as the reference point. + [420:519] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [519:615] Put the orange screwdriver in front of the corn with the left hand facing forwards with the tip as the reference point. + [615:810] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [903:984] Pick up the green bag of chips from the table with the right hand at a diagonal angle grasping the top of the object. + [983:1059] Put the green bag of chips in front of the corn with the right hand facing backwards. + [1059:1266] Pick up the green mug from the table with the left hand from the side by the handle. + [1266:1506] Put the green mug to the center of the table with the left hand right side up with the front facing bottom right. + [1506:1641] Pick up the asparagus from the table with the left hand at a diagonal angle grasping the middle. + [1641:1767] Put the asparagus to the left of the orange screwdriver with the left hand with the tip facing bottom right. + [1767:1854] Pick up the blue stuffed animal from the table with the left hand using a side grip from the top. + [1854:1944] Place the blue stuffed animal behind the asparagus with the left hand facing bottom left from the front. + [1944:2061] Pick up the pink bowl from the table with the left hand using a lip grip from the left at a diagonal angle. + [2061:2172] Put the pink bowl to the left of the blue stuffed animal with the left hand. + [2172:2262] Pick up the asparagus from the table with the left hand from the top at the middle. + [2262:2391] Put the asparagus behind the blue stuffed animal with the left hand facing bottom right with the tip as the reference point. + [2391:2646] Pick up the green mug from the table with the right hand by the handle from the side. + [2646:2793] Put the green mug to the right of the corn with the right hand right side up with the front facing backwards. + [2793:2865] Return to home with the right hand. + [2865:2976] Pick up the blue stuffed animal from the table with the left hand from the top grasping the entire object. + +### 2026-04-23-03-39-40-493000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['asparagus', 'blue stuffed toy', 'corn', 'green bag of chips', 'green mug', 'orange screwdriver', 'pink bowl'] + [0:93] Pick up the orange screwdriver from the table with the right hand from the side at the middle. + [225:375] Pick up the pink bowl from the table with the left hand using a side grip at the left in a diagonal angle. + [420:540] Put the pink bowl in front of the asparagus with the left hand. + [540:678] Pick up the blue stuffed animal from the table with the left hand using a side grip at the top from the side. + [678:741] Put the blue stuffed animal to the left of the asparagus with the left hand facing bottom right from the front. + [741:963] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [963:1095] Place the orange screwdriver to the right of the pink bowl with the right hand with its tip facing top left. + [1095:1329] Pick up the asparagus from the table with the left hand using a side grip at the bottom from the top. + [1329:1398] Put the asparagus inside the pink bowl with the left hand facing bottom left with the tip as the reference point. + [1398:1542] Pick up the orange screwdriver from the table with the right hand using a side grip at the top diagonally. + [1542:1644] Put the orange screwdriver to the right of the pink bowl with the right hand facing the tip top right. + [1644:1788] Pick up the corn from the table with the right hand at a diagonal angle from the middle. + [1857:1995] Pick up the green mug from the table with the right hand from the side by the handle. + [1995:2097] Put the green mug behind the corn with the handle facing backwards right side up using the right arm. + [2097:2172] Pick up the green bag of chips from the table with the right hand at a diagonal angle from the top of the object. + [2172:2289] Place the green bag of chips behind the pink bowl with the right hand facing backwards. + [2289:2400] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2400:2490] Put the corn to the left of the green mug with the right hand facing bottom right with the tip as the reference point. + [2490:2598] Pick up the orange screwdriver from the table with the right hand using a side grip from the top at the bottom. + [2598:2682] Put the orange screwdriver in front of the green mug with the right hand with its tip facing forwards. + [2682:2757] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right side. + [2757:2802] Dump the asparagus from the pink bowl in front of the corn with the right hand. + [2802:2901] Put the pink bowl to the right of the green mug with the right hand. + [2901:2973] Pick up the orange screwdriver from the table with the right hand at a diagonal angle grasping the middle. + +### 2026-04-23-03-42-31-355000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=14 | objects=['asparagus', 'blue stuffed toy', 'corn', 'green bag of chips', 'green coffee cup', 'pink bowl', 'screwdriver'] + [0:96] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [96:162] Put the asparagus in front of the green coffee cup with the tip facing top left using the right hand. + [162:261] Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [261:351] Place the screwdriver to the left of the asparagus with the right hand facing top left by the tip. + [441:483] Pick up the blue stuffed animal from the table with the left hand from the top at the entire object. + [483:546] Put the blue stuffed animal in front of the green bag of chips with the left hand facing backwards. + [546:642] Pick up the green bag of chips from the table with the left hand at a diagonal angle grasping the middle. + [642:717] Put the green bag of chips to the left of the blue stuffed animal with the left hand facing backwards. + [717:837] Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [837:939] Place the screwdriver to the left of the corn with the right hand facing top left with the tip as the reference point. + [939:1032] Pick up the asparagus from the table with the right hand at a diagonal angle grasping the middle. + [1032:1095] Put the asparagus inside the pink bowl with the right hand right side up. + [1095:1179] Pick up the green coffee cup from the table with the right hand by the handle from the side. + [1179:1341] Put the green coffee cup to the left of the screwdriver with the handle facing bottom right right side up using the right hand. + [1341:1431] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [1431:1488] Put the blue stuffed animal in front of the corn with the right hand facing bottom right from the front. + [1488:1569] Pick up the green bag of chips from the table with the left hand from the top at the middle. + [1569:1665] Put the green bag of chips to the left of the green coffee cup with the left hand facing backwards. + [1665:1806] Pick up the blue stuffed animal from the table with the left hand from the top around the entire object. + [1806:1890] Put the blue stuffed animal in front of the green bag of chips with the left hand facing bottom right from the front. + [1890:2016] Pick up the screwdriver from the table with the left hand using a side grip from the top at the bottom. + [2016:2175] Put the screwdriver to the left of the blue stuffed animal with the left hand facing top left by the tip. + [2175:2235] Return to home with the left hand. + [2235:2385] Pick up the corn from the table with the right hand from the top at the middle. + [2385:2466] Put the corn to the right of the green coffee cup with the tip facing backwards using the right hand. + [2466:2634] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right. + [2634:2730] Put the pink bowl to the right of the corn with the right hand. + [2730:2844] Pick up the corn from the table with the right hand from the top at the middle. + [2844:2952] Put the corn in front of the pink bowl with the right hand facing bottom left by the tip. + +### 2026-04-23-03-45-22-234000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['beige bowl', 'blue marker', 'carrot', 'gray stuffed toy'] + [0:153] Pick up the blue marker from the table with the left hand from the top at the middle. + [153:234] Put the blue marker to the left of the white cup with the left hand with its tip facing bottom right. + [234:366] Pick up the gray stuffed animal from the table with the left hand from the top at the middle. + [366:456] Put the gray stuffed animal with the front facing top left to the bottom left of the blue marker with the left hand. + [456:600] Pick up the carrot from the table with the left hand from the top at the middle. + [600:732] Put the carrot in front of the white cup and to the left of the screwdriver with the left hand facing forwards with the tip as the reference point. + [732:894] Pick up the beige bowl from the table with the left hand using a lip grip from the top at the left. + [894:1032] Put the beige bowl to the right of the screwdriver with the left hand. + [1032:1164] Pick up the blue marker from the table with the left hand from the top at the middle. + [1164:1245] Put the blue marker inside the beige bowl with the left hand. + [1245:1368] Pick up the carrot from the table with the left hand from the top at the middle. + [1368:1449] Put the carrot behind the screwdriver with the left hand facing forwards with the tip as the reference point. + [1449:1590] Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. + [1590:1635] Put the gray stuffed animal to the left of the screwdriver with the left hand facing top left from the front. + [1635:1797] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right. + [1797:1878] Dump the blue marker from the beige bowl to the right of the screwdriver with the right hand. + [1878:2010] Place the beige bowl to the right of the blue marker with the right hand. + [2010:2160] Pick up the carrot from the table with the left hand from the top at the middle. + [2160:2241] Put the carrot inside the beige bowl with the left hand facing top right with the tip as reference. + [2241:2361] Pick up the gray stuffed animal from the table with the left hand from the top at the middle. + [2361:2457] Put the gray stuffed animal to the bottom right of the blue marker with the left hand facing forwards. + [2457:2583] Pick up the gray stuffed animal from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [2583:2661] Put the gray stuffed animal to the right of the beige bowl with the right hand facing top right from the front. + [2661:2751] Pick up the beige bowl from the table with the right hand using a lip grip at the right side diagonally. + [2751:2847] Dump the carrot from the beige bowl to the right of the screwdriver with the right hand. + [2847:2955] Put the beige bowl in front of the gray stuffed animal with the right hand. + +### 2026-04-23-03-48-33-728000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['beige bowl', 'blue marker', 'carrot', 'gray stuffed toy', 'white cup'] + [0:150] Pick up the white cup from the table with the left hand from the side at the middle. + [150:285] Put the white cup to the right of the blue screwdriver with the left hand right side up with the front as the reference point. + [285:378] Pick up the blue marker from the table with the left hand from the top at the middle. + [378:534] Place the blue marker between the carrot and the blue screwdriver with the left hand facing forwards with the tip as the reference point. + [534:633] Pick up the carrot from the table with the left hand using a side grip at the bottom from a diagonal angle. + [753:927] Pick up the blue marker from the table with the left hand using a side grip at the top. + [927:1071] Put the blue marker in front of the blue screwdriver with the left hand facing top right with the tip as the reference point. + [1071:1224] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1224:1320] Put the gray stuffed animal in front of the beige bowl with the right hand facing forwards. + [1320:1458] Pick up the white cup from the table with the left hand by the left side using a lip grasp from the top. + [1458:1557] Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the orientation reference point. + [1557:1701] Pick up the gray stuffed animal from the table with the left hand from the top by grasping the entire object. + [1701:1821] Put the gray stuffed animal in front of the white cup with the left hand facing forwards. + [1821:1944] Pick up the carrot from the table with the left hand from the top at the middle. + [2058:2178] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [2178:2259] Put the blue marker to the right of the blue screwdriver with the left hand facing forwards with the tip as the reference point. + [2259:2358] Pick up the gray stuffed animal from the table with the left hand from the top at the middle. + [2358:2409] Put the gray stuffed animal behind the blue screwdriver with the left hand facing top left. + [2409:2490] Pick up the white cup from the table with the left hand using a lip grip from the top at the right side. + [2490:2547] Put the white cup in front of the blue screwdriver with the left hand right side up with the front as the orientation reference point. + [2547:2676] Pick up the beige bowl from the table with the right hand using a lip grip at the right side with a diagonal pick angle. + [2676:2739] Put the beige bowl to the right of the blue marker with the right hand. + [2739:2787] Return to home with the right hand. + [2787:2892] Pick up the white cup from the table with the left hand from the top at the left side using a lip grip. + [2892:3000] Put the white cup to the left of the gray stuffed animal with the left hand right side up with the front as the reference point. + +### 2026-04-23-03-52-30-479000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=11 | objects=['beige bowl', 'blue marker', 'carrot', 'gray stuffed toy', 'white cup'] + [0:201] Pick up the blue marker from the table with the left hand using a side grip at the bottom from a diagonal angle. + [201:369] Put the blue marker in front of the beige bowl with the left hand with its tip facing bottom right. + [369:534] Pick up the carrot from the table with the left hand at a diagonal angle from the middle. + [534:663] Put the carrot in front of the blue screwdriver with the left hand facing backwards. + [663:804] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp on the right side. + [804:876] Put the beige bowl to the right side of the table with the right hand. + [876:984] Pick up the blue marker from the table with the right hand using a side grip at the bottom from the top. + [983:1041] Put the blue marker inside the beige bowl with the right hand facing bottom right with the tip as the reference point. + [1041:1143] Pick up the carrot from the table with the left hand using a side grip at the top. + [1287:1434] Pick up the gray stuffed animal from the table with the left hand from the top around the entire object. + [1434:1536] Put the gray stuffed animal to the left of the carrot with the left hand facing forwards. + [1536:1665] Pick up the white cup from the table with the left hand from the top at the right side using a lip grip. + [1665:1782] Put the white cup behind the blue screwdriver with the left hand right side up with the front as the orientation reference point. + [1782:1995] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1995:2070] Put the gray stuffed animal to the right of the beige bowl with the right hand facing forwards with the front as the orientation reference point. + [2070:2142] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. + [2142:2235] Put the beige bowl behind the gray stuffed animal with the right hand. + [2235:2331] Pick up the carrot from the table with the right hand at a diagonal angle grasping the middle. + [2331:2460] Put the carrot to the left of the beige bowl with the right hand with its tip facing bottom right. + [2460:2673] Pick up the white cup from the table with the left hand using a lip grip from the top at the right side. + [2673:2796] Put the white cup to the left of the blue screwdriver with the left hand right side up with the front as the reference point. + +### 2026-04-23-03-58-10-520000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=9 | objects=['blue soda can', 'canned goods', 'pink coffee cup', 'white coffee cup'] + [0:99] Pick up the canned goods from the table with the left hand using a side grip at the top from a diagonal angle. + [99:207] Put the canned goods to the bottom left of the white coffee cup with the left hand. + [207:381] Pick up the blue soda can from the table with the left hand from the side at the middle. + [381:501] Put the blue soda can to the top left of the canned goods with the left hand. + [558:852] Pick up the white coffee cup from the table with the right hand using a lip grip from the top at the right side. + [852:972] Put the white coffee cup to the right of the pink coffee cup with the handle facing bottom left right side up using the right arm. + [1065:1119] Pick up the pink coffee cup from the table with the right hand from the top at the right side using a lip grip. + [1119:1299] Put the pink coffee cup to the top right of the white coffee cup with the handle facing backwards right side up using the right arm. + [1299:1464] Pick up the blue soda can from the table with the left hand using a side grip at the top from a diagonal angle. + [1464:1659] Put the blue soda can to the right of the canned goods with the left hand. + [1659:1809] Pick up the white coffee cup from the table with the right hand using a lip grasp from the top at the right. + [1809:2034] Put the white coffee cup to the bottom right of the pink coffee cup with the handle facing bottom left using the right hand. + [2034:2202] Pick up the blue soda can from the table with the right hand from the side at the middle. + [2202:2325] Put the blue soda can to the left of the pink coffee cup with the right hand. + [2325:2472] Pick up the canned goods from the table with the left hand using a side grip at the top diagonally. + [2472:2580] Put the canned goods to the bottom left of the blue soda can with the left hand. + [2580:2802] Pick up the white coffee cup from the table with the right hand using a lip grip from the right at a diagonal angle. + [2802:2901] Put the white coffee cup to the right of the pink coffee cup with the handle facing bottom right right side up with the right hand. + +### 2026-04-23-04-00-38-547000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=9 | objects=['blue soda can', 'canned goods', 'pink mug', 'white coffee cup'] + [0:156] Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. + [156:318] Put the blue soda can to the left of the canned goods with the right hand. + [318:429] Pick up the pink mug from the table with the right hand at the handle from the side. + [429:603] Put the pink mug behind the blue soda can with the handle facing backwards right side up with the right hand. + [603:756] Pick up the white coffee cup from the table with the right hand from the side by the handle. + [756:897] Put the white coffee cup on the top right side of the table with the right hand right side up with the front facing bottom right. + [897:1011] Pick up the canned goods from the table with the right hand using a side grip at the top from the side. + [1011:1116] Put the canned goods in front of the white coffee cup with the right hand. + [1116:1284] Pick up the blue soda can from the table with the left hand using a side grip at the top with a diagonal pick angle. + [1284:1419] Put the blue soda can to the left of the pink mug with the left hand. + [1419:1656] Pick up the canned goods from the table with the right hand at a diagonal angle grasping the middle. + [1656:1776] Put the canned goods between the pink mug and the white coffee cup with the right hand. + [1776:1971] Pick up the pink mug from the table with the right hand from the side by the handle. + [1971:2193] Put the pink mug in front of the canned goods with the handle facing backwards right side up using the right arm. + [2193:2367] Pick up the blue soda can from the table with the left hand from the side at the middle. + [2367:2487] Put the blue soda can to the left of the pink mug with the left hand. + [2487:2727] Pick up the pink mug from the table with the right hand from the side by the handle. + [2727:2886] Put the pink mug to the right of the white coffee cup with the handle facing backwards using the right hand right side up front. + +### 2026-04-23-04-03-27-173000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['blue soda can', 'pink mug', 'white coffee cup'] + [0:99] Pick up the pink mug from the table with the right hand from the side by the handle. + [99:219] Put the pink mug to the right of the white coffee cup with the handle facing bottom right right side up using the right arm. + [219:444] Pick up the blue soda can from the table with the left hand from the side at the middle. + [444:537] Put the blue soda can to the left of the canned goods with the left hand. + [537:735] Pick up the pink mug from the table with the right hand using a diagonal lip grasp on the right. + [735:936] Put the pink mug in front of the blue soda can with the handle facing bottom left using the right hand. + [936:1134] Pick up the white coffee cup from the table with the right hand by the handle from the side. + [1134:1284] Put the white coffee cup to the right of the canned goods with the right hand right side up with the front facing backwards. + [1284:1479] Pick up the pink mug from the table with the left hand from the side by the handle. + [1479:1671] Put the pink mug to the left of the blue soda can with the left hand right side up with the front facing backwards. + [1671:1824] Pick up the white coffee cup from the table with the right hand from the side by the handle. + [1824:1941] Put the white coffee cup in front of the blue soda can with the handle facing bottom right using the right hand. + [1941:2097] Pick up the blue soda can from the table with the right hand using a side grip at the top. + [2097:2229] Put the blue soda can to the right of the white coffee cup with the right hand. + [2229:2394] Pick up the pink mug from the table with the left hand by the handle from the side. + [2394:2547] Put the pink mug to the bottom left of the white coffe cup with the front right side up using the left hand. + [2547:2622] Return to home with the left hand. + [2622:2733] Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. + [2733:2832] Put the blue soda can to the right of the canned goods with the right hand. + [2832:2949] Pick up the white coffee cup from the table with the right hand by the handle from the side. + +### 2026-04-24-03-32-21-466000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['beige bowl', 'blue marker', 'corn', 'croissant', 'gray stuffed toy'] + [0:96] Pick up the croissant from the table with the left hand at a diagonal angle grasping the entire object. + [96:231] Place the croissant to the bottom left of the blue marker with the left hand. + [231:417] Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. + [417:513] Put the gray stuffed animal inside the beige bowl with the left hand facing top left from the front. + [513:708] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [708:810] Put the corn to the right of the beige bowl with the right hand facing top left. + [810:1023] Pick up the croissant from the table with the left hand from the top at the middle. + [1023:1185] Put the croissant in front of the corn with the left hand. + [1185:1407] Pick up the blue marker from the table with the left hand at a diagonal angle grasping the middle. + [1407:1635] Put the blue marker to the right of the croissant with the left hand facing forwards with the tip as the reference point. + [1635:1791] Pick up the croissant from the table with the right hand at a diagonal from the top of the object. + [1791:1848] Place the croissant to the right of the blue marker with the right hand. + [1848:1950] Pick up the corn from the table with the right hand from the top at the middle. + [2052:2175] Pick up the beige bowl from the table with the left hand using a lip grip from the left at a diagonal angle. + [2175:2301] Put the beige bowl to the right of the blue marker with the left hand. + [2301:2433] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [2433:2559] Place the croissant behind the corn with the right hand. + [2559:2712] Pick up the beige bowl from the table with the left hand using a lip grip from the top at the left. + [2712:2850] Place the beige bowl behind the blue marker with the left hand. + [2850:2916] Return to home with the left hand. + +### 2026-04-24-03-34-27-275000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['beige bowl', 'blue marker', 'corn', 'croissant', 'gray stuffed toy'] + [0:105] Pick up the corn from the table with the right hand at a diagonal angle from the middle. + [105:252] Put the corn to the right of the croissant with the right hand facing forwards with the tip as the reference point. + [252:378] Pick up the blue marker from the table with the right hand from the side at the middle. + [537:663] Pick up the croissant from the table with the right hand using a side grip at the bottom from a diagonal angle. + [663:762] Put the croissant in front of the beige bowl with the right hand. + [762:852] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [852:987] Put the blue marker to the left of the croissant with the right hand with its tip facing forwards. + [987:1098] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [1272:1368] Pick up the croissant from the table with the right hand using a side grip at the bottom diagonally. + [1368:1443] Put the croissant to the right of the beige bowl with the right hand. + [1443:1539] Pick up the beige bowl from the table with the right hand using a lip grip at the right side and a diagonal angle. + [1539:1614] Dump the gray stuffed animal from the beige bowl to the right of the blue marker with the right hand. + [1614:1710] Put the beige bowl to the right of the croissant with the right hand. + [1710:1785] Pick up the gray stuffed animal from the table with the right hand using a side grip at the top with a diagonal pick angle. + [1785:1842] Put the gray stuffed animal in front of the croissant with the right hand facing bottom right from the front. + [1842:1929] Pick up the blue marker from the table with the right hand at a diagonal angle grasping the middle. + [1929:2049] Put the blue marker between the corn and the croissant with the right hand facing forwards with the tip facing forwards. + [2049:2139] Pick up the corn from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2139:2304] Put the corn in front of the blue marker with the tip facing top left using the right hand. + [2304:2397] Pick up the beige bowl from the table with the right hand using a lip grip at the right side diagonally. + [2397:2550] Put the beige bowl to the left of the blue marker with the right hand. + [2550:2682] Pick up the gray stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2682:2763] Put the gray stuffed animal in front of the beige bowl with the right hand facing backwards relative to the front. + [2763:2850] Pick up the croissant from the table with the right hand at a diagonal angle grasping the middle. + [2850:2934] Place the croissant inside the beige bowl with the right hand. + +### 2026-04-24-03-36-34-784000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['beige bowl', 'blue marker', 'corn', 'croissant', 'gray stuffed toy'] + [0:141] Pick up the gray stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [141:249] Put the gray stuffed animal to the left of the beige bowl with the left hand facing bottom left with the front as the reference point. + [249:435] Pick up the blue marker from the table with the right hand using a side grasp at the bottom at a diagonal angle. + [435:582] Put the blue marker in front of the beige bowl with the tip facing forwards using the right arm. + [582:678] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [798:912] Pick up the beige bowl from the table with the right hand using a diagonal lip grasp at the right side. + [972:1116] Put the beige bowl in front of the gray stuffed animal with the right hand. + [1116:1224] Pick up the corn from the table with the right hand using a side grip at the bottom and a diagonal pick angle. + [1332:1428] Pick up the croissant from the table with the right hand using a side grip at the right in a diagonal pick. + [1557:1698] Pick up the beige bowl from the table with the left hand using a lip grip at the left side with a diagonal angle. + [1698:1800] Put the beige bowl to the left of the gray stuffed animal with the left hand. + [1800:1944] Pick up the gray stuffed animal from the table with the left hand from the top grasping the entire object. + [1944:2007] Put the gray stuffed animal inside the beige bowl with the left hand facing bottom left from the front. + [2007:2184] Pick up the blue marker from the table with the right hand using a side grip at the bottom in a diagonal pick. + [2184:2283] Put the blue marker inside the beige bowl with the right hand facing top left with the tip as the reference point. + [2283:2433] Pick up the beige bowl from the table with the left hand using a diagonal lip grasp at the left. + [2433:2544] Put the beige bowl to the left of the corn with the left hand. + [2544:2583] Return to home with the left hand. + [2583:2676] Pick up the croissant from the table with the right hand using a side grip at the bottom from a diagonal angle. + [2676:2796] Put the croissant behind the corn with the right hand. + [2796:2886] Pick up the corn from the table with the right hand at a diagonal angle grasping the middle. + [2886:3000] Put the corn behind the beige bowl with the right hand with the tip facing top right. + +### 2026-04-24-03-44-57-502000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['coffee pod', 'green bag of chips', 'silver bowl', 'white cup', 'yellow stuffed toy'] + [0:102] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [102:165] Put the yellow stuffed animal to the left of the small white coffee cup with the left hand facing top left from the front. + [165:336] Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. + [336:495] Put the white cup between the small white cup and the green bag of chips with the right hand right side up front. + [495:606] Pick up the green bag of chips from the table with the right hand at a diagonal angle from the top of the object. + [606:741] Put the green bag of chips in front of the white cup with the right hand facing bottom left. + [741:873] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right side. + [873:969] Put the silver bowl to the right of the white cup with the right hand right side up. + [968:1170] Pick up the coffee pod from the table with the left hand using a side grip from the top. + [1170:1278] Put the coffee pod to the left of the yellow stuffed animal with the left hand right side up with the front as the reference point. + [1278:1431] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [1431:1545] Place the yellow stuffed animal to the left of the coffee pod with the left hand facing top left with the front as the reference point. + [1545:1683] Pick up the green bag of chips from the table with the right hand from the top at the top of the object. + [1683:1827] Put the green bag of chips to the right of the silver bowl with the right hand facing backwards. + [1827:2019] Pick up the white cup from the table with the right hand using a lip grip from the top right. + [2019:2178] Put the white cup in front of the small white coffee cup with the right hand right side up front. + [2178:2262] Return to home with the right hand. + [2262:2352] Pick up the yellow stuffed animal from the table with the left hand from the top at the middle. + [2352:2541] Put the yellow stuffed animal to the left of the silver bowl with the left hand facing top right from the front. + [2541:2796] Pick up the coffee pod from the table with the left hand using a side grip at the top from the top. + [2871:3000] Return the left arm to home. + +### 2026-04-24-03-47-18-893000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['green bag of chips', 'silver bowl', 'white cup', 'yellow stuffed toy'] + [0:122] Pick up the silver bowl from the table with the right hand using a lip grip at the right side with a diagonal pick angle. + [122:216] Put the silver bowl behind the green bag of chips with the right hand. + [216:342] Pick up the yellow stuffed animal from the table with the right hand using a side grip at the bottom with a diagonal pick angle. + [342:411] Put the yellow stuffed animal to the right of the white cup with the right hand facing bottom right with the front as the reference point. + [411:606] Pick up the white cup from the table with the left hand using a top lip grasp on the left side. + [606:792] Put the white cup to the left of the white mug with the left hand right side up with the front as the reference point. + [792:936] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [936:1044] Put the yellow stuffed animal to the right of the white mug with the right hand facing bottom right from the front. + [1044:1125] Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. + [1125:1218] Put the green bag of chips to the right of the yellow stuffed animal with the right hand facing backwards. + [1218:1344] Pick up the silver bowl from the table with the right hand using a lip grasp at the bottom right in a diagonal pick. + [1344:1458] Put the silver bowl to the right of the green bag of chips with the right hand. + [1458:1563] Pick up the yellow stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1563:1626] Place the yellow stuffed animal inside the silver bowl with the right hand facing bottom right from the front. + [1626:1725] Pick up the green bag of chips from the table with the right hand from the top at the top of the object. + [1725:1806] Put the green bag of chips to the right of the white mug with the right hand facing backwards. + [1806:2103] Pick up the white cup from the table with the left hand from the middle using a side grasp. + [2103:2214] Put the white cup in front of the white mug with the left hand right side up front. + [2214:2403] Pick up the green bag of chips from the table with the right hand from the top at the top of the object. + [2403:2478] Put the green bag of chips to the left of the silver bowl with the right hand facing backwards. + [2478:2655] Pick up the silver bowl from the table with the right hand using a lip grip at the bottom right diagonal. + [2655:2760] Place the silver bowl behind the green bag of chips with the right hand right side up. + [2760:2907] Pick up the green bag of chips from the table with the right hand from the top at the top of the object. + +### 2026-04-24-03-50-07-606000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['coffee pod', 'green bag of chips', 'silver bowl', 'white coffee cup', 'white cup'] + [0:99] Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. + [99:210] Put the green bag of chips to the right of the silver bowl with the right hand facing backwards. + [210:297] Pick up the white cup from the table with the right hand using a diagonal lip grasp on the right side. + [297:423] Put the white cup to the bottom right of the green bag of chips with the right hand right side up with the front as the orientation reference point. + [423:585] Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle. + [585:699] Put the coffee pod in front of the silver bowl with the right hand right side up with the front as the orientation reference point. + [990:1035] Pick up the white coffee cup from the table by the handle at a diagonal angle with the left hand. + [1035:1179] Put the white coffee cup to the bottom left of the coffee pod with the handle facing bottom left right side up with the left hand. + [1179:1347] Pick up the white cup from the table with the right hand from the top at the right side using a lip grip. + [1347:1458] Put the white cup to the bottom right of the white coffee cup with the right hand right side up with the front as the reference point. + [1458:1602] Pick up the green bag of chips from the table with the right hand at a diagonal from the top of the object. + [1602:1728] Put the green bag of chips to the left of the white coffee cup with the right hand facing backwards. + [1728:1887] Pick up the silver bowl from the table with the right hand using a diagonal lip grasp on the right. + [1887:1995] Put the silver bowl to the right of the white cup with the right hand. + [1995:2157] Pick up the coffee pod from the table with the right hand at a diagonal angle grasping the middle. + [2157:2250] Put the coffee pod behind the green bag of chips with the right hand right side up with the front as the orientation reference point. + [2250:2388] Pick up the green bag of chips from the table with the left hand from the top at the top of the object. + [2388:2496] Place the green bag of chips to the left of the coffee pod with the left hand. + [2496:2703] Pick up the white coffee cup from the table with the right hand using a top right lip grasp. + [2703:3000] Put the white coffee cup to the top right of the coffee pod with the right hand right side up with the front as the reference point. + +### 2026-04-24-03-54-56-066000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=8 | objects=['orange screwdriver', 'pink bowl', 'pink mug', 'red marker', 'white coffee cup'] + [0:99] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [99:234] Put the orange screwdriver to the center of the table with the left hand with its tip facing bottom left. + [234:426] Pick up the white coffee cup from the table with the right hand at the handle from the side. + [426:639] Put the white coffee cup to the right of the pink mug with the handle facing bottom right right side up using the right arm. + [639:774] Pick up the pink mug from the table by the handle from the side with the right hand. + [942:1143] Pick up the orange screwdriver from the table with the left hand from the top at the middle. + [1143:1398] Put the orange screwdriver in front of the pink mug with the left hand facing top left with the tip as the reference point. + [1398:1590] Pick up the red marker from the table with the left hand from the top at the middle. + [1590:1770] Place the red marker to the left of the orange screwdriver with the left hand facing backwards with the tip as the reference point. + [1770:2025] Pick up the pink mug from the table with the right hand at a diagonal angle by the handle. + [2025:2238] Put the pink mug to the right of the pink bowl with the handle facing backwards right side up using the right hand. + [2238:2388] Pick up the white coffee cup from the table with the right hand using a diagonal grasp at the handle. + [2388:2505] Put the white coffee cup to the right of the pink mug with the handle facing backwards right side up using the right arm. + [2505:2700] Pick up the pink bowl from the table with the right hand using a lip grip at the bottom right diagonal. + [2700:3000] Put the pink bowl to the right of the orange screwdriver with the right hand. + +### 2026-04-24-03-57-13-805000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=8 | objects=['orange screwdriver', 'pink bowl', 'pink mug', 'red marker', 'white mug'] + [0:138] Pick up the red marker from the table with the right hand from the top at the middle. + [138:339] Put the red marker to the right of the asparagus with the right hand facing backwards with the tip as the reference point. + [339:450] Pick up the orange screwdriver from the table with the right hand from the top at the middle. + [450:561] Put the orange screwdriver in front of the asparagus with the right hand facing top left with the tip as the reference point. + [561:717] Pick up the pink bowl from the table with the right hand using a lip grip at the right side with a diagonal angle. + [717:819] Put the pink bowl in front of the white mug with the right hand. + [819:969] Pick up the pink mug from the table with the right hand from the side by the handle. + [968:1176] Put the pink mug to the left of the asparagus with the handle facing bottom right using the right hand right side up with the front as the reference point. + [1176:1380] Pick up the red marker from the table with the right hand at a diagonal angle grasping the middle. + [1380:1536] Put the red marker in front of the pink mug with the tip facing bottom left using the right hand. + [1536:1722] Pick up the white mug from the table with the right hand at a diagonal angle by the handle. + [1722:1935] Put the white mug to the right of the asparagus with the right hand right side up with the front facing backwards. + [1935:2091] Pick up the red marker from the table with the left hand from the top at the middle. + [2091:2289] Put the red marker to the left of the pink mug with the left hand facing backwards with the tip as the orientation reference point. + [2289:2490] Pick up the pink bowl from the table with the right hand using a diagonal lip grasp on the right. + [2490:2733] Put the pink bowl in front of the red marker and to the left of the orange screwdriver with the right hand. + [2733:3000] Return to home with the right hand. + +### 2026-04-24-04-01-56-892000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=9 | objects=['asparagus', 'orange screwdriver', 'pink mug', 'red marker', 'white coffee cup'] + [0:129] Pick up the pink mug from the table by the handle from the side with the right hand. + [129:255] Put the pink mug in front of the asparagus with the right hand right side up with the front facing bottom right. + [255:432] Pick up the pink mug from the table with the left hand using a lip grip at the top left from the top. + [432:576] Put the pink mug to the right of the pink bowl with the handle facing top right right side up using the left hand. + [576:729] Pick up the red marker from the table with the left hand from the top at the middle. + [729:876] Place the red marker behind the pink mug with the left hand with its tip facing bottom right. + [876:1041] Pick up the orange screwdriver from the table with the right hand from the top at the middle. + [1041:1170] Put the orange screwdriver in front of the asparagus with the right hand with the tip facing top left. + [1170:1314] Pick up the asparagus from the table with the right hand from the top at the middle. + [1314:1434] Put the asparagus to the right of the orange screwdriver with the right hand facing forwards with the tip as the reference point. + [1434:1659] Pick up the white coffee cup from the table with the right hand using a side grasp at the handle. + [1659:1875] Put the white coffee cup behind the asparagus with the handle facing bottom right right side up using the right arm. + [1875:2118] Pick up the pink mug from the table with the left hand using a lip grip from the top left. + [2118:2340] Put the pink mug in front of the orange screwdriver with the handle facing top right right side up with the front as the reference using the left hand. + [2340:2499] Pick up the asparagus from the table with the right hand using a side grip at the top with a diagonal angle. + [2499:2604] Put the asparagus to the right of the pink mug with the right hand facing top left from the front. + [2604:2772] Pick up the white coffee cup from the table by the handle from the side with the right hand. + [2772:3000] Put the white coffee cup behind the orange screwdriver with the handle facing backwards right side up using the right hand. + +### 2026-04-24-04-05-21-616000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['blue screwdriver', 'blue stuffed toy', 'green mug', 'pink stuffed toy', 'white mug'] + [81:126] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [126:210] Put the pink stuffed animal in front of the blue stuffed animal with the right hand facing top left from the front. + [210:294] Pick up the blue stuffed animal from the table with the right hand at a diagonal angle grasping the top of the object. + [294:414] Put the blue stuffed animal inside the white mug with the right hand facing top left from the front. + [414:606] Pick up the green mug from the table with the left hand from the side by the handle. + [606:789] Place the green mug to the left of the pink stuffed animal with the left hand right side up with the front facing bottom left. + [789:909] Pick up the blue screwdriver from the table with the left hand from the top at the middle. + [909:1062] Put the blue screwdriver in front of the cabbage with the left hand facing top left by the tip. + [1062:1230] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1230:1326] Put the pink stuffed animal to the right of the white mug with the right hand facing forwards. + [1326:1434] Pick up the green mug from the table with the right hand using a diagonal lip grasp on the right. + [1434:1587] Put the green mug to the right of the pink stuffed animal with the right hand right side up with the front facing backwards. + [1587:1710] Pick up the blue screwdriver from the table with the right hand from the top at the middle. + [1710:1860] Put the blue screwdriver in front of the green mug with the front facing top right using the right hand. + [1860:1989] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [1989:2088] Put the pink stuffed animal in front of the white mug with the right hand facing forwards. + [2088:2208] Pick up the green mug from the table with the right hand from the side by the handle. + [2208:2328] Put the green mug to the right of the white mug with the handle facing backwards right side up using the right arm. + [2328:2430] Pick up the blue screwdriver from the table with the right hand from the top at the middle. + [2430:2541] Put the blue screwdriver to the right of the green mug with the tip facing top left using the right hand. + [2541:2622] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [2622:2715] Put the pink stuffed animal to the right of the blue screwdriver with the right hand facing top left from the front. + [2715:2910] Pick up the white mug from the table with the left hand from the side by the handle. + +### 2026-04-24-04-07-53-200000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=8 | objects=['blue screwdriver', 'cabbage', 'pink stuffed toy', 'white mug'] + [0:162] Pick up the cabbage from the table with the left hand from the top at the middle. + [162:303] Put the cabbage to the bottom left of the white mug with the left hand facing top right from the front. + [303:495] Pick up the blue screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [495:645] Put the blue screwdriver in front of the green mug with the right hand with its tip facing top right. + [645:798] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [798:864] Put the pink stuffed animal to the right of the blue screwdriver with the right hand facing forwards. + [864:1062] Pick up the white mug from the table with the left hand by the handle from the side. + [1062:1191] Place the white mug to the left of the green mug with the handle facing bottom left right side up using the left hand. + [1191:1338] Pick up the cabbage from the table with the left hand at a diagonal angle grasping the middle. + [1338:1473] Put the cabbage in front of the white mug with the left hand facing forwards with the front as the reference point. + [1473:1689] Pick up the blue screwdriver from the table with the right hand from the top at the middle. + [1860:2223] Pick up the white mug from the table with the left hand from the side by the handle. + [2223:2415] Put the white mug to the left of the cabbage with the left hand right side up with the front facing backwards. + [2415:2613] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2757:2841] Return to home with the right hand. + +### 2026-04-24-04-11-59-499000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['green cabbage', 'green coffee cup', 'pink stuffed toy', 'screwdriver'] + [0:114] Pick up the pink stuffed animal from the table with the right hand at a diagonal angle grasping the middle. + [114:198] Put the pink stuffed animal to the right of the green cabbage with the right hand facing forwards. + [198:429] Pick up the green coffee cup from the table with the left hand by the handle from the side. + [429:585] Put the green coffee cup to the top left of the white coffee cup with the handle facing backwards using the left hand. + [585:795] Pick up the green cabbage from the table with the right hand at a diagonal angle grasping the middle. + [795:882] Put the green cabbage to the right of the white coffee cup with the tip facing forwards using the right hand. + [882:1005] Pick up the pink stuffed animal from the table with the right hand from the top at the middle. + [1005:1074] Place the pink stuffed animal with the right hand to the top right of the green cabbage facing forwards. + [1074:1209] Pick up the screwdriver from the table with the right hand at a diagonal angle grasping the middle. + [1209:1389] Put the screwdriver to the right of the pink stuffed animal with the right hand with its tip facing top left. + [1389:1551] Pick up the green coffee cup from the table with the left hand using a lip grip from the top at the left. + [1551:1722] Put the green coffee cup to the left of the white coffee cup with the handle facing backwards right side up with the left hand. + [1722:1947] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [1947:2076] Put the pink stuffed animal with the front facing top left using the left hand to the top left of the green coffee cup. + [2076:2238] Pick up the screwdriver from the table with the right hand at a diagonal angle from the middle. + [2238:2442] Put the screwdriver behind the green cabbage with the right hand with its tip facing top right. + [2442:2604] Pick up the pink stuffed animal from the table with the left hand from the top at the middle. + [2604:2703] Place the pink stuffed animal behind the green coffee cup with the left hand facing forwards. + [2703:2820] Pick up the green coffee cup from the table with the left hand from the top at the left side using a lip grip. + [2820:2943] Put the green coffee cup to the left of the pink stuffed animal with the left hand right side up with the front facing backwards. + +### 2026-04-24-04-14-43-402000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=11 | objects=['doritos', 'green bowl', 'juice pouch', 'toy tomato', 'white plate'] + [0:96] Pick up the Doritos from the table with the right hand at a diagonal angle grasping the entire object. + [96:171] Put the Doritos inside the green bowl with the right hand right side up. + [171:318] Pick up the white plate from the table with the left hand using a diagonal lip grasp on the left. + [318:468] Put the white plate to the left of the pink plate with the left hand right side up with the front as the reference point. + [468:672] Pick up the toy tomato from the table with the left hand at a diagonal angle grasping the middle. + [672:768] Put the toy tomato on top of the pink plate right side up with the front as the reference using the left hand. + [768:945] Pick up the green bowl from the table with the left hand using a lip grip from the top at the left. + [945:1062] Put the green bowl in front of the pink plate with the left hand. + [1062:1161] Pick up the juice pouch from the table with the right hand using a side grip at the top right. + [1161:1404] Place the juice pouch to the right of the pink plate with the right hand right side up with the front as the reference point. + [1404:1584] Pick up the white plate from the table with the left hand using a lip grip at the bottom from the side. + [1584:1713] Put the white plate to the right of the green bowl with the left hand right side up with the front as the orientation reference point. + [1713:1827] Pick up the juice pouch from the table with the left hand using a side grasp at the top diagonally. + [1827:1932] Put the juice pouch on top of the white plate with the left hand right side up with the front as the reference point. + [1932:2049] Pick up the toy tomato from the pink plate with the left hand from the top grasping the entire object. + [2049:2142] Put the toy tomato to the right of the pink plate with the left hand right side up. + [2142:2262] Pick up the green bowl from the table with the left hand using a lip grasp from the top at the left. + [2262:2367] Dump the Doritos from the green bowl in front of the pink plate with the left hand. + [2367:2532] Put the green bowl to the left of the pink plate with the left hand. + [2532:2682] Pick up the toy tomato from the table with the left hand from the top grasping the entire object. + [2682:2787] Place the toy tomato inside the green bowl with the left hand. + [2787:2895] Pick up the Doritos from the table with the left hand using a side grip from the top. + [2895:2973] Put the Doritos on top of the pink plate with the left hand facing top left. + +### 2026-04-24-04-17-50-937000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=14 | objects=['doritos', 'green bowl', 'juice pouch', 'pink plate'] + [0:108] Pick up the juice pouch from the white plate with the right hand using a side grip at the bottom from the side. + [108:216] Put the juice pouch between the green bowl and the white plate with the right hand right side up. + [216:336] Pick up the doritos from the table with the left hand at a diagonal angle grasping the top of the object. + [336:411] Put the doritos on top of the pink plate with the left hand facing top left from the front. + [411:534] Pick up the green bowl from the table with the left hand using a lip grip at the bottom right from the top. + [534:645] Put the green bowl to the left of the pink plate with the left hand. + [645:819] Pick up the juice pouch from the table with the right hand using a side grip at the top diagonally. + [819:924] Place the juice pouch on top of the white plate with the right hand right side up with the front as the orientation reference point. + [924:1026] Pick up the doritos from the pink plate with the left hand from the top of the object using a top pick. + [1026:1101] Put the doritos to the right of the pink plate with the left hand facing left. + [1101:1188] Pick up the green bowl from the table with the left hand using a lip grip at the right side with a diagonal angle. + [1188:1281] Put the green bowl in front of the pink plate with the left hand. + [1281:1413] Pick up the pink plate from the table with the left hand from the top at the left side using a lip grip. + [1413:1536] Put the pink plate on the top left side of green bowl with the left hand right side up. + [1536:1644] Pick up the doritos from the table with the left hand from the top grasping the entire object. + [1644:1710] Put the doritos to the right of the green bowl with the left hand facing top left. + [1710:1848] Pick up the juice pouch from the white plate with the right hand using a side grip at the top from a diagonal angle. + [1848:1956] Put the juice pouch to the left of the white plate with the right hand right side up with the front as the reference point. + [1956:2088] Pick up the doritos from the table with the left hand using a side grip at the bottom left from the top. + [2088:2166] Put the doritos to the left of the juice pouch with the left hand facing left from the front. + [2166:2256] Pick up the green bowl from the table with the left hand using a lip grip at the bottom right from the top. + [2256:2334] Put the green bowl between the pink plate and the doritos with the left hand. + [2334:2448] Pick up the doritos from the table with the left hand from the top by grasping the entire object. + [2448:2580] Put the doritos in front of the pink plate with the left hand facing left. + [2580:2712] Pick up the juice pouch from the table with the left hand using a side grip from the top. + [2712:2823] Place the juice pouch on the center of the table with the left hand right side up. + [2823:2970] Pick up the juice pouch from table with the left hand using a side grip from the top. + +### 2026-04-24-04-27-06-747000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=13 | objects=['doritos', 'green bowl', 'juice pouch', 'white plate'] + [0:108] Pick up the juice pouch from the table with the left hand using a side grip from the top. + [108:204] Put the juice pouch in front of the green bowl with the left hand right side up with the front as the reference point. + [204:312] Pick up the doritos from the table with the right hand at a diagonal from the top of the object. + [312:390] Put the doritos on top of the white plate with the right hand facing top left. + [390:513] Pick up the juice pouch from the table with the left hand using a side grip from the top. + [513:582] Place the juice pouch with the left hand to the bottom left of the green bowl right side up. + [582:717] Pick up the doritos from the top of the white plate with the right hand at a diagonal angle grasping the top of the object. + [717:783] Put the doritos in front of the white plate with the right hand facing top left. + [783:912] Pick up the juice pouch from the table with the left hand at a diagonal angle from the middle. + [912:1017] Put the juice pouch in front of the green bowl with the left hand right side up with the front as the orientation reference point. + [1017:1128] Pick up the doritos from the table with the right hand at a diagonal angle grasping the top of the object. + [1128:1203] Put the doritos to the right of the white plate with the right hand facing top left. + [1203:1335] Pick up the white plate from the table with the right hand using a lip grip at the bottom right from the top. + [1335:1446] Place the white plate to the right of the doritos with the right hand right side up with the front as the reference point. + [1446:1572] Pick up the doritos from the table with the right hand from the top of the object at the top. + [1572:1656] Put the doritos to the bottom right of the white plate with the right hand facing top left from the front. + [1656:1776] Pick up the juice pouch from the table with the left hand from the top at the middle. + [1776:1869] Put the juice pouch in front of the pink plate with the left hand right side up with the front as the reference point. + [1869:1971] Pick up the green bowl from the table with the left hand using a lip grip from the top at the left. + [1971:2106] Place the green bowl to the left of the juice pouch with the left hand. + [2106:2298] Pick up the doritos from the table with the right hand at a diagonal from the top of the object. + [2298:2439] Put the doritos to the left of the white plate with the right hand facing forwards. + [2439:2559] Pick up the juice pouch from the table with the left hand from the top at the middle. + [2559:2661] Put the juice pouch to the left of the green bowl with the left hand right side up front. + [2661:2778] Pick up the doritos from the table with the right hand using a side grip at the right in a diagonal angle. + [2778:2892] Put the doritos in front of the white plate with the right hand facing forwards. + +### 2026-04-24-04-31-36-072000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=12 | objects=['blue soda can', 'brown stuffed toy', 'eggplant', 'white canned goods'] + [0:105] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [105:213] Place the eggplant to the left of the white canned goods with the left hand facing forwards with the tip as the reference point. + [213:309] Pick up the brown stuffed animal from the table with the left hand from the top at the middle. + [309:381] Put the brown stuffed animal in front of the eggplant with the left hand facing forwards from the front. + [381:498] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [498:612] Put the blue soda can to the right of the brown stuffed animal with the left hand. + [612:696] Pick up the brown stuffed animal from the table with the left hand from the top at the middle. + [696:783] Put the brown stuffed animal to the right of the blue soda can with the left hand facing top right from the front. + [783:903] Pick up the eggplant from the table with the left hand from the top at the middle. + [903:1002] Put the eggplant to the left of the blue soda can with the left hand facing top left. + [1002:1146] Pick up the blue soda can from the table with the left hand at a diagonal angle from the middle. + [1146:1272] Put the blue soda can behind the eggplant with the left hand. + [1272:1362] Pick up the brown stuffed animal from the table with the left hand from the top at the middle. + [1362:1437] Put the brown stuffed animal to the right of the white canned goods with the left hand facing top left from the front. + [1437:1596] Pick up the white canned goods from the table with the left hand from the side at the middle. + [1596:1701] Put the white canned goods in front of the brown stuffed animal with the left hand. + [1701:1908] Pick up the white canned goods from the table with the right hand using a side grip at the top from the side. + [1908:2061] Put the white canned goods to the right of the brown stuffed animal with the right hand. + [2061:2118] Return to home with the right hand. + [2118:2205] Pick up the eggplant from the table with the left hand from the top at the middle. + [2205:2364] Put the eggplant to the left of the blue soda can with the left hand facing forwards with the tip facing forwards. + [2364:2514] Pick up the blue soda can from the table with the left hand from the side at the middle. + [2514:2688] Put the blue soda can in front of the eggplant with the left hand. + [2688:2850] Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [2850:2928] Put the brown stuffed animal to the right of the blue soda can with the left hand facing left with the front as the reference point. + [2928:3000] Return to home with the left hand. + +### 2026-04-24-04-34-32-314000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=11 | objects=['blue soda can', 'brown stuffed toy', 'canned goods', 'eggplant'] + [0:114] Pick up the brown stuffed animal from the table with the left hand from the top at the entire object. + [114:180] Put the brown stuffed animal to the left of the eggplant with the left hand facing bottom left from the front. + [180:267] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [267:363] Put the eggplant to the left of the brown stuffed animal with the left hand facing top left. + [363:537] Pick up the blue soda can from the table with the left hand using a side grip at the top. + [537:690] Put the blue soda can to the right of the brown stuffed animal with the left hand. + [690:930] Pick up the canned goods from the table with the left hand from the side at the middle. + [930:1068] Put the canned goods to the right of the blue soda can with the left hand. + [1068:1221] Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the middle. + [1221:1428] Put the brown stuffed animal to the right of the canned goods with the left hand facing bottom left with the front as reference. + [1428:1575] Pick up the eggplant from the table with the left hand at a diagonal angle grasping the middle. + [1575:1674] Put the eggplant in front of the brown stuffed animal with the left hand facing forwards with the tip forwards. + [1674:1842] Pick up the canned goods from the table with the left hand at a diagonal from the middle. + [1842:2001] Put the canned goods behind the brown stuffed animal with the left hand. + [2001:2148] Pick up the brown stuffed animal from the table with the right hand diagonally grasping the entire object. + [2148:2208] Put the brown stuffed animal to the right of the eggplant with the right hand facing bottom left from the front. + [2208:2325] Pick up the canned goods from the table with the right hand from the side at the middle. + [2325:2415] Put the canned goods behind the brown stuffed animal with the right hand. + [2415:2577] Pick up the blue soda can from the table with the left hand at a diagonal angle grasping the middle. + [2577:2718] Put the blue soda can behind the eggplant and to the left of the canned goods with the left hand. + [2718:2886] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [2886:2952] Put the brown stuffed animal to the right of the canned goods with the right hand facing bottom left with the front as the reference point. + +### 2026-04-24-04-37-15-697000 | scene=pick_place_diverse | desc='set 2 data collection day 2' | picks=10 | objects=['blue soda can', 'brown stuffed toy', 'canned goods', 'eggplant'] + [0:150] Pick up the brown stuffed animal from the table with the right hand at a diagonal angle grasping the entire object. + [150:255] Put the brown stuffed animal in front of the blue soda can with the right hand facing left with the front as the reference point. + [255:447] Pick up the blue soda can from the table with the right hand using a side grip at the top diagonally. + [447:588] Put the blue soda can to the bottom left of the brown stuffed animal with the right hand. + [588:774] Pick up the eggplant from the table with the left hand from the top at the middle. + [774:906] Put the eggplant to the left of the blue soda can with the left hand facing forwards with the tip as the orientation reference point. + [906:1056] Pick up the blue soda can from the table with the left hand from the side at the middle. + [1056:1182] Put the blue soda can to the left of the eggplant with the left hand. + [1182:1299] Pick up the brown stuff toy from the table with the left hand from the top by grasping the entire object. + [1299:1374] Place the brown stuffed animal to the right of the eggplant with the left hand facing bottom left from the front. + [1374:1551] Pick up the canned goods from the table with the right hand from the side at the middle. + [1551:1701] Put the canned goods to the right of the brown stuffed animal with the right hand. + [1701:1884] Pick up the brown stuffed animal from the table with the left hand from the top grasping the entire object. + [1884:1980] Put the brown stuffed animal in front of the eggplant with the left hand facing bottom right from the front. + [1980:2124] Pick up the blue soda can from the table with the left hand from the side at the middle. + [2124:2289] Put the blue soda can behind the eggplant with the left hand. + [2289:2496] Pick up the brown stuffed animal from the table with the left hand at a diagonal angle grasping the entire object. + [2496:2592] Place the brown stuffed animal to the left of the eggplant with the left hand facing backwards relative to the front. + [2592:2775] Pick up the canned goods from the table with the right hand using a side grip at the top. + [2775:2847] Put the canned goods to the right of the eggplant with the right hand. + +### 2026-05-11-21-14-21-049000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-17-50-946000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-21-28-627000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-29-40-946000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-31-52-999000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-35-55-684000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-39-00-800000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-56-11-085000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-21-59-56-771000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-03-57-414000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-09-45-789000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-12-02-421000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-19-50-654000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-22-19-366000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-26-50-596000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-34-50-472000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-37-04-384000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) + +### 2026-05-11-22-41-48-826000 | scene=pick_place_diverse | desc='set 3 base data' | picks=0 | objects=[] + (no annotations) diff --git a/egomimic/ricl/episode_lists/fold_cup_segments.csv b/egomimic/ricl/episode_lists/fold_cup_segments.csv new file mode 100644 index 000000000..e622a28e6 --- /dev/null +++ b/egomimic/ricl/episode_lists/fold_cup_segments.csv @@ -0,0 +1,201 @@ 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000000000..a3c2080fb --- /dev/null +++ b/egomimic/ricl/fold_cup_splits.py @@ -0,0 +1,30 @@ +"""Episode splits for the fold_clothes -> cup_on_saucer OOD RICL experiment. + +Train (both models, parametric): task=fold_clothes, eva_bimanual. +Eval (held out): task=cup_on_saucer, eva_bimanual. The baseline never trains on +cup_on_saucer; RICL retrieves cup_on_saucer demos at eval (bank == cup, LOSO episode). +Episode-hash subsets (100 each, eval_success only) are frozen in episode_lists/*.json. +""" + +from __future__ import annotations + +import json +from functools import lru_cache +from pathlib import Path + +_LISTS = Path(__file__).with_name("episode_lists") + + +@lru_cache(maxsize=1) +def fold_train_episode_hashes() -> frozenset[str]: + return frozenset(json.loads((_LISTS / "fold_train_episodes.json").read_text())) + + +@lru_cache(maxsize=1) +def cup_eval_episode_hashes() -> frozenset[str]: + return frozenset(json.loads((_LISTS / "cup_eval_episodes.json").read_text())) + + +@lru_cache(maxsize=1) +def all_fold_cup_episode_hashes() -> frozenset[str]: + return fold_train_episode_hashes() | cup_eval_episode_hashes() diff --git a/egomimic/ricl/foldbag_cup_splits.py b/egomimic/ricl/foldbag_cup_splits.py new file mode 100644 index 000000000..624aa09b7 --- /dev/null +++ b/egomimic/ricl/foldbag_cup_splits.py @@ -0,0 +1,49 @@ +"""Episode splits for the (fold_clothes + bag_groceries) -> cup_on_saucer RICL experiment. + +Train (both models, parametric): task in {fold_clothes, bag_groceries}, eva_bimanual. +Eval (held out): task=cup_on_saucer, eva_bimanual. The baseline never trains on +cup_on_saucer; RICL retrieves cup_on_saucer demos at eval (bank == cup, LOSO episode). + +This is the cross-task generalization setting RICL needs (genuinely novel eval task +where the parametric baseline is weak), distinct from the within-group pickplace LOSO +that could not separate retrieval from the generic-interp confound. + +Episode-hash subsets (100 each, is_eval=False / eval_success=True, zarr present) are +frozen in episode_lists/{fold_train,bag_train,cup_eval}_episodes.json. fold_train and +cup_eval reuse the lists from the earlier fold-only experiment (fold_cup_splits). +""" + +from __future__ import annotations + +import json +from functools import lru_cache +from pathlib import Path + +_LISTS = Path(__file__).with_name("episode_lists") + + +@lru_cache(maxsize=1) +def fold_train_episode_hashes() -> frozenset[str]: + return frozenset(json.loads((_LISTS / "fold_train_episodes.json").read_text())) + + +@lru_cache(maxsize=1) +def bag_train_episode_hashes() -> frozenset[str]: + return frozenset(json.loads((_LISTS / "bag_train_episodes.json").read_text())) + + +@lru_cache(maxsize=1) +def foldbag_train_episode_hashes() -> frozenset[str]: + """Combined train pool: fold_clothes + bag_groceries episodes.""" + return fold_train_episode_hashes() | bag_train_episode_hashes() + + +@lru_cache(maxsize=1) +def cup_eval_episode_hashes() -> frozenset[str]: + return frozenset(json.loads((_LISTS / "cup_eval_episodes.json").read_text())) + + +@lru_cache(maxsize=1) +def all_foldbag_cup_episode_hashes() -> frozenset[str]: + """Every episode touched by this experiment (for the embedding sweep).""" + return foldbag_train_episode_hashes() | cup_eval_episode_hashes() diff --git a/egomimic/ricl/metrics.py b/egomimic/ricl/metrics.py new file mode 100644 index 000000000..9c41b2517 --- /dev/null +++ b/egomimic/ricl/metrics.py @@ -0,0 +1,139 @@ +"""RICL eval metrics: retrieval-conditioned vs zero-context floor. (P4) + +Mirrors ``ricl_openpi/scripts/eval_cross_embodiment.py``: Cartesian action +MSE/L1, gripper accuracy, and a bank-vs-floor comparison (retrieval helps when +loss/MSE drop relative to the k=0 zero-context floor; an optional within- +embodiment run is the oracle ceiling). Import-light (numpy, optional torch) so +the math is unit-testable on a CPU box without the model/data. + +eva ``actions_cartesian`` is 14-D bimanual: per ``PI._extract_xyz`` the layout is +right [xyz(3) rot(3) grip(1)] then left [xyz(3) rot(3) grip(1)], so the gripper +dims are indices (6, 13). +""" + +from __future__ import annotations + +import numpy as np + +EVA_GRIPPER_INDICES = (6, 13) + + +def _np(x) -> np.ndarray: + try: + import torch + + if isinstance(x, torch.Tensor): + return x.detach().cpu().float().numpy() + except Exception: + pass + return np.asarray(x, dtype=np.float32) + + +def _is_num(x) -> bool: + try: + float(_np(x).reshape(-1)[0]) if _np(x).ndim else float(x) + return _np(x).size == 1 + except Exception: + return False + + +def cartesian_mse(pred, gt) -> float: + p, g = _np(pred), _np(gt) + return float(np.mean((p - g) ** 2)) + + +def cartesian_l1(pred, gt) -> float: + p, g = _np(pred), _np(gt) + return float(np.mean(np.abs(p - g))) + + +def gripper_accuracy( + pred, gt, gripper_indices=EVA_GRIPPER_INDICES, threshold: float = 0.0 +) -> float: + """Binarized agreement on the gripper dims (open/closed) at ``threshold``.""" + p, g = _np(pred), _np(gt) + idx = list(gripper_indices) + if p.shape[-1] <= max(idx): + return float("nan") # not the 14-D bimanual layout; skip + return float(np.mean((p[..., idx] > threshold) == (g[..., idx] > threshold))) + + +def compare_to_floor( + retrieval: dict, + floor: dict, + lower_is_better=("mse", "loss", "l1"), +) -> dict: + """Per-key deltas (retrieval - floor) + a headline 'retrieval_helps' summary. + + For metrics where lower is better, a negative delta means retrieval improved + over the zero-context floor. ``mean_improvement`` is the average drop (positive + = better) across those metrics. + """ + out = {} + improvements = [] + for k, rv in retrieval.items(): + if k in floor and _is_num(rv) and _is_num(floor[k]): + d = float(_np(rv).reshape(-1)[0]) - float(_np(floor[k]).reshape(-1)[0]) + out[f"delta_{k}"] = d + if any(s in k.lower() for s in lower_is_better): + improvements.append(-d) # positive = retrieval better + out["retrieval_helps"] = bool(improvements) and float(np.mean(improvements)) > 0.0 + out["mean_improvement"] = float(np.mean(improvements)) if improvements else 0.0 + return out + + +def strip_ricl_keys(batch: dict) -> dict: + """Return a copy of a processed batch with ``ricl_*`` keys removed (k=0 floor). + + Works on the per-embodiment processed batch ``{embodiment_id: {key: tensor}}``. + PIRicl with no ``ricl_*`` keys behaves exactly like the base PI (zero-context). + """ + out = {} + for emb_id, sub in batch.items(): + if isinstance(sub, dict): + out[emb_id] = {k: v for k, v in sub.items() if not k.startswith("ricl_")} + else: + out[emb_id] = sub + return out + + +def shuffle_ricl_keys(batch: dict, seed: int): + """Derangement-permute the per-query ``ricl_retrieved_*`` blocks across the batch. + + A random-retrieval *control*: each query keeps its own target but receives + **another** query's k retrieved demos -> the same splice path, neighbors no + longer kNN-matched to the query. Comparing retrieval (kNN) vs random isolates + whether retrieval *quality* (similarity) matters, not just the presence of + in-context context. + + Call this on the **raw** ``{emb_name: {key: tensor}}`` batch *before* + ``process_batch_for_training`` (like :func:`strip_ricl_keys`), so the shuffled + demos get spliced/tokenized into the prompt. Returns ``None`` if any embodiment + has batch size < 2 (a derangement is impossible, so the control is undefined). + + The shift is a cyclic roll (offset in ``[1, B-1]``) -- a guaranteed derangement + (no query keeps its own neighbors) and deterministic given ``seed`` so the + comparison is reproducible. + """ + import torch + + out = {} + for emb_name, sub in batch.items(): + if not isinstance(sub, dict): + out[emb_name] = sub + continue + ricl_keys = [k for k in sub if k.startswith("ricl_")] + if not ricl_keys: + out[emb_name] = dict(sub) + continue + ref = sub[ricl_keys[0]] + B = ref.shape[0] + if B < 2: + return None + offset = 1 + (seed % (B - 1)) + perm = torch.roll(torch.arange(B, device=ref.device), shifts=offset) + new = dict(sub) + for k in ricl_keys: + new[k] = sub[k].index_select(0, perm) + out[emb_name] = new + return out diff --git a/egomimic/ricl/pickplace_splits.py b/egomimic/ricl/pickplace_splits.py new file mode 100644 index 000000000..fd58af4aa --- /dev/null +++ b/egomimic/ricl/pickplace_splits.py @@ -0,0 +1,89 @@ +"""Segment-level splits for the pick/place RICL experiment (eva_bimanual). + +Train/val and eval are disjoint *(verb, object, hand)* segment groups, all inside +``pick_place`` episodes. Filtering is frame-level (``SegmentFilteredDataset``): +one episode can contain both a train and an eval segment, so we keep only the +frames whose segment matches the split's groups — episode-hash overlap between +splits never leaks frames. + +Train/VAL : pick blue stuffed toy (L), pick white cup (R), + place eggplant (L), place green bowl (R) +EVAL : pick croissant (L), pick doritos (R), + place juice pouch (L), place pink mug (R) + +Train and VAL share the four train groups; the episodes carrying those groups are +split ~90/10 into held-out valid episodes (deterministic by md5 of the hash), so +validation loss is measured on NEW episodes, never on a trained frame. +""" + +from __future__ import annotations + +import csv +import hashlib +from functools import lru_cache +from pathlib import Path + +SEGMENTS_CSV = Path(__file__).with_name("episode_lists") / "action_segments.csv" +BY = ("verb", "object", "hand") + +TRAIN_GROUPS = ( + ("pick", "blue stuffed toy", "left"), + ("pick", "white cup", "right"), + ("place", "eggplant", "left"), + ("place", "green bowl", "right"), +) + +EVAL_GROUPS = ( + ("pick", "croissant", "left"), + ("pick", "doritos", "right"), + ("place", "juice pouch", "left"), + ("place", "pink mug", "right"), +) + +# Hold out ~1/VALID_FRACTION_DENOM of the train-group episodes for validation. +VALID_FRACTION_DENOM = 10 + + +def _episode_hashes(groups: tuple[tuple[str, str, str], ...]) -> frozenset[str]: + allowed = set(groups) + eps: set[str] = set() + with SEGMENTS_CSV.open(newline="") as f: + for row in csv.DictReader(f): + if tuple(row[col] for col in BY) in allowed: + eps.add(row["episode"]) + return frozenset(eps) + + +def _is_valid_episode(episode_hash: str) -> bool: + """Deterministic held-out flag, stable across runs (no RNG seed plumbing).""" + digest = hashlib.md5(episode_hash.encode()).hexdigest() + return int(digest, 16) % VALID_FRACTION_DENOM == 0 + + +@lru_cache(maxsize=1) +def _train_group_episodes() -> frozenset[str]: + return _episode_hashes(TRAIN_GROUPS) + + +@lru_cache(maxsize=1) +def train_episode_hashes() -> frozenset[str]: + """Train-group episodes minus the held-out validation episodes.""" + return frozenset(h for h in _train_group_episodes() if not _is_valid_episode(h)) + + +@lru_cache(maxsize=1) +def valid_episode_hashes() -> frozenset[str]: + """Held-out train-group episodes (same groups, NEW episodes).""" + return frozenset(h for h in _train_group_episodes() if _is_valid_episode(h)) + + +@lru_cache(maxsize=1) +def eval_episode_hashes() -> frozenset[str]: + """Episodes carrying the held-out eval groups.""" + return _episode_hashes(EVAL_GROUPS) + + +@lru_cache(maxsize=1) +def all_pickplace_episode_hashes() -> frozenset[str]: + """Every episode touched by this experiment (for the embedding sweep).""" + return train_episode_hashes() | valid_episode_hashes() | eval_episode_hashes() diff --git a/egomimic/ricl/retrieval.py b/egomimic/ricl/retrieval.py new file mode 100644 index 000000000..f491dad74 --- /dev/null +++ b/egomimic/ricl/retrieval.py @@ -0,0 +1,677 @@ +"""RICL retrieval index: DINOv2(base_0_rgb) -> cKDTree -> per-query top-k cache. (P1) + +Pipeline +-------- +1. For every bank + query episode, take per-frame DINOv2 patch tokens of the + ``base_0_rgb`` view (zarr ``observations.embeddings.dinov2.front_1``, + shape ``(T, 256, 768)``) and pool the 16x16 patch grid into an 8x8 grid of + super-patches, concatenated to a ``(T, 49152)`` descriptor — ricl_openpi's + ``EMBEDDING_TYPE='64PATCHES'``. Raw L2 metric, **no** L2-normalization + (matching its autofaiss ``metric_type='l2'`` index). +2. Per *task group* (from ``human_robot_pairs.json``) build a ``cKDTree`` over the + bank frames and, for each query frame, store the top-k nearest bank frames. +3. Save a cache keyed by query ``episode_hash`` that the RICL collate reads at + train/eval time to fetch the retrieved (image, state, action) blocks. + +Cross-embodiment (the headline): **bank = aria (human)**, **query = eva (robot)**. +Within-embodiment sanity (D0): bank = eva, query = eva. + +Design notes +------------ +- ``base_0_rgb`` is the only view both embodiments share (eva front exterior vs + aria egocentric); see ``egomimic/algo/pi.py`` / ``rldb/embodiment/{eva,human}.py``. +- Heavy deps (torch for DINOv2, zarr/boto3 for data) are imported **lazily** so + the pure index logic runs with just numpy+scipy. Run the self-test with + ``python -m egomimic.ricl.retrieval --smoke`` (no GPU / no data). +- The encoder replicates ricl_openpi's reference + (``torch.hub dinov2_vitb14``, resize-with-pad 224, ImageNet normalize, + ``forward_features()['x_norm_patchtokens']``); the in-repo embed pass is + ``egomimic/scripts/embedding_process/dinov2_embedding.py``. +""" + +from __future__ import annotations + +import argparse +import json +import os +from dataclasses import dataclass, field +from typing import Callable, Sequence + +import numpy as np + +PAIRS_JSON_DEFAULT = os.path.join( + os.path.dirname(os.path.dirname(__file__)), "scripts", "human_robot_pairs.json" +) +DINOV2_ZARR_KEY = "observations.embeddings.dinov2.front_1" # patch tokens (T, 256, 768) +TOKEN_DIM = 768 # DINOv2 ViT-B/14 hidden dim +EMBED_DIM = 64 * TOKEN_DIM # 64-super-patch descriptor (ricl_openpi 64PATCHES) + +# --------------------------------------------------------------------------- +# Pooling +# --------------------------------------------------------------------------- + + +def pool_patch_embeddings( + emb, method: str = "64patches", l2_normalize: bool = False +) -> np.ndarray: + """Pool per-frame patch-token embeddings to a single per-frame descriptor. + + Args: + emb: ``(T, N, D)`` patch tokens (DINOv2: N=256, D=768) or already-pooled + ``(T, D')``. + method: ``64patches`` | ``mean`` | ``max`` | ``cls`` (``cls`` = token 0). + ``64patches`` replicates ricl_openpi's ``EMBEDDING_TYPE='64PATCHES'``: + the sqrt(N) x sqrt(N) patch grid is averaged into an 8x8 grid of + super-patches and concatenated -> ``(T, 64*D)``. + l2_normalize: if True, unit-normalize each frame vector (cosine + retrieval). ricl_openpi indexes RAW descriptors with an L2 metric, + so the default is False. + + Returns: + ``(T, 64*D)`` float32 for ``64patches``, else ``(T, D)``. + """ + emb = np.asarray(emb, dtype=np.float32) + if emb.ndim == 3: + if method == "64patches": + t, n, d = emb.shape + side = int(round(n**0.5)) + if side * side != n or side % 8 != 0: + raise ValueError( + "64patches needs a square patch grid divisible into 8x8 " + f"blocks; got N={n}" + ) + blk = side // 8 + # (T, 8, blk, 8, blk, D) -> mean each blk x blk block; row-major + # block order concatenated along features == ricl_openpi + # utils.embed()'s 64PATCHES loop. + v = emb.reshape(t, 8, blk, 8, blk, d).mean(axis=(2, 4)).reshape(t, 64 * d) + elif method == "mean": + v = emb.mean(axis=1) + elif method == "max": + v = emb.max(axis=1) + elif method == "cls": + v = emb[:, 0, :] + else: + raise ValueError(f"unknown pool method {method!r}") + elif emb.ndim == 2: + v = emb + else: + raise ValueError(f"expected (T,N,D) or (T,D), got shape {emb.shape}") + if l2_normalize: + v = v / np.clip(np.linalg.norm(v, axis=-1, keepdims=True), 1e-8, None) + return np.ascontiguousarray(v, dtype=np.float32) + + +# --------------------------------------------------------------------------- +# kNN tree (scipy cKDTree with a numpy brute-force fallback) +# --------------------------------------------------------------------------- + + +class _BruteForceTree: + """Minimal cKDTree-compatible fallback (used only if scipy is unavailable).""" + + def __init__(self, data: np.ndarray): + self.data = np.ascontiguousarray(data, dtype=np.float32) + + def query(self, x, k: int = 1): + x = np.atleast_2d(np.asarray(x, dtype=np.float32)) + # (Q, N) squared distances + d2 = ( + (x * x).sum(1)[:, None] + - 2.0 * x @ self.data.T + + (self.data * self.data).sum(1)[None, :] + ) + k = min(k, self.data.shape[0]) + idx = np.argpartition(d2, kth=k - 1, axis=1)[:, :k] + # sort the k by true distance + order = np.argsort(np.take_along_axis(d2, idx, axis=1), axis=1) + idx = np.take_along_axis(idx, order, axis=1) + dist = np.sqrt(np.clip(np.take_along_axis(d2, idx, axis=1), 0.0, None)) + return dist, idx + + +def make_tree(vectors: np.ndarray): + """Build a cKDTree (or brute-force fallback) over ``(N, D)`` vectors.""" + vectors = np.ascontiguousarray(vectors, dtype=np.float32) + try: + from scipy.spatial import cKDTree + + return cKDTree(vectors) + except Exception: # pragma: no cover - scipy is a hard dep in EgoVerse + return _BruteForceTree(vectors) + + +# --------------------------------------------------------------------------- +# Index: bank vectors + per-row (episode_hash, frame_idx) refs +# --------------------------------------------------------------------------- + + +@dataclass +class BankRefs: + """Per-bank-row provenance, aligned with the rows fed to the tree.""" + + episode_hash: np.ndarray # (N,) int: + return int(self.episode_hash.shape[0]) + + +class RetrievalIndex: + """cKDTree over bank frame vectors + their (episode_hash, frame_idx) refs.""" + + def __init__(self, vectors: np.ndarray, refs: BankRefs): + assert vectors.shape[0] == len(refs), "vectors/refs length mismatch" + self.dim = int(vectors.shape[1]) + self.refs = refs + self.tree = make_tree(vectors) + + def query(self, query_vectors: np.ndarray, k: int): + """Top-k bank rows for each query vector. + + Returns ``(hashes, frames, dists)`` each shaped ``(Q, k)``. When the bank + has fewer than k rows the trailing columns are padded (``""`` / ``-1`` / + ``inf``). + """ + q = np.atleast_2d(np.asarray(query_vectors, dtype=np.float32)) + n = len(self.refs) + kk = min(k, n) + dist, idx = self.tree.query(q, k=kk) + dist = np.atleast_2d(dist) + idx = np.atleast_2d(idx).astype(np.int64) + # scipy returns shape (Q,) when kk==1; normalize to (Q, kk) + if dist.shape != (q.shape[0], kk): + dist = dist.reshape(q.shape[0], kk) + idx = idx.reshape(q.shape[0], kk) + hashes = self.refs.episode_hash[idx] + frames = self.refs.frame_idx[idx].astype(np.int32) + if kk < k: # pad to a fixed width k + pad = k - kk + hashes = np.pad(hashes, ((0, 0), (0, pad)), constant_values="") + frames = np.pad(frames, ((0, 0), (0, pad)), constant_values=-1) + dist = np.pad(dist, ((0, 0), (0, pad)), constant_values=np.inf) + return hashes, frames, dist.astype(np.float32) + + +def index_from_episodes( + episode_hashes: Sequence[str], + vectors_provider: Callable[[str], np.ndarray], +) -> RetrievalIndex: + """Stack pooled vectors from several bank episodes into one RetrievalIndex.""" + vecs, hsh, frm = [], [], [] + for h in episode_hashes: + v = np.asarray(vectors_provider(h), dtype=np.float32) + if v.ndim != 2: + raise ValueError( + f"provider for {h} returned shape {v.shape}, expected (T,D)" + ) + vecs.append(v) + hsh.append(np.full(v.shape[0], h, dtype=object)) + frm.append(np.arange(v.shape[0], dtype=np.int32)) + if not vecs: + raise ValueError("no bank episodes provided") + vectors = np.concatenate(vecs, axis=0) + refs = BankRefs( + episode_hash=np.asarray(np.concatenate(hsh)).astype("U"), + frame_idx=np.concatenate(frm), + ) + return RetrievalIndex(vectors, refs) + + +# --------------------------------------------------------------------------- +# Task groups from human_robot_pairs.json +# --------------------------------------------------------------------------- + + +@dataclass +class TaskGroup: + """A retrieval scope: a bank (episodes searched) + queries (episodes scored).""" + + group_id: str + bank_hashes: list[str] + query_hashes: list[str] + meta: dict = field(default_factory=dict) + + +def load_pairs(path: str = PAIRS_JSON_DEFAULT) -> dict: + with open(path) as f: + return json.load(f) + + +def groups_from_pairs(pairs: dict, mode: str, loeo: bool = False) -> list[TaskGroup]: + """Build retrieval scopes from the pairs JSON. + + Modes: + - ``cross_similar`` : Tier-2. bank = [aria_hash], query = its eva matches. + - ``cross_alignment``: Tier-1. bank = aria set, query = eva set (per set). + - ``within_alignment``: D0 sanity. bank = eva set, query = eva set (per set). + + ``loeo`` (``within_alignment`` only): leave-one-episode-out — expand each + alignment set into one group per query whose bank is the set minus that + episode, so no query can retrieve frames of itself. Without it every + within_alignment query trivially finds its own episode at distance ~0. + """ + if loeo and mode != "within_alignment": + raise ValueError( + "loeo only applies to within_alignment (the only mode whose " + f"queries appear in their own bank); got mode={mode!r}" + ) + groups: list[TaskGroup] = [] + if mode == "cross_similar": + for entry in pairs["tiers"]["similar_task_language_pairs"]: + matches = entry.get("matches", []) + if not matches: + continue + groups.append( + TaskGroup( + group_id=f"aria:{entry['aria_hash']}", + bank_hashes=[entry["aria_hash"]], + query_hashes=[m["eva_hash"] for m in matches], + meta={ + "aria_scene": entry.get("aria_scene", []), + "shared_objects": { + m["eva_hash"]: m.get("shared_objects", []) for m in matches + }, + }, + ) + ) + elif mode in ("cross_alignment", "within_alignment"): + sets = pairs["tiers"]["true_pairs_alignment"] + for set_name, payload in sets.items(): + if not isinstance(payload, dict) or "eva_bimanual" not in payload: + continue # skip the "note" string + eva = [e["episode_hash"] for e in payload["eva_bimanual"]] + aria = [e["episode_hash"] for e in payload.get("aria_bimanual", [])] + bank = aria if mode == "cross_alignment" else eva + if loeo: + for qh in eva: + groups.append( + TaskGroup( + group_id=f"{mode}:{set_name}:loeo:{qh}", + bank_hashes=[h for h in bank if h != qh], + query_hashes=[qh], + meta={"set": set_name, "loeo": True}, + ) + ) + else: + groups.append( + TaskGroup( + group_id=f"{mode}:{set_name}", + bank_hashes=bank, + query_hashes=eva, + meta={"set": set_name}, + ) + ) + else: + raise ValueError(f"unknown mode {mode!r}") + return groups + + +def merge_bank(groups: list[TaskGroup], group_id: str = "merged") -> list[TaskGroup]: + """Collapse to a single group: union of all banks, union of all queries. + + Use for a global cross-embodiment bank (every query searches all human demos) + instead of per-task-scoped retrieval. + """ + bank = sorted({h for g in groups for h in g.bank_hashes}) + query = sorted({h for g in groups for h in g.query_hashes}) + return [TaskGroup(group_id=group_id, bank_hashes=bank, query_hashes=query)] + + +# --------------------------------------------------------------------------- +# Cache: per-query-episode top-k bank refs +# --------------------------------------------------------------------------- + + +@dataclass +class _QueryEntry: + bank_hash: np.ndarray # (T, k) .npz`` - bank_hash (T,k) U, bank_frame (T,k) i4, dist (T,k) f4 + """ + + def __init__(self, k: int, meta: dict | None = None): + self.k = int(k) + self.meta = dict(meta or {}) + self._entries: dict[str, _QueryEntry] = {} + + def add(self, query_hash, bank_hash, bank_frame, dist, group_id): + self._entries[query_hash] = _QueryEntry( + bank_hash=np.asarray(bank_hash).astype("U"), + bank_frame=np.asarray(bank_frame, dtype=np.int32), + dist=np.asarray(dist, dtype=np.float32), + group_id=group_id, + ) + + @property + def query_hashes(self) -> list[str]: + return list(self._entries.keys()) + + def neighbors(self, query_hash: str, frame_idx: int): + """Return (bank_hash[k], bank_frame[k], dist[k]) for one query frame. + + ``frame_idx`` is clamped into range so a query chunk near the episode end + still resolves (retrieval is per-observation, indexed by start frame). + """ + e = self._entries[query_hash] + i = int(np.clip(frame_idx, 0, e.bank_hash.shape[0] - 1)) + return e.bank_hash[i], e.bank_frame[i], e.dist[i] + + def save(self, out_dir: str): + os.makedirs(out_dir, exist_ok=True) + manifest = { + "k": self.k, + "meta": self.meta, + "queries": {h: e.group_id for h, e in self._entries.items()}, + } + with open(os.path.join(out_dir, "manifest.json"), "w") as f: + json.dump(manifest, f, indent=2) + for h, e in self._entries.items(): + np.savez( + os.path.join(out_dir, f"q_{h}.npz"), + bank_hash=e.bank_hash, + bank_frame=e.bank_frame, + dist=e.dist, + ) + return out_dir + + @classmethod + def load(cls, out_dir: str) -> "RetrievalCache": + with open(os.path.join(out_dir, "manifest.json")) as f: + manifest = json.load(f) + cache = cls(k=manifest["k"], meta=manifest.get("meta", {})) + for h, group_id in manifest["queries"].items(): + npz = np.load(os.path.join(out_dir, f"q_{h}.npz"), allow_pickle=False) + cache.add( + h, npz["bank_hash"], npz["bank_frame"], npz["dist"], group_id=group_id + ) + return cache + + +def build_cache( + groups: list[TaskGroup], + vectors_provider: Callable[[str], np.ndarray], + k: int, + meta: dict | None = None, +) -> RetrievalCache: + """Build per-group cKDTree indices and the top-k cache for all query frames. + + ``vectors_provider(episode_hash) -> (T, D)`` pooled, normalized vectors. + A query episode appearing in multiple groups keeps the *first* group's + neighbors (groups are processed in order); use ``merge_bank`` upstream to + avoid that if a single global bank is desired. + """ + cache = RetrievalCache(k=k, meta=meta) + for g in groups: + index = index_from_episodes(g.bank_hashes, vectors_provider) + for qh in g.query_hashes: + if qh in cache._entries: + continue + qv = np.asarray(vectors_provider(qh), dtype=np.float32) + bh, bf, dd = index.query(qv, k=k) + cache.add(qh, bh, bf, dd, group_id=g.group_id) + return cache + + +# --------------------------------------------------------------------------- +# Vector providers (lazy: zarr / DINOv2) +# --------------------------------------------------------------------------- + + +def make_zarr_dinov2_provider( + resolve_store: Callable[[str], str], + zarr_key: str = DINOV2_ZARR_KEY, + pool: str = "64patches", + l2_normalize: bool = False, +): + """Provider that reads precomputed DINOv2 patch tokens from zarr and pools. + + ``resolve_store(episode_hash) -> path/URL`` of the episode's zarr store. + Requires ``zarr`` (and ``fsspec`` for remote stores) at call time. + """ + + def provider(episode_hash: str) -> np.ndarray: + import zarr # lazy + + store = zarr.open(resolve_store(episode_hash), mode="r") + arr = store[zarr_key] # (T_padded, 256, 768) + # _write_numeric pads up to a chunk multiple with zero rows; slice to + # the true length so padding frames never enter the index. + total = int(store.attrs.get("total_frames", arr.shape[0])) + arr = np.asarray(arr[:total]) # (T, 256, 768) + return pool_patch_embeddings(arr, method=pool, l2_normalize=l2_normalize) + + return provider + + +class DinoV2Embedder: + """On-the-fly DINOv2 encoder for ``base_0_rgb`` frames (lazy torch). + + Replicates ricl_openpi's reference encoder (``load_dinov2`` + ``embed``) via + ``egomimic/scripts/embedding_process/dinov2_embedding.py``. Use when + precomputed zarr embeddings are unavailable. GPU strongly recommended; on an + M4 this runs on MPS/CPU and is only practical for a handful of frames. + """ + + def __init__( + self, + model_name: str = "dinov2_vitb14", + device: str | None = None, + pool: str = "64patches", + l2_normalize: bool = False, + ): + import torch # lazy + + if device is None: + device = ( + "cuda" + if torch.cuda.is_available() + else ("mps" if torch.backends.mps.is_available() else "cpu") + ) + self.device = device + self.pool = pool + self.l2_normalize = l2_normalize + self.model = ( + torch.hub.load("facebookresearch/dinov2", model_name).to(device).eval() + ) + + def embed(self, images_thwc: np.ndarray, batch_size: int = 32) -> np.ndarray: + """Embed ``(T, H, W, 3)`` uint8 frames -> ``(T, EMBED_DIM)`` pooled.""" + import torch # lazy + + from egomimic.scripts.embedding_process.dinov2_embedding import ( + preprocess_dinov2, + ) + + images = np.asarray(images_thwc) + out = [] + with torch.no_grad(): + for i in range(0, len(images), batch_size): + pixel_values = preprocess_dinov2(images[i : i + batch_size]).to( + self.device + ) + feats = self.model.forward_features(pixel_values) + patches = feats["x_norm_patchtokens"] # (B, 256, 768) + out.append(patches.float().cpu().numpy()) + emb = np.concatenate(out, axis=0) + return pool_patch_embeddings( + emb, method=self.pool, l2_normalize=self.l2_normalize + ) + + +# --------------------------------------------------------------------------- +# CLI + self-test +# --------------------------------------------------------------------------- + + +def _synthetic_provider(dim: int = EMBED_DIM, frames: int = 24): + """Deterministic per-hash vectors for the offline smoke (no data/GPU). + + Frames from the same episode cluster together (shared per-episode centroid), + so retrieval is sane to assert on. + """ + + def provider(episode_hash: str) -> np.ndarray: + seed = abs(hash(episode_hash)) % (2**32) + rng = np.random.default_rng(seed) + centroid = rng.standard_normal(dim).astype(np.float32) + v = centroid[None, :] + 0.05 * rng.standard_normal((frames, dim)).astype( + np.float32 + ) + return pool_patch_embeddings(v) # (T, dim) passthrough, raw L2 + + return provider + + +def _smoke() -> None: + print("== RICL retrieval smoke (numpy+scipy, no GPU/data) ==") + # 1) pooling: 64patches must reproduce ricl_openpi utils.embed()'s + # 64PATCHES loop exactly (16x16 grid -> 8x8 blocks of 2x2, row-major, + # concatenated along features; raw, not unit-normalized). + emb = ( + np.random.default_rng(0).standard_normal((7, 256, TOKEN_DIM)).astype(np.float32) + ) + pooled = pool_patch_embeddings(emb) + assert pooled.shape == (7, EMBED_DIM), pooled.shape + # block (0,0) = patches {(0,0),(0,1),(1,0),(1,1)} = flat [0, 1, 16, 17] + expect0 = emb[:, [0, 1, 16, 17], :].mean(axis=1) + assert np.allclose(pooled[:, :TOKEN_DIM], expect0, atol=1e-5) + # block (0,1) = patches {(0,2),(0,3),(1,2),(1,3)} = flat [2, 3, 18, 19] + expect1 = emb[:, [2, 3, 18, 19], :].mean(axis=1) + assert np.allclose(pooled[:, TOKEN_DIM : 2 * TOKEN_DIM], expect1, atol=1e-5) + # last block (7,7) = flat [238, 239, 254, 255] + expect63 = emb[:, [238, 239, 254, 255], :].mean(axis=1) + assert np.allclose(pooled[:, -TOKEN_DIM:], expect63, atol=1e-5) + assert not np.allclose(np.linalg.norm(pooled, axis=-1), 1.0, atol=1e-2) + normed = pool_patch_embeddings(emb, l2_normalize=True) + assert np.allclose(np.linalg.norm(normed, axis=-1), 1.0, atol=1e-5) + print( + f" pool_patch_embeddings[64patches]: (7,256,{TOKEN_DIM}) -> {pooled.shape} " + "(matches ricl_openpi block order; raw by default)" + ) + + # 2) groups from the REAL pairs json + pairs = load_pairs() + for mode in ("cross_similar", "cross_alignment", "within_alignment"): + groups = groups_from_pairs(pairs, mode) + nb = sum(len(g.bank_hashes) for g in groups) + nq = len({q for g in groups for q in g.query_hashes}) + print( + f" groups_from_pairs[{mode}]: {len(groups)} groups, " + f"{nb} bank-eps, {nq} unique query-eps" + ) + + # 2b) leave-one-episode-out: one group per query, never containing itself + loeo_groups = groups_from_pairs(pairs, "within_alignment", loeo=True) + base_groups = groups_from_pairs(pairs, "within_alignment") + assert len(loeo_groups) == sum(len(g.query_hashes) for g in base_groups) + for g in loeo_groups: + assert len(g.query_hashes) == 1 + assert g.query_hashes[0] not in g.bank_hashes, g.group_id + assert g.bank_hashes, f"{g.group_id}: empty bank" + print( + f" groups_from_pairs[within_alignment, loeo]: {len(loeo_groups)} " + "per-query groups, no self-retrieval" + ) + + # 3) build + query + roundtrip on a synthetic cross_similar cache + groups = groups_from_pairs(pairs, "cross_similar") + provider = _synthetic_provider() + k = 4 + cache = build_cache(groups, provider, k=k, meta={"mode": "cross_similar", "k": k}) + qh = cache.query_hashes[0] + bh, bf, dd = cache.neighbors(qh, frame_idx=0) + assert bh.shape == (k,) and bf.shape == (k,) and dd.shape == (k,) + # neighbors must come from the query's group bank + grp = next(g for g in groups if qh in g.query_hashes) + assert set(bh.tolist()) <= set(grp.bank_hashes), (bh.tolist(), grp.bank_hashes) + assert np.all(np.diff(dd) >= -1e-5), "distances must be sorted ascending" + print( + f" build_cache: {len(cache.query_hashes)} query eps; " + f"sample q={qh} -> banks={sorted(set(bh.tolist()))} dist[0]={dd[0]:.4f}" + ) + + import tempfile + + with tempfile.TemporaryDirectory() as d: + cache.save(d) + re = RetrievalCache.load(d) + bh2, bf2, dd2 = re.neighbors(qh, 0) + assert np.array_equal(bh, bh2) and np.array_equal(bf, bf2) + assert np.allclose(dd, dd2) + print(" save/load roundtrip: OK") + print("ALL SMOKE CHECKS PASSED") + + +def main() -> None: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument( + "--smoke", action="store_true", help="run offline self-test and exit" + ) + p.add_argument("--pairs", default=PAIRS_JSON_DEFAULT) + p.add_argument( + "--mode", + default="cross_similar", + choices=["cross_similar", "cross_alignment", "within_alignment"], + ) + p.add_argument( + "--merge-bank", + action="store_true", + help="use a single global bank (union of all banks) for every query", + ) + p.add_argument( + "--loeo", + action="store_true", + help="within_alignment only: leave-one-episode-out (a query's own " + "episode is excluded from its bank)", + ) + p.add_argument("-k", type=int, default=4) + p.add_argument("--out", default=None, help="output cache dir") + p.add_argument( + "--zarr-root", + default=None, + help="dir/URL template with {hash} for per-episode zarr stores; " + "if unset, requires precomputed embeddings elsewhere", + ) + args = p.parse_args() + + if args.smoke: + _smoke() + return + + pairs = load_pairs(args.pairs) + groups = groups_from_pairs(pairs, args.mode, loeo=args.loeo) + if args.merge_bank: + if args.loeo: + raise SystemExit("--merge-bank would undo --loeo (banks re-merge)") + groups = merge_bank(groups) + + if args.zarr_root is None: + raise SystemExit( + "Provide --zarr-root (a {hash} template to per-episode zarr stores) to " + "build a real cache, or use --smoke for the offline self-test." + ) + + provider = make_zarr_dinov2_provider(lambda h: args.zarr_root.format(hash=h)) + cache = build_cache( + groups, + provider, + k=args.k, + meta={"mode": args.mode, "k": args.k, "loeo": args.loeo}, + ) + out = args.out or f"retrieval_cache_{args.mode}_k{args.k}" + cache.save(out) + print(f"wrote cache for {len(cache.query_hashes)} query episodes -> {out}") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/__init__.py b/egomimic/ricl/scripts/__init__.py new file mode 100644 index 000000000..db4f23dcf --- /dev/null +++ b/egomimic/ricl/scripts/__init__.py @@ -0,0 +1,4 @@ +"""RICL runnable scripts: build/extract/validate/viz utilities, the DROID +verification trainer, and sbatch wrappers. These are entry points and one-off +tools; the importable RICL library lives one level up in ``egomimic.ricl``. +""" diff --git a/egomimic/ricl/scripts/build_action_table.py b/egomimic/ricl/scripts/build_action_table.py new file mode 100644 index 000000000..b25f524a5 --- /dev/null +++ b/egomimic/ricl/scripts/build_action_table.py @@ -0,0 +1,135 @@ +"""Flatten every annotation action-segment across all eva episodes into one table. + +One row per parsed pick/place/dump/return segment, with all structured fields +(see extract_action_groups for definitions) plus episode/scene/frame bounds and +the raw text. No grouping -- this is the queryable substrate. Load with pandas +and count episodes/segments by any field combination, e.g. + + import pandas as pd + df = pd.read_csv("egomimic/ricl/episode_lists/action_segments.csv") + # how many EPISODES have a blue-marker side-grip pick? + q = df[(df.object=="blue marker") & (df.verb=="pick") & (df.grip=="side")] + q.episode.nunique(), len(q) # episodes, segments + # objects by episode count: + df.groupby("object").episode.nunique().sort_values(ascending=False) + # crosstab object x grasp_loc (segment counts): + pd.crosstab(df.object, df.grasp_loc) + + python -m egomimic.ricl.scripts.build_action_table [--scene SCENE] [--out PATH] +""" + +from __future__ import annotations + +import argparse +import csv +import json +import os + +import zarr + +from egomimic.ricl.scripts.extract_action_groups import ( + ALL_FIELDS, + episode_segments, + parse_segment, +) + +# episode_lists/ lives in the parent ricl/ dir, one level up from scripts/. +HERE = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +LISTS = os.path.join(HERE, "episode_lists") +MASTER = os.path.join(LISTS, "eva_episode_objects.json") +COLUMNS = [ + "episode", + "scene", + "task_description", + "start", + "end", + "frames", + *ALL_FIELDS, + "text", +] + + +def main(): + ap = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + ap.add_argument( + "--zarr-root", default="/storage/project/r-dxu345-0/agao81/pick_place/{hash}" + ) + ap.add_argument("--master", default=MASTER) + ap.add_argument("--scene", help="restrict to one scene; default = all eva episodes") + ap.add_argument("--out", default=os.path.join(LISTS, "action_segments.csv")) + ap.add_argument( + "--corrections", + default=os.path.join(LISTS, "action_corrections.csv"), + help="LLM-annotator overlay applied after parsing; '' to skip", + ) + args = ap.parse_args() + + master = json.load(open(args.master))["episodes"] + hashes = [ + h for h, v in master.items() if args.scene is None or v["scene"] == args.scene + ] + + rows, n_unparsed, n_noann = [], 0, 0 + for h in hashes: + store = zarr.open(args.zarr_root.format(hash=h), mode="r") + if "annotations" not in store or store["annotations"].shape[0] == 0: + n_noann += 1 + continue + sc, td = master[h]["scene"], master[h]["task_description"] + for s, e, txt in episode_segments(store): + rec = parse_segment(txt) + if rec is None: + n_unparsed += 1 + continue + rows.append( + { + "episode": h, + "scene": sc, + "task_description": td, + "start": s, + "end": e, + "frames": e - s, + **rec, + } + ) + + # LLM-annotator overlay: apply hand-verified corrections the regex can't infer + # (e.g. source-only placements with no destination relation). Keeps rebuilds gold. + n_corr = 0 + if args.corrections and os.path.isfile(args.corrections): + index = {(r["episode"], r["start"], r["end"]): r for r in rows} + with open(args.corrections, newline="") as f: + for c in csv.DictReader(f): + if c["new_value"] in ("UNSURE", ""): + continue + row = index.get((c["episode"], int(c["start"]), int(c["end"]))) + if row is not None and row.get(c["field"]) != c["new_value"]: + row[c["field"]] = c["new_value"] + n_corr += 1 + + with open(args.out, "w", newline="") as f: + w = csv.DictWriter(f, fieldnames=COLUMNS, extrasaction="ignore") + w.writeheader() + w.writerows(rows) + + eps = {r["episode"] for r in rows} + verbs = {} + for r in rows: + verbs[r["verb"]] = verbs.get(r["verb"], 0) + 1 + objs = len({r["object"] for r in rows if r["object"] != "-"}) + print(f"wrote {args.out}") + print( + f" {len(rows)} action segments | {len(eps)} episodes | {n_noann} episodes had no annotations" + ) + print(f" distinct objects: {objs} | by verb: {verbs}") + print(f" LLM corrections overlaid: {n_corr}") + if n_unparsed: + print(f" {n_unparsed} segments could not be parsed (skipped)") + print("\nquery it:\n import pandas as pd; df = pd.read_csv('" + args.out + "')") + print(" df.groupby('object').episode.nunique().sort_values(ascending=False)") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/build_embedding_index.py b/egomimic/ricl/scripts/build_embedding_index.py new file mode 100644 index 000000000..75f2a9b3f --- /dev/null +++ b/egomimic/ricl/scripts/build_embedding_index.py @@ -0,0 +1,201 @@ +""" +Build a single consolidated kNN index from a folder of per-episode DINOv2 +embedding stores. + +The embedding step (``egomimic/scripts/embedding_process/zarr_embedding.py`` +with ``--output-root``) writes one zarr store per episode at ``/``, +each holding the raw patch tokens ``observations.embeddings.dinov2.front_1`` +(T, 256, 768). Those per-episode files are durable, resumable *storage* — they +are not scanned at query time. + +This script does the one-time consolidation that makes kNN efficient: it reads +every episode store, pools each frame to the 64-patch descriptor +(``egomimic.ricl.retrieval.pool_patch_embeddings``, padding stripped via the +store's ``total_frames``), and stacks them into one contiguous matrix with a +parallel ``row -> (episode_hash, frame_idx)`` map. Repeated retrieval then loads +this one matrix instead of re-opening hundreds of stores. + +Outputs under ``--out`` (default ``/_index``): + - ``vectors.npy`` (N_frames, D) float32 — pooled descriptors, mmap-friendly + - ``refs.npz`` episode_hash (N,) list[str]: + """Hash-named subdirs of ``root`` whose store contains ``zarr_key``.""" + import zarr + + out: list[str] = [] + for name in sorted(os.listdir(root)): + path = os.path.join(root, name) + if name.startswith("_") or not os.path.isdir(path): + continue + try: + store = zarr.open(path, mode="r") + if zarr_key in store: + out.append(name) + except Exception: + logger.warning("skipping unreadable store %s", path) + return out + + +def _episode_len(store, zarr_key: str) -> int: + """True frame count (strip the chunk zero-padding _write_numeric added).""" + arr = store[zarr_key] + return int(store.attrs.get("total_frames", arr.shape[0])) + + +def build_index( + root: str, + out_dir: str | None = None, + zarr_key: str = DINOV2_ZARR_KEY, + pool: str = "64patches", + l2_normalize: bool = False, +) -> str: + """Consolidate ``/`` embedding stores into one index under ``out_dir``.""" + import zarr + + out_dir = out_dir or os.path.join(root, "_index") + os.makedirs(out_dir, exist_ok=True) + + hashes = _episode_dirs(root, zarr_key) + if not hashes: + raise SystemExit(f"no episode stores with key {zarr_key!r} under {root}") + logger.info("found %d episode stores under %s", len(hashes), root) + + # Pass 1: lengths + descriptor dim (pool the first frame of episode 0). + lengths: list[int] = [] + for h in hashes: + store = zarr.open(os.path.join(root, h), mode="r") + lengths.append(_episode_len(store, zarr_key)) + n_frames = int(sum(lengths)) + + store0 = zarr.open(os.path.join(root, hashes[0]), mode="r") + probe = pool_patch_embeddings( + np.asarray(store0[zarr_key][:1]), method=pool, l2_normalize=l2_normalize + ) + embed_dim = int(probe.shape[1]) + logger.info("n_frames=%d embed_dim=%d", n_frames, embed_dim) + + # Pass 2: fill a memmap so we never hold the whole stack in RAM. + vectors_path = os.path.join(out_dir, "vectors.npy") + vectors = np.lib.format.open_memmap( + vectors_path, mode="w+", dtype=np.float32, shape=(n_frames, embed_dim) + ) + ref_hash = np.empty(n_frames, dtype=object) + ref_frame = np.empty(n_frames, dtype=np.int32) + episodes_meta: list[dict] = [] + + row = 0 + for h, t in zip(hashes, lengths): + store = zarr.open(os.path.join(root, h), mode="r") + arr = np.asarray(store[zarr_key][:t]) # strip padding + pooled = pool_patch_embeddings(arr, method=pool, l2_normalize=l2_normalize) + if pooled.shape != (t, embed_dim): + raise RuntimeError( + f"{h}: pooled shape {pooled.shape} != ({t}, {embed_dim})" + ) + vectors[row : row + t] = pooled + ref_hash[row : row + t] = h + ref_frame[row : row + t] = np.arange(t, dtype=np.int32) + episodes_meta.append({"hash": h, "start": row, "count": t}) + row += t + logger.info(" %s -> %d frames (rows %d:%d)", h, t, row - t, row) + vectors.flush() + + np.savez( + os.path.join(out_dir, "refs.npz"), + episode_hash=np.asarray(ref_hash).astype("U"), + frame_idx=ref_frame, + ) + manifest = { + "zarr_key": zarr_key, + "pool": pool, + "l2_normalize": l2_normalize, + "embed_dim": embed_dim, + "n_frames": n_frames, + "n_episodes": len(hashes), + "episodes": episodes_meta, + } + with open(os.path.join(out_dir, "manifest.json"), "w") as f: + json.dump(manifest, f, indent=2) + + logger.info( + "wrote consolidated index: %d frames x %d dims over %d episodes -> %s", + n_frames, + embed_dim, + len(hashes), + out_dir, + ) + return out_dir + + +def build_retrieval_index(out_dir: str) -> RetrievalIndex: + """Load a consolidated index dir into a ``RetrievalIndex`` (cKDTree).""" + vectors = np.load(os.path.join(out_dir, "vectors.npy"), mmap_mode="r") + refs = np.load(os.path.join(out_dir, "refs.npz")) + return RetrievalIndex( + np.ascontiguousarray(vectors, dtype=np.float32), + BankRefs( + episode_hash=refs["episode_hash"].astype("U"), + frame_idx=refs["frame_idx"].astype(np.int32), + ), + ) + + +def main() -> None: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument( + "--root", + required=True, + help="folder of per-episode embedding stores (/)", + ) + p.add_argument( + "--out", default=None, help="output index dir (default /_index)" + ) + p.add_argument("--zarr-key", default=DINOV2_ZARR_KEY) + p.add_argument("--pool", default="64patches") + p.add_argument("--l2-normalize", action="store_true") + args = p.parse_args() + + logging.basicConfig( + level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s" + ) + build_index( + args.root, + out_dir=args.out, + zarr_key=args.zarr_key, + pool=args.pool, + l2_normalize=args.l2_normalize, + ) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/build_episode_objects.py b/egomimic/ricl/scripts/build_episode_objects.py new file mode 100644 index 000000000..0dd9093a5 --- /dev/null +++ b/egomimic/ricl/scripts/build_episode_objects.py @@ -0,0 +1,96 @@ +"""Build eva_episode_objects.json + the anchored D0 lists from the annotations. + +Single source of truth for object parsing is ``validate_object_labels`` (PICK / +canon / canonical_segments) so the committed artifacts always match what the +validator considers clean. Re-run after changing ``canon()`` there. + + python -m egomimic.ricl.scripts.build_episode_objects \ + [--zarr-root '/storage/project/r-dxu345-0/agao81/pick_place/{hash}'] \ + [--anchor-object 'blue marker'] [--anchor-scene pick_place_diverse] +""" + +from __future__ import annotations + +import argparse +import json +import os + +import zarr + +from egomimic.ricl.scripts.validate_object_labels import PICK, canon, canonical_segments +from egomimic.utils.aws.aws_sql import create_default_engine, episode_table_to_df + +# episode_lists/ lives in the parent ricl/ dir, one level up from scripts/. +HERE = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +LISTS = os.path.join(HERE, "episode_lists") + + +def episode_objects(store) -> tuple[list[str], int]: + objs, npick = [], 0 + if "annotations" in store and store["annotations"].shape[0] > 0: + for seg in canonical_segments(store): + m = PICK.match(seg.strip()) + if m: + objs.append(canon(m.group(1))) + npick += 1 + return sorted(set(objs)), npick + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument( + "--zarr-root", default="/storage/project/r-dxu345-0/agao81/pick_place/{hash}" + ) + ap.add_argument("--anchor-object", default="blue marker") + ap.add_argument("--anchor-scene", default="pick_place_diverse") + args = ap.parse_args() + + df = episode_table_to_df(create_default_engine()) + df["episode_hash"] = df["episode_hash"].astype(str) + eva = df[(df["task"] == "pick_place") & (df["embodiment"] == "eva_bimanual")] + + records = {} + for r in eva.itertuples(): + path = args.zarr_root.format(hash=r.episode_hash) + if not os.path.isdir(path): + continue + objs, npick = episode_objects(zarr.open(path, mode="r")) + records[r.episode_hash] = { + "scene": r.scene, + "task_description": r.task_description, + "objects": objs, + "num_picks": npick, + } + records = dict(sorted(records.items())) + + master = os.path.join(LISTS, "eva_episode_objects.json") + with open(master, "w") as f: + json.dump( + { + "anchor": {"scene": args.anchor_scene, "object": args.anchor_object}, + "episodes": records, + }, + f, + indent=2, + ) + print(f"wrote {master} ({len(records)} eva episodes)") + + obj, scn = args.anchor_object, args.anchor_scene + lists = { + "d0_anchor_1_same_scene_same_object": [ + h for h, v in records.items() if v["scene"] == scn and obj in v["objects"] + ], + "d0_anchor_2_same_scene": [h for h, v in records.items() if v["scene"] == scn], + "d0_anchor_3_same_object": [ + h for h, v in records.items() if obj in v["objects"] + ], + } + for name, lst in lists.items(): + path = os.path.join(LISTS, f"{name}.txt") + with open(path, "w") as f: + f.write("\n".join(sorted(lst)) + "\n") + print(f"wrote {path} ({len(lst)})") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/build_ricl_smoke_cache.py b/egomimic/ricl/scripts/build_ricl_smoke_cache.py new file mode 100644 index 000000000..f633c74b3 --- /dev/null +++ b/egomimic/ricl/scripts/build_ricl_smoke_cache.py @@ -0,0 +1,99 @@ +"""Build a MINIMAL RICL retrieval cache for a training smoke test. + +Reuses patch-token DINOv2 embeddings (key +``observations.embeddings.dinov2.front_1``, shape (T,256,768)) already present +in the ``agao81/pick_place`` collection (written by ``zarr_embedding.py +--transform dinov2``) — so no GPU embedding pass is needed here. Memory-safe: +pools the patch tokens in frame-chunks instead of loading whole multi-GB arrays. + +Run (EgoVerse venv + EgoVerse2 on PYTHONPATH): + PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2 \ + /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/python \ + egomimic/ricl/scripts/build_ricl_smoke_cache.py --groups 2 --out egomimic/ricl/outputs/ricl_cache_smoke +""" + +import argparse +import os + +import numpy as np +import zarr + +from egomimic.ricl.retrieval import ( + build_cache, + groups_from_pairs, + load_pairs, + pool_patch_embeddings, +) + +AGAO = "/storage/project/r-dxu345-0/agao81/pick_place" +ZKEY = "observations.embeddings.dinov2.front_1" + + +def has_patch_emb(h: str) -> bool: + p = os.path.join(AGAO, h) + if not os.path.isdir(p): + return False + try: + s = zarr.open(p, mode="r") + return ZKEY in s and s[ZKEY].ndim == 3 + except Exception: + return False + + +def chunked_provider(episode_hash: str) -> np.ndarray: + """Read (T,256,768) patch tokens in frame-chunks, pool -> (T,49152).""" + a = zarr.open(os.path.join(AGAO, episode_hash), mode="r")[ZKEY] + T = a.shape[0] + out = None + step = 256 + for i in range(0, T, step): + blk = pool_patch_embeddings(a[i : i + step]) + if out is None: + out = np.empty((T, blk.shape[-1]), dtype=np.float32) + out[i : i + blk.shape[0]] = blk + return out + + +def main() -> None: + ap = argparse.ArgumentParser() + ap.add_argument("--groups", type=int, default=2, help="max covered groups") + ap.add_argument("-k", type=int, default=4) + ap.add_argument("--out", default="egomimic/ricl/outputs/ricl_cache_smoke") + args = ap.parse_args() + + pairs = load_pairs() + groups = groups_from_pairs(pairs, "cross_similar") + + covered = [] + for g in groups: + if not all(has_patch_emb(b) for b in g.bank_hashes): + continue + qs = [q for q in g.query_hashes if has_patch_emb(q)] + if not qs: + continue + g.query_hashes = qs + covered.append(g) + if len(covered) >= args.groups: + break + + if not covered: + raise SystemExit("no fully-covered cross_similar groups in agao81/pick_place") + + print(f"chosen {len(covered)} group(s):") + for g in covered: + print(f" {g.group_id} bank={g.bank_hashes} queries={g.query_hashes}") + + cache = build_cache( + covered, chunked_provider, k=args.k, meta={"mode": "cross_similar", "k": args.k} + ) + cache.save(args.out) + print(f"\nwrote cache: {len(cache.query_hashes)} query episodes -> {args.out}") + for qh in cache.query_hashes: + bh, bf, dd = cache.neighbors(qh, 0) + print( + f" q={qh} frame0 -> bank={list(bh)} frame={list(bf)} dist={np.round(dd,3).tolist()}" + ) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/check_bank_norm.py b/egomimic/ricl/scripts/check_bank_norm.py new file mode 100644 index 000000000..f8a1d5bc1 --- /dev/null +++ b/egomimic/ricl/scripts/check_bank_norm.py @@ -0,0 +1,129 @@ +"""Verify bank-frame normalization wiring before a RICL training run (CPU). + +For a handful of (bank episode, frame) pairs taken from a retrieval cache, this +checks that :class:`egomimic.ricl.data.ZarrBankFrameProvider` configured with +``norm_stats`` returns exactly ``to32(normalize(raw))`` (the query-path order: +MultiDataset normalizes, then PI applies the converter — see ``pi.py``), and +reports the post-normalization value ranges (quantile-normalized values should +be overwhelmingly inside [-1, 1]). + +Usage (D0): + python -m egomimic.ricl.scripts.check_bank_norm \\ + --cache ricl_artifacts/cache_d0 \\ + --stats ricl_artifacts/stats_d0/norm_stats/norm_stats.json \\ + --bank-zarr-root '/storage/project/r-dxu345-0/agao81/pick_place/{hash}' \\ + --bank-embodiment eva_bimanual +""" + +from __future__ import annotations + +import argparse + +import numpy as np + +from egomimic.ricl.data import ( + ZarrBankFrameProvider, + load_bank_norm_stats, + normalize_with_stats, +) +from egomimic.ricl.retrieval import RetrievalCache +from egomimic.rldb.embodiment.embodiment import get_embodiment_id + + +def _embodiment_pipeline(name: str): + """(keymap, transform_list, converter) for a bank embodiment, matching the + cotrain_pi_ricl_* configs.""" + if "eva" in name: + from egomimic.rldb.embodiment.eva import Eva + from egomimic.utils.action_utils import RobotBimanualCartesianEuler + + return ( + Eva.get_keymap(keymap_mode="cartesian_pi", annotation_key="annotations"), + Eva.get_transform_list(mode="cartesian"), + RobotBimanualCartesianEuler(), + ) + if "aria" in name: + from egomimic.rldb.embodiment.human import Aria + from egomimic.utils.action_utils import HumanBimanualCartesianEuler + + return ( + Aria.get_keymap(keymap_mode="cartesian_pi", annotation_key="annotations"), + Aria.get_transform_list(mode="cartesian"), + HumanBimanualCartesianEuler(), + ) + raise SystemExit(f"unknown bank embodiment {name!r}") + + +def main() -> None: + ap = argparse.ArgumentParser(description=__doc__) + ap.add_argument("--cache", required=True) + ap.add_argument("--stats", required=True, help="norm_stats.json (file or dir)") + ap.add_argument("--bank-zarr-root", required=True, help="'{hash}' template") + ap.add_argument("--bank-embodiment", required=True) + ap.add_argument("--norm-mode", default="quantile") + ap.add_argument("--action-horizon", type=int, default=1) + ap.add_argument("--num-queries", type=int, default=3) + args = ap.parse_args() + + emb_id = get_embodiment_id(args.bank_embodiment) + stats = load_bank_norm_stats(args.stats, emb_id) + keymap, transform_list, converter = _embodiment_pipeline(args.bank_embodiment) + common = dict( + resolve_store=lambda h: args.bank_zarr_root.format(hash=h), + keymap=keymap, + transform_list=transform_list, + action_horizon=args.action_horizon, + ) + provider = ZarrBankFrameProvider( + converter=converter, norm_stats=stats, norm_mode=args.norm_mode, **common + ) + raw_provider = ZarrBankFrameProvider(converter=None, norm_stats=None, **common) + + cache = RetrievalCache.load(args.cache) + state_key = provider.state_key + action_key = provider.action_key + + checked, in_range = 0, [] + for qh in cache.query_hashes[: args.num_queries]: + bh, bf, _ = cache.neighbors(qh, 0) + for h, fi in zip(bh.tolist(), bf.tolist()): + if not h: + continue + got = provider(h, int(fi)) + raw = raw_provider(h, int(fi)) + + want_state = normalize_with_stats( + raw["state"], stats[state_key], args.norm_mode + ) + import torch + + want_action = converter.to32( + torch.as_tensor( + normalize_with_stats( + raw["action"], stats[action_key], args.norm_mode + ), + dtype=torch.float32, + ) + ) + want_action = ( + want_action.detach().cpu().numpy().reshape(got["action"].shape) + ) + + np.testing.assert_allclose(got["state"], want_state, rtol=1e-5, atol=1e-6) + np.testing.assert_allclose(got["action"], want_action, rtol=1e-5, atol=1e-6) + vals = np.concatenate([got["state"].ravel(), got["action"].ravel()]) + in_range.append(np.mean(np.abs(vals) <= 1.0)) + checked += 1 + + if checked == 0: + raise SystemExit("cache produced no valid neighbors to check") + print( + f"OK: {checked} bank frames match to32(normalize(raw)); " + f"{100 * float(np.mean(in_range)):.1f}% of normalized values in [-1, 1] " + "(quantile-1/99 normalization => expect ~98%; far lower means the " + "stats file does not match this bank's representation)" + ) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/check_prompt_budget.py b/egomimic/ricl/scripts/check_prompt_budget.py new file mode 100644 index 000000000..d4fa75df1 --- /dev/null +++ b/egomimic/ricl/scripts/check_prompt_budget.py @@ -0,0 +1,126 @@ +"""CPU token-budget check for the eva RICL prompt (mirrors DROID's stage_cpu). + +The k retrieved (state, action) blocks are discretized into the prompt *text*. They +are kept at the full 32-D openpi layout (data/cotrain_pi_ricl.yaml `state_dim: 32`, +`action_dim: 32`) so the bins stay in pi0.5's pretrained distribution — which makes +the prompt long: at k=4 the worst case is ~1150 tokens, so model/pi0.5_ricl.yaml +sets `max_token_len: 1280`. If a prompt exceeds it, the PaliGemma collate truncates +from the right and drops the trailing `;\\nAction:` anchor — so the budget must +always exceed the worst case. This builds the WORST-CASE eva prompt the same way +`PIRicl._build_prompts` + `build_tokenized_collate` do, tokenizes it with the real +tokenizer, and checks it fits. The defaults below mirror those configs, so a no-arg +run validates exactly what ships (non-zero exit = a config that would truncate). + +Worst case = every retrieved/state bin at the top id (`num_bins - 1`, the widest, +3-digit token) so the count is a genuine upper bound for the configured dims. + +CPU-only / login-node-safe: needs only the tokenizer (egomimic/ricl/pg_tokenizer) +and the import-light `egomimic.ricl.conditioning`. No model, no zarr, no cache. + +Run: + source emimic/bin/activate # transformers only; conditioning is light + python -m egomimic.ricl.scripts.check_prompt_budget # validates the shipped config + python -m egomimic.ricl.scripts.check_prompt_budget --k 8 # what a bigger k would cost +""" + +from __future__ import annotations + +import argparse +import os + +import numpy as np + +from egomimic.ricl import conditioning as C + +RICL_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +TOKENIZER_DIR = os.path.join(RICL_DIR, "pg_tokenizer") + + +def _worst_case_block(k, state_dim, action_dim, action_steps, num_bins, prompt) -> str: + """k retrieved demos with every bin at the top id (widest token => upper bound).""" + states = np.ones((k, state_dim), dtype=np.float32) # 1.0 -> bin num_bins-1 + actions = np.ones((k, action_steps, action_dim), dtype=np.float32) + valid = np.ones(k, dtype=bool) + return C.build_retrieved_prompt_block( + states, + actions, + valid, + prompt=prompt, + num_bins=num_bins, + action_steps=action_steps, + ) + + +def main() -> None: + p = argparse.ArgumentParser(description=__doc__) + # Defaults mirror data/cotrain_pi_ricl.yaml + model/pi0.5_ricl.yaml so a no-arg + # run validates the shipped config. + p.add_argument("--k", type=int, default=4) + p.add_argument("--state-dim", type=int, default=32, help="retrieved state width") + p.add_argument("--action-dim", type=int, default=32, help="retrieved action width") + p.add_argument("--action-steps", type=int, default=1) + p.add_argument("--num-bins", type=int, default=256) + p.add_argument( + "--query-state-dim", + type=int, + default=14, + help="eva observations.state.ee_pose width (bimanual xyzypr+gripper = 14)", + ) + p.add_argument("--max-token-len", type=int, default=1280) + p.add_argument( + "--task", + default="pick up the blue marker and place it in the tray on the right", + help="a representative (long-ish) task string", + ) + p.add_argument("--tokenizer", default=TOKENIZER_DIR) + args = p.parse_args() + + from transformers import AutoTokenizer + + tok = AutoTokenizer.from_pretrained(args.tokenizer) + + block = _worst_case_block( + args.k, + args.state_dim, + args.action_dim, + args.action_steps, + args.num_bins, + args.task, + ) + # Base prompt mirrors build_tokenized_collate: Task, Embodiment, State + anchor. + query_state = " ".join([str(args.num_bins - 1)] * args.query_state_dim) + base = ( + f"Task: {args.task}, Embodiment: eva bimanual, " + f"State: {query_state}" + C.PI05_ANCHOR + ) + spliced = C.splice_retrieved_into_prompt(base, block) + assert spliced.endswith(C.PI05_ANCHOR), "anchor must stay terminal" + + n = len(tok(spliced)["input_ids"]) + est = C.estimate_prompt_tokens( + args.k, args.action_steps, args.state_dim, args.action_dim + ) + print( + f"[budget] k={args.k} state_dim={args.state_dim} action_dim={args.action_dim} " + f"action_steps={args.action_steps} query_state_dim={args.query_state_dim} " + f"num_bins={args.num_bins}" + ) + print(f"[budget] heuristic estimate_prompt_tokens = {est}") + print( + f"[budget] worst-case tokenized prompt = {n} tokens " + f"(max_token_len={args.max_token_len})" + ) + if n < args.max_token_len: + print( + f"[budget] OK: {n} < {args.max_token_len} (margin {args.max_token_len - n})" + ) + else: + print( + f"[budget] OVER BUDGET: {n} >= {args.max_token_len} -> bump " + f"model.max_token_len / tokenizer_max_length, or compact retrieved dims" + ) + raise SystemExit(1) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/compute_norm_stats.py b/egomimic/ricl/scripts/compute_norm_stats.py new file mode 100644 index 000000000..4e90d6070 --- /dev/null +++ b/egomimic/ricl/scripts/compute_norm_stats.py @@ -0,0 +1,97 @@ +"""Compute per-embodiment norm stats offline (CPU) and save norm_stats.json. + +Replicates the stats block of ``trainHydra`` (MultiDataset.populate_from_datasets +-> infer_norm_from_dataset per train dataset -> cache_stats) over a standalone +data config, so a RICL run can point BOTH the query path +(``norm_stats.precomputed_norm_path``) and the bank provider +(``data.bank_norm_path``) at the same file. This is also the only way to get +stats for a bank embodiment the training run never loads as a dataloader +(e.g. aria for D1 — include an aria dataset in the stats config). + +The config must be *standalone-composable*: ``load_config_from_path`` resolves +its ``defaults:`` chain but there is no root ``paths`` group, so resolver +``folder_path`` must be absolute (see ``data/ricl_stats_d0.yaml``). + +Usage: + python -m egomimic.ricl.scripts.compute_norm_stats \\ + --data-config egomimic/hydra_configs/data/ricl_stats_d0.yaml \\ + --out ricl_artifacts/stats_d0 + +Writes ``/norm_stats/norm_stats.json``. +""" + +from __future__ import annotations + +import argparse +import copy +import logging + +import hydra +from omegaconf import OmegaConf + +from egomimic.rldb.zarr.zarr_dataset_multi import MultiDataset +from egomimic.utils.hydra_utils import load_config_from_path + +logger = logging.getLogger(__name__) + + +def main() -> None: + ap = argparse.ArgumentParser(description=__doc__) + ap.add_argument( + "--data-config", + required=True, + help="standalone data config with a train_datasets dict (absolute " + "resolver folder_path; no ${paths.*} interpolations)", + ) + ap.add_argument("--out", required=True, help="dir for norm_stats/norm_stats.json") + ap.add_argument("--norm-mode", default="quantile") + ap.add_argument("--sample-frac", type=float, default=1.0) + ap.add_argument("--num-workers", type=int, default=4) + args = ap.parse_args() + + logging.basicConfig( + level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s" + ) + + cfg = load_config_from_path(args.data_config) + + train_datasets = {} + for name in cfg.train_datasets: + if cfg.train_datasets[name] is None: + continue + logger.info("Instantiating dataset <%s>", name) + train_datasets[name] = hydra.utils.instantiate(cfg.train_datasets[name]) + + if not train_datasets: + raise SystemExit(f"{args.data_config} defines no train_datasets") + + norm_stats = MultiDataset(state={}, norm_mode=args.norm_mode) + norm_stats.populate_from_datasets(train_datasets) + + # Mirror trainHydra: per dataset, re-instantiate a norm-mode copy (keymap + # with norm_mode=True strips image/annotation keys -> cheap CPU iteration) + # and accumulate stats into the shared ``norm_stats``. + for name, dataset in train_datasets.items(): + logger.info("Inferring shapes for dataset <%s>", name) + norm_stats.infer_shapes_from_batch(dataset[0]) + instantiate_copy = copy.deepcopy(cfg.train_datasets[name]) + km = OmegaConf.to_container(instantiate_copy.resolver.key_map, resolve=False) + km["norm_mode"] = True + instantiate_copy.resolver.key_map = km + norm_dataset = hydra.utils.instantiate(instantiate_copy) + norm_stats.infer_norm_from_dataset( + norm_dataset, + name, + sample_frac=args.sample_frac, + num_workers=args.num_workers, + ) + + norm_stats.cache_stats(save_cache_dir=args.out) + for emb, keys in norm_stats.norm_stats.items(): + for key, stats in keys.items(): + shape = getattr(stats.get("quantile_1"), "shape", None) + logger.info("stats[%s][%s] quantile_1 shape=%s", emb, key, shape) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/extract_action_groups.py b/egomimic/ricl/scripts/extract_action_groups.py new file mode 100644 index 000000000..7f4278dfd --- /dev/null +++ b/egomimic/ricl/scripts/extract_action_groups.py @@ -0,0 +1,356 @@ +"""Group annotation *segments* by the exact action, with a configurable key. + +Each segment of the zarr ``annotations`` is parsed into structured fields; groups +are formed by a chosen subset of them (``--key``). Fields: + + verb pick / place / dump / return + object canonical manipulated object + hand left / right / both / ? + grip (pick) grasp style: plain / side / lip / handle + grasp_loc (pick) where on the object: middle / entire / top / bottom / left / right / handle + angle (pick) approach: diagonal / top / side / straight + source (pick) picked off: table / + relation (place/dump) raw placement direction: front / behind / left / right / + inside / on_top / between / center / table / corner / next_to / other + ref_object (place/dump) the object used as a location reference, or None + ref_direction (place/dump) direction relative to the reference object + (= relation), or "none" when placed with no object reference + orientation (place/dump) object heading from "facing X": forwards / backwards / + left / right / top_left / top_right / bottom_left / bottom_right / none + flip (place/dump) up (right side up) / down (upside down) / none + sub_position (place/dump) fine table region: top / bottom / top_left / ... / none + +Fields that don't apply to a verb are "-". Member = (episode, start, end, ...) so +this plugs into the per-(hash, frame_idx) retrieval keying. The LLM half reads the +emitted groups to confirm each is one action and catch parser mistakes. + + python -m egomimic.ricl.scripts.extract_action_groups --object 'blue marker' \ + [--key verb,object,grip,grasp_loc,angle,hand,relation,has_ref] [--min-size 2] + +Writes egomimic/ricl/episode_lists/actions_.json. +""" + +from __future__ import annotations + +import argparse +import json +import os +import re +from collections import defaultdict + +import zarr + +from egomimic.ricl.scripts.validate_object_labels import canon + +# episode_lists/ lives in the parent ricl/ dir, one level up from scripts/. +HERE = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +LISTS = os.path.join(HERE, "episode_lists") +MASTER = os.path.join(LISTS, "eva_episode_objects.json") +DEFAULT_KEY = "verb,object,grip,grasp_loc,angle,hand,ref_direction" +ALL_FIELDS = [ + "verb", + "object", + "hand", + "grip", + "grasp_loc", + "angle", + "source", + "relation", + "ref_object", + "ref_direction", + "orientation", + "flip", + "sub_position", +] + +_OBJ = ( + r"(.+?)(?: from| with| using| at | by | to | on | in | into| onto| behind| between| next to" + r"| inside| right side up| upside down| below| and |$)" +) +PICK = re.compile(r"[Pp]ick up the " + _OBJ) +PLACE = re.compile(r"(?:[Pp]ut|[Pp]lace|[Dd]ump) the " + _OBJ) + +# place relation -> direction (first match wins; specific phrases before bare left/right; +# 'right side(?! up)' so the "right side up" flip phrase isn't read as a right placement) +PLACE_DIR = [ + (r"\b(inside|into)\b", "inside"), + (r"\bon top of\b", "on_top"), + (r"\b(in front|to the front of)\b", "front"), + (r"\b(behind|at the back of)\b", "behind"), + (r"\bin the middle of .+ and \b", "between"), + (r"\b(in between|between)\b", "between"), + (r"\bnext to\b", "next_to"), + (r"\bto the (top|bottom|front|rear|back) (left|right)\b", "corner"), + (r"\bon the (top|bottom) (left|right)\b", "corner"), + (r"\bside of the table\b", "table"), # before the top/bottom-side rules below + (r"\b(to|on) the top of\b", "above"), + (r"\btop side of\b", "on_top"), + (r"\b(to|on) the bottom of\b", "below"), + (r"\bbottom side of\b", "below"), + (r"\bbelow\b", "below"), + (r"\b(to the left|left side|on the left)\b", "left"), + (r"\b(to the right|right side(?! up)|on the right)\b", "right"), + (r"\b(center|middle of the table)\b", "center"), + (r"\bin the .+?(bowl|cup|mug)\b", "inside"), + (r"\bon the .+?(plate|tray)\b", "on_top"), + (r"\b(on the table|side of the table)\b", "table"), +] +# capture the reference object after each relation (shared stop suffix; 'on its'/'upside' +# stop trailing pose phrases from being swallowed into the ref) +_STOP = r"(?: with| using| facing| on the| on its| upside| right side| relative| and | to the |$)" +REF_PATS = [ + r"\b(?:inside|into) the (.+?)" + _STOP, + r"\bin the (.+?(?:bowl|cup|mug))" + _STOP, + r"\bon top of the (.+?)" + _STOP, + r"\b(?:below|above|(?:to|on) the (?:top|bottom)(?: side)? of) the (.+?)" + + _STOP, # vertical/side, before 'on the X plate' + r"\bon the (?:(?:top|bottom|left|right)(?: (?:left|right))? side of the )?(.+?(?:plate|tray))" + + _STOP, + r"\b(?:in front of|to the front of) the (.+?)" + _STOP, + r"\b(?:behind|at the back of) the (?:(?:left|right|top|bottom) side of the )?(.+?)" + + _STOP, + r"\b(?:between|in the middle of) the (.+? and (?:the )?.+?)" + _STOP, + r"\b(?:to|on|onto) the (?:top |bottom |front |rear |back )?(?:left|right)(?: side)? of the (.+?)" + + _STOP, + r"\bon the (?:top|bottom) (?:left|right) of the (.+?)" + _STOP, + r"\bnext to the (.+?)" + _STOP, +] + + +def _hand(low): + return ( + "both" + if "both" in low + else "left" + if re.search(r"\bleft (hand|arm)\b", low) + else "right" + if re.search(r"\bright (hand|arm)\b", low) + else "?" + ) + + +# object heading at placement (anchor varies: tip / handle / front / object) +_FACING = re.compile( + r"facing (?:to the |the )?(top left|top right|bottom left|bottom right|" + r"forwards?|backwards?|back|front|left|right)" +) +_SUBPOS = re.compile(r"on (?:its |the )?(top|bottom)(?: (left|right))? side") + + +def _place_extras(low): + m = _FACING.search(low) + if m: + v = { + "forward": "forwards", + "backward": "backwards", + "back": "backwards", + "front": "forwards", + }.get(m.group(1), m.group(1)) + orientation = v.replace(" ", "_") + else: + orientation = "none" + flip = ( + "down" if "upside down" in low else "up" if "right side up" in low else "none" + ) + sp = _SUBPOS.search(low) + sub_position = ( + (sp.group(1) + ("_" + sp.group(2) if sp.group(2) else "")) if sp else "none" + ) + return orientation, flip, sub_position + + +def _pick_fields(low): + grip = ( + "handle" + if re.search(r"\bhandle\b", low) + else "lip" + if re.search(r"\blip (grip|grasp)\b", low) + else "side" + if re.search(r"\bside (grip|grasp)\b", low) + else "plain" + ) + # check 'middle' before the top/bottom fallbacks so "from the top at the middle" + # (approach=top, grasp=middle) isn't mis-read as a top grasp + if re.search(r"\bentire object\b", low): + loc = "entire" + elif re.search(r"\b(the middle|grasping its middle|gripping the middle)\b", low): + loc = "middle" + elif re.search(r"\b(right side|on the right|(?:at|from|by) the right)\b", low): + loc = "right" + elif re.search(r"\b(left side|on the left|(?:at|from|by) the left)\b", low): + loc = "left" + elif re.search( + r"\btop of the object\b|\bat the top\b|\b(?:from|on|by) the top\b(?! of)" + r"|\bgrasping the top\b|\btop(?: left| right)? lip (?:grasp|grip)\b", + low, + ): + loc = "top" # '(?! of)' so a "from the top OF the plate" SOURCE doesn't set grasp_loc + elif re.search(r"\b(at the bottom|(?:from|on|by) the bottom)\b", low): + loc = "bottom" + elif grip == "handle": + loc = "handle" + else: + loc = "none" # null token: no grasp location stated (was "other") + angle = ( + "diagonal" + if "diagonal" in low + else "top" + if re.search( + r"\bfrom the top\b(?! of)|\btop pick\b|\bfrom the top of the object\b", low + ) + else "side" + if re.search(r"\bfrom the side\b", low) + else "straight" + ) + m = re.search( + r"\bfrom the (?:top of the )?(table|[a-z ]*?(?:tray|plate|bowl|cup|mug))\b", low + ) + source = "table" if not m or m.group(1) == "table" else canon(m.group(1)) + return grip, loc, angle, source + + +def _place_fields(low): + relation = next((d for pat, d in PLACE_DIR if re.search(pat, low)), "other") + ref = None + for pat in REF_PATS: + m = re.search(pat, low) + if m: + ref = canon(m.group(1)) + break + has_ref = bool(ref) and "table" not in (ref or "") + ref_direction = relation if has_ref else "none" + return relation, ref, ref_direction + + +def parse_segment(text: str) -> dict | None: + t = text.strip() + low = t.lower() + if low.startswith("return"): + return { + **{f: "-" for f in ALL_FIELDS}, + "verb": "return", + "hand": _hand(low), + "text": t, + } + if low.startswith("pick up the"): + verb, rx = "pick", PICK + elif low.startswith("dump the"): + verb, rx = "dump", PLACE + elif low.startswith(("put the", "place the")): + verb, rx = "place", PLACE + else: + return None + m = rx.match(t) + if not m: + return None + rec = {f: "-" for f in ALL_FIELDS} + rec.update(verb=verb, object=canon(m.group(1)), hand=_hand(low), text=t) + if verb == "pick": + rec["grip"], rec["grasp_loc"], rec["angle"], rec["source"] = _pick_fields(low) + else: + rec["relation"], rec["ref_object"], rec["ref_direction"] = _place_fields(low) + rec["orientation"], rec["flip"], rec["sub_position"] = _place_extras(low) + return rec + + +def episode_segments(store): + by = defaultdict(list) + for a in store["annotations"][:]: + d = json.loads(a.decode() if isinstance(a, (bytes, bytearray)) else a) + by[(d["start_idx"], d["end_idx"])].append(d["text"]) + return [ + ( + int(s), + int(e), + next( + (t for t in by[(s, e)] if t.lstrip().lower().startswith("pick up the")), + by[(s, e)][0], + ), + ) + for (s, e) in sorted(by) + ] + + +def main(): + ap = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + ap.add_argument("--object") + ap.add_argument("--scene", default="pick_place_diverse") + ap.add_argument( + "--zarr-root", default="/storage/project/r-dxu345-0/agao81/pick_place/{hash}" + ) + ap.add_argument("--master", default=MASTER) + ap.add_argument( + "--key", default=DEFAULT_KEY, help=f"comma list from: {','.join(ALL_FIELDS)}" + ) + ap.add_argument("--min-size", type=int, default=2) + args = ap.parse_args() + + key_fields = [k.strip() for k in args.key.split(",")] + bad = [k for k in key_fields if k not in ALL_FIELDS] + if bad: + raise SystemExit(f"unknown key field(s) {bad}; choose from {ALL_FIELDS}") + + master = json.load(open(args.master))["episodes"] + pool = sorted( + h + for h, v in master.items() + if v["scene"] == args.scene + and (args.object is None or args.object in v["objects"]) + ) + + groups = defaultdict(list) + for h in pool: + for s, e, txt in episode_segments( + zarr.open(args.zarr_root.format(hash=h), mode="r") + ): + rec = parse_segment(txt) + if rec is None or (args.object and rec["object"] != args.object): + continue + sig = "|".join(str(rec[k]) for k in key_fields) + groups[sig].append({"episode": h, "start": s, "end": e, **rec}) + + kept = dict( + sorted( + ((s, m) for s, m in groups.items() if len(m) >= args.min_size), + key=lambda kv: -len(kv[1]), + ) + ) + slug = re.sub(r"\W+", "_", args.object.strip()) if args.object else "all" + out = os.path.join(LISTS, f"actions_{slug}.json") + with open(out, "w") as f: + json.dump( + { + "object": args.object, + "scene": args.scene, + "key": key_fields, + "min_size": args.min_size, + "groups": { + s: { + "n": len(m), + "n_episodes": len({x["episode"] for x in m}), + "members": m, + } + for s, m in kept.items() + }, + }, + f, + indent=2, + ) + + print( + f"object={args.object!r} scene={args.scene!r} pool={len(pool)} eps key={key_fields}" + ) + print( + f"{len(kept)} groups (>= {args.min_size}); " + f"{sum(1 for m in groups.values() if len(m) < args.min_size)} smaller groups dropped\n" + ) + print(f" {'signature':62s} {'n':>3} {'eps':>3}") + for s, m in kept.items(): + print(f" {s:62s} {len(m):>3} {len({x['episode'] for x in m}):>3}") + print(f"\nwrote {out}") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/extract_object_segments.py b/egomimic/ricl/scripts/extract_object_segments.py new file mode 100644 index 000000000..686eb1fbf --- /dev/null +++ b/egomimic/ricl/scripts/extract_object_segments.py @@ -0,0 +1,185 @@ +"""Extract per-object pick-place *segments* (frame ranges) from the annotations. + +Most eva episodes are multi-object: ~10 pick-places over ~5 objects each. For a +"same scene + same object" experiment we want only the frames where one target +object is being manipulated. The zarr ``annotations`` already carry segment +boundaries (``start_idx`` / ``end_idx``), so a "unit" for object O is: + + a "Pick up the O ..." segment, extended through the immediately following + "Put/Place/Dump the O ..." segment (the carry-to-target frames). + +Object-agnostic "Return to home" segments are excluded. Multiple O-picks in one +episode yield multiple units (more samples). Output is a manifest the retrieval +builder and dataset can filter on -- nothing is re-written to zarr, so the SQL/S3 +resolver and the per-(hash, frame_idx) retrieval keying are untouched. + + python -m egomimic.ricl.scripts.extract_object_segments --object 'blue marker' \ + [--scene pick_place_diverse] \ + [--zarr-root '/storage/project/r-dxu345-0/agao81/pick_place/{hash}'] \ + [--train-list ...] [--valid-list ...] # else 80/20 by episode + +Writes egomimic/ricl/episode_lists/segments_.json. +""" + +from __future__ import annotations + +import argparse +import json +import os +import re +from collections import defaultdict + +import zarr + +from egomimic.ricl.scripts.validate_object_labels import PICK, canon + +# place verbs carry the object to its target; same terminator set as PICK + targets +PLACE = re.compile( + r"(?:[Pp]ut|[Pp]lace|[Dd]ump) the (.+?)" + r"(?: from| with| using| at | by | to | on | in | into| onto| behind| between| next to| inside|$)" +) +# episode_lists/ lives in the parent ricl/ dir, one level up from scripts/. +HERE = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +LISTS = os.path.join(HERE, "episode_lists") +MASTER = os.path.join(LISTS, "eva_episode_objects.json") + + +def segment_object(text: str) -> str | None: + """Canonical object a segment manipulates, or None (e.g. 'Return to home').""" + t = text.strip() + m = PICK.match(t) or PLACE.match(t) + return canon(m.group(1)) if m else None + + +def units_for_object(store, obj: str) -> list[tuple[int, int]]: + """Frame ranges [start, end) where ``obj`` is being manipulated.""" + if "annotations" not in store or store["annotations"].shape[0] == 0: + return [] + # canonical_segments returns one text per (start,end); recover bounds in order + by = defaultdict(list) + for a in store["annotations"][:]: + d = json.loads(a.decode() if isinstance(a, (bytes, bytearray)) else a) + by[(d["start_idx"], d["end_idx"])].append(d["text"]) + segs = [] + for s, e in sorted(by): + txts = by[(s, e)] + rep = next( + (t for t in txts if t.lstrip().lower().startswith("pick up the")), txts[0] + ) + segs.append((s, e, rep)) + + units = [] + for i, (s, e, txt) in enumerate(segs): + if not txt.strip().lower().startswith("pick up the"): + continue + if segment_object(txt) != obj: + continue + end = e + # extend through the next segment if it places the same object + if i + 1 < len(segs): + ns, ne, ntxt = segs[i + 1] + if segment_object(ntxt) == obj and re.match( + r"\s*(put|place|dump)\b", ntxt, re.I + ): + end = ne + units.append((int(s), int(end))) + return units + + +def main(): + ap = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + ap.add_argument("--object", required=True) + ap.add_argument("--scene", default="pick_place_diverse") + ap.add_argument( + "--zarr-root", default="/storage/project/r-dxu345-0/agao81/pick_place/{hash}" + ) + ap.add_argument("--master", default=MASTER) + ap.add_argument( + "--train-list", + help="episode-hash file; else 80/20 by episode (every 5th -> valid)", + ) + ap.add_argument("--valid-list") + ap.add_argument("--valid-every", type=int, default=5) + args = ap.parse_args() + + master = json.load(open(args.master))["episodes"] + pool = sorted( + h + for h, v in master.items() + if v["scene"] == args.scene and args.object in v["objects"] + ) + if not pool: + raise SystemExit( + f"no episodes with object {args.object!r} in scene {args.scene!r}" + ) + + if args.train_list and args.valid_list: + valid = set(open(args.valid_list).read().split()) + role = {h: ("valid" if h in valid else "train") for h in pool} + else: + role = { + h: ("valid" if i % args.valid_every == 0 else "train") + for i, h in enumerate(pool) + } + + episodes, tot = ( + {}, + {"train": [0, 0, 0], "valid": [0, 0, 0]}, + ) # [episodes, units, frames] + for h in pool: + units = units_for_object( + zarr.open(args.zarr_root.format(hash=h), mode="r"), args.object + ) + nframes = sum(e - s for s, e in units) + episodes[h] = { + "role": role[h], + "n_units": len(units), + "n_frames": nframes, + "units": units, + } + t = tot[role[h]] + t[0] += 1 + t[1] += len(units) + t[2] += nframes + + slug = re.sub(r"\W+", "_", args.object.strip()) + out = os.path.join(LISTS, f"segments_{slug}.json") + with open(out, "w") as f: + json.dump( + { + "object": args.object, + "scene": args.scene, + "split": ( + {"train_list": args.train_list, "valid_list": args.valid_list} + if args.train_list + else {"valid_every": args.valid_every} + ), + "totals": { + k: dict(zip(["episodes", "units", "frames"], v)) + for k, v in tot.items() + }, + "episodes": episodes, + }, + f, + indent=2, + ) + + print(f"object={args.object!r} scene={args.scene!r} pool={len(pool)} episodes") + for k in ("train", "valid"): + ep, un, fr = tot[k] + print( + f" {k:5s}: {ep:3d} episodes | {un:4d} units | {fr:6d} frames" + f" | {fr/max(un,1):.0f} frames/unit" + ) + print(f"wrote {out}") + z = [h for h, v in episodes.items() if v["n_units"] == 0] + if z: + print( + f" NOTE: {len(z)} episodes contributed 0 units (object present only as place target)" + ) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/group_segments.py b/egomimic/ricl/scripts/group_segments.py new file mode 100644 index 000000000..00063ae2d --- /dev/null +++ b/egomimic/ricl/scripts/group_segments.py @@ -0,0 +1,132 @@ +"""Group action segments by a set of categories and rank groups by total frames. + +Reads ``episode_lists/action_segments.csv`` (one row per ``[start, end)`` segment; +see ``build_action_table.py``). You pick the categories to group on with ``--by`` +(e.g. ``object,hand,grip``); rows that match on **every** one of those columns form +a group. Groups are ranked by number of segments and the top ``--top`` are printed. +Optional ``--where col=value`` filters narrow the pool before grouping. + +A ``-`` in a category means "field doesn't apply / unknown" (e.g. ``grip`` on a +place, ``object`` on a return). By default such a segment is treated as a **wildcard** +on that column: it is counted in *every* concrete group whose other (non-``-``) fields +it matches (so one ``-`` segment can land in several groups; its frames/episodes are +counted in each). A segment whose ``-`` matches no concrete group stays in its own +literal ``-`` group, so nothing is lost. Pass ``--no-expand-dash`` to instead treat +``-`` as a plain literal value (one ``-`` group per column). + + # top 10 (object, hand, grip) combos by segment count + python -m egomimic.ricl.scripts.group_segments --by object,hand,grip + + # only pick segments, grouped by object + grasp location, top 20 + python -m egomimic.ricl.scripts.group_segments \ + --by object,grasp_loc --where verb=pick --top 20 +""" + +from __future__ import annotations + +import argparse +import os +from collections import defaultdict + +import pandas as pd + +DASH = "-" + +# episode_lists/ lives in the parent ricl/ dir, one level up from scripts/. +HERE = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +LISTS = os.path.join(HERE, "episode_lists") +DEFAULT_CSV = os.path.join(LISTS, "action_segments.csv") +DEFAULT_BY = "object,hand,grip" + + +def main() -> None: + ap = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + ap.add_argument("--csv", default=DEFAULT_CSV, help="path to action_segments.csv") + ap.add_argument( + "--by", default=DEFAULT_BY, help="comma list of categories to group on" + ) + ap.add_argument( + "--where", + action="append", + default=[], + metavar="COL=VALUE", + help="filter rows before grouping (repeatable); exact string match", + ) + ap.add_argument("--top", type=int, default=30, help="number of groups to print") + ap.add_argument( + "--expand-dash", + action=argparse.BooleanOptionalAction, + default=True, + help="treat '-' as a wildcard, folding the segment into every matching " + "concrete group (default); --no-expand-dash treats '-' as a literal value", + ) + args = ap.parse_args() + + df = pd.read_csv(args.csv, dtype=str).fillna("-") + df["frames"] = pd.to_numeric(df["frames"], errors="coerce").fillna(0).astype(int) + + by = [c.strip() for c in args.by.split(",") if c.strip()] + cols = set(df.columns) + bad = [c for c in by if c not in cols] + if bad: + raise SystemExit(f"unknown category(ies) {bad}; choose from {sorted(cols)}") + + for w in args.where: + if "=" not in w: + raise SystemExit(f"--where expects COL=VALUE, got {w!r}") + col, val = w.split("=", 1) + col = col.strip() + if col not in cols: + raise SystemExit( + f"unknown --where column {col!r}; choose from {sorted(cols)}" + ) + df = df[df[col] == val.strip()] + + if df.empty: + raise SystemExit("no segments match the given --where filters") + + # universe of concrete group keys = rows with no '-' in any --by column. A '-' + # segment fans out across the concrete keys it matches; with --no-expand-dash the + # universe is empty, so every row (dash or not) keys on its literal values. + by_vals = df[by].to_numpy() + frames = df["frames"].to_numpy() + eps = df["episode"].to_numpy() + if args.expand_dash: + concrete = df.loc[(df[by] != DASH).all(axis=1), by].drop_duplicates() + universe = [tuple(k) for k in concrete.to_numpy()] + else: + universe = [] + + acc: dict[tuple, dict] = defaultdict(lambda: {"segs": 0, "frames": 0, "eps": set()}) + for rowvals, fr, ep in zip(by_vals, frames, eps): + fixed = [(j, v) for j, v in enumerate(rowvals) if v != DASH] + if len(fixed) == len(by): # fully concrete -> only its own key + keys = [tuple(rowvals)] + else: # has '-' -> every concrete key matching the fixed fields + keys = [k for k in universe if all(k[j] == v for j, v in fixed)] + if not keys: # matched nothing -> keep the literal '-' group + keys = [tuple(rowvals)] + for k in keys: + a = acc[k] + a["segs"] += 1 + a["frames"] += int(fr) + a["eps"].add(ep) + + ranked = sorted(acc.items(), key=lambda kv: -kv[1]["segs"]) + + sig_w = max([len("|".join(by))] + [len(" | ".join(map(str, k))) for k in acc]) + print(f"csv={args.csv}") + print( + f"by={by} where={args.where or '-'} expand_dash={args.expand_dash} " + f"segments={len(df)} groups={len(acc)}\n" + ) + print(f" {'|'.join(by):{sig_w}s} {'segs':>5} {'frames':>8} {'eps':>4}") + for k, a in ranked[: args.top]: + sig = " | ".join(str(v) for v in k) + print(f" {sig:{sig_w}s} {a['segs']:>5} {a['frames']:>8} {len(a['eps']):>4}") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/preview_aligned_pairs.py b/egomimic/ricl/scripts/preview_aligned_pairs.py new file mode 100644 index 000000000..061b918d7 --- /dev/null +++ b/egomimic/ricl/scripts/preview_aligned_pairs.py @@ -0,0 +1,142 @@ +"""Preview the intentionally-aligned eva<->aria pairs as side-by-side mp4s. + +The ``true_pairs_alignment`` tier of ``human_robot_pairs.json`` records the same +pick-and-place scenes captured by robot (eva) and human (aria), but does NOT store +an explicit 1:1 link -- the note says "pair eva<->aria by capture time". So this +script pairs each aria episode with its nearest-in-capture-time eva episode and +renders a time-normalized side-by-side clip (robot left | human right). The Δt of +each pair is printed and burned into the video, so tight same-session pairs +(small Δt) are obvious vs the 2026-04-26 recollected aria (huge Δt). + +Both episodes are resampled to the SAME number of frames, so if the pair is truly +aligned the grasp/lift/place happen at the same horizontal sweep position. + +No embeddings / GPU needed -- decodes images.front_1 only. + +Run (EgoVerse venv + this repo on PYTHONPATH): + PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2 \\ + /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/python \\ + egomimic/ricl/scripts/preview_aligned_pairs.py --out egomimic/ricl/outputs/aligned_pairs_preview +""" + +from __future__ import annotations + +import argparse +import os +from datetime import datetime + +import cv2 +import imageio +import numpy as np + +from egomimic.ricl.retrieval import load_pairs +from egomimic.ricl.scripts.viz_retrieval import EpisodeStore + +AGAO = "/storage/project/r-dxu345-0/agao81/pick_place" +TILE_HW = (360, 480) # (h, w) per panel + + +def parse_ts(h: str) -> datetime: + """'2026-04-14-03-33-23-804000' -> datetime.""" + y, mo, d, hh, mm, ss, us = h.split("-") + return datetime(int(y), int(mo), int(d), int(hh), int(mm), int(ss), int(us)) + + +def resample(n: int, N: int) -> list[int]: + """N evenly-spaced indices spanning [0, n-1] (time-normalize an episode).""" + if n <= 1: + return [0] * N + return [round(i * (n - 1) / (N - 1)) for i in range(N)] + + +def panel(img: np.ndarray, caption: str, color) -> np.ndarray: + t = cv2.resize(img, (TILE_HW[1], TILE_HW[0]), interpolation=cv2.INTER_AREA) + t = cv2.copyMakeBorder(t, 30, 0, 0, 0, cv2.BORDER_CONSTANT, value=0) + cv2.putText( + t, caption, (6, 21), cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 1, cv2.LINE_AA + ) + return t + + +def render_pair(eva_h: str, aria_h: str, dt_min: float, out_mp4: str, fps: int) -> None: + eva = EpisodeStore( + os.path.join(AGAO, eva_h), + "images.front_1", + "observations.embeddings.dinov2.front_1", + ) + aria = EpisodeStore( + os.path.join(AGAO, aria_h), + "images.front_1", + "observations.embeddings.dinov2.front_1", + ) + ne, na = len(eva), len(aria) + N = min(240, max(ne, na)) + ei, ai = resample(ne, N), resample(na, N) + sep = np.full((TILE_HW[0] + 30, 8, 3), 50, np.uint8) + writer = imageio.get_writer(out_mp4, fps=fps, macro_block_size=None) + for j in range(N): + pct = int(100 * j / max(1, N - 1)) + le = panel(eva.image(ei[j]), f"ROBOT {eva_h[11:19]} {pct}%", (80, 160, 255)) + ra = panel( + aria.image(ai[j]), + f"HUMAN {aria_h[11:19]} dt={dt_min:.0f}m", + (120, 230, 120), + ) + writer.append_data(np.concatenate([le, sep, ra], axis=1)) + writer.close() + print(f" wrote {out_mp4} ({N} frames, eva={ne}f aria={na}f, dt={dt_min:.1f}min)") + + +def main() -> None: + ap = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + ap.add_argument( + "--out", + default="egomimic/ricl/outputs/aligned_pairs_preview", + help="output dir", + ) + ap.add_argument("--fps", type=int, default=15) + ap.add_argument( + "--pairs", + default=None, + help="manual override: 'eva_hash:aria_hash,eva_hash:aria_hash'", + ) + args = ap.parse_args() + os.makedirs(args.out, exist_ok=True) + + if args.pairs: + pairs = [] + for tok in args.pairs.split(","): + e, a = tok.split(":") + dt = abs((parse_ts(e) - parse_ts(a)).total_seconds()) / 60.0 + pairs.append((e, a, dt, "manual")) + else: + tpa = load_pairs()["tiers"]["true_pairs_alignment"] + pairs = [] + for set_name, payload in tpa.items(): + if not isinstance(payload, dict): + continue + evas = sorted(e["episode_hash"] for e in payload["eva_bimanual"]) + arias = sorted(a["episode_hash"] for a in payload["aria_bimanual"]) + # pair each aria with its nearest-in-time eva + for a in arias: + ta = parse_ts(a) + e = min(evas, key=lambda x: abs((parse_ts(x) - ta).total_seconds())) + dt = abs((parse_ts(e) - ta).total_seconds()) / 60.0 + pairs.append((e, a, dt, set_name)) + + print(f"pairing {len(pairs)} eva<->aria clips (nearest capture time):") + for i, (e, a, dt, tag) in enumerate(pairs): + flag = " <-- same-session" if dt < 20 else " (recollect? large dt)" + print(f" [{tag}] eva {e} <-> aria {a} dt={dt:.1f}min{flag}") + + print("\nrendering:") + for e, a, dt, tag in pairs: + name = f"{tag}_eva-{e[11:19]}_aria-{a[11:19]}_dt{dt:.0f}m.mp4" + render_pair(e, a, dt, os.path.join(args.out, name), args.fps) + print(f"\ndone -> {args.out}/") + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/ricl_smoke.sbatch b/egomimic/ricl/scripts/ricl_smoke.sbatch new file mode 100644 index 000000000..37f34d6ba --- /dev/null +++ b/egomimic/ricl/scripts/ricl_smoke.sbatch @@ -0,0 +1,41 @@ +#!/bin/bash +#SBATCH --job-name=ricl_smoke +#SBATCH --nodes=1 +#SBATCH --ntasks=1 +#SBATCH --cpus-per-task=8 +#SBATCH --mem=96G +#SBATCH --partition=gpu-h200 +#SBATCH --gres=gpu:h200:1 +#SBATCH --qos=embers +#SBATCH -A gts-dxu345-rl2 +#SBATCH --time=01:00:00 +#SBATCH --output=logs/ricl_smoke/%j.out +#SBATCH --error=logs/ricl_smoke/%j.err + +set -uo pipefail +mkdir -p logs/ricl_smoke + +# EgoVerse env (valid: openpi/flax/torch + pi05 checkpoint), EgoVerse2 ricl code on path +source /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/activate +export PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2 +cd /storage/project/r-dxu345-0/rco3/EgoVerse2 + +echo "host=$(hostname) gpu=$CUDA_VISIBLE_DEVICES" +nvidia-smi --query-gpu=name,memory.total --format=csv,noheader || true +python -c "import openpi, egomimic; print('openpi', openpi.__file__); print('egomimic', egomimic.__file__)" + +python -m egomimic.trainHydra --config-name train_zarr_cartesian \ + model=pi0.5_ricl data=cotrain_pi_ricl_smoke evaluator=eval_pi_ricl trainer=ddp_pi \ + launch_params.gpus_per_node=1 trainer.devices=1 trainer.num_nodes=1 \ + +trainer.fast_dev_run=true \ + data.retrieval_cache_dir=/storage/project/r-dxu345-0/rco3/EgoVerse2/egomimic/ricl/outputs/ricl_cache_smoke \ + "data.bank_zarr_root='/storage/project/r-dxu345-0/agao81/pick_place/{hash}'" \ + model.robomimic_model.tokenizer_model_name=/storage/project/r-dxu345-0/rco3/EgoVerse2/egomimic/ricl/pg_tokenizer \ + data.train_dataloader_params.eva_bimanual.batch_size=2 \ + data.valid_dataloader_params.eva_bimanual.batch_size=2 \ + data.train_dataloader_params.eva_bimanual.num_workers=2 \ + data.valid_dataloader_params.eva_bimanual.num_workers=2 \ + norm_stats.num_workers=2 norm_stats.sample_frac=0.5 \ + logger=debug name=ricl_smoke description=fastdevrun + +echo "=== trainHydra exit: $? ===" diff --git a/egomimic/ricl/scripts/segment_retrieval.py b/egomimic/ricl/scripts/segment_retrieval.py new file mode 100644 index 000000000..46546d4c0 --- /dev/null +++ b/egomimic/ricl/scripts/segment_retrieval.py @@ -0,0 +1,640 @@ +""" +Segment-scoped leave-one-segment-out (LOSO) retrieval caches. + +Unlike ``retrieval.py`` (which scopes retrieval at the *episode* level via +``human_robot_pairs.json``), this builds a cache whose pool is the set of frames +**inside selected action segments**. An episode is split into ``units`` — +``[start, end)`` frame spans — by ``action_segments.csv`` (one CSV row per +segment, columns ``episode,scene,start,end,verb,object,hand,...``). A ``--filter`` +lambda over the row dict selects which segments enter the pool. + +Bank and query are the *same* in-segment pool. Retrieval is per-frame, with +**leave-one-segment-out**: a query frame may not retrieve frames from its own +segment (``--loso-scope segment``) or its own episode (``--loso-scope episode``). +Self-retrieval is therefore excluded for free (a frame always shares its own +segment/episode key). + +This is offline only — the output is a ``RetrievalCache`` in the exact on-disk +format ``retrieval.py`` produces (``manifest.json`` + ``q_.npz``), keyed by +**absolute** frame index, so it plugs into the same training/eval data path. +Out-of-segment query frames get padding entries (``""`` / ``-1`` / ``inf``). Build +several caches by re-running with different ``--filter`` / ``--segments-csv``. + +Vectors come from the consolidated index built by ``build_embedding_index.py`` +(``--index ``; recommended) or, alternatively, per-episode zarr stores +(``--zarr-root '/{hash}'``). + +Example: + python egomimic/ricl/scripts/segment_retrieval.py \\ + --index egomimic/ricl/outputs/ricl_embeddings/pickplace_eva/_index \\ + --segments-csv egomimic/ricl/episode_lists/action_segments.csv \\ + --filter "lambda r: r['object'] == 'blue marker'" \\ + --loso-scope segment -k 4 \\ + --out egomimic/ricl/outputs/ricl_caches/blue_marker_loso +""" + +from __future__ import annotations + +import argparse +import json +import logging +import os + +import numpy as np + +from egomimic.ricl.retrieval import ( + DINOV2_ZARR_KEY, + RetrievalCache, + make_tree, + make_zarr_dinov2_provider, + pool_patch_embeddings, +) + +logger = logging.getLogger(__name__) + +# this file lives in egomimic/ricl/scripts/; episode_lists is a sibling of scripts/ +DEFAULT_SEGMENTS_CSV = os.path.join( + os.path.dirname(os.path.dirname(__file__)), "episode_lists", "action_segments.csv" +) + + +# --------------------------------------------------------------------------- +# Segments +# --------------------------------------------------------------------------- + + +def _compile_filter(filter_str: str | None): + """Compile a ``"lambda r: ..."`` predicate string into a callable (or None).""" + if not filter_str: + return None + fn = eval(filter_str) # noqa: S307 - trusted CLI input, mirrors DatasetFilter + if not callable(fn): + raise ValueError(f"--filter did not evaluate to a callable: {filter_str!r}") + return fn + + +def load_segments( + csv_path: str, filter_fn=None +) -> dict[str, list[tuple[int, int, str]]]: + """Parse ``action_segments.csv`` -> ``{episode_hash: [(start, end, seg_id)]}``. + + ``filter_fn(row_dict)`` (optional) keeps only matching rows. ``seg_id`` is + ``"::"`` (one CSV row == one segment). Spans are + half-open ``[start, end)``. + """ + import pandas as pd + + df = pd.read_csv(csv_path) + required = {"episode", "start", "end"} + missing = required - set(df.columns) + if missing: + raise ValueError(f"{csv_path} missing columns {missing}") + + segments: dict[str, list[tuple[int, int, str]]] = {} + n_rows = n_kept = 0 + for row in df.to_dict(orient="records"): + n_rows += 1 + if filter_fn is not None and not filter_fn(row): + continue + n_kept += 1 + h = str(row["episode"]) + start, end = int(row["start"]), int(row["end"]) + segments.setdefault(h, []).append((start, end, f"{h}:{start}:{end}")) + logger.info( + "segments: kept %d/%d rows -> %d episodes, %d segments", + n_kept, + n_rows, + len(segments), + sum(len(v) for v in segments.values()), + ) + if not segments: + raise SystemExit("--filter matched no segments") + return segments + + +# --------------------------------------------------------------------------- +# Vector sources: (T, D) pooled descriptors per episode, padding stripped +# --------------------------------------------------------------------------- + + +class IndexVectorSource: + """Read pooled descriptors from a consolidated index (build_embedding_index).""" + + def __init__(self, index_dir: str): + with open(os.path.join(index_dir, "manifest.json")) as f: + self.manifest = json.load(f) + self.vectors = np.load( + os.path.join(index_dir, "vectors.npy"), mmap_mode="r" + ) # (N, D), pooled + padding-stripped + self.ranges = { + e["hash"]: (int(e["start"]), int(e["count"])) + for e in self.manifest["episodes"] + } + + def episode_vectors(self, episode_hash: str) -> np.ndarray: + if episode_hash not in self.ranges: + raise KeyError(episode_hash) + start, count = self.ranges[episode_hash] + return np.asarray(self.vectors[start : start + count], dtype=np.float32) + + @property + def meta(self) -> dict: + return { + "vector_source": "index", + "pool": self.manifest.get("pool"), + "l2_normalize": self.manifest.get("l2_normalize"), + "embed_dim": self.manifest.get("embed_dim"), + } + + +class ZarrVectorSource: + """Pool per-episode DINOv2 patch tokens on the fly from a {hash} zarr root.""" + + def __init__( + self, + zarr_root: str, + zarr_key: str = DINOV2_ZARR_KEY, + pool: str = "64patches", + l2_normalize: bool = False, + frame_chunk_size: int = 256, + ): + self._provider = make_zarr_dinov2_provider( + lambda h: zarr_root.format(hash=h), + zarr_key=zarr_key, + pool=pool, + l2_normalize=l2_normalize, + ) + self.zarr_root = zarr_root + self.zarr_key = zarr_key + self.pool = pool + self.l2_normalize = l2_normalize + self.frame_chunk_size = int(frame_chunk_size) + self._meta = { + "vector_source": "zarr", + "zarr_root": zarr_root, + "pool": pool, + "l2_normalize": l2_normalize, + } + + def episode_vectors(self, episode_hash: str) -> np.ndarray: + try: + return np.asarray(self._provider(episode_hash), dtype=np.float32) + except (FileNotFoundError, KeyError) as e: + raise KeyError(episode_hash) from e + + def _open_array(self, episode_hash: str): + import zarr + + store = zarr.open(self.zarr_root.format(hash=episode_hash), mode="r") + return store, store[self.zarr_key] + + def episode_length(self, episode_hash: str) -> int: + try: + store, arr = self._open_array(episode_hash) + except (FileNotFoundError, KeyError) as e: + raise KeyError(episode_hash) from e + return int(store.attrs.get("total_frames", arr.shape[0])) + + def episode_frame_vectors( + self, episode_hash: str, frames: np.ndarray + ) -> np.ndarray: + try: + _, arr = self._open_array(episode_hash) + except (FileNotFoundError, KeyError) as e: + raise KeyError(episode_hash) from e + + frames = np.asarray(frames, dtype=np.int64) + out = [] + breaks = np.flatnonzero(np.diff(frames) != 1) + 1 + runs = np.split(frames, breaks) + for run in runs: + run_start = int(run[0]) + run_end = int(run[-1]) + 1 + for start in range(run_start, run_end, self.frame_chunk_size): + end = min(run_end, start + self.frame_chunk_size) + patches = np.asarray(arr[start:end]) + out.append( + pool_patch_embeddings( + patches, method=self.pool, l2_normalize=self.l2_normalize + ) + ) + return np.concatenate(out, axis=0).astype(np.float32, copy=False) + + @property + def meta(self) -> dict: + return dict(self._meta) + + +# --------------------------------------------------------------------------- +# Pool build + LOSO cache +# --------------------------------------------------------------------------- + + +def _build_frame_set(segments, source): + """Gather in-segment frames across episodes into flat pool arrays + blocks. + + Returns ``(vectors (P,D), hashes (P,), frames (P,), seg_ids (P,), + blocks)`` where ``blocks`` is a list of ``(hash, T, frames (n,), row_start, n)`` + used to scatter results back into per-episode ``(T, k)`` cache arrays. + """ + vec_parts, hash_parts, frame_parts, seg_parts, blocks = [], [], [], [], [] + row_start = 0 + skipped: list[str] = [] + for h, units in segments.items(): + try: + if hasattr(source, "episode_length"): + T = int(source.episode_length(h)) + V = None + else: + V = source.episode_vectors(h) # (T, D) + T = int(V.shape[0]) + except KeyError: + skipped.append(h) + continue + taken: set[int] = set() + frames, seg_ids = [], [] + for start, end, seg_id in units: + for f in range(max(0, start), min(T, end)): + if f in taken: + continue + taken.add(f) + frames.append(f) + seg_ids.append(seg_id) + if not frames: + continue + frames_np = np.asarray(frames, dtype=np.int32) + n = frames_np.shape[0] + if hasattr(source, "episode_frame_vectors"): + selected_vectors = source.episode_frame_vectors(h, frames_np) + else: + selected_vectors = V[frames_np] + vec_parts.append(np.asarray(selected_vectors, dtype=np.float32)) + hash_parts.append(np.full(n, h, dtype=object)) + frame_parts.append(frames_np) + seg_parts.append(np.asarray(seg_ids, dtype=object)) + blocks.append((h, T, frames_np, row_start, n)) + row_start += n + + if skipped: + logger.warning( + "%d/%d segment episodes had no vectors (not embedded?), skipped: %s%s", + len(skipped), + len(segments), + skipped[:5], + "..." if len(skipped) > 5 else "", + ) + if not vec_parts: + raise SystemExit("no in-segment frames had vectors; nothing to index") + + vectors = np.concatenate(vec_parts, axis=0) + hashes = np.concatenate(hash_parts).astype("U") + frames = np.concatenate(frame_parts).astype(np.int32) + seg_ids = np.concatenate(seg_parts).astype("U") + return vectors, hashes, frames, seg_ids, blocks + + +def _build_pool(segments, source): + return _build_frame_set(segments, source) + + +def _torch_topk_dist( + query_vectors: np.ndarray, + pool_vectors: np.ndarray, + k: int, + chunk_size: int = 512, + device: str = "auto", +) -> tuple[np.ndarray, np.ndarray]: + """Exact Euclidean top-k using chunked torch matmul.""" + import torch + + if device == "auto": + device = "cuda" if torch.cuda.is_available() else "cpu" + dev = torch.device(device) + + pool = torch.as_tensor( + np.ascontiguousarray(pool_vectors, dtype=np.float32), device=dev + ) + pool_norm = (pool * pool).sum(dim=1) + kk = int(min(k, pool.shape[0])) + + all_dist: list[np.ndarray] = [] + all_idx: list[np.ndarray] = [] + for start in range(0, query_vectors.shape[0], chunk_size): + q_np = np.ascontiguousarray( + query_vectors[start : start + chunk_size], dtype=np.float32 + ) + q = torch.as_tensor(q_np, device=dev) + d2 = (q * q).sum(dim=1, keepdim=True) - 2.0 * (q @ pool.T) + pool_norm + vals, idx = torch.topk(d2, k=kk, dim=1, largest=False, sorted=True) + vals = torch.clamp(vals, min=0.0).sqrt() + all_dist.append(vals.cpu().numpy()) + all_idx.append(idx.cpu().numpy()) + del q, d2, vals, idx + + return np.concatenate(all_dist, axis=0), np.concatenate(all_idx, axis=0) + + +def build_segment_loso_cache( + segments, + source, + k: int, + loso_scope: str = "segment", + meta: dict | None = None, + bank_segments=None, + knn_backend: str = "tree", + chunk_size: int = 512, + torch_device: str = "auto", +) -> RetrievalCache: + """Per-frame kNN over segment frames -> RetrievalCache. + + By default ``segments`` is both query and bank, giving true LOSO retrieval. + Pass ``bank_segments`` to use a separate bank pool, e.g. query=train+valid + and bank=train so held-out eval task frames never enter the retrieved + context. + """ + if loso_scope not in ("segment", "episode"): + raise ValueError( + f"loso_scope must be 'segment' or 'episode', got {loso_scope!r}" + ) + + bank_segments = segments if bank_segments is None else bank_segments + pool_vectors, pool_hash, pool_frame, pool_seg, _ = _build_pool( + bank_segments, source + ) + query_vectors, query_hash, query_frame, query_seg, blocks = _build_frame_set( + segments, source + ) + P = pool_vectors.shape[0] + Q = query_vectors.shape[0] + + exclude_keys = pool_seg if loso_scope == "segment" else pool_hash + _, exclude_code = np.unique(exclude_keys, return_inverse=True) + max_excl = int(np.bincount(exclude_code).max()) + # Querying k + the largest excluded block is exact: after removing at most + # max_excl same-segment/same-episode rows, the true k external nearest + # neighbors remain in the candidate set. + K = int(min(P, k + max_excl)) + logger.info( + "bank: %d frames, %d segments, %d episodes; query: %d frames, %d segments, %d episodes; K=%d (k=%d, max_excl=%d, backend=%s)", + P, + len(np.unique(pool_seg)), + len(np.unique(pool_hash)), + Q, + len(np.unique(query_seg)), + len(np.unique(query_hash)), + K, + k, + max_excl, + knn_backend, + ) + + if knn_backend == "torch": + dist, idx = _torch_topk_dist( + query_vectors, + pool_vectors, + k=K, + chunk_size=chunk_size, + device=torch_device, + ) + elif knn_backend == "tree": + tree = make_tree(pool_vectors) + dist, idx = tree.query(query_vectors, k=K) + else: + raise ValueError(f"unknown knn_backend {knn_backend!r}") + if idx.ndim == 1: # k==1 edge (shouldn't happen: max_excl>=1) + dist, idx = dist[:, None], idx[:, None] + idx = idx.astype(np.int64) + + # per-query-row top-k after LOSO filtering + res_bh = np.empty((Q, k), dtype=object) + res_bh[:] = "" + res_bf = np.full((Q, k), -1, dtype=np.int32) + res_dd = np.full((Q, k), np.inf, dtype=np.float32) + for i in range(Q): + ci, di = idx[i], dist[i] + query_exclude = query_seg[i] if loso_scope == "segment" else query_hash[i] + bank_exclude = pool_seg[ci] if loso_scope == "segment" else pool_hash[ci] + keep = bank_exclude != query_exclude + ci, di = ci[keep], di[keep] + m = min(k, ci.shape[0]) + if m: + res_bh[i, :m] = pool_hash[ci[:m]] + res_bf[i, :m] = pool_frame[ci[:m]] + res_dd[i, :m] = di[:m] + + # scatter into per-episode (T, k) cache arrays (absolute frame index) + cache = RetrievalCache(k=k, meta=meta) + for h, T, frames_np, r0, n in blocks: + rows = np.arange(r0, r0 + n) + BH = np.empty((T, k), dtype=object) + BH[:] = "" + BF = np.full((T, k), -1, dtype=np.int32) + DD = np.full((T, k), np.inf, dtype=np.float32) + BH[frames_np] = res_bh[rows] + BF[frames_np] = res_bf[rows] + DD[frames_np] = res_dd[rows] + cache.add(h, BH, BF, DD, group_id="segment_loso") + return cache + + +# --------------------------------------------------------------------------- +# Smoke self-test +# --------------------------------------------------------------------------- + + +class _SyntheticVectorSource: + """Per-episode (T, D) where each segment's frames cluster around a centroid.""" + + def __init__(self, segments, dim=16, seed=0): + self.dim = dim + rng = np.random.default_rng(seed) + self._V = {} + for h, units in segments.items(): + T = max(e for _, e, _ in units) + V = rng.standard_normal((T, dim)).astype(np.float32) + for j, (s, e, _) in enumerate(units): + centroid = (10.0 * (j + 1)) * np.ones(dim, dtype=np.float32) + V[s:e] = centroid + 0.01 * rng.standard_normal((e - s, dim)).astype( + np.float32 + ) + self._V[h] = V + + def episode_vectors(self, h): + if h not in self._V: + raise KeyError(h) + return self._V[h] + + @property + def meta(self): + return {"vector_source": "synthetic"} + + +def _smoke() -> None: + import tempfile + + print("== segment LOSO retrieval smoke (numpy+scipy, no GPU/data) ==") + segments = { + "epA": [(0, 5, "epA:0:5"), (10, 14, "epA:10:14")], + "epB": [(0, 6, "epB:0:6")], + "epC": [(2, 7, "epC:2:7")], + } + src = _SyntheticVectorSource(segments) + k = 3 + cache = build_segment_loso_cache( + segments, src, k=k, loso_scope="segment", meta={"mode": "segment_loso", "k": k} + ) + + seg_of = {} # (hash, frame) -> seg_id + for h, units in segments.items(): + for s, e, sid in units: + for f in range(s, e): + seg_of[(h, f)] = sid + + n_checked = 0 + for h, units in segments.items(): + for s, e, sid in units: + for f in range(s, e): + bh, bf, dd = cache.neighbors(h, f) + valid = [j for j in range(k) if bh[j] != ""] + # LOSO: no neighbor shares the query's segment + for j in valid: + assert seg_of[(bh[j], int(bf[j]))] != sid, (h, f, sid, bh[j], bf[j]) + # distances ascending over valid entries + vd = dd[[j for j in valid]] + assert np.all(np.diff(vd) >= -1e-5), (h, f, dd) + n_checked += 1 + print(f" LOSO + ordering: checked {n_checked} in-segment query frames, OK") + + # out-of-segment frame -> padding + bh, bf, dd = cache.neighbors("epA", 7) # frame 7 is between the two units + assert np.all(bh == "") and np.all(bf == -1) and np.all(np.isinf(dd)) + print(" out-of-segment frame -> padding, OK") + + with tempfile.TemporaryDirectory() as d: + cache.save(d) + re = RetrievalCache.load(d) + bh1, bf1, dd1 = cache.neighbors("epB", 0) + bh2, bf2, dd2 = re.neighbors("epB", 0) + assert np.array_equal(bh1, bh2) and np.array_equal(bf1, bf2) + assert np.allclose(dd1, dd2) + print(" save/load roundtrip: OK") + print("ALL SMOKE CHECKS PASSED") + + +# --------------------------------------------------------------------------- +# CLI +# --------------------------------------------------------------------------- + + +def main() -> None: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--smoke", action="store_true", help="offline self-test and exit") + p.add_argument( + "--index", + default=None, + help="consolidated index dir (vectors.npy + manifest.json)", + ) + p.add_argument( + "--zarr-root", + default=None, + help="alternative to --index: {hash} template to per-episode zarr stores", + ) + p.add_argument("--segments-csv", default=DEFAULT_SEGMENTS_CSV) + p.add_argument( + "--filter", default=None, help='"lambda r: ..." over the CSV row dict' + ) + p.add_argument( + "--query-filter", + default=None, + help=( + '"lambda r: ..." for query segments. Defaults to --filter. Use with ' + "--bank-filter to keep eval query tasks out of the retrieval bank." + ), + ) + p.add_argument( + "--bank-filter", + default=None, + help=( + '"lambda r: ..." for bank segments. Defaults to --filter. If set, ' + "retrieval is query->bank instead of one shared LOSO pool." + ), + ) + p.add_argument("--loso-scope", default="segment", choices=["segment", "episode"]) + p.add_argument("-k", type=int, default=4) + p.add_argument("--out", default=None, help="output cache dir") + p.add_argument( + "--pool", default="64patches", help="--zarr-root only (index is pre-pooled)" + ) + p.add_argument("--l2-normalize", action="store_true", help="--zarr-root only") + p.add_argument( + "--knn-backend", + default="tree", + choices=["tree", "torch"], + help="exact kNN implementation; torch is faster for DINOv2 descriptors", + ) + p.add_argument("--chunk-size", type=int, default=512, help="torch query chunk size") + p.add_argument( + "--torch-device", + default="auto", + help="torch device for --knn-backend torch, e.g. auto/cuda/cpu", + ) + args = p.parse_args() + + logging.basicConfig( + level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s" + ) + + if args.smoke: + _smoke() + return + + if (args.index is None) == (args.zarr_root is None): + raise SystemExit("provide exactly one vector source: --index OR --zarr-root") + if args.out is None: + raise SystemExit("--out is required") + + if args.index is not None: + source = IndexVectorSource(args.index) + else: + source = ZarrVectorSource( + args.zarr_root, pool=args.pool, l2_normalize=args.l2_normalize + ) + + query_filter = args.query_filter if args.query_filter is not None else args.filter + bank_filter = args.bank_filter if args.bank_filter is not None else args.filter + query_segments = load_segments(args.segments_csv, _compile_filter(query_filter)) + bank_segments = ( + None + if bank_filter == query_filter + else load_segments(args.segments_csv, _compile_filter(bank_filter)) + ) + + meta = { + "mode": "segment_loso", + "k": args.k, + "loso_scope": args.loso_scope, + "segments_csv": args.segments_csv, + "filter": args.filter, + "query_filter": query_filter, + "bank_filter": bank_filter, + **source.meta, + } + cache = build_segment_loso_cache( + query_segments, + source, + k=args.k, + loso_scope=args.loso_scope, + meta=meta, + bank_segments=bank_segments, + knn_backend=args.knn_backend, + chunk_size=args.chunk_size, + torch_device=args.torch_device, + ) + cache.save(args.out) + print( + f"wrote segment LOSO cache for {len(cache.query_hashes)} query episodes -> {args.out}" + ) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/train_droid_ricl.py b/egomimic/ricl/scripts/train_droid_ricl.py new file mode 100644 index 000000000..1412850a6 --- /dev/null +++ b/egomimic/ricl/scripts/train_droid_ricl.py @@ -0,0 +1,708 @@ +"""Train + verify EgoVerse's RICL pipeline on the original-RICL DROID data. + +This is the train-and-check-it-improves entrypoint for the bring-up plan: it runs +the *real* RICL machinery (``build_ricl_collate`` -> ``PIRicl`` prefix +conditioning -> pi0.5 flow matching -> loss -> backward -> AdamW) on the original +RICL paper's flat ``processed_demo.npz`` demos via the in-memory shim in +``egomimic.ricl.droid_data`` (no Zarr/SQL port). It reuses the production +``ModelWrapper`` + Lightning ``Trainer`` so optimizer / grad-norm / logging are +the real ones; only the Zarr data layer and the Hydra entrypoint are bypassed. + +Success = (1) train action-loss decreases, and (2) retrieval-conditioning beats +the zero-context floor on held-out frames (``RICL/retrieval_helps`` / negative +``RICL/delta_*``). The eval here compares the flow-matching val loss with the +full retrieved context vs a *truly clean* floor (ricl keys stripped from the RAW +batch, so the floor prompt has no spliced demos and no retrieved images) under +identical sampled noise, so the delta reflects only the conditioning. + +Stages: + --stage cpu : build/load cache, collate one batch, assert shapes/masks/prompt + splice/token budget. No model, runs on the login node. + --stage full : construct PIRicl + ModelWrapper + DroidRiclEval + Trainer and + fit. Needs a GPU + the EgoVerse openpi env. + +Run: + PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2 \ + /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/python \ + egomimic/ricl/scripts/train_droid_ricl.py --stage full \ + --cache-dir egomimic/ricl/outputs/droid_cache --max-steps 4000 --batch-size 4 +""" + +from __future__ import annotations + +import argparse +import functools +import os + +import torch + +from egomimic.ricl import droid_data as D + +# pg_tokenizer/ and outputs/ live in the parent ricl/ dir, one level up from scripts/. +RICL_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +# Local (gitignored) PaliGemma tokenizer — avoids the gated HF download. +TOKENIZER_DIR = os.path.join(RICL_DIR, "pg_tokenizer") +CKPT_DIR = ( + "/storage/project/r-dxu345-0/rco3/EgoVerse/egomimic/algo/" + "pi_checkpoints/pi05_base_pytorch" +) +DEFAULT_OUT = os.path.join(RICL_DIR, "outputs", "droid_train") + + +# --------------------------------------------------------------------------- # +# Data: split episodes, build datasets + ricl collate over the DROID corpus +# --------------------------------------------------------------------------- # +def _retrieved_steps(args) -> int: + """How many retrieved action steps to encode in the prompt (#1). 0 (the + default) means the full chunk == ``action_horizon``.""" + return ( + args.retrieved_action_steps + if args.retrieved_action_steps > 0 + else args.action_horizon + ) + + +def _make_collate(args, cache, provider): + from egomimic.ricl.data import build_ricl_collate + + # Retrieved state/action are TEXT-ONLY (spliced into the prompt as discretized + # bins); encode just DROID's real 8 dims, not the 32-D slot-fill, to keep the + # prompt short. Carry the FULL retrieved action chunk (action_horizon steps, #1) + # so the demo's trajectory — not one near-zero step — reaches the model. + # Retrieved images + the model's continuous inputs are unaffected. + return build_ricl_collate( + cache, + provider, + k=args.k, + action_horizon=args.action_horizon, + image_hw=(224, 224), + state_dim=D.RAW_DIM, + action_dim=D.RAW_DIM, + ) + + +# Fields the ricl collate attaches per query (sans the ``ricl_retrieved_`` prefix). +_RICL_COLLATE_FIELDS = ("images", "state", "action", "mask", "dist") + + +def _combined_collate(primary, variants): + """Wrap the kNN collate so each validation batch ALSO carries the random-control + neighbor blocks under tagged keys. + + ``variants`` maps ``tag -> collate`` (each built from a *random*-neighbor cache). + For every variant we re-run its collate over the same query samples and copy its + ``ricl_retrieved_`` into ``ricl__retrieved_``, so + :class:`DroidRiclEval` can score retrieval / random-within / random-bank / floor + on the *same* query frames in a single validation pass. + """ + + def collate(samples): + batch = primary(samples) + for tag, vcollate in variants.items(): + vbatch = vcollate(samples) + for f in _RICL_COLLATE_FIELDS: + key = f"ricl_retrieved_{f}" + if key in vbatch: + batch[f"ricl_{tag}_retrieved_{f}"] = vbatch[key] + return batch + + return collate + + +def build_data(args): + from egomimic.ricl.retrieval import RetrievalCache + + groups = None + if args.groups > 0: + all_g = sorted( + d + for d in os.listdir(D.DROID_ROOT) + if os.path.isdir(os.path.join(D.DROID_ROOT, d)) and not d.startswith(".") + ) + groups = all_g[: args.groups] + corpus = D.DroidCorpus(groups=groups) + + if args.cache_dir and os.path.isdir(args.cache_dir): + cache = RetrievalCache.load(args.cache_dir) + print( + f"[data] loaded train retrieval cache ({len(cache.query_hashes)} queries) " + f"from {args.cache_dir}", + flush=True, + ) + else: + cache = D.build_droid_retrieval_cache(corpus, k=args.k) + print( + f"[data] built train retrieval cache ({len(cache.query_hashes)} queries)", + flush=True, + ) + provider = D.make_droid_bank_provider(corpus, action_horizon=args.action_horizon) + train_collate = _make_collate(args, cache, provider) + if args.no_incontext: + # PLAIN-FINETUNE BASELINE: train with NO in-context demos. The base + # annotation_collate attaches no ``ricl_*`` keys, so PIRicl._build_prompts / + # _robomimic_to_pi_data fall through to base PI — i.e. a vanilla pi0.5 + # finetune on the train tasks only. This is the honest comparison the + # k=0 "floor" condition does NOT provide: the floor reuses the RICL model's + # weights (trained WITH the in-context mechanism) at k=0, whereas this + # baseline's weights NEVER saw a retrieved demo. The val collate is left + # UNCHANGED (still carries retrieval/random/floor) so the baseline is scored + # on the same new tasks/frames and compared head-to-head with RICL. + from egomimic.pl_utils.pl_data_utils import annotation_collate + + train_collate = annotation_collate + print( + "[data] NO-INCONTEXT baseline: train collate strips retrieved demos " + "(plain pi0.5 finetune); val collate unchanged", + flush=True, + ) + + # --- Original-RICL split: train on collected_demos_training (ALL groups), + # eval on the SEPARATE new-task set (collected_demos). Each eval query + # retrieves from its own new-task group (within-group leave-one-out), + # exactly the original repo's `baseline` bank. ----------------------- # + if args.eval_root: + import re + + all_eval = sorted( + d + for d in os.listdir(args.eval_root) + if os.path.isdir(os.path.join(args.eval_root, d)) and not d.startswith(".") + ) + # Drop the "-5demos"/"-10demos" sample-efficiency subset variants so each + # new task is counted once (keep the full group, e.g. the full idli set). + eval_groups = [d for d in all_eval if not re.search(r"-\d+demos", d)] + eval_corpus = D.DroidCorpus(root=args.eval_root, groups=eval_groups) + train_hashes = [h for _, hs in corpus.group_to_hashes.items() for h in hs] + val_hashes = [h for _, hs in eval_corpus.group_to_hashes.items() for h in hs] + eval_cache = D.build_droid_retrieval_cache(eval_corpus, k=args.k) + eval_provider = D.make_droid_bank_provider( + eval_corpus, action_horizon=args.action_horizon + ) + val_collate = _make_collate(args, eval_cache, eval_provider) + # Random-retrieval controls (independent of loader shuffling / batch + # composition): random demos from the query's OWN new task (within) and + # from ALL new tasks pooled (bank). _combined_collate carries both blocks + # alongside the kNN block so all four conditions score the same frames. + if not args.no_random: + within_cache = D.build_random_neighbor_cache( + eval_corpus, k=args.k, scope="within", seed=args.seed + ) + bank_cache = D.build_random_neighbor_cache( + eval_corpus, k=args.k, scope="bank", seed=args.seed + ) + val_collate = _combined_collate( + val_collate, + { + "randwithin": _make_collate(args, within_cache, eval_provider), + "randbank": _make_collate(args, bank_cache, eval_provider), + }, + ) + print("[data] random-control caches built (within + bank)", flush=True) + train_ds = D.DroidQueryDataset(corpus, train_hashes, args.action_horizon) + val_ds = D.DroidQueryDataset(eval_corpus, val_hashes, args.action_horizon) + print( + f"[data] ORIGINAL-RICL SPLIT: train on {len(corpus.group_to_hashes)} " + f"training tasks ({len(train_hashes)} eps) | eval on " + f"{len(eval_corpus.group_to_hashes)} NEW tasks ({len(val_hashes)} eps)", + flush=True, + ) + print( + " new (eval) tasks: " + ", ".join(eval_corpus.group_to_hashes), + flush=True, + ) + print( + f"[data] {len(train_ds)} train frames | {len(val_ds)} val frames", + flush=True, + ) + return corpus, cache, train_collate, val_collate, train_ds, val_ds + + # NOTE: the canonical RICL design is `--eval-root` above (train on one task set, + # eval on a SEPARATE new-task set). The same-corpus splits below are diagnostic + # only and were found flawed for measuring "does retrieval help on a new task" + # (the model has seen the task during training) — kept for quick smoke checks. + train_hashes, val_hashes = [], [] + gitems = list(corpus.group_to_hashes.items()) + if args.holdout_groups > 0: + # Diagnostic TASK-level holdout: the last N training groups are val-only. + # Flawed as a RICL test because these tasks are near-siblings of the trained + # ones, so the floor stays strong; use --eval-root for the real new-task eval. + train_groups, val_groups = ( + gitems[: -args.holdout_groups], + gitems[-args.holdout_groups :], + ) + for _, hs in train_groups: + train_hashes += hs + for _, hs in val_groups: + val_hashes += hs + print( + f"[data] TASK-HOLDOUT: {len(train_groups)} train tasks | " + f"{len(val_groups)} held-out (unseen) tasks", + flush=True, + ) + print( + " held-out tasks: " + ", ".join(g for g, _ in val_groups), flush=True + ) + else: + # per-group episode split: hold out the last `val_per_group` episodes of + # EVERY group (the model trains on other episodes of the same task -> + # within-task generalization, NOT an unseen task). + for _, hs in gitems: + n_val = min(args.val_per_group, max(1, len(hs) // 5)) + train_hashes += hs[:-n_val] + val_hashes += hs[-n_val:] + print( + f"[data] EPISODE-SPLIT: {len(gitems)} groups (all in train+val) | " + f"{len(train_hashes)} train eps | {len(val_hashes)} val eps", + flush=True, + ) + + # Same-corpus split: train and val retrieve from the SAME cache/provider. + train_ds = D.DroidQueryDataset(corpus, train_hashes, args.action_horizon) + val_ds = D.DroidQueryDataset(corpus, val_hashes, args.action_horizon) + print(f"[data] {len(train_ds)} train frames | {len(val_ds)} val frames", flush=True) + return corpus, cache, train_collate, train_collate, train_ds, val_ds + + +# --------------------------------------------------------------------------- # +# Stage: cpu — verify the data path without the model +# --------------------------------------------------------------------------- # +def stage_cpu(args): + from transformers import AutoTokenizer + + from egomimic.ricl import conditioning as C + + corpus, cache, collate, val_collate, train_ds, val_ds = build_data(args) + batch = collate([train_ds[i] for i in (0, len(train_ds) // 2, len(train_ds) - 1)]) + B, k = 3, args.k + assert batch["ricl_retrieved_images"].shape == (B, k, 3, 224, 224) + assert batch["ricl_retrieved_state"].shape == (B, k, D.RAW_DIM) + # (#1) full retrieved action chunk: (B, k, action_horizon, 8), not (B,k,1,8) + assert batch["ricl_retrieved_action"].shape == ( + B, + k, + args.action_horizon, + D.RAW_DIM, + ) + assert batch["ricl_retrieved_mask"].shape == (B, k) + assert ( + batch["ricl_retrieved_images"].min() >= 0 + and batch["ricl_retrieved_images"].max() <= 1.0 + ) + assert batch[D.AC_KEY].shape == (B, args.action_horizon, 32) + assert batch["ricl_retrieved_mask"].any(), "no neighbors found for train frames" + print( + f"[cpu] collate shapes OK; " + f"valid neighbors/sample={batch['ricl_retrieved_mask'].sum(1).tolist()}", + flush=True, + ) + + # prompt splice + token budget against the real tokenizer + tok = AutoTokenizer.from_pretrained(TOKENIZER_DIR) + states = batch["ricl_retrieved_state"] + actions = batch["ricl_retrieved_action"] + valid = batch["ricl_retrieved_mask"] + steps = _retrieved_steps(args) + max_tokens = 0 + for i in range(B): + task = corpus.prompt(batch["episode_hash"][i]) + block = C.build_retrieved_prompt_block( + states[i], + actions[i], + valid[i], + prompt=task, + num_bins=256, + action_steps=steps, + ) + base = ( + f"Task: {task}, Embodiment: eva bimanual, State: " + + " ".join(["128"] * D.RAW_DIM) + + C.PI05_ANCHOR + ) + spliced = C.splice_retrieved_into_prompt(base, block) + assert spliced.endswith( + C.PI05_ANCHOR + ), "anchor must stay terminal (query block)" + if valid[i].any(): + # demos are prepended as in-context exemplars before the query block + assert block and spliced.startswith(block) + assert spliced.count("|") == int(valid[i].sum()) # one '|' per valid demo + n = len(tok(spliced)["input_ids"]) + max_tokens = max(max_tokens, n) + print( + f"[cpu] prompt splice OK; worst-case prompt = {max_tokens} tokens " + f"(max_token_len={args.max_token_len})", + flush=True, + ) + assert ( + max_tokens < args.max_token_len + ), f"prompt {max_tokens} >= max_token_len {args.max_token_len}: bump it" + print("[cpu] ALL CHECKS PASSED", flush=True) + + +# --------------------------------------------------------------------------- # +# Model + Lightning wiring +# --------------------------------------------------------------------------- # +def build_model(args): + from types import SimpleNamespace + + from egomimic.algo.pi_ricl import PIRicl + + config = SimpleNamespace( + pytorch_training_precision="bfloat16", + pytorch_weight_path=CKPT_DIR, + model=SimpleNamespace( + pi05=True, + action_dim=32, + action_horizon=args.action_horizon, + max_token_len=args.max_token_len, + paligemma_variant="gemma_2b", + action_expert_variant="gemma_300m", + ), + ) + action_converters = SimpleNamespace( + rules={D.EMB_NAME: D.Passthrough32()}, + fallback=D.Passthrough32(), + ac_key=D.AC_KEY, + ) + algo = PIRicl( + norm_stats=D.DroidNormStats(), + camera_transforms=None, + domains=[D.EMB_NAME], + train_image_augs=None, + eval_image_augs=None, + config=config, + ac_keys={D.EMB_NAME: D.AC_KEY}, + action_converters=action_converters, + tokenizer_model_name=TOKENIZER_DIR, + tokenizer_max_length=args.max_token_len, + sampling_mode="random", + annotation_key="annotations", + default_prompt="", + proprio_in_prompt=True, + embodiment_label=True, + state_num_bins=256, + # text State block uses the compact 8-D state; the model's continuous + # proprio still comes from the 32-D STATE_KEY (norm_stats proprio_keys). + proprio_keys_for_prompt=[D.PROMPT_STATE_KEY], + num_retrieved_observations=args.k, + # (#1) encode the full retrieved chunk by default (0 -> action_horizon). + retrieved_action_steps=_retrieved_steps(args), + ricl_base_key="base_0_rgb", + image_resolution=(224, 224), + ) + return algo + + +def stage_full(args): + import lightning as L + from lightning.pytorch.loggers import CSVLogger + from torch.utils.data import DataLoader + + from egomimic.pl_utils.pl_data_utils import annotation_collate # noqa: F401 + from egomimic.ricl.droid_eval import DroidRiclEval, DroidRiclModelWrapper + + torch.manual_seed(args.seed) + L.seed_everything(args.seed, workers=True) + + corpus, cache, train_collate, val_collate, train_ds, val_ds = build_data(args) + + train_loader = DataLoader( + train_ds, + batch_size=args.batch_size, + shuffle=True, + collate_fn=train_collate, + num_workers=args.num_workers, + drop_last=True, + persistent_workers=args.num_workers > 0, + ) + val_loader = DataLoader( + val_ds, + batch_size=args.batch_size, + shuffle=False, + collate_fn=val_collate, + num_workers=args.num_workers, + persistent_workers=args.num_workers > 0, + ) + # CombinedLoader keyed by embodiment name -> batch is {emb_name: {...}} + from lightning.pytorch.utilities import CombinedLoader + + train_cl = CombinedLoader({D.EMB_NAME: train_loader}, "max_size_cycle") + val_cl = CombinedLoader({D.EMB_NAME: val_loader}, "max_size_cycle") + + algo = build_model(args) + + optimizer = functools.partial( + torch.optim.AdamW, + lr=args.lr, + betas=(0.9, 0.95), + eps=1e-8, + weight_decay=1e-10, + ) + from transformers import get_cosine_schedule_with_warmup + + scheduler = functools.partial( + get_cosine_schedule_with_warmup, + num_warmup_steps=args.warmup_steps, + num_training_steps=args.max_steps, + num_cycles=0.5, + ) + + model = DroidRiclModelWrapper( + robomimic_model=algo, + optimizer=optimizer, + scheduler=scheduler, + scheduler_interval="step", + enable_grad_norm=True, + ) + evaluator = DroidRiclEval( + compute_floor=True, + compute_random=not args.no_random, + n_flow_samples=args.flow_samples, # (#1) low-variance flow loss + compute_sampled=args.compute_sampled, # (#2) sampled-action MSE/L1 + # (#2) distance-weighted interpolation: sweep these lambdas (each emits its + # own sampled_mse_l{lam}); the headline sampled_mse stays the no-interp model. + interp_lamdas=[float(x) for x in args.interp_lamdas.split(",") if x.strip()] + if args.interp_lamdas + else ([args.interp_lamda] if args.interp_lamda > 0 else []), + gripper_indices=(D.GRIPPER_SLOT,), + limit_val_batches=args.limit_val_batches, + ) + + os.makedirs(args.out, exist_ok=True) + csv_logger = CSVLogger(args.out, name=args.name, flush_logs_every_n_steps=10) + # The CSV logger owns log_dir (used below for the checkpoint dir + the metrics + # path printout); W&B is added alongside it when --wandb is set. + logger = csv_logger + loggers = [csv_logger] + if args.wandb: + from lightning.pytorch.loggers import WandbLogger + + wandb_logger = WandbLogger( + project=args.wandb_project, + entity=args.wandb_entity or None, + name=args.wandb_name or args.name, + save_dir=args.out, + config=vars(args), + ) + loggers.append(wandb_logger) + # Save best (by held-out loss) + last so a run is resumable and new eval + # conditions can be added without retraining from scratch. Both are full + # Lightning checkpoints (model + optimizer); top_k=1 keeps disk to ~2 files. + from lightning.pytorch.callbacks import ModelCheckpoint + + ckpt_cb = ModelCheckpoint( + dirpath=os.path.join(logger.log_dir, "checkpoints"), + filename="step{step}-{Valid/action_loss:.4f}", + monitor="Valid/action_loss", + mode="min", + save_top_k=1, + save_last=True, + every_n_train_steps=args.ckpt_every, + auto_insert_metric_name=False, + ) + trainer = L.Trainer( + accelerator="gpu", + devices=args.devices, + strategy="ddp_find_unused_parameters_true" if args.devices > 1 else "auto", + precision="bf16-mixed", # matches trainer/default.yaml (`precision: bf16`) + max_steps=args.max_steps, + val_check_interval=args.val_every, + check_val_every_n_epoch=None, + limit_val_batches=args.limit_val_batches, + num_sanity_val_steps=0, + log_every_n_steps=args.log_every, + logger=loggers, + default_root_dir=args.out, + callbacks=[ckpt_cb], + ) + evaluator.trainer = trainer + evaluator.model = model.model + model.evaluator = evaluator + + print(f"[full] metrics CSV -> {logger.log_dir}/metrics.csv", flush=True) + if args.validate_only: + # One-shot validation of a finished checkpoint — applies new eval + # conditions (#1 low-variance flow loss / #2 sampled-action MSE) WITHOUT + # retraining. Resolves to `--resume-from` (the saved .ckpt) so the model + # weights come from disk, not the freshly-loaded base. + if not args.resume_from: + raise SystemExit("--validate-only requires --resume-from ") + print( + f"[full] VALIDATE-ONLY on {args.resume_from} " + f"(flow_samples={args.flow_samples}, sampled={args.compute_sampled})", + flush=True, + ) + # weights_only=False: our own checkpoint stores a functools.partial + # (optimizer/scheduler factory) in its hparams, which PyTorch 2.6's default + # weights-only unpickler rejects. The ckpt is trusted (we wrote it). + results = trainer.validate( + model, dataloaders=val_cl, ckpt_path=args.resume_from, weights_only=False + ) + # Echo the aggregated metrics to stdout so the numbers are captured even if + # CSVLogger flushing is finicky for a validate-only (no-fit) run. + if results: + print("[validate-only] aggregated metrics:", flush=True) + for k, v in sorted(results[0].items()): + print(f" {k} = {v:.6f}", flush=True) + return + print( + f"[full] starting fit: max_steps={args.max_steps} bs={args.batch_size} " + f"devices={args.devices} lr={args.lr}", + flush=True, + ) + trainer.fit( + model, + train_dataloaders=train_cl, + val_dataloaders=val_cl, + ckpt_path=args.resume_from, + ) + + +# --------------------------------------------------------------------------- # +def build_argparser(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--stage", choices=["cpu", "full"], required=True) + p.add_argument("--cache-dir", default=D.DEFAULT_CACHE_DIR) + p.add_argument("--out", default=DEFAULT_OUT) + p.add_argument("--name", default="droid_ricl") + p.add_argument("--k", type=int, default=4) + p.add_argument("--action-horizon", type=int, default=15) + p.add_argument( + "--retrieved-action-steps", + type=int, + default=0, + help="(#1) retrieved action steps encoded in the prompt; 0 = full chunk " + "(== action_horizon). Full chunk is the faithful RICL signal but costs " + "tokens: k=4 full 15-step worst case ~2150 tokens -> needs max_token_len ~2304.", + ) + # Full 15-step retrieved chunks (#1) push the worst-case prompt to ~2150 tokens + # (k=4, 8-D, 256 bins); 2304 leaves margin so the trailing anchor is never + # truncated. Lower --retrieved-action-steps to shrink this. + p.add_argument("--max-token-len", type=int, default=2304) + p.add_argument( + "--interp-lamda", + type=float, + default=0.0, + help="(#2) single distance-weighted interpolation strength (w=exp(-lamda*" + "dist/dist_max) toward the nearest demo's chunk). 0 disables. Prefer " + "--interp-lamdas to sweep. Only affects --compute-sampled metrics.", + ) + p.add_argument( + "--interp-lamdas", + type=str, + default="", + help="(#2) comma-separated lambda SWEEP, e.g. '0.5,1,2,5,10'. Each emits a " + "sampled_mse_l{lam} per condition (one sampling pass); the headline " + "sampled_mse stays the no-interp model so beats_random reflects the model. " + "dist is normalized by the batch-max kNN distance, so lambda~1-2 is moderate.", + ) + p.add_argument("--groups", type=int, default=0, help="limit task groups (0=all)") + p.add_argument( + "--eval-root", + default="", + help="ORIGINAL-RICL SPLIT: eval on a SEPARATE new-task set at this root " + "(e.g. .../collected_demos). Each eval query retrieves within its own new " + "task (leave-one-out); the random-within/bank controls are built in-process. " + "When unset, falls back to the diagnostic same-corpus splits below.", + ) + p.add_argument( + "--val-per-group", + type=int, + default=2, + help="episode-split mode: held-out episodes per group (model sees the task)", + ) + p.add_argument( + "--holdout-groups", + type=int, + default=0, + help="task-holdout mode: hold out the last N task GROUPS entirely " + "for val (model never trains on them) -> the real RICL test", + ) + p.add_argument("--batch-size", type=int, default=4) + p.add_argument("--num-workers", type=int, default=4) + p.add_argument("--devices", type=int, default=1) + p.add_argument("--max-steps", type=int, default=4000) + p.add_argument("--warmup-steps", type=int, default=200) + p.add_argument("--lr", type=float, default=3e-5) + p.add_argument("--val-every", type=int, default=250) + p.add_argument("--limit-val-batches", type=int, default=10) + p.add_argument("--log-every", type=int, default=10) + p.add_argument("--seed", type=int, default=42) + p.add_argument( + "--no-random", + action="store_true", + help="skip the random-retrieval control condition during eval", + ) + p.add_argument( + "--no-incontext", + action="store_true", + help="PLAIN-FINETUNE BASELINE: train with NO retrieved demos (base " + "annotation_collate, no ricl_* keys) -> a vanilla pi0.5 finetune on the " + "train tasks. The eval/val collate is unchanged (retrieval/random/floor " + "still scored), so this baseline checkpoint can be compared head-to-head " + "with the RICL model on the new tasks. The honest comparison the k=0 " + "floor (RICL weights at inference k=0) does not provide.", + ) + p.add_argument( + "--flow-samples", + type=int, + default=8, + help="(#1) average the flow val loss over N noise/time draws " + "(shared seeds across conditions) to cut MC variance", + ) + p.add_argument( + "--compute-sampled", + action="store_true", + help="(#2) also score sampled-action MSE/L1 (slow torch.compile " + "sampling path) — the real action-prediction error", + ) + p.add_argument( + "--validate-only", + action="store_true", + help="run ONE validation pass on --resume-from and exit (apply new " + "eval conditions to a finished checkpoint without retraining)", + ) + p.add_argument( + "--ckpt-every", + type=int, + default=1000, + help="save a checkpoint every N train steps (best+last always kept)", + ) + p.add_argument( + "--resume-from", + default=None, + help="path to a .ckpt to resume training/eval from (e.g. .../last.ckpt)", + ) + p.add_argument( + "--wandb", + action="store_true", + help="also log metrics to Weights & Biases (in addition to the CSV logger)", + ) + p.add_argument( + "--wandb-project", + default="ricl", + help="W&B project to log into (default: ricl)", + ) + p.add_argument( + "--wandb-entity", + default="rl2-group", + help="W&B team/entity (default: rl2-group; pass '' to use your default)", + ) + p.add_argument( + "--wandb-name", + default=None, + help="W&B run name (default: --name)", + ) + return p + + +def main(): + args = build_argparser().parse_args() + if args.stage == "cpu": + stage_cpu(args) + else: + stage_full(args) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/train_droid_ricl.sbatch b/egomimic/ricl/scripts/train_droid_ricl.sbatch new file mode 100644 index 000000000..c9e6a5a2a --- /dev/null +++ b/egomimic/ricl/scripts/train_droid_ricl.sbatch @@ -0,0 +1,37 @@ +#!/bin/bash +#SBATCH --job-name=droid_ricl +#SBATCH --nodes=1 +#SBATCH --ntasks=1 +#SBATCH --cpus-per-task=8 +#SBATCH --mem=128G +#SBATCH --partition=gpu-h200 +#SBATCH --gres=gpu:h200:1 +#SBATCH --qos=inferno +#SBATCH -A gts-dxu345-rl2 +#SBATCH --time=08:00:00 +#SBATCH --output=egomimic/ricl/outputs/droid_train/slurm_%j.out +#SBATCH --error=egomimic/ricl/outputs/droid_train/slurm_%j.err + +set -uo pipefail +mkdir -p egomimic/ricl/outputs/droid_train + +# EgoVerse env (openpi/flax/torch + pi05 checkpoint); EgoVerse2 ricl code on path +source /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/activate +export PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2 +cd /storage/project/r-dxu345-0/rco3/EgoVerse2 + +echo "host=$(hostname) gpu=${CUDA_VISIBLE_DEVICES:-?}" +nvidia-smi --query-gpu=name,memory.total --format=csv,noheader || true + +python -u egomimic/ricl/scripts/train_droid_ricl.py --stage full \ + --cache-dir egomimic/ricl/outputs/droid_cache \ + --max-steps "${MAX_STEPS:-4000}" \ + --batch-size "${BATCH_SIZE:-4}" \ + --val-every "${VAL_EVERY:-250}" \ + --limit-val-batches "${LIMIT_VAL:-10}" \ + --num-workers "${NUM_WORKERS:-4}" \ + --out egomimic/ricl/outputs/droid_train \ + --name "${RUN_NAME:-droid_ricl}" \ + ${WANDB:+--wandb --wandb-project "${WANDB_PROJECT:-ricl}"} + +echo "=== train exit: $? ===" diff --git a/egomimic/ricl/scripts/validate_object_labels.py b/egomimic/ricl/scripts/validate_object_labels.py new file mode 100644 index 000000000..31ea590e7 --- /dev/null +++ b/egomimic/ricl/scripts/validate_object_labels.py @@ -0,0 +1,232 @@ +"""Validate the object labels we extract from episode annotations. + +We pull the manipulated-object label out of every "Pick up the ..." segment +in each episode's zarr ``annotations`` array, canonicalize it, and then run a set +of heuristics that flag labels worth a human eyeballing: + + * ``parse_failure`` -- the label still contains a relational phrase ("on top of", + "in front of", ...), meaning the pick-target regex over-captured. These are + extraction bugs, not real objects. (ERROR -> non-zero exit.) + * ``typo`` -- a rare label one or two edits from a common one + (``doritosl`` -> ``doritos``, ``screw driver`` -> ``screwdriver``). + * ``truncation`` -- a rare label that is a prefix of a common one + (``blue stuffed`` -> ``blue stuffed toy``). + * ``ambiguous_bare``-- a single-word label that is the head of several colored + variants (``bowl`` while ``green/beige/silver bowl`` also exist). + * ``singleton`` -- appears in exactly one episode; not wrong, just review-worthy. + +Each finding prints example (episode, raw annotation) evidence so you can confirm +and, if needed, extend ``canon()`` below. + +Usage: + python -m egomimic.ricl.scripts.validate_object_labels \ + --zarr-root '/storage/project/r-dxu345-0/agao81/pick_place/{hash}' \ + [--episodes-file egomimic/ricl/episode_lists/d0_eva_pool_all.txt] \ + [--min-common 5] [--strict] + +With no ``--episodes-file`` it validates every episode key in +``eva_episode_objects.json`` (in the parent ricl/episode_lists/). +""" + +from __future__ import annotations + +import argparse +import json +import os +import re +import sys +from collections import Counter, defaultdict + +import zarr + +PICK = re.compile( + r"[Pp]ick up the (.+?)" + r"(?: from| with| using| at | by | to | on | in | behind| between| next to| inside|$)" +) +# annotator typos / truncations folded to their canonical object +TYPO = { + "doritosl": "doritos", + "screw driver": "screwdriver", + "pink bow": "pink bowl", + "blue stuffed": "blue stuffed toy", + "pink stuffed": "pink stuffed toy", + "brown stuff toy": "brown stuffed toy", + "pink stuff animal": "pink stuffed toy", +} +# relational phrases that should never appear inside a clean object label +RELATIONAL = re.compile( + r"\b(on top of|in front of|behind|next to|between|inside|onto|above|below|" + r"underneath|on the|to the|on its|in the|of the)\b" +) +# episode_lists/ lives in the parent ricl/ dir, one level up from scripts/. +HERE = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +DEFAULT_MASTER = os.path.join(HERE, "episode_lists", "eva_episode_objects.json") + + +def canon(o: str) -> str: + """Mirror the canonicalizer used to build eva_episode_objects.json.""" + o = o.strip().lower().rstrip(".") + o = re.sub(r"\bstuffed animal\b", "stuffed toy", o) + o = re.sub(r"\b(can good|canned good)\b", "canned goods", o) + o = re.sub(r"\bcarrots\b", "carrot", o) + o = re.sub(r"^(left|right) ", "", o) + o = re.sub(r"\s+", " ", o).strip() + return TYPO.get(o, o) + + +def canonical_segments(store) -> list[str]: + """One representative text per (start, end) segment, preferring a + paraphrase that starts with 'Pick up the' so picks are detectable.""" + by = defaultdict(list) + for a in store["annotations"][:]: + d = json.loads(a.decode() if isinstance(a, (bytes, bytearray)) else a) + by[(d["start_idx"], d["end_idx"])].append(d["text"]) + out = [] + for k in sorted(by): + txts = by[k] + out.append( + next( + (t for t in txts if t.lstrip().lower().startswith("pick up the")), + txts[0], + ) + ) + return out + + +def levenshtein(a: str, b: str) -> int: + prev = list(range(len(b) + 1)) + for i, ca in enumerate(a, 1): + cur = [i] + for j, cb in enumerate(b, 1): + cur.append(min(prev[j] + 1, cur[j - 1] + 1, prev[j - 1] + (ca != cb))) + prev = cur + return prev[-1] + + +def extract(hashes, zarr_root): + """label -> {count, episodes:set, examples:[(hash, raw, text)]}""" + info = defaultdict(lambda: {"count": 0, "episodes": set(), "examples": []}) + missing = [] + for h in hashes: + path = zarr_root.format(hash=h) + if not os.path.isdir(path): + missing.append(h) + continue + s = zarr.open(path, mode="r") + if "annotations" not in s or s["annotations"].shape[0] == 0: + continue + for seg in canonical_segments(s): + m = PICK.match(seg.strip()) + if not m: + continue + raw = m.group(1).strip() + label = canon(raw) + rec = info[label] + if h not in rec["episodes"]: + rec["episodes"].add(h) + rec["count"] += 1 + if len(rec["examples"]) < 3: + rec["examples"].append((h, raw, seg.strip())) + return info, missing + + +def validate(info, min_common): + common = {lab for lab, r in info.items() if r["count"] >= min_common} + common_heads = Counter() + for lab in info: + toks = lab.split() + if len(toks) > 1: + common_heads[toks[-1]] += 1 + + findings = defaultdict(list) # category -> [(label, detail)] + for lab, r in sorted(info.items(), key=lambda kv: kv[1]["count"]): + n = r["count"] + if RELATIONAL.search(lab): + findings["parse_failure"].append((lab, n, "contains a relational phrase")) + continue + if n >= min_common: + continue + # rare labels: look for a near / containing common label + sugg = None + for c in common: + if lab != c and ( + levenshtein(lab, c) <= 2 or lab == c[: len(lab)] or c == lab[: len(c)] + ): + sugg = c + break + if sugg and (lab == sugg[: len(lab)] or sugg == lab[: len(sugg)]): + findings["truncation"].append((lab, n, f"prefix of common '{sugg}'")) + elif sugg: + findings["typo"].append( + (lab, n, f"~ '{sugg}' (edit dist {levenshtein(lab, sugg)})") + ) + elif len(lab.split()) == 1 and common_heads.get(lab, 0) >= 3: + findings["ambiguous_bare"].append( + (lab, n, f"bare head of {common_heads[lab]} multiword labels") + ) + elif n == 1: + findings["singleton"].append((lab, n, "appears in 1 episode")) + return findings + + +def main(): + ap = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + ap.add_argument( + "--zarr-root", + default="/storage/project/r-dxu345-0/agao81/pick_place/{hash}", + help="path template with {hash}", + ) + ap.add_argument( + "--episodes-file", + help="newline-delimited hashes; default = keys of the master json", + ) + ap.add_argument("--master", default=DEFAULT_MASTER) + ap.add_argument( + "--min-common", + type=int, + default=5, + help="count at/above which a label is trusted as 'common'", + ) + ap.add_argument( + "--strict", action="store_true", help="exit 1 if any parse_failure is found" + ) + args = ap.parse_args() + + if args.episodes_file: + hashes = open(args.episodes_file).read().split() + else: + hashes = list(json.load(open(args.master))["episodes"].keys()) + + info, missing = extract(hashes, args.zarr_root) + print( + f"episodes: {len(hashes)} ({len(missing)} missing on disk) | distinct labels: {len(info)}" + ) + + findings = validate(info, args.min_common) + order = ["parse_failure", "typo", "truncation", "ambiguous_bare", "singleton"] + total = sum(len(findings[c]) for c in order) + if not total: + print("no issues flagged.") + for cat in order: + rows = findings.get(cat, []) + if not rows: + continue + print(f"\n## {cat} ({len(rows)})") + for lab, n, detail in rows: + ex_h, ex_raw, ex_txt = info[lab]["examples"][0] + print(f" [{n:>2}x] {lab!r}: {detail}") + print(f" e.g. {ex_h}: raw={ex_raw!r}") + print(f' "{ex_txt[:110]}"') + + print( + f"\n{total} labels flagged for review " + f"({len(findings.get('parse_failure', []))} parse_failure)." + ) + if args.strict and findings.get("parse_failure"): + sys.exit(1) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/scripts/viz_retrieval.py b/egomimic/ricl/scripts/viz_retrieval.py new file mode 100644 index 000000000..6a413d76a --- /dev/null +++ b/egomimic/ricl/scripts/viz_retrieval.py @@ -0,0 +1,490 @@ +"""Visualize RICL kNN retrieval per frame: query (robot/eva) -> top-k bank (human/aria). + +For each sampled query frame this lays out ``[query | nn_1 .. nn_k]`` with the +retrieval distance under each neighbor, so you can eyeball whether the retrieved +human demos actually match the robot frame. + +Neighbor source + * fresh (default): rebuild the kNN index from DINOv2 embeddings and query live + -- exercises the same ``pool -> index -> query`` path the cache builder uses. + * cache (``--cache DIR``): read an existing ``RetrievalCache`` (exactly what + training/eval will see). + +Bank/query selection + * ``--query H --bank H[,H...]`` explicit episodes + * ``--mode cross_similar [--group-index N]`` pick a pair group from pairs.json + * ``--cache DIR --query H`` neighbors straight from a cache + +Outputs ``.png`` (rows = sampled query frames) and, with ``--video``, +``.mp4`` sweeping every ``--video-stride``-th query frame. Distances are +raw Euclidean (L2) on the 64-super-patch DINOv2 descriptors, matching the +cache builder (ricl_openpi convention; vectors are NOT unit-normalized). + +Run (EgoVerse venv + this repo on PYTHONPATH): + PYTHONPATH=/storage/project/r-dxu345-0/rco3/EgoVerse2 \\ + /storage/project/r-dxu345-0/rco3/EgoVerse/emimic/bin/python \\ + -m egomimic.ricl.scripts.viz_retrieval --mode cross_similar --group-index 0 \\ + -k 4 --num-frames 8 --out ricl_viz +""" + +from __future__ import annotations + +import argparse +import io +import os + +import numpy as np + +from egomimic.ricl.retrieval import ( + groups_from_pairs, + index_from_episodes, + load_pairs, + pool_patch_embeddings, +) + +AGAO_DEFAULT = "/storage/project/r-dxu345-0/agao81/pick_place" +DINO_KEY_DEFAULT = "observations.embeddings.dinov2.front_1" # patch tokens (T,256,768) +IMG_KEY_DEFAULT = "images.front_1" # JPEG-encoded frames (T,) +TILE_HW = (240, 320) # per-image tile (h, w) for the montage / video + + +# --------------------------------------------------------------------------- +# Zarr / image helpers +# --------------------------------------------------------------------------- + + +def _unwrap(el): + """Peel nested object-array wrappers down to the raw JPEG bytes.""" + while isinstance(el, np.ndarray) and el.dtype == object: + el = el.item() if el.ndim == 0 else el[0] + return bytes(el) + + +class EpisodeStore: + """Lazy zarr store for one episode: decodes frames and pools embeddings.""" + + def __init__( + self, path: str, img_key: str, dino_key: str, img_path: str | None = None + ): + import zarr + + self.path = path + self.img_key = img_key + self.dino_key = dino_key + self._z = zarr.open(path, mode="r") # embeddings (dino_key) + # Images may live in a different store than the embeddings — e.g. the + # embed step writes a mirror folder (dino_key only) while the images stay + # in the read-only source store. Default to the same store. + self._zimg = ( + self._z + if (img_path is None or img_path == path) + else zarr.open(img_path, mode="r") + ) + + def __len__(self) -> int: + return int(self._zimg[self.img_key].shape[0]) + + def image(self, idx: int) -> np.ndarray: + """Decode one frame -> (H, W, 3) uint8 RGB.""" + from PIL import Image + + idx = int(np.clip(idx, 0, len(self) - 1)) + raw = _unwrap(self._zimg[self.img_key][idx]) + return np.asarray(Image.open(io.BytesIO(raw)).convert("RGB")) + + def pooled_all(self, chunk: int = 256) -> np.ndarray: + """Pool every frame's patch tokens -> (T, EMBED_DIM), memory-safe. + + Dino arrays are zero-padded to a chunk multiple by the embed step; slice + to the true length (``total_frames``) so padding rows aren't indexed as + spurious bank candidates. + """ + a = self._z[self.dino_key] + T = int(self._z.attrs.get("total_frames", a.shape[0])) + out = None + for i in range(0, T, chunk): + end = min(i + chunk, T) + blk = pool_patch_embeddings(a[i:end]) + if out is None: + out = np.empty((T, blk.shape[-1]), dtype=np.float32) + out[i:end] = blk + return out + + def pooled_frames(self, idxs) -> np.ndarray: + """Pool only the given frames' patch tokens -> (len(idxs), EMBED_DIM).""" + a = self._z[self.dino_key] + rows = [a[int(i)] for i in idxs] # each (N, D) + return pool_patch_embeddings(np.stack(rows, axis=0)) + + +# --------------------------------------------------------------------------- +# Rendering +# --------------------------------------------------------------------------- + + +def _tile(img: np.ndarray, hw=TILE_HW) -> np.ndarray: + import cv2 + + return cv2.resize(img, (hw[1], hw[0]), interpolation=cv2.INTER_AREA) + + +def render_montage(rows: list[dict], k: int, out_png: str, title: str = "") -> None: + """rows: [{q_frame, q_img, neighbors:[{img,dist,hash,frame,valid}]}].""" + import matplotlib + + matplotlib.use("Agg") + import matplotlib.pyplot as plt + + nrows = len(rows) + ncols = 1 + k + fig, axes = plt.subplots( + nrows, ncols, figsize=(2.6 * ncols, 2.4 * nrows), squeeze=False + ) + for r, row in enumerate(rows): + ax = axes[r][0] + ax.imshow(row["q_img"]) + ax.set_ylabel(f"q frame {row['q_frame']}", fontsize=9) + if r == 0: + ax.set_title("QUERY (robot)", fontsize=10, color="tab:blue") + ax.set_xticks([]) + ax.set_yticks([]) + for c in range(k): + ax = axes[r][c + 1] + nb = row["neighbors"][c] if c < len(row["neighbors"]) else None + if nb and nb["valid"]: + ax.imshow(nb["img"]) + ax.set_title( + f"d={nb['dist']:.3f}\n{nb['hash'][:8]}#{nb['frame']}", + fontsize=7, + ) + else: + ax.imshow(np.zeros((*TILE_HW, 3), np.uint8)) + ax.set_title("(empty)", fontsize=7, color="gray") + if r == 0 and c == 0: + ax.text( + 0.0, + 1.28, + "RETRIEVED (human) ->", + transform=ax.transAxes, + fontsize=10, + color="tab:green", + ) + ax.set_xticks([]) + ax.set_yticks([]) + if title: + fig.suptitle(title, fontsize=11) + fig.tight_layout(rect=(0, 0, 1, 0.98 if title else 1.0)) + fig.savefig(out_png, dpi=120) + plt.close(fig) + print(f"wrote montage -> {out_png}") + + +def dump_episode( + store, out_mp4: str, label: str, stride: int = 4, fps: int = 30 +) -> None: + """Decode an episode's raw frames (strided) into an mp4 for inspection.""" + import cv2 + import imageio + + n = len(store) + idxs = list(range(0, n, max(1, stride))) + writer = imageio.get_writer(out_mp4, fps=fps, macro_block_size=None) + for fi in idxs: + frame = store.image(fi).copy() + cv2.putText( + frame, + f"{label} f{fi}/{n}", + (6, 22), + cv2.FONT_HERSHEY_SIMPLEX, + 0.6, + (255, 255, 0), + 2, + cv2.LINE_AA, + ) + writer.append_data(frame) + writer.close() + print(f"wrote episode video -> {out_mp4} ({len(idxs)} frames, stride {stride})") + + +def render_video(rows: list[dict], k: int, out_mp4: str, fps: int = 4) -> None: + """One wide frame per query frame: [query | nn_1 .. nn_k] with captions.""" + import cv2 + import imageio + + h, w = TILE_HW + pad = 6 + label_h = 26 + writer = imageio.get_writer(out_mp4, fps=fps, macro_block_size=None) + for row in rows: + cells = [] + q = _tile(row["q_img"]) + q = cv2.copyMakeBorder(q, label_h, 0, 0, 0, cv2.BORDER_CONSTANT, value=0) + cv2.putText( + q, + f"query #{row['q_frame']}", + (4, 18), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (80, 160, 255), + 1, + cv2.LINE_AA, + ) + cells.append(q) + for c in range(k): + nb = row["neighbors"][c] if c < len(row["neighbors"]) else None + if nb and nb["valid"]: + t = _tile(nb["img"]) + cap = f"d={nb['dist']:.3f} {nb['hash'][:6]}#{nb['frame']}" + color = (120, 230, 120) + else: + t = np.zeros((h, w, 3), np.uint8) + cap = "(empty)" + color = (150, 150, 150) + t = cv2.copyMakeBorder(t, label_h, 0, 0, 0, cv2.BORDER_CONSTANT, value=0) + cv2.putText( + t, cap, (4, 18), cv2.FONT_HERSHEY_SIMPLEX, 0.42, color, 1, cv2.LINE_AA + ) + cells.append(t) + sep = np.full((h + label_h, pad, 3), 40, np.uint8) + frame = cells[0] + for cell in cells[1:]: + frame = np.concatenate([frame, sep, cell], axis=1) + writer.append_data(frame) + writer.close() + print(f"wrote video -> {out_mp4} ({len(rows)} frames @ {fps}fps)") + + +# --------------------------------------------------------------------------- +# Neighbor sources +# --------------------------------------------------------------------------- + + +def neighbors_fresh(query_store, bank_stores, bank_hashes, q_idxs, k): + """Build a live kNN index over the bank frames and query the sampled frames.""" + index = index_from_episodes(bank_hashes, lambda h: bank_stores[h].pooled_all()) + qv = query_store.pooled_frames(q_idxs) + hashes, frames, dists = index.query(qv, k=k) + return hashes, frames, dists # each (Q, k) + + +def neighbors_from_cache(cache_dir, query_hash, q_idxs, k): + from egomimic.ricl.retrieval import RetrievalCache + + cache = RetrievalCache.load(cache_dir) + if query_hash not in cache._entries: + raise SystemExit( + f"{query_hash} not in cache {cache_dir}; have {cache.query_hashes}" + ) + hh, ff, dd = [], [], [] + for fi in q_idxs: + bh, bf, d = cache.neighbors(query_hash, int(fi)) + hh.append(bh[:k]) + ff.append(bf[:k]) + dd.append(d[:k]) + return np.stack(hh), np.stack(ff), np.stack(dd) + + +# --------------------------------------------------------------------------- +# Main +# --------------------------------------------------------------------------- + + +def main() -> None: + p = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + p.add_argument("--query", help="query (robot/eva) episode hash") + p.add_argument("--bank", help="comma-separated bank (human/aria) episode hashes") + p.add_argument( + "--mode", default=None, choices=["cross_similar"], help="pick from pairs.json" + ) + p.add_argument( + "--group-index", type=int, default=0, help="which pair group (with --mode)" + ) + p.add_argument( + "--cache", default=None, help="read neighbors from this RetrievalCache dir" + ) + p.add_argument("-k", type=int, default=4) + p.add_argument( + "--num-frames", + type=int, + default=8, + help="evenly-sampled query frames in the montage", + ) + p.add_argument( + "--frames", + default=None, + help="explicit comma-separated query frames to show (overrides " + "--num-frames; e.g. mid-segment grasp frames)", + ) + p.add_argument( + "--zarr-root", + default=os.path.join(AGAO_DEFAULT, "{hash}"), + help="{hash} template -> per-episode zarr store", + ) + p.add_argument( + "--img-root", + default=None, + help="{hash} template for the IMAGE store when images live in a different " + "store than --zarr-root (e.g. embeddings in a mirror folder, images in " + "the source store). Defaults to --zarr-root.", + ) + p.add_argument("--dino-key", default=DINO_KEY_DEFAULT) + p.add_argument("--img-key", default=IMG_KEY_DEFAULT) + p.add_argument("--out", default="ricl_viz", help="output path stem (.png/.mp4)") + p.add_argument( + "--dump-episodes", + action="store_true", + help="instead of retrieval: write a raw mp4 of the resolved query + bank episodes", + ) + p.add_argument("--dump-stride", type=int, default=4) + p.add_argument("--dump-fps", type=int, default=30) + p.add_argument("--video", action="store_true", help="also render a sweep mp4") + p.add_argument( + "--video-stride", + type=int, + default=10, + help="sample every Nth frame for the video", + ) + p.add_argument("--fps", type=int, default=4) + args = p.parse_args() + + # ---- resolve query + bank hashes ------------------------------------- + if args.mode: + groups = groups_from_pairs(load_pairs(), args.mode) + if not groups: + raise SystemExit(f"no groups for mode {args.mode}") + g = groups[args.group_index % len(groups)] + query_hash = args.query or g.query_hashes[0] + bank_hashes = args.bank.split(",") if args.bank else list(g.bank_hashes) + print(f"group {g.group_id}: query={query_hash} bank={bank_hashes}") + else: + if not args.query: + raise SystemExit("need --query (and --bank, or --cache, or --mode)") + query_hash = args.query + bank_hashes = args.bank.split(",") if args.bank else [] + + def open_store(h): + img_path = args.img_root.format(hash=h) if args.img_root else None + return EpisodeStore( + args.zarr_root.format(hash=h), + args.img_key, + args.dino_key, + img_path=img_path, + ) + + query_store = open_store(query_hash) + n_q = len(query_store) + + # ---- raw episode dump (no retrieval) --------------------------------- + if args.dump_episodes: + dump_episode( + query_store, + f"{args.out}_query_{query_hash}.mp4", + f"QUERY robot {query_hash[:13]}", + args.dump_stride, + args.dump_fps, + ) + for h in bank_hashes: + dump_episode( + open_store(h), + f"{args.out}_bank_{h}.mp4", + f"BANK human {h[:13]}", + args.dump_stride, + args.dump_fps, + ) + return + + # ---- montage: explicit or evenly-sampled query frames ---------------- + if args.frames: + samp = sorted( + {int(np.clip(int(x), 0, n_q - 1)) for x in args.frames.split(",")} + ) + else: + samp = np.linspace(0, n_q - 1, num=min(args.num_frames, n_q), dtype=int) + samp = sorted(set(samp.tolist())) + + if args.cache: + hashes, frames, dists = neighbors_from_cache( + args.cache, query_hash, samp, args.k + ) + else: + if not bank_hashes: + raise SystemExit("fresh retrieval needs --bank or --mode") + bank_stores = {h: open_store(h) for h in bank_hashes} + hashes, frames, dists = neighbors_fresh( + query_store, bank_stores, bank_hashes, samp, args.k + ) + + # lazily open whatever bank stores the neighbors reference (for cache mode) + store_cache: dict = {} if args.cache else bank_stores + + def bank_store(h): + if h not in store_cache: + store_cache[h] = open_store(h) + return store_cache[h] + + def build_rows(q_idxs, hh, ff, dd): + rows = [] + for r, fi in enumerate(q_idxs): + nbs = [] + for c in range(args.k): + h = str(hh[r][c]) + valid = bool(h) and int(ff[r][c]) >= 0 and np.isfinite(dd[r][c]) + img = bank_store(h).image(int(ff[r][c])) if valid else None + nbs.append( + { + "img": img, + "dist": float(dd[r][c]), + "hash": h, + "frame": int(ff[r][c]), + "valid": valid, + } + ) + rows.append( + { + "q_frame": int(fi), + "q_img": query_store.image(int(fi)), + "neighbors": nbs, + } + ) + return rows + + rows = build_rows(samp, hashes, frames, dists) + + # ---- stdout summary (the "test" view) -------------------------------- + print( + f"\nquery={query_hash} frames={n_q} k={args.k} " + f"source={'cache' if args.cache else 'fresh'}" + ) + for row in rows: + nb = row["neighbors"][0] + tag = ( + f"{nb['hash'][:8]}#{nb['frame']} d={nb['dist']:.3f}" + if nb["valid"] + else "(none)" + ) + print(f" q#{row['q_frame']:>5} -> top1 {tag}") + + title = ( + f"RICL retrieval query={query_hash[:13]} " + f"bank={','.join(h[:8] for h in (bank_hashes or list(store_cache)))} " + f"({'cache' if args.cache else 'fresh'}, k={args.k})" + ) + render_montage(rows, args.k, f"{args.out}.png", title=title) + + # ---- optional sweep video -------------------------------------------- + if args.video: + vidx = list(range(0, n_q, max(1, args.video_stride))) + if args.cache: + vh, vf, vd = neighbors_from_cache(args.cache, query_hash, vidx, args.k) + else: + vh, vf, vd = neighbors_fresh( + query_store, bank_stores, bank_hashes, vidx, args.k + ) + vrows = build_rows(vidx, vh, vf, vd) + render_video(vrows, args.k, f"{args.out}.mp4", fps=args.fps) + + +if __name__ == "__main__": + main() diff --git a/egomimic/ricl/segment_splits.py b/egomimic/ricl/segment_splits.py new file mode 100644 index 000000000..3ee246996 --- /dev/null +++ b/egomimic/ricl/segment_splits.py @@ -0,0 +1,64 @@ +"""Segment-level train/valid split definitions for the pick-left RICL run.""" + +from __future__ import annotations + +import csv +from functools import lru_cache +from pathlib import Path + +SEGMENTS_CSV = Path(__file__).with_name("episode_lists") / "action_segments.csv" +BY = ("verb", "object", "hand") + +TRAIN_GROUPS = ( + ("pick", "blue stuffed toy", "left"), + ("pick", "eggplant", "left"), + ("pick", "blue marker", "left"), + ("pick", "pink stuffed toy", "left"), +) + +VALID_GROUPS = ( + ("pick", "brown stuffed toy", "left"), + ("pick", "pink stuffed toy", "right"), + ("pick", "white cup", "left"), +) + +# OOD / novel-task eval: the models are trained on PICK only, so PLACE is a verb +# the parametric baseline never saw. RICL can retrieve PLACE demos as context. +# These segments are never in parametric training (training is filtered to the pick +# groups via SegmentFilteredDataset); they appear only at eval (as targets for both +# models, and as RICL's retrieval support set, leave-one-segment-out). +PLACE_EVAL_GROUPS = ( + ("place", "white coffee cup", "right"), + ("place", "blue stuffed toy", "left"), +) + + +def _episode_hashes(groups: tuple[tuple[str, str, str], ...]) -> frozenset[str]: + allowed = set(groups) + eps: set[str] = set() + with SEGMENTS_CSV.open(newline="") as f: + for row in csv.DictReader(f): + key = tuple(row[col] for col in BY) + if key in allowed: + eps.add(row["episode"]) + return frozenset(eps) + + +@lru_cache(maxsize=1) +def train_episode_hashes() -> frozenset[str]: + return _episode_hashes(TRAIN_GROUPS) + + +@lru_cache(maxsize=1) +def valid_episode_hashes() -> frozenset[str]: + return _episode_hashes(VALID_GROUPS) + + +@lru_cache(maxsize=1) +def place_eval_episode_hashes() -> frozenset[str]: + return _episode_hashes(PLACE_EVAL_GROUPS) + + +@lru_cache(maxsize=1) +def all_episode_hashes() -> frozenset[str]: + return train_episode_hashes() | valid_episode_hashes() diff --git a/egomimic/ricl/tests/__init__.py b/egomimic/ricl/tests/__init__.py new file mode 100644 index 000000000..11170ce1a --- /dev/null +++ b/egomimic/ricl/tests/__init__.py @@ -0,0 +1 @@ +"""CPU unit tests for the RICL library (no openpi / no GPU / no data).""" diff --git a/egomimic/ricl/tests/conditioning_test.py b/egomimic/ricl/tests/conditioning_test.py new file mode 100644 index 000000000..6bcf6f135 --- /dev/null +++ b/egomimic/ricl/tests/conditioning_test.py @@ -0,0 +1,189 @@ +"""Tests for egomimic/ricl/conditioning.py (the RICL prefix surgery logic). + +Import-light: needs only numpy + torch (no openpi / no egomimic package import), +so it runs on a CPU-only box. Run under pytest, or standalone: + + python egomimic/ricl/tests/conditioning_test.py +""" + +from __future__ import annotations + +import numpy as np +import torch + +try: # prefer the package import (cluster / pytest) + from egomimic.ricl import conditioning as cond +except Exception: # fall back to loading the co-located file directly (CPU box) + import importlib.util + import pathlib + + _spec = importlib.util.spec_from_file_location( + "ricl_conditioning", pathlib.Path(__file__).with_name("conditioning.py") + ) + cond = importlib.util.module_from_spec(_spec) + _spec.loader.exec_module(cond) + + +def test_discretize_vector_bounds(): + nb = 256 + assert cond.discretize_vector([-1.0], nb) == [0] + assert cond.discretize_vector([1.0], nb) == [nb - 1] + mid = cond.discretize_vector([0.0], nb)[0] + assert nb // 2 - 2 <= mid <= nb // 2 + 1 + # clipping out-of-range + assert cond.discretize_vector([-5.0, 5.0], nb) == [0, nb - 1] + + +def test_discretize_matches_pi_binning(): + # Replicate pi.py exactly: edges = linspace(-1,1,nb+1)[:-1]; digitize - 1 + nb = 64 + v = np.array([-0.9, -0.1, 0.0, 0.3, 0.95], dtype=np.float32) + edges = np.linspace(-1.0, 1.0, nb + 1)[:-1] + expected = (np.digitize(np.clip(v, -1, 1), edges) - 1).tolist() + assert cond.discretize_vector(v, nb) == expected + + +def test_build_block_format_and_count(): + k, Ds, Ha, Da = 3, 4, 5, 4 + states = np.random.default_rng(0).standard_normal((k, Ds)).astype(np.float32) + actions = np.random.default_rng(1).standard_normal((k, Ha, Da)).astype(np.float32) + block = cond.build_retrieved_prompt_block( + states, actions, prompt="lift", action_steps=1 + ) + # one in-context exemplar per demo, each in the query block format + assert block.count("Task: lift") == k + assert block.count("State: ") == k + assert block.count("|") == k # each demo terminated by '|' + assert cond.PI05_ANCHOR in block # ';\nAction: ' separates state from action + + +def test_build_block_valid_mask(): + k, Ds, Da = 4, 3, 3 + states = np.zeros((k, Ds), np.float32) + actions = np.zeros((k, Da), np.float32) + valid = np.array([1, 0, 1, 0]) + block = cond.build_retrieved_prompt_block(states, actions, valid, prompt="t") + assert block.count("|") == 2 # only the two valid demos rendered + # all invalid -> empty + assert cond.build_retrieved_prompt_block(states, actions, np.zeros(k)) == "" + + +def test_build_block_action_steps_controls_length(): + k, Ds, Ha, Da = 1, 2, 6, 4 + states = np.zeros((k, Ds), np.float32) + actions = np.random.default_rng(2).standard_normal((k, Ha, Da)).astype(np.float32) + b1 = cond.build_retrieved_prompt_block(states, actions, action_steps=1) + b3 = cond.build_retrieved_prompt_block(states, actions, action_steps=3) + # action bins live between the 'Action: ' anchor and the terminating '|' + n1 = len(b1.split("Action: ")[1].split("|")[0].split()) + n3 = len(b3.split("Action: ")[1].split("|")[0].split()) + assert n1 == Da and n3 == 3 * Da + + +def test_splice_into_prompt(): + anchor = cond.PI05_ANCHOR + base = f"Task: pick up the cup, Embodiment: eva bimanual{anchor}" + demo = cond.build_retrieved_prompt_block( + np.zeros((1, 3), np.float32), + np.zeros((1, 3), np.float32), + prompt="pick up the cup", + ) + out = cond.splice_retrieved_into_prompt(base, demo) + assert out.endswith(anchor), "anchor must remain at the very end (query block)" + assert out.startswith( + demo + ), "demos prepended -> in-context order is demos then query" + assert base in out + # empty block -> passthrough + assert cond.splice_retrieved_into_prompt(base, "") == base + + +def _query_images(B=2, H=224, W=224, device="cpu"): + keys = ["base_0_rgb", "left_wrist_0_rgb", "right_wrist_0_rgb"] + images = {k: torch.rand(B, 3, H, W, device=device) * 2 - 1 for k in keys} + masks = {k: torch.ones(B, dtype=torch.bool, device=device) for k in keys} + return images, masks + + +def test_augment_images_appends_k_keys(): + B, k = 2, 4 + images, masks = _query_images(B) + n0 = len(images) + retrieved = torch.randint( + 0, 256, (B, k, 224, 224, 3), dtype=torch.uint8 + ) # BHWC uint8 + rmask = torch.tensor([[1, 1, 1, 0], [1, 1, 0, 0]], dtype=torch.bool) + cond.augment_images_with_retrieved(images, masks, retrieved, rmask) + assert len(images) == n0 + k + for i in range(k): + key = f"retrieved_{i}_base_0_rgb" + assert key in images and key in masks + assert images[key].shape == (B, 3, 224, 224) + assert images[key].dtype == torch.float32 + assert ( + float(images[key].min()) >= -1.0001 and float(images[key].max()) <= 1.0001 + ) + # mask honored + assert masks["retrieved_3_base_0_rgb"].tolist() == [False, False] + # query keys untouched + assert "base_0_rgb" in images and images["base_0_rgb"].shape == (B, 3, 224, 224) + + +def test_mock_model_consumes_and_grads_through_retrieved(): + """Mimic embed_prefix: iterate ALL images, mask+pool, run a linear, backprop. + + Confirms (a) the model sees 3 query + k retrieved images, (b) gradients flow + to model params through the retrieved-image path, (c) loss depends on the + retrieved images (zeroing them changes the loss). + """ + torch.manual_seed(0) + B, k = 2, 4 + + def consume(images, image_masks): + feats = [] + for key, img in images.items(): + m = image_masks[key].float().view(-1, 1, 1, 1) + feats.append((img * m).mean(dim=(2, 3))) # (B, C) + return torch.stack(feats, dim=1) # (B, n_images, C) + + images, masks = _query_images(B) + retrieved = torch.rand(B, k, 3, 224, 224) * 2 - 1 # BCHW float + cond.augment_images_with_retrieved(images, masks, retrieved) + feats = consume(images, masks) + assert feats.shape == (B, 3 + k, 3), feats.shape + + model = torch.nn.Linear((3 + k) * 3, 1) + loss = model(feats.flatten(1)).pow(2).mean() + loss.backward() + assert model.weight.grad is not None + assert torch.linalg.norm(model.weight.grad) > 0 + + # dependency on retrieved content: zero retrieved vs random retrieved -> different loss + images_z, masks_z = _query_images(B) + cond.augment_images_with_retrieved( + images_z, masks_z, torch.zeros(B, k, 3, 224, 224) + ) + with torch.no_grad(): + loss_rand = model(consume(images, masks).flatten(1)).pow(2).mean() + loss_zero = model(consume(images_z, masks_z).flatten(1)).pow(2).mean() + assert abs(float(loss_rand) - float(loss_zero)) > 1e-8 + + +def test_estimate_prompt_tokens_monotonic(): + a = cond.estimate_prompt_tokens(0, 1) + b = cond.estimate_prompt_tokens(4, 1) + c = cond.estimate_prompt_tokens(4, 4) + assert a < b < c + + +def _run_all(): + fns = [v for n, v in sorted(globals().items()) if n.startswith("test_")] + print(f"== conditioning_test: running {len(fns)} tests ==") + for fn in fns: + fn() + print(f" PASS {fn.__name__}") + print("ALL CONDITIONING TESTS PASSED") + + +if __name__ == "__main__": + _run_all() diff --git a/egomimic/ricl/tests/data_test.py b/egomimic/ricl/tests/data_test.py new file mode 100644 index 000000000..2c15a625a --- /dev/null +++ b/egomimic/ricl/tests/data_test.py @@ -0,0 +1,157 @@ +"""Tests for egomimic/ricl/data.py (RICL collate + query-frame wrapper). + +Import-light: torch + numpy only (mock cache / provider / base collate), so it +runs on a CPU-only box. Run under pytest or standalone: + + python egomimic/ricl/tests/data_test.py +""" + +from __future__ import annotations + +import numpy as np +import torch + +try: + from egomimic.ricl import data as rdata +except Exception: + import importlib.util + import pathlib + + _spec = importlib.util.spec_from_file_location( + "ricl_data", pathlib.Path(__file__).with_name("data.py") + ) + rdata = importlib.util.module_from_spec(_spec) + _spec.loader.exec_module(rdata) + + +class _MockCache: + """Minimal stand-in for RetrievalCache: ._entries + .neighbors(qh, fi).""" + + def __init__(self, entries): + self._entries = entries # {query_hash: (bank_hash[k], bank_frame[k], dist[k])} + + def neighbors(self, query_hash, frame_idx): + return self._entries[query_hash] + + +def _mock_provider(image_hw=(224, 224), state_dim=14, action_shape=(3, 32)): + H, W = image_hw + + def provider(h, f): + return { + "image": np.full((H, W, 3), 123, np.uint8), # HWC uint8 + "state": np.ones(state_dim, np.float32) * 0.5, + "action": np.ones(action_shape, np.float32) * 0.25, + } + + return provider + + +def _base_collate(batch): + return {"episode_hash": [s["episode_hash"] for s in batch]} + + +def test_query_dataset_injects_frame_idx(): + class _Base: + def __init__(self): + self.index_map = {0: ("eva", 5), 1: ("eva", 9)} + + def __len__(self): + return 2 + + def __getitem__(self, i): + return {"episode_hash": "H", "x": torch.zeros(3)} + + wrapped = rdata.RiclQueryDataset(_Base()) + assert wrapped[0]["frame_idx"] == 5 + assert wrapped[1]["frame_idx"] == 9 + assert len(wrapped) == 2 + + +def _make_collate(k=4, **kw): + entries = { + # "H": 2 valid neighbors (A,B) + 2 padded slots + "H": ( + np.array(["A", "B", "", ""], dtype="U"), + np.array([0, 1, -1, -1], dtype=np.int32), + np.array([0.1, 0.2, np.inf, np.inf], dtype=np.float32), + ) + } + cache = _MockCache(entries) + return rdata.build_ricl_collate( + cache, _mock_provider(), k=k, base_collate=_base_collate, **kw + ) + + +def test_collate_shapes_and_mask(): + k = 4 + collate = _make_collate(k=k, state_dim=32, action_dim=32, action_horizon=1) + batch = [ + {"episode_hash": "H", "frame_idx": 0}, # in cache: 2 valid + {"episode_hash": "MISSING", "frame_idx": 3}, # not in cache: all padded + ] + out = collate(batch) + B = 2 + assert out["ricl_retrieved_images"].shape == (B, k, 3, 224, 224) + assert out["ricl_retrieved_state"].shape == (B, k, 32) + assert out["ricl_retrieved_action"].shape == (B, k, 1, 32) + assert out["ricl_retrieved_mask"].shape == (B, k) + assert out["ricl_retrieved_dist"].shape == (B, k) + # sample 0: first two valid, last two padded + assert out["ricl_retrieved_mask"][0].tolist() == [True, True, False, False] + # sample 1: not in cache -> all masked, images zero + assert out["ricl_retrieved_mask"][1].tolist() == [False, False, False, False] + assert torch.count_nonzero(out["ricl_retrieved_images"][1]) == 0 + + +def test_collate_image_normalized_and_resized(): + # provider returns 100x100 uint8 -> collate resizes to 224 and scales to [0,1] + cache = _MockCache( + { + "H": ( + np.array(["A"], dtype="U"), + np.array([0], dtype=np.int32), + np.array([0.1], dtype=np.float32), + ) + } + ) + collate = rdata.build_ricl_collate( + cache, + _mock_provider(image_hw=(100, 100)), + k=1, + base_collate=_base_collate, + image_hw=(224, 224), + state_dim=32, + action_dim=32, + action_horizon=1, + ) + out = collate([{"episode_hash": "H", "frame_idx": 0}]) + img = out["ricl_retrieved_images"][0, 0] + assert img.shape == (3, 224, 224) + assert 0.0 <= float(img.min()) and float(img.max()) <= 1.0 # scaled from uint8 + assert float(img.mean()) > 0.0 # non-zero (valid neighbor) + + +def test_collate_state_and_action_fit(): + # provider state_dim=14 -> fit to 32 (pad); action (3,32) -> horizon 1 (truncate) + collate = _make_collate(k=2, state_dim=32, action_dim=32, action_horizon=1) + out = collate([{"episode_hash": "H", "frame_idx": 0}]) + st = out["ricl_retrieved_state"][0, 0] # valid slot A + assert st.shape == (32,) + assert torch.count_nonzero(st[:14]) == 14 and torch.count_nonzero(st[14:]) == 0 + act = out["ricl_retrieved_action"][0, 0] + assert act.shape == (1, 32) + assert torch.allclose(act, torch.full((1, 32), 0.25), atol=1e-6) + + +def _run_all(): + fns = [v for n, v in sorted(globals().items()) if n.startswith("test_")] + print(f"== data_test: running {len(fns)} tests ==") + for fn in fns: + fn() + print(f" PASS {fn.__name__}") + print("ALL DATA TESTS PASSED") + + +if __name__ == "__main__": + _run_all() diff --git a/egomimic/ricl/tests/droid_data_test.py b/egomimic/ricl/tests/droid_data_test.py new file mode 100644 index 000000000..f461fdf32 --- /dev/null +++ b/egomimic/ricl/tests/droid_data_test.py @@ -0,0 +1,94 @@ +"""CPU smoke tests for the DROID RICL shim (egomimic/ricl/droid_data.py). + +Skips automatically if the DROID corpus isn't on disk. Validates the query +dataset keys/shapes/normalization range, the bank provider, and a tiny +leave-one-out retrieval cache + the ricl collate output shapes/masks. +""" + +from __future__ import annotations + +import os + +import numpy as np +import pytest +import torch + +from egomimic.ricl import droid_data as D +from egomimic.ricl.data import build_ricl_collate + +pytestmark = pytest.mark.skipif( + not os.path.isdir(D.DROID_ROOT), reason="DROID corpus not on this machine" +) + + +@pytest.fixture(scope="module") +def corpus(): + all_g = sorted( + d + for d in os.listdir(D.DROID_ROOT) + if os.path.isdir(os.path.join(D.DROID_ROOT, d)) and not d.startswith(".") + ) + return D.DroidCorpus(groups=all_g[:2]) + + +def test_query_sample_keys_and_norm(corpus): + ds = D.DroidQueryDataset(corpus, corpus.hashes[:1], action_horizon=15) + s = ds[0] + assert s[D.STATE_KEY].shape == (32,) + assert s[D.AC_KEY].shape == (15, 32) + # slot-fill: dims 8..31 are zero on both state and action + assert np.allclose(s[D.STATE_KEY][8:], 0.0) + assert np.allclose(s[D.AC_KEY][:, 8:], 0.0) + # quantile-normalized payload roughly within [-1, 1] (q01/q99 clip the bulk) + assert s[D.STATE_KEY][:8].min() > -5 and s[D.STATE_KEY][:8].max() < 5 + for cam in D.CAM_KEYS: + assert s[cam].shape == (224, 224, 3) + assert s[cam].dtype == np.uint8 + assert isinstance(s["annotations"], list) and isinstance(s["annotations"][0], str) + assert s["episode_hash"] == corpus.hashes[0] + assert s["frame_idx"] == 0 + + +def test_bank_provider(corpus): + prov = D.make_droid_bank_provider(corpus) + blk = prov(corpus.hashes[0], 3) + assert blk["image"].shape == (224, 224, 3) + assert blk["state"].shape == (8,) + assert blk["action"].shape == (1, 8) + + +def test_cache_and_collate(corpus): + k = 4 + cache = D.build_droid_retrieval_cache(corpus, k=k) + D._verify_cache(cache, corpus) + + prov = D.make_droid_bank_provider(corpus) + collate = build_ricl_collate( + cache, + prov, + k=k, + action_horizon=1, + state_dim=32, + action_dim=32, + ) + ds = D.DroidQueryDataset(corpus, corpus.hashes[:2], action_horizon=15) + batch = collate([ds[0], ds[10], ds[20]]) + B = 3 + assert batch["ricl_retrieved_images"].shape == (B, k, 3, 224, 224) + assert batch["ricl_retrieved_state"].shape == (B, k, 32) + assert batch["ricl_retrieved_action"].shape == (B, k, 1, 32) + assert batch["ricl_retrieved_mask"].shape == (B, k) + # retrieved images scaled to [0,1]; padded slots zero + imgs = batch["ricl_retrieved_images"] + assert imgs.min() >= 0.0 and imgs.max() <= 1.0 + # at least one real neighbor for an in-group query frame + assert batch["ricl_retrieved_mask"].any() + # padded state slots 8..31 are zero + assert torch.allclose( + batch["ricl_retrieved_state"][..., 8:], + torch.zeros_like(batch["ricl_retrieved_state"][..., 8:]), + ) + # base query keys survived the collate + assert batch[D.AC_KEY].shape == (B, 15, 32) + assert batch[D.STATE_KEY].shape == (B, 32) + assert len(batch["annotations"]) == B diff --git a/egomimic/ricl/tests/metrics_test.py b/egomimic/ricl/tests/metrics_test.py new file mode 100644 index 000000000..79f431e64 --- /dev/null +++ b/egomimic/ricl/tests/metrics_test.py @@ -0,0 +1,138 @@ +"""Tests for egomimic/ricl/metrics.py. Import-light (numpy[, torch]). + +Run under pytest or standalone: python egomimic/ricl/tests/metrics_test.py +""" + +from __future__ import annotations + +import numpy as np + +try: + from egomimic.ricl import metrics as M +except Exception: + import importlib.util + import pathlib + + _spec = importlib.util.spec_from_file_location( + "ricl_metrics", pathlib.Path(__file__).with_name("metrics.py") + ) + M = importlib.util.module_from_spec(_spec) + _spec.loader.exec_module(M) + + +def test_cartesian_mse_l1(): + pred = np.zeros((4, 14), np.float32) + gt = np.ones((4, 14), np.float32) + assert abs(M.cartesian_mse(pred, gt) - 1.0) < 1e-6 + assert abs(M.cartesian_l1(pred, gt) - 1.0) < 1e-6 + + +def test_gripper_accuracy_14d(): + pred = np.zeros((2, 14), np.float32) + gt = np.zeros((2, 14), np.float32) + # gripper dims 6,13. Make pred match gt on dim 6, differ on dim 13. + pred[:, 6] = 1.0 + gt[:, 6] = 1.0 # agree (both > 0) + pred[:, 13] = 1.0 + gt[:, 13] = -1.0 # disagree + # 2 dims x 2 samples = 4 comparisons; dim6 agree (2), dim13 disagree (2) -> 0.5 + assert abs(M.gripper_accuracy(pred, gt) - 0.5) < 1e-6 + + +def test_gripper_accuracy_non_14d_is_nan(): + pred = np.zeros((2, 6), np.float32) + gt = np.zeros((2, 6), np.float32) + assert np.isnan(M.gripper_accuracy(pred, gt)) + + +def test_compare_to_floor_helps_and_hurts(): + # retrieval lower loss/mse than floor -> helps + retr = {"Valid/eva_loss": 0.5, "Valid/eva_paired_mse_avg": 0.10, "other": "x"} + floor = {"Valid/eva_loss": 0.8, "Valid/eva_paired_mse_avg": 0.20, "other": "x"} + cmp = M.compare_to_floor(retr, floor) + assert cmp["retrieval_helps"] is True + assert cmp["mean_improvement"] > 0 + assert abs(cmp["delta_Valid/eva_loss"] - (-0.3)) < 1e-6 + + # retrieval worse -> does not help + cmp2 = M.compare_to_floor(floor, retr) + assert cmp2["retrieval_helps"] is False + assert cmp2["mean_improvement"] < 0 + + +def test_strip_ricl_keys(): + batch = { + 0: { + "actions_cartesian": 1, + "ricl_retrieved_images": 2, + "ricl_retrieved_state": 3, + "tokenized_prompt": 4, + } + } + out = M.strip_ricl_keys(batch) + assert set(out[0].keys()) == {"actions_cartesian", "tokenized_prompt"} + + +def test_shuffle_ricl_keys_is_derangement(): + try: + import torch + except Exception: + return # torch optional + B, k = 4, 3 + state = torch.arange(B).view(B, 1, 1).repeat(1, k, 2).float() # row i is all i + batch = { + "eva_bimanual": { + "actions_cartesian": torch.arange(B), # non-ricl key: untouched + "ricl_retrieved_state": state.clone(), + "ricl_retrieved_mask": torch.ones(B, k, dtype=torch.bool), + } + } + out = M.shuffle_ricl_keys(batch, seed=0) + sub = out["eva_bimanual"] + # non-ricl keys are passed through unchanged + assert torch.equal( + sub["actions_cartesian"], batch["eva_bimanual"]["actions_cartesian"] + ) + # every query's neighbor block moved (derangement -> no row keeps its own value) + rows = sub["ricl_retrieved_state"][:, 0, 0] + assert not torch.any(rows == torch.arange(B).float()) + # the multiset of blocks is preserved (a pure permutation) + assert sorted(rows.tolist()) == list(range(B)) + # original batch not mutated + assert torch.equal( + batch["eva_bimanual"]["ricl_retrieved_state"][:, 0, 0], torch.arange(B).float() + ) + + +def test_shuffle_ricl_keys_small_batch_returns_none(): + try: + import torch + except Exception: + return # torch optional + batch = {"eva_bimanual": {"ricl_retrieved_state": torch.zeros(1, 3, 2)}} + assert M.shuffle_ricl_keys(batch, seed=0) is None + + +def test_compare_to_floor_torch_scalars(): + try: + import torch + except Exception: + return # torch optional + retr = {"Valid/loss": torch.tensor(0.4)} + floor = {"Valid/loss": torch.tensor(0.6)} + cmp = M.compare_to_floor(retr, floor) + assert cmp["retrieval_helps"] is True + assert abs(cmp["delta_Valid/loss"] - (-0.2)) < 1e-5 + + +def _run_all(): + fns = [v for n, v in sorted(globals().items()) if n.startswith("test_")] + print(f"== metrics_test: running {len(fns)} tests ==") + for fn in fns: + fn() + print(f" PASS {fn.__name__}") + print("ALL METRICS TESTS PASSED") + + +if __name__ == "__main__": + _run_all() diff --git a/egomimic/ricl/tests/pi_ricl_eval_interp_test.py b/egomimic/ricl/tests/pi_ricl_eval_interp_test.py new file mode 100644 index 000000000..91e378bf9 --- /dev/null +++ b/egomimic/ricl/tests/pi_ricl_eval_interp_test.py @@ -0,0 +1,99 @@ +"""CPU unit tests for PIRiclEval's distance-weighted action interpolation. + +The blend (`_interpolate_toward_neighbor`) and the per-batch distance scale +(`_interp_scale`) are pure torch (they never touch ``self``), so we call them +unbound with a dummy ``self`` — no model, no openpi, no GPU. This pins the +correctness-critical math behind the inference-only interpolation lever ported +from ``egomimic/ricl/droid_eval.py``: + + p <- w*a_nn + (1-w)*p over the overlapping chunk, w = exp(-lamda*dist/dist_max) + +masked (invalid neighbor -> w=0) and finite-guarded (inf distance -> w=0). +""" + +from __future__ import annotations + +import math + +import torch + +from egomimic.eval.pi_ricl_eval import PIRiclEval + + +# Both methods are pure (never touch ``self``); call them unbound with a dummy self. +def _blend(*args, **kwargs): + return PIRiclEval._interpolate_toward_neighbor(None, *args, **kwargs) + + +def _scale(proc): + return PIRiclEval._interp_scale(None, proc) + + +def _inputs(B=2, T=4, D=3, dist=0.0, mask=1.0): + p = torch.arange(B * T * D, dtype=torch.float32).reshape(B, T, D) + a0 = -torch.ones(B, T, D) # neighbor chunk, distinct from p + d = torch.full((B, 1), float(dist)) + m = torch.full((B, 1), float(mask)) + return p, a0, d, m + + +def test_w1_returns_neighbor_on_overlap(): + # dist=0 -> w=exp(0)=1 -> output is the neighbor chunk exactly. + p, a0, d, m = _inputs(dist=0.0) + out, wmean = _blend(p, a0, d, m, dist_max=1.0, lamda=1.0) + assert torch.allclose(out, a0) + assert math.isclose(wmean, 1.0, rel_tol=1e-6) + + +def test_large_lambda_returns_p(): + # huge lamda -> w=exp(-inf)~0 -> output is the model prediction unchanged. + p, a0, d, m = _inputs(dist=1.0) + out, wmean = _blend(p, a0, d, m, dist_max=1.0, lamda=1e6) + assert torch.allclose(out, p) + assert wmean < 1e-6 + + +def test_masked_neighbor_gives_w0(): + # invalid neighbor (mask=0) -> w forced to 0 -> prediction unchanged even at dist=0. + p, a0, d, m = _inputs(dist=0.0, mask=0.0) + out, wmean = _blend(p, a0, d, m, dist_max=1.0, lamda=1.0) + assert torch.allclose(out, p) + assert wmean == 0.0 + + +def test_nonfinite_distance_gives_w0(): + p, a0, d, m = _inputs(dist=0.0) + d[:, 0] = float("inf") + out, wmean = _blend(p, a0, d, m, dist_max=1.0, lamda=1.0) + assert torch.allclose(out, p) + assert wmean == 0.0 + + +def test_intermediate_weight_is_convex_blend(): + # known w: dist=dist_max, lamda=1 -> w=exp(-1). + p, a0, d, m = _inputs(dist=2.0) + out, _ = _blend(p, a0, d, m, dist_max=2.0, lamda=1.0) + w = math.exp(-1.0) + expected = w * a0 + (1.0 - w) * p + assert torch.allclose(out, expected, atol=1e-6) + + +def test_blend_only_touches_overlapping_steps(): + # neighbor chunk shorter than the prediction -> only the first H steps blend. + p, _, d, m = _inputs(B=1, T=5, D=2, dist=0.0) + a0 = -torch.ones(1, 3, 2) # H = min(5, 3) = 3 + out, _ = _blend(p, a0, d, m, dist_max=1.0, lamda=1.0) + assert torch.allclose(out[:, :3], a0) # blended + assert torch.allclose(out[:, 3:], p[:, 3:]) # untouched tail + + +def test_interp_scale_max_finite_distance(): + proc = {0: {"ricl_retrieved_dist": torch.tensor([[0.5, 1.5], [float("inf"), 2.0]])}} + assert _scale(proc) == 2.0 + + +def test_interp_scale_none_when_no_positive_distance(): + # all-zero (cache without distances) -> None so the sweep is skipped, not w=1. + proc = {0: {"ricl_retrieved_dist": torch.zeros(3, 4)}} + assert _scale(proc) is None + assert _scale({0: {}}) is None diff --git a/egomimic/rldb/embodiment/eva.py b/egomimic/rldb/embodiment/eva.py index 7b68ab249..7c034d278 100644 --- a/egomimic/rldb/embodiment/eva.py +++ b/egomimic/rldb/embodiment/eva.py @@ -39,6 +39,7 @@ def get_transform_list( "cartesian_wristframe_6d", "cartesian_wristframe_quat", ], + chunk_length: int = 100, ) -> list[Transform]: if mode == "cartesian": return _build_eva_bimanual_transform_list(is_quat=True) @@ -49,7 +50,9 @@ def get_transform_list( elif mode == "cartesian_wristframe_6d": return _build_eva_bimanual_eef_frame_transform_list(rot_repr="6d") elif mode == "cartesian_wristframe_quat": - return _build_eva_bimanual_eef_frame_transform_list(is_quat=True) + return _build_eva_bimanual_eef_frame_transform_list( + is_quat=True, chunk_length=chunk_length + ) @classmethod def _get_keymap(cls, keymap_mode: str): @@ -87,6 +90,7 @@ def _get_keymap(cls, keymap_mode: str): "right.obs_gripper": { "key_type": "proprio_keys", "zarr_key": "right.obs_gripper", + "fallback_zarr_keys": ["right.gripper"], }, "left.obs_ee_pose": { "key_type": "proprio_keys", @@ -95,15 +99,18 @@ def _get_keymap(cls, keymap_mode: str): "left.obs_gripper": { "key_type": "proprio_keys", "zarr_key": "left.obs_gripper", + "fallback_zarr_keys": ["left.gripper"], }, "right.cmd_gripper": { "key_type": "action_keys", "zarr_key": "right.cmd_gripper", + "fallback_zarr_keys": ["right.gripper"], "horizon": 45, }, "left.cmd_gripper": { "key_type": "action_keys", "zarr_key": "left.cmd_gripper", + "fallback_zarr_keys": ["left.gripper"], "horizon": 45, }, "right.cmd_ee_pose": { diff --git a/egomimic/rldb/zarr/zarr_dataset_multi.py b/egomimic/rldb/zarr/zarr_dataset_multi.py index 37e6ec0bb..eb95bfbad 100644 --- a/egomimic/rldb/zarr/zarr_dataset_multi.py +++ b/egomimic/rldb/zarr/zarr_dataset_multi.py @@ -1047,6 +1047,11 @@ def _from_resolver(cls, resolver: EpisodeResolver, **kwargs): @staticmethod def _iter_leaves(ds): """Yield non-MultiDataset leaves from possibly nested wrappers.""" + # Unwrap dataset wrappers that hold a MultiDataset in ``.base`` (e.g. + # ricl's RiclQueryDataset) so key/shape inference reaches the real leaves. + base = getattr(ds, "base", None) + if isinstance(base, MultiDataset): + ds = base if isinstance(ds, MultiDataset): for child in ds.datasets.values(): yield from MultiDataset._iter_leaves(child) @@ -1576,6 +1581,159 @@ def __getattr__(self, item): return getattr(base, item) +class SegmentFilteredDataset(MultiDataset): + """Wrap a ``MultiDataset`` and keep only frames inside selected CSV segments. + + ``action_segments.csv`` rows define half-open ``[start, end)`` frame spans. + This wrapper is intentionally frame-level: episodes may contain both train + and eval tasks, so filtering by episode hash would leak held-out task + frames into training. + """ + + def __init__( + self, + base, + segments_csv: str, + by: list[str] | tuple[str, ...] = ("verb", "object", "hand"), + groups: list[list[str] | tuple[str, ...] | dict[str, str]] | None = None, + ): + if groups is None: + raise ValueError("SegmentFilteredDataset requires non-empty `groups`.") + gibd = getattr(base, "_global_indices_by_dataset", None) + if gibd is None: + raise ValueError( + f"SegmentFilteredDataset requires a MultiDataset exposing " + f"_global_indices_by_dataset, got {type(base).__name__}" + ) + + torch.utils.data.Dataset.__init__(self) + self.base = base + self.datasets = base.datasets + self.segments_csv = segments_csv + self.by = tuple(by) + self.groups = groups + + intervals = self._load_intervals(segments_csv, self.by, groups) + keep: list[int] = [] + keep_by_dataset: dict[str, list[int]] = {n: [] for n in base.datasets} + + for ep_name, idxs in gibd.items(): + spans = intervals.get(ep_name, []) + if not spans: + continue + chosen = [ + gidx + for gidx in idxs + for _, local_idx in (base.index_map[gidx],) + if self._in_spans(int(local_idx), spans) + ] + if chosen: + logger.info( + "SegmentFilteredDataset: %s -> %d / %d frames from %d segments", + ep_name, + len(chosen), + len(idxs), + len(spans), + ) + keep.extend(chosen) + keep_by_dataset[ep_name] = chosen + + if not keep: + raise ValueError( + f"SegmentFilteredDataset kept 0 frames from {segments_csv} " + f"for groups={groups!r}" + ) + + self.indices = sorted(keep) + self.index_map = [base.index_map[gidx] for gidx in self.indices] + self._global_indices_by_dataset = {n: [] for n in base.datasets} + for filtered_idx, (dataset_name, _) in enumerate(self.index_map): + self._global_indices_by_dataset[dataset_name].append(filtered_idx) + + # Keep base's bad-frame fallback inside the selected task frames. The + # values remain global indices into base.index_map. + base._global_indices_by_dataset = { + n: idxs for n, idxs in keep_by_dataset.items() if idxs + } + + @staticmethod + def _normalize_group( + group: list[str] | tuple[str, ...] | dict[str, str], by: tuple[str, ...] + ) -> tuple[str, ...]: + if isinstance(group, dict): + return tuple(str(group[c]) for c in by) + if len(group) != len(by): + raise ValueError(f"group {group!r} does not match by={by!r}") + return tuple(str(v) for v in group) + + @classmethod + def _load_intervals( + cls, + segments_csv: str, + by: tuple[str, ...], + groups: list[list[str] | tuple[str, ...] | dict[str, str]], + ) -> dict[str, list[tuple[int, int]]]: + df = pd.read_csv(segments_csv, dtype=str).fillna("-") + required = {"episode", "start", "end", *by} + missing = required - set(df.columns) + if missing: + raise ValueError(f"{segments_csv} missing columns {sorted(missing)}") + + allowed = {cls._normalize_group(group, by) for group in groups} + intervals: dict[str, list[tuple[int, int]]] = {} + n_segments = 0 + n_frames = 0 + for row in df.to_dict(orient="records"): + key = tuple(str(row[c]) for c in by) + if key not in allowed: + continue + h = str(row["episode"]) + start, end = int(row["start"]), int(row["end"]) + if end <= start: + continue + intervals.setdefault(h, []).append((start, end)) + n_segments += 1 + n_frames += end - start + + logger.info( + "SegmentFilteredDataset: matched %d segments / %d frames across %d episodes", + n_segments, + n_frames, + len(intervals), + ) + return intervals + + @staticmethod + def _in_spans(frame_idx: int, spans: list[tuple[int, int]]) -> bool: + return any(start <= frame_idx < end for start, end in spans) + + def __len__(self): + return len(self.indices) + + def __getitem__(self, idx): + return self.base[self.indices[idx]] + + @classmethod + def _from_resolver(cls, resolver: EpisodeResolver, **kwargs): + segments_csv = kwargs.pop("segments_csv") + by = kwargs.pop("by", ("verb", "object", "hand")) + groups = kwargs.pop("groups") + base = MultiDataset._from_resolver(resolver, **kwargs) + return cls(base=base, segments_csv=segments_csv, by=by, groups=groups) + + def set_data_schematic(self, data_schematic) -> None: + self.base.set_data_schematic(data_schematic) + self.data_schematic = data_schematic + + def __getattr__(self, item): + if item == "base": + raise AttributeError(item) + base = self.__dict__.get("base") + if base is None: + raise AttributeError(item) + return getattr(base, item) + + class ZarrDataset(torch.utils.data.Dataset): """ Base Zarr Dataset object, Just intializes as pass through to read from zarr episode @@ -1749,9 +1907,17 @@ def _next(reason: str, key: str = "") -> int: data = {} retry = False for k in self.key_map: - zarr_key = self.key_map[k]["zarr_key"] - key_type = self.key_map[k].get("key_type", None) - horizon = self.key_map[k].get("horizon", None) + spec = self.key_map[k] + zarr_key = spec["zarr_key"] + fallback_keys = spec.get("fallback_zarr_keys", []) + read_key = zarr_key + if read_key not in self.keys_dict: + for candidate in fallback_keys: + if candidate in self.keys_dict: + read_key = candidate + break + key_type = spec.get("key_type", None) + horizon = spec.get("horizon", None) if key_type == "annotation_keys": data[k] = self._annotation_text_for_frame(idx) @@ -1762,12 +1928,12 @@ def _next(reason: str, key: str = "") -> int: read_interval = (idx, end_idx) else: read_interval = (idx, None) - read_dict = {zarr_key: read_interval} + read_dict = {read_key: read_interval} raw_data = self.episode_reader.read(read_dict) self._pad_sequences(raw_data, horizon) # should be able to pad images - data[k] = raw_data[zarr_key] + data[k] = raw_data[read_key] - if zarr_key in self._image_keys: + if read_key in self._image_keys: jpeg_bytes = data[k] try: decoded = simplejpeg.decode_jpeg(jpeg_bytes, colorspace="RGB") @@ -1776,7 +1942,7 @@ def _next(reason: str, key: str = "") -> int: retry = True break data[k] = np.transpose(decoded, (2, 0, 1)) / 255.0 - elif zarr_key in self._json_keys: + elif read_key in self._json_keys: if isinstance(data[k], np.ndarray): data[k] = [self._decode_json_entry(v) for v in data[k]] else: diff --git a/egomimic/scripts/embedding_process/dinov2_embedding.py b/egomimic/scripts/embedding_process/dinov2_embedding.py new file mode 100644 index 000000000..1818f97c4 --- /dev/null +++ b/egomimic/scripts/embedding_process/dinov2_embedding.py @@ -0,0 +1,131 @@ +""" +DINOv2 image-embedding ZarrKeyTransform. + +Each input key must be a JPEG-encoded image array (as produced by ZarrWriter). +For each input key, produces a per-frame patch-token embedding of shape +``(T, 256, 768)`` float32 under the correspondingly-positioned output key +(16x16 patch grid for a 224x224 input at patch size 14). + +Replicates the RICL reference encoder +(``ricl_openpi/src/openpi/policies/utils.py``: ``load_dinov2`` / +``process_dinov2`` / ``embed``): torch.hub ``dinov2_vitb14``, resize-with-pad +to 224 (PIL bilinear, black padding), ImageNet mean/std normalization, then +``forward_features()['x_norm_patchtokens']``. Pooling into the retrieval +descriptor happens downstream (``egomimic.ricl.retrieval.pool_patch_embeddings``), +so the stored tokens stay pooling-agnostic. +""" + +from __future__ import annotations + +import logging + +import numpy as np +import simplejpeg +import torch +import zarr + +from egomimic.scripts.embedding_process.zarr_key_transform import ZarrKeyTransform + +logger = logging.getLogger(__name__) + +# ricl_openpi process_dinov2 constants +IMAGENET_DEFAULT_MEAN = (0.485, 0.456, 0.406) +IMAGENET_DEFAULT_STD = (0.229, 0.224, 0.225) +DINOV2_IMAGE_SIZE = 224 + + +def preprocess_dinov2(images: np.ndarray) -> torch.Tensor: + """uint8 ``(B, H, W, 3)`` RGB -> float32 ``(B, 3, 224, 224)``, replicating + ricl_openpi's ``process_dinov2``: resize-with-pad to 224 (PIL bilinear, + black padding), scale to [0, 1], ImageNet mean/std normalize. + """ + # the exact PIL-based function ricl_openpi uses (openpi_client is shipped + # with the sibling openpi install) + from openpi_client.image_tools import resize_with_pad + + if images.dtype != np.uint8 or images.ndim != 4 or images.shape[-1] != 3: + raise ValueError( + f"expected uint8 (B, H, W, 3) RGB images, got {images.dtype} {images.shape}" + ) + images = resize_with_pad(images, DINOV2_IMAGE_SIZE, DINOV2_IMAGE_SIZE) + x = torch.from_numpy(images.transpose(0, 3, 1, 2)).float() / 255.0 + mean = torch.tensor(IMAGENET_DEFAULT_MEAN, dtype=x.dtype).view(1, 3, 1, 1) + std = torch.tensor(IMAGENET_DEFAULT_STD, dtype=x.dtype).view(1, 3, 1, 1) + return (x - mean) / std + + +class DINOv2ImageEmbedding(ZarrKeyTransform): + """ + Per-frame DINOv2 patch-token embeddings (RICL reference encoder). + + Default output naming swaps the leading dotted segment of the input key + for ``"dinov2"`` (e.g. ``images.front_1`` -> ``dinov2.front_1``). Pass + ``output_keys`` explicitly to override. + """ + + DEFAULT_MODEL = "dinov2_vitb14" # torch.hub name under facebookresearch/dinov2 + OUTPUT_PREFIX = "dinov2" + + def __init__( + self, + input_keys: list[str], + output_keys: list[str] | None = None, + model_name: str = DEFAULT_MODEL, + batch_size: int = 64, + overwrite: bool = False, + device: str | torch.device = "cuda", + chunk_timesteps: int = 100, + dtype: torch.dtype = torch.float32, + ): + if output_keys is not None and len(input_keys) != len(output_keys): + raise ValueError( + "DINOv2ImageEmbedding requires len(input_keys) == len(output_keys); " + f"got {len(input_keys)} vs {len(output_keys)}" + ) + super().__init__( + input_keys=input_keys, + output_keys=output_keys, + batch_size=batch_size, + overwrite=overwrite, + device=device, + chunk_timesteps=chunk_timesteps, + ) + self.model_name = model_name + self.dtype = dtype + self.model = None + + def setup(self) -> None: + logger.info( + "Loading DINOv2 via torch.hub: facebookresearch/dinov2 %s", self.model_name + ) + self.model = torch.hub.load("facebookresearch/dinov2", self.model_name) + self.model.to(self.device, dtype=self.dtype).eval() + + @torch.no_grad() + def _embed_batch(self, images: np.ndarray) -> np.ndarray: + pixel_values = preprocess_dinov2(images).to(self.device, dtype=self.dtype) + feats = self.model.forward_features(pixel_values) + patches = feats["x_norm_patchtokens"] # (B, 256, 768) + return patches.float().cpu().numpy() + + def compute(self, store: zarr.Group) -> dict[str, np.ndarray]: + outputs: dict[str, np.ndarray] = {} + for in_key, out_key in zip(self.input_keys, self.output_keys): + arr = store[in_key] + n = arr.shape[0] + total_frames = int(store.attrs.get("total_frames", n)) + n = min(n, total_frames) + + chunks: list[np.ndarray] = [] + for start in range(0, n, self.batch_size): + end = min(start + self.batch_size, n) + jpeg_batch = arr[start:end] + images = np.stack( + [ + simplejpeg.decode_jpeg(bytes(b), colorspace="RGB") + for b in jpeg_batch + ] + ) + chunks.append(self._embed_batch(images)) + outputs[out_key] = np.concatenate(chunks, axis=0).astype(np.float32) + return outputs diff --git a/egomimic/scripts/embedding_process/dinov3_embedding.py b/egomimic/scripts/embedding_process/dinov3_embedding.py deleted file mode 100644 index de59e6822..000000000 --- a/egomimic/scripts/embedding_process/dinov3_embedding.py +++ /dev/null @@ -1,114 +0,0 @@ -""" -DINOv3 image-embedding ZarrKeyTransform. - -Each input key must be a JPEG-encoded image array (as produced by ZarrWriter). -For each input key, produces a per-frame patch-token embedding of shape -``(T, N, D)`` float32 under the correspondingly-positioned output key, -where ``N`` is the number of patch tokens (CLS and any register tokens are -dropped) and ``D`` is the model hidden dim. -""" - -from __future__ import annotations - -import logging - -import numpy as np -import simplejpeg -import torch -import zarr - -from egomimic.scripts.embedding_process.zarr_key_transform import ZarrKeyTransform - -logger = logging.getLogger(__name__) - - -class DINOv3ImageEmbedding(ZarrKeyTransform): - """ - Per-frame DINOv3 image embeddings. - - Default output naming swaps the leading dotted segment of the input key - for ``"dino"`` (e.g. ``images.front_1`` -> ``dino.front_1``). Pass - ``output_keys`` explicitly to override. - """ - - DEFAULT_MODEL = "facebook/dinov3-vitb16-pretrain-lvd1689m" - OUTPUT_PREFIX = "dino" - - def __init__( - self, - input_keys: list[str], - output_keys: list[str] | None = None, - model_name: str = DEFAULT_MODEL, - batch_size: int = 64, - overwrite: bool = False, - device: str | torch.device = "cuda", - chunk_timesteps: int = 100, - dtype: torch.dtype = torch.float16, - ): - if output_keys is not None and len(input_keys) != len(output_keys): - raise ValueError( - "DINOv3ImageEmbedding requires len(input_keys) == len(output_keys); " - f"got {len(input_keys)} vs {len(output_keys)}" - ) - super().__init__( - input_keys=input_keys, - output_keys=output_keys, - batch_size=batch_size, - overwrite=overwrite, - device=device, - chunk_timesteps=chunk_timesteps, - ) - self.model_name = model_name - self.dtype = dtype - self.processor = None - self.model = None - - def setup(self) -> None: - from transformers import AutoImageProcessor, AutoModel - - logger.info("Loading DINOv3 model: %s", self.model_name) - self.processor = AutoImageProcessor.from_pretrained(self.model_name) - self.model = AutoModel.from_pretrained(self.model_name, torch_dtype=self.dtype) - self.model.to(self.device).eval() - - cfg = self.model.config - side = int(cfg.image_size) // int(cfg.patch_size) - self.num_patches = side * side - logger.info( - "DINOv3 patch grid: %d x %d = %d tokens (hidden_dim=%d)", - side, - side, - self.num_patches, - int(cfg.hidden_size), - ) - - @torch.no_grad() - def _embed_batch(self, images: list[np.ndarray]) -> np.ndarray: - inputs = self.processor(images=images, return_tensors="pt") - pixel_values = inputs["pixel_values"].to(self.device, dtype=self.dtype) - outputs = self.model(pixel_values=pixel_values) - # last_hidden_state ends with the patch tokens; CLS + any register - # tokens sit at the start. Slice the trailing num_patches tokens to - # get just the patch grid in row-major order. - patches = outputs.last_hidden_state[:, -self.num_patches :] - return patches.float().cpu().numpy() - - def compute(self, store: zarr.Group) -> dict[str, np.ndarray]: - outputs: dict[str, np.ndarray] = {} - for in_key, out_key in zip(self.input_keys, self.output_keys): - arr = store[in_key] - n = arr.shape[0] - total_frames = int(store.attrs.get("total_frames", n)) - n = min(n, total_frames) - - chunks: list[np.ndarray] = [] - for start in range(0, n, self.batch_size): - end = min(start + self.batch_size, n) - jpeg_batch = arr[start:end] - images = [ - simplejpeg.decode_jpeg(bytes(b), colorspace="RGB") - for b in jpeg_batch - ] - chunks.append(self._embed_batch(images)) - outputs[out_key] = np.concatenate(chunks, axis=0).astype(np.float32) - return outputs diff --git a/egomimic/scripts/embedding_process/zarr_embedding.py b/egomimic/scripts/embedding_process/zarr_embedding.py index fe7ff7817..f1271e67b 100644 --- a/egomimic/scripts/embedding_process/zarr_embedding.py +++ b/egomimic/scripts/embedding_process/zarr_embedding.py @@ -6,34 +6,66 @@ union of train + valid episodes. Bundled transforms: - - DINOv3ImageEmbedding (dinov3_embedding.py): per-frame DINOv3 image embeddings. + - DINOv2ImageEmbedding (dinov2_embedding.py): per-frame DINOv2 patch-token + image embeddings (the RICL reference encoder). - Qwen3TextEmbedding (qwen3_embedding.py): per-frame text embeddings from JSON-encoded annotation spans via Qwen3-Embedding-0.6B. +Episodes are selected one of three ways: from a Hydra dataset config +(``--dataset-config-path``); as an explicit hash list rooted at a directory +(``--episode-root`` + ``--episodes-file``/``--episodes``); or by SQL-registry +filters (``--filter-lambda`` + ``--sync-root``), which query + sync matching +stores and use RAW zarr keys (e.g. ``images.front_1``). The explicit and filter +forms reach stores a dataset config can't. + +With ``--output-root`` embeddings are written to a SEPARATE per-episode store at +``/`` (a writable mirror, for read-only sources) instead of +in-place. The mirror plugs directly into ``retrieval.py --zarr-root +'/{hash}'`` and ``egomimic/ricl/scripts/build_embedding_index.py``. + Examples: python egomimic/scripts/embedding_process/zarr_embedding.py \\ - --transform dinov3 \\ + --transform dinov2 \\ --dataset-config-path egomimic/hydra_configs/data/eva_pi_lang.yaml \\ --input-keys observations.images.front_1 \\ - --output-keys observations.embeddings.dinov3.front_1 \\ + --output-keys observations.embeddings.dinov2.front_1 \\ --batch-size 64 + python egomimic/scripts/embedding_process/zarr_embedding.py \\ + --transform dinov2 \\ + --episode-root /storage/project/r-dxu345-0/agao81/pick_place \\ + --episodes-file egomimic/ricl/episode_lists/embed_all.txt \\ + --input-keys images.front_1 \\ + --output-keys observations.embeddings.dinov2.front_1 + python egomimic/scripts/embedding_process/zarr_embedding.py \\ --transform qwen3 \\ --dataset-config-path egomimic/hydra_configs/data/eva_pi_lang.yaml \\ --input-keys annotations \\ --output-keys observations.embeddings.qwen3.annotations + + # SQL filter -> writable mirror folder (RICL eva pick_place bank): + python egomimic/scripts/embedding_process/zarr_embedding.py \\ + --transform dinov2 \\ + --filter-lambda "lambda row: row.get('task')=='pick_place' and \\ + row.get('embodiment')=='eva_bimanual' and \\ + (row.get('zarr_processed_path') or '').strip()!=''" \\ + --sync-root egomimic/ricl/outputs/ricl_sync_cache/pickplace_eva \\ + --output-root egomimic/ricl/outputs/ricl_embeddings/pickplace_eva \\ + --input-keys images.front_1 \\ + --output-keys observations.embeddings.dinov2.front_1 """ from __future__ import annotations import argparse import logging +import os import hydra import torch -from egomimic.scripts.embedding_process.dinov3_embedding import DINOv3ImageEmbedding +from egomimic.scripts.embedding_process.dinov2_embedding import DINOv2ImageEmbedding from egomimic.scripts.embedding_process.qwen3_embedding import Qwen3TextEmbedding from egomimic.scripts.embedding_process.zarr_key_transform import ZarrKeyTransform from egomimic.utils.hydra_utils import load_config_from_path @@ -42,7 +74,7 @@ TRANSFORMS: dict[str, type[ZarrKeyTransform]] = { - "dinov3": DINOv3ImageEmbedding, + "dinov2": DINOv2ImageEmbedding, "qwen3": Qwen3TextEmbedding, } @@ -85,18 +117,113 @@ def _resolve_episode_paths(dataset_config_path: str) -> dict[str, str]: return episodes +def _resolve_filtered_episodes( + filter_lambdas: list[str], sync_root: str +) -> dict[str, str]: + """ + Resolve ``{episode_hash: episode_path}`` from SQL-registry filters. + + Builds a :class:`DatasetFilter` from ``filter_lambdas`` (each a + ``"lambda row: ..."`` string evaluated against an episode row), queries the + registry + syncs matching stores into ``sync_root`` via + :class:`S3EpisodeResolver`, and returns the local zarr path per episode. + The synced stores keep their RAW zarr keys (e.g. ``images.front_1``). + """ + from pathlib import Path + + from egomimic.rldb.filters import DatasetFilter + from egomimic.rldb.zarr.zarr_dataset_multi import S3EpisodeResolver + + filters = DatasetFilter(filter_lambdas=filter_lambdas) + resolver = S3EpisodeResolver(folder_path=Path(sync_root)) + datasets = resolver.resolve(filters=filters) + return {h: str(ds.episode_path) for h, ds in datasets.items()} + + +def _resolve_explicit_episodes( + episode_root: str, episodes: list[str] | None, episodes_file: str | None +) -> dict[str, str]: + """Build {episode_hash: path} from an explicit hash list under one root.""" + hashes: list[str] = list(episodes or []) + if episodes_file: + with open(episodes_file) as f: + hashes += f.read().split() + # de-dup, keep order + hashes = list(dict.fromkeys(hashes)) + if not hashes: + raise SystemExit("--episode-root given but no episodes (use --episodes/-file)") + mapping = {h: os.path.join(episode_root, h) for h in hashes} + missing = [h for h, p in mapping.items() if not os.path.isdir(p)] + if missing: + raise SystemExit( + f"{len(missing)}/{len(mapping)} episodes missing under " + f"{episode_root}: {missing[:5]}{'...' if len(missing) > 5 else ''}" + ) + return mapping + + def main(): parser = argparse.ArgumentParser(description=__doc__) parser.add_argument("--transform", required=True, choices=sorted(TRANSFORMS.keys())) parser.add_argument( "--dataset-config-path", - required=True, + default=None, help=( "Path to a Hydra dataset config (e.g. egomimic/hydra_configs/data/" "eva_pi_lang.yaml). The full ``defaults:`` chain is resolved via " "egomimic.utils.hydra_utils.load_config_from_path; every train + " "valid MultiDataset is instantiated and the union of their " - "episodes is processed." + "episodes is processed. Mutually exclusive with --episode-root." + ), + ) + parser.add_argument( + "--episode-root", + default=None, + help=( + "Directory containing per-episode zarr stores named by hash. " + "Use with --episodes/--episodes-file instead of a dataset config." + ), + ) + parser.add_argument( + "--episodes", + nargs="+", + default=None, + help="Explicit episode hashes under --episode-root.", + ) + parser.add_argument( + "--episodes-file", + default=None, + help="Text file of episode hashes (whitespace-separated) under --episode-root.", + ) + parser.add_argument( + "--filter-lambda", + dest="filter_lambdas", + action="append", + default=None, + help=( + "SQL-registry filter source. Repeatable; each value is a " + '"lambda row: ..." predicate ANDed together (DatasetFilter). ' + "Matching episodes are synced into --sync-root and embedded. " + "Example: \"lambda row: row.get('task')=='pick_place' and " + "row.get('embodiment')=='eva_bimanual' and (row.get(" + "'zarr_processed_path') or '').strip()!=''\". Input keys are RAW " + "zarr keys (e.g. images.front_1)." + ), + ) + parser.add_argument( + "--sync-root", + default=None, + help="Local cache dir S3EpisodeResolver syncs filtered stores into " + "(used with --filter-lambda).", + ) + parser.add_argument( + "--output-root", + default=None, + help=( + "If set, write embeddings to a SEPARATE per-episode store at " + "/ instead of in-place. Use when the source " + "stores are read-only; the mirror plugs into " + "retrieval.py --zarr-root '/{hash}'." ), ) parser.add_argument("--input-keys", nargs="+", required=True) @@ -107,8 +234,8 @@ def main(): help=( "Optional. If omitted, defaults are derived per-transform by " "swapping the leading dotted segment of each input key for the " - "transform's OUTPUT_PREFIX (e.g. dinov3: image.front_1 -> " - "dino.front_1; qwen3: annotations -> qwen.annotations)." + "transform's OUTPUT_PREFIX (e.g. dinov2: images.front_1 -> " + "dinov2.front_1; qwen3: annotations -> qwen.annotations)." ), ) parser.add_argument("--batch-size", type=int, default=64) @@ -122,22 +249,59 @@ def main(): if args.output_keys is not None and len(args.input_keys) != len(args.output_keys): parser.error("--input-keys and --output-keys must have the same length") + sources = [ + args.dataset_config_path is not None, + args.episode_root is not None, + args.filter_lambdas is not None, + ] + if sum(sources) != 1: + parser.error( + "provide exactly one episode source: --dataset-config-path OR " + "--episode-root (+ --episodes/--episodes-file) OR --filter-lambda " + "(+ --sync-root)" + ) + if args.filter_lambdas is not None and args.sync_root is None: + parser.error("--filter-lambda requires --sync-root") logging.basicConfig( level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s" ) - episodes = _resolve_episode_paths(args.dataset_config_path) - logger.info( - "Resolved %d unique episodes from %s", len(episodes), args.dataset_config_path - ) + if args.episode_root is not None: + episodes = _resolve_explicit_episodes( + args.episode_root, args.episodes, args.episodes_file + ) + logger.info("Resolved %d episodes under %s", len(episodes), args.episode_root) + elif args.filter_lambdas is not None: + episodes = _resolve_filtered_episodes(args.filter_lambdas, args.sync_root) + logger.info( + "Resolved %d episodes from SQL filters into %s", + len(episodes), + args.sync_root, + ) + else: + episodes = _resolve_episode_paths(args.dataset_config_path) + logger.info( + "Resolved %d unique episodes from %s", + len(episodes), + args.dataset_config_path, + ) + + if args.output_root is not None: + os.makedirs(args.output_root, exist_ok=True) + logger.info("Writing embeddings to mirror folder %s/", args.output_root) transform = _build_transform(args) failures: list[tuple[str, str]] = [] for ep_hash, path in episodes.items(): try: - transform.process_episode(path) + out_path = ( + os.path.join(args.output_root, ep_hash) + if args.output_root is not None + else None + ) + transform.process_episode(path, output_store_path=out_path) except Exception as e: logger.exception("Failed on %s (%s)", ep_hash, path) failures.append((ep_hash, f"{type(e).__name__}: {e}")) diff --git a/egomimic/scripts/embedding_process/zarr_key_transform.py b/egomimic/scripts/embedding_process/zarr_key_transform.py index 19d4f8e4a..c003658cb 100644 --- a/egomimic/scripts/embedding_process/zarr_key_transform.py +++ b/egomimic/scripts/embedding_process/zarr_key_transform.py @@ -31,8 +31,8 @@ class ZarrKeyTransform(ABC): Output naming: when ``output_keys`` is omitted, defaults are derived from each input key by replacing the leading dotted segment with :attr:`OUTPUT_PREFIX`. Subclasses must set OUTPUT_PREFIX to a non-empty - string to support this. Example: with ``OUTPUT_PREFIX = "dino"``, - ``images.front_1`` -> ``dino.front_1``. Pass ``output_keys`` + string to support this. Example: with ``OUTPUT_PREFIX = "dinov2"``, + ``images.front_1`` -> ``dinov2.front_1``. Pass ``output_keys`` explicitly to override. """ @@ -66,8 +66,8 @@ def default_output_key(cls, input_key: str) -> str: """ Derive a default output key from an input key by swapping the leading dotted segment for ``cls.OUTPUT_PREFIX``. ``images.front_1`` becomes - ``dino.front_1`` for a transform whose ``OUTPUT_PREFIX`` is - ``"dino"``. If the input key has no dot, the prefix is prepended. + ``dinov2.front_1`` for a transform whose ``OUTPUT_PREFIX`` is + ``"dinov2"``. If the input key has no dot, the prefix is prepended. """ if not cls.OUTPUT_PREFIX: raise ValueError( @@ -91,38 +91,71 @@ def compute(self, store: zarr.Group) -> dict[str, np.ndarray]: Implementations are responsible for batching reads + GPU inference. """ - def process_episode(self, episode_path: Path | str) -> None: + def process_episode( + self, + episode_path: Path | str, + output_store_path: Path | str | None = None, + ) -> None: + """Compute outputs from ``episode_path`` and write them to a store. + + By default outputs are written back into the source store (in-place, + ``mode="a"``). When ``output_store_path`` is given, the source store is + read read-only and outputs are written to a *separate* per-episode store + at that path (created if absent) — used to mirror embeddings into a + writable folder when the canonical store is read-only. The mirror store + carries ``total_frames`` so it stays self-describing for downstream + readers that strip the chunk padding. + """ episode_path = Path(episode_path) if not self._setup_done: self.setup() self._setup_done = True - store = zarr.open_group(str(episode_path), mode="a", zarr_format=3) + in_place = output_store_path is None + src = zarr.open_group( + str(episode_path), mode=("a" if in_place else "r"), zarr_format=3 + ) for k in self.input_keys: - if k not in store: + if k not in src: raise KeyError(f"Input key '{k}' missing from {episode_path}") - existing = [k for k in self.output_keys if k in store] + out = ( + src + if in_place + else zarr.open_group(str(output_store_path), mode="a", zarr_format=3) + ) + + existing = [k for k in self.output_keys if k in out] if existing and not self.overwrite: logger.info( - "Skipping %s — output keys already exist: %s", episode_path, existing + "Skipping %s — output keys already exist: %s", + output_store_path or episode_path, + existing, ) return for k in existing: - del store[k] + del out[k] - outputs = self.compute(store) + outputs = self.compute(src) missing = set(self.output_keys) - set(outputs.keys()) if missing: raise RuntimeError(f"compute() did not return expected outputs: {missing}") + if not in_place and "total_frames" in src.attrs: + out.attrs["total_frames"] = int(src.attrs["total_frames"]) + for key in self.output_keys: - self._write_numeric(store, key, np.asarray(outputs[key])) + self._write_numeric(out, key, np.asarray(outputs[key])) n = len(next(iter(outputs.values()))) - logger.info("Wrote %s for %s (frames=%d)", self.output_keys, episode_path, n) + logger.info( + "Wrote %s for %s (frames=%d)", + self.output_keys, + output_store_path or episode_path, + n, + ) def _write_numeric(self, store: zarr.Group, key: str, arr: np.ndarray) -> None: """Write a numeric (T, ...) array, padding to chunk_timesteps for shard alignment.""" diff --git a/egomimic/scripts/human_robot_pairing.md b/egomimic/scripts/human_robot_pairing.md new file mode 100644 index 000000000..095347595 --- /dev/null +++ b/egomimic/scripts/human_robot_pairing.md @@ -0,0 +1,132 @@ +# Human↔Robot Episode Pairing — findings & how to reproduce + +Context for a future agent picking up the `ryanco/in-context-learning` work. Goal: +find paired **human (aria_bimanual)** and **robot (eva_bimanual)** `pick_place` +episodes with the same scene/objects/task, for side-by-side eval / in-context +learning. This doc records what the data actually looks like (much of it +non-obvious) and how the scripts here produce the pairs. + +## TL;DR +- **No human↔robot pairing exists in the data model.** Embodiments are pulled & + filtered independently. Pairs must be constructed. +- The DB `scene`/`objects` columns are **useless for matching**: `objects` is + literal `"{None}"`/`"{NOne}"`, `scene` has only 2 values + (`pick_place_diverse`, `pick_place_div_scene`). Match on **language + annotations** instead. +- **Two tiers of pairs** (both emitted to `human_robot_pairs.json`): + 1. **True same-scene pairs** = the `alignment data set 1/2` captures (the only + co-located human+robot recordings). Small: 15 eva + 9 aria. + 2. **Similar-task pairs** = language object-set matching over the bulk. Best + pairs share ~4–5 objects; **no identical scenes exist** in the bulk data. + +## Where the data lives & how to reach it +- **Episode DB**: Postgres `app.episodes`, via `egomimic/utils/aws/aws_sql.py` + (`create_default_engine()`, `episode_table_to_df()`). Creds: `SECRETS_ARN` + (boto3 SecretsManager) or `~/.egoverse_env`. Row schema = `TableRow` + (`aws_sql.py`): `episode_hash` (a UTC timestamp `YYYY-MM-DD-HH-MM-SS-ffffff`), + `embodiment`, `task`, `task_description`, `scene`, `objects`, `num_frames`, + `zarr_processed_path` (→ `s3://rldb/processed_v3//.zarr`), `segments` + (empty for pick_place), `is_deleted`, … +- **Object store** = Cloudflare **R2** bucket `rldb` (NOT AWS S3). + - ⚠️ Plain `aws s3 ls s3://rldb/...` → **AccessDenied** (hits the AWS endpoint). + Use `get_boto3_s3_client()` in `egomimic/utils/aws/aws_data_utils.py` (reads + `R2_ENDPOINT_URL` / `R2_ACCESS_KEY_ID` / `R2_SECRET_ACCESS_KEY` from + `~/.egoverse_env`), or the aws CLI with `--endpoint-url "$R2_ENDPOINT_URL"` + and R2 creds exported as `AWS_*` (see `language_process/pull_csv.sh`). + - Top-level prefixes: `processed_v3/` (zarrs; annotations baked in), + **`processed_annotations/`** (one `_annotations.json` per episode), + `processed_v2/`, `raw_v2/`. +- **`SCALE_API_KEY` is NOT needed** to read annotations — only the + filter/download pipeline (`rldb/filters.py`, `language_process/`) calls Scale. + The finished annotations already live in `processed_annotations/` and inside + the zarrs. + +## The pick_place episode landscape (live as of 2026-06) +- **382 pick_place episodes**: 250 eva + 132 aria (after dropping `is_deleted`). +- `task_description` encodes capture sub-protocols and is the useful match key. + eva and aria label sets are **disjoint** except for `alignment data set N`: + - eva: `set 2 data collection day 1/2`, `... base data`, `pick and place on + variety of objects`, `... large task variations`, `... diversity ...`, … + - aria: `set N base data`, `set N object gen eval`, `set N motion gen eval`, + `... color correct`, … + +## Annotations (`processed_annotations/_annotations.json`) +- A **flat JSON list** of records `{"text": str, "start_idx": int, "end_idx": int}` + (the converted/final form — same as the zarr `annotations` array). Half-open + frame spans `[start_idx, end_idx)`. +- **Dense via paraphrase**: each action segment → ~**13** paraphrases sharing one + span (1 base instruction from `language_process/prompt.txt` + 12 augmentations + from `augment_prompt.txt`). The **base instruction is the first record** of a + span and is imperative-first (`Pick up the X ...` / `Put the X ...`). +- **Coverage: 334 annotated episodes = 228 eva + 106 aria** (all cross-ref to a + live DB row). eva `alignment` IS annotated (6+6); **aria `alignment` is NOT**. +- **Structural asymmetry that drives the matching choice**: + - eva episodes ≈ **20** segments (short focused demos, ~10 pick/put pairs). + - aria episodes ≈ **250** segments (long free-form *play* sessions where a human + repeatedly rearranges a **fixed set of objects**). So an aria episode is a + *scene* (object set), not a single task → match by **object-set containment** + (is the short eva demo's object set ⊆ the aria scene?), not symmetric Jaccard. + +## Tier 1 — true pairs: the `alignment data set` captures +| set | eva | aria | capture | +|----|----|----|----| +| set 1 | 6 | 6 | eva + 4 aria interleaved same session **2026-04-14**; 2 aria recollected 2026-04-26 | +| set 2 | 9 | 3 | eva 2026-04-14; all 3 aria recollected 2026-04-26 | + +These are the **only** genuinely co-located human↔robot episodes. Pair **set 1 by +capture time** (the 2026-04-14 timestamps interleave eva→aria→eva). aria-alignment +has no language, so they won't appear in Tier 2. + +## Tier 2 — similar-task pairs (language object matching) +Method (in `pair_episodes_by_language.py`): parse the manipulated object of each +segment's base instruction → normalize with a hand-built synonym map → per-episode +object set → match each aria scene to eva demos by **containment** (tie-break: # +shared, then Jaccard). Best-match overlap per aria scene: + +| max shared objects w/ any eva demo | # aria scenes | +|---|---| +| 5 | 2 | +| 4 | 17 | +| 3 | 53 | +| none (≥3) | 34 | + +**Conclusion: no identical scenes in the bulk data** — aria & eva were collected +independently from a shared ~50-object vocabulary, so they overlap partially but +never exactly. Tier-2 pairs are "same objects / similar task," good enough for +qualitative eval, not pixel-aligned scenes. + +### Object-name normalization (learned from the corpus — extend as needed) +Annotators describe the same physical object many ways, **including across +embodiments**: aria says `stuffed toy`, eva says `stuffed animal`. Current map +(`canon()`): `stuffed toy|stuffed animal|teddy bear|"X toy"` → `plush`; +`coffee cup|mug` → `cup` (keyed by color); `juice pouch|pack|bag` → `juice`; +`bag of chips|…` → `chips`; `canned good(s)` → `cannedgoods`; +`screw driver`→`screwdriver`; `green cabbage`→`cabbage`; `stainless`→`silver`; +strip trailing `right side up` and size words (`small/big/large/left/right`). +Bare color-less tokens (`cup`, `bowl`, `plush`, …) are dropped before matching. + +## How to run +```bash +source emimic/bin/activate # per AGENTS.md +# 1) audit DB columns / coverage to choose a strategy (read-only) +python -m egomimic.scripts.inspect_episode_metadata +# 2) build the pairs (downloads annotations to ~/.cache/egoverse_annotations) +python -m egomimic.scripts.pair_episodes_by_language \ + --out-json egomimic/scripts/human_robot_pairs.json +``` +Outputs `human_robot_pairs.json` (`tiers.true_pairs_alignment`, +`tiers.similar_task_language_pairs`, `summary.best_match_object_overlap_histogram`). +Cache also holds readable digests under `~/.cache/egoverse_annotations/digests/` +(`*_bimanual.txt` = full action sequences; `*_objsets.txt` = object set per episode). + +## Open questions / next steps +- **Tie-break the 53 three-shared matches** using action *order* from the full + digests (`digests/*_bimanual.txt`), not just the object set. +- **Visual / latent NN** for true cross-modal pairing — pairs the `alignment + set-2` cross-day episodes and the bulk where language is ambiguous. The cKDTree + latent-KNN machinery on `elmo/inspector-knn-tree` (`eval_latent`, + `PILatentEvalVideo`) is built for exactly this; consider indexing aria episodes + and querying with eva (or annotation embeddings via the Qwen3-Embedding stem). +- If true same-scene pairs at scale are needed, either **annotate aria-alignment** + episodes or define a co-located capture protocol and populate DB `scene`/ + `objects` for real (currently only Mecka episodes carry real `scene_id`/`objects`). diff --git a/egomimic/scripts/human_robot_pairs.json b/egomimic/scripts/human_robot_pairs.json new file mode 100644 index 000000000..2c07f8dc4 --- /dev/null +++ b/egomimic/scripts/human_robot_pairs.json @@ -0,0 +1,5068 @@ +{ + "task": "pick_place", + "method": "human(aria)<->robot(eva) pairing for side-by-side eval", + "tiers": { + "true_pairs_alignment": { + "alignment_set_1": { + "eva_bimanual": [ + { + "episode_hash": "2026-04-14-03-33-23-804000", + "num_frames": 293 + }, + { + "episode_hash": "2026-04-14-03-36-19-145000", + "num_frames": 287 + }, + { + "episode_hash": "2026-04-14-03-46-38-679000", + "num_frames": 332 + }, + { + "episode_hash": "2026-04-14-04-01-06-517000", + "num_frames": 259 + }, + { + "episode_hash": "2026-04-14-04-04-24-675000", + "num_frames": 240 + }, + { + "episode_hash": "2026-04-14-04-04-45-909000", + "num_frames": 234 + } + ], + "aria_bimanual": [ + { + "episode_hash": "2026-04-14-03-39-11-000000", + "num_frames": 161 + }, + { + "episode_hash": "2026-04-14-03-48-32-000000", + "num_frames": 158 + }, + { + "episode_hash": "2026-04-14-04-03-19-000000", + "num_frames": 123 + }, + { + "episode_hash": "2026-04-14-04-06-40-000000", + "num_frames": 162 + }, + { + "episode_hash": "2026-04-26-21-45-39-000000", + "num_frames": 155 + }, + { + "episode_hash": "2026-04-26-21-49-23-000000", + "num_frames": 137 + } + ] + }, + "alignment_set_2": { + "eva_bimanual": [ + { + "episode_hash": "2026-04-14-04-22-46-247000", + "num_frames": 249 + }, + { + "episode_hash": "2026-04-14-04-23-48-546000", + "num_frames": 291 + }, + { + "episode_hash": "2026-04-14-04-25-12-763000", + "num_frames": 327 + }, + { + "episode_hash": "2026-04-14-04-28-18-000000", + "num_frames": 134 + }, + { + "episode_hash": "2026-04-14-04-29-46-000000", + "num_frames": 183 + }, + { + "episode_hash": "2026-04-14-04-33-34-590000", + "num_frames": 299 + }, + { + "episode_hash": "2026-04-14-04-34-24-990000", + "num_frames": 362 + }, + { + "episode_hash": "2026-04-14-04-35-45-301000", + "num_frames": 343 + }, + { + "episode_hash": "2026-04-14-04-38-04-000000", + "num_frames": 162 + } + ], + "aria_bimanual": [ + { + "episode_hash": "2026-04-26-21-55-25-000000", + "num_frames": 164 + }, + { + "episode_hash": "2026-04-26-21-59-56-000000", + "num_frames": 154 + }, + { + "episode_hash": "2026-04-26-22-02-01-000000", + "num_frames": 168 + } + ] + }, + "note": "Same scenes recorded by robot and human. Set 1 was an interleaved same-session capture on 2026-04-14 (pair eva<->aria by capture time); set-2 aria was recollected 2026-04-26. aria-alignment episodes have no language annotations." + }, + "similar_task_language_pairs": [ + { + "aria_hash": "2026-03-16-18-14-40-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "bell pepper", + "brown plush", + "gray plush", + "green bowl", + "purple plate", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-03-05-20-29-363000", + "eva_desc": "pick place play data with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "brown plush", + "green bowl", + "white cup" + ], + "eva_demo": [ + "blue plush", + "brown plush", + "green bowl", + "white cup", + "yellow plush" + ] + }, + { + "eva_hash": "2026-03-14-20-20-01-584000", + "eva_desc": "pick place large number of objects", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "gray plush", + "green bowl", + "white cup" + ], + "eva_demo": [ + "doritos", + "gray plush", + "green bowl", + "red marker", + "white cup" + ] + }, + { + "eva_hash": "2026-03-15-23-25-31-934000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "bell pepper", + "gray plush", + "white cup" + ], + "eva_demo": [ + "beige bowl", + "bell pepper", + "eggplant", + "gray plush", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-03-16-18-21-34-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "doritos", + "white cup" + ], + "matches": [] + }, + { + "aria_hash": "2026-03-16-18-37-11-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "asparagus", + "beige bowl", + "cabbage", + "carrot", + "corn", + "silver bowl" + ], + "matches": [ + { + "eva_hash": "2026-03-14-20-32-15-833000", + "eva_desc": "pick place large number of objects", + "n_shared": 4, + "containment": 0.8, + "jaccard": 0.571, + "shared_objects": [ + "asparagus", + "beige bowl", + "carrot", + "corn" + ], + "eva_demo": [ + "asparagus", + "beige bowl", + "carrot", + "corn", + "eggplant" + ] + }, + { + "eva_hash": "2026-03-14-20-34-43-723000", + "eva_desc": "pick place large number of objects", + "n_shared": 3, + "containment": 1.0, + "jaccard": 0.5, + "shared_objects": [ + "asparagus", + "beige bowl", + "corn" + ], + "eva_demo": [ + "asparagus", + "beige bowl", + "corn" + ] + }, + { + "eva_hash": "2026-04-21-05-15-41-561000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "cabbage", + "carrot", + "silver bowl" + ], + "eva_demo": [ + "blue soda can", + "cabbage", + "carrot", + "green chips", + "silver bowl" + ] + } + ] + }, + { + "aria_hash": "2026-03-16-18-50-09-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "asparagus", + "beige bowl", + "cabbage", + "carrot", + "corn", + "silver bowl" + ], + "matches": [ + { + "eva_hash": "2026-03-14-20-32-15-833000", + "eva_desc": "pick place large number of objects", + "n_shared": 4, + "containment": 0.8, + "jaccard": 0.571, + "shared_objects": [ + "asparagus", + "beige bowl", + "carrot", + "corn" + ], + "eva_demo": [ + "asparagus", + "beige bowl", + "carrot", + "corn", + "eggplant" + ] + }, + { + "eva_hash": "2026-03-14-20-34-43-723000", + "eva_desc": "pick place large number of objects", + "n_shared": 3, + "containment": 1.0, + "jaccard": 0.5, + "shared_objects": [ + "asparagus", + "beige bowl", + "corn" + ], + "eva_demo": [ + "asparagus", + "beige bowl", + "corn" + ] + }, + { + "eva_hash": "2026-04-21-05-15-41-561000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "cabbage", + "carrot", + "silver bowl" + ], + "eva_demo": [ + "blue soda can", + "cabbage", + "carrot", + "green chips", + "silver bowl" + ] + } + ] + }, + { + "aria_hash": "2026-03-16-19-22-17-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "cabbage", + "corn", + "pink bowl", + "pink plush", + "silver bowl", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-16-01-55-05-813000", + "eva_desc": "pick_place", + "n_shared": 4, + "containment": 0.667, + "jaccard": 0.5, + "shared_objects": [ + "cabbage", + "corn", + "pink plush", + "white cup" + ], + "eva_demo": [ + "blue marker", + "cabbage", + "corn", + "pink plush", + "red bell pepper", + "white cup" + ] + }, + { + "eva_hash": "2026-03-16-02-00-05-454000", + "eva_desc": "pick_place", + "n_shared": 3, + "containment": 1.0, + "jaccard": 0.5, + "shared_objects": [ + "cabbage", + "corn", + "pink plush" + ], + "eva_demo": [ + "cabbage", + "corn", + "pink plush" + ] + }, + { + "eva_hash": "2026-03-15-23-36-23-243000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.429, + "shared_objects": [ + "corn", + "silver bowl", + "white cup" + ], + "eva_demo": [ + "blue plush", + "corn", + "silver bowl", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-03-16-22-50-08-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "blue plush", + "blue screwdriver", + "blue soda can", + "croissant", + "pink plate", + "soda can", + "white cannedgoods", + "yellow plush" + ], + "matches": [ + { + "eva_hash": "2026-04-21-04-23-29-156000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.333, + "shared_objects": [ + "blue plush", + "croissant", + "pink plate" + ], + "eva_demo": [ + "blue plush", + "croissant", + "orange screwdriver", + "pink plate" + ] + }, + { + "eva_hash": "2026-04-21-04-28-28-519000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.333, + "shared_objects": [ + "blue plush", + "croissant", + "pink plate" + ], + "eva_demo": [ + "blue plush", + "croissant", + "pink plate", + "white plate" + ] + }, + { + "eva_hash": "2026-03-03-05-29-34-981000", + "eva_desc": "pick place play data with large task variations", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.273, + "shared_objects": [ + "blue plush", + "pink plate", + "yellow plush" + ], + "eva_demo": [ + "blue plush", + "brown plush", + "green bowl", + "pink plate", + "white cup", + "yellow plush" + ] + } + ] + }, + { + "aria_hash": "2026-03-16-22-56-21-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "eggplant", + "green cup", + "red marker", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-16-03-13-48-270000", + "eva_desc": "pick and place day 3 of data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.5, + "shared_objects": [ + "eggplant", + "green cup", + "red marker" + ], + "eva_demo": [ + "blue marker", + "doritos", + "eggplant", + "green cup", + "red marker" + ] + }, + { + "eva_hash": "2026-03-16-03-16-02-581000", + "eva_desc": "pick and place day 3 of data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.5, + "shared_objects": [ + "eggplant", + "green cup", + "red marker" + ], + "eva_demo": [ + "blue marker", + "doritos", + "eggplant", + "green cup", + "red marker" + ] + }, + { + "eva_hash": "2026-03-16-03-26-31-137000", + "eva_desc": "pick and place day 3 of data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.5, + "shared_objects": [ + "eggplant", + "green cup", + "red marker" + ], + "eva_demo": [ + "doritos", + "eggplant", + "green cup", + "red marker", + "violet plate" + ] + } + ] + }, + { + "aria_hash": "2026-03-16-23-04-10-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "asparagus", + "red bell pepper" + ], + "matches": [] + }, + { + "aria_hash": "2026-03-17-01-32-38-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "asparagus", + "blue marker", + "corn", + "green bowl", + "red marker", + "red screwdriver" + ], + "matches": [ + { + "eva_hash": "2026-03-15-23-49-02-171000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "asparagus", + "blue marker", + "green bowl" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-04-21-03-50-57-718000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "asparagus", + "blue marker", + "red marker" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "red marker", + "white cup" + ] + }, + { + "eva_hash": "2026-04-21-19-46-01-388000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "asparagus", + "blue marker", + "green bowl" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "green bowl", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-03-17-01-42-37-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "beige plate", + "bell pepper", + "blue plush", + "eggplant" + ], + "matches": [] + }, + { + "aria_hash": "2026-03-17-01-52-08-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "cabbage", + "croissant", + "gray plush", + "white cup", + "white plate" + ], + "matches": [ + { + "eva_hash": "2026-04-23-03-34-42-011000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 1.0, + "jaccard": 0.6, + "shared_objects": [ + "cabbage", + "croissant", + "white cup" + ], + "eva_demo": [ + "cabbage", + "croissant", + "white cup" + ] + }, + { + "eva_hash": "2026-04-23-03-32-31-333000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.5, + "shared_objects": [ + "cabbage", + "croissant", + "white cup" + ], + "eva_demo": [ + "cabbage", + "croissant", + "pink plush", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-03-17-01-59-29-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "blue soda can", + "carrot", + "pink cup", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-04-23-03-58-10-520000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 1.0, + "jaccard": 0.75, + "shared_objects": [ + "blue soda can", + "pink cup", + "white cup" + ], + "eva_demo": [ + "blue soda can", + "pink cup", + "white cup" + ] + }, + { + "eva_hash": "2026-04-23-04-03-27-173000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 1.0, + "jaccard": 0.75, + "shared_objects": [ + "blue soda can", + "pink cup", + "white cup" + ], + "eva_demo": [ + "blue soda can", + "pink cup", + "white cup" + ] + }, + { + "eva_hash": "2026-03-16-03-46-31-025000", + "eva_desc": "pick and place day 3 of data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.6, + "shared_objects": [ + "carrot", + "pink cup", + "white cup" + ], + "eva_demo": [ + "asparagus", + "carrot", + "pink cup", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-03-17-02-13-58-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "blue marker", + "blue plate", + "pink bowl", + "pink cup", + "pink plate", + "red chips", + "red marker" + ], + "matches": [ + { + "eva_hash": "2026-04-10-18-51-28-744000", + "eva_desc": "day 4 of data collection (recollect)", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.375, + "shared_objects": [ + "blue plate", + "pink plate", + "red marker" + ], + "eva_demo": [ + "blue plate", + "pink plate", + "red marker", + "white cup" + ] + }, + { + "eva_hash": "2026-04-21-03-32-03-298000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "pink bowl", + "pink cup", + "red chips" + ], + "eva_demo": [ + "green bowl", + "pink bowl", + "pink cup", + "red chips", + "white cup" + ] + }, + { + "eva_hash": "2026-04-24-03-54-56-066000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "pink bowl", + "pink cup", + "red marker" + ], + "eva_demo": [ + "orange screwdriver", + "pink bowl", + "pink cup", + "red marker", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-03-17-02-20-38-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "asparagus", + "blue plush", + "eggplant", + "green bowl", + "green cup" + ], + "matches": [ + { + "eva_hash": "2026-03-14-20-29-51-405000", + "eva_desc": "pick place large number of objects", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.375, + "shared_objects": [ + "asparagus", + "eggplant", + "green cup" + ], + "eva_demo": [ + "asparagus", + "carrot", + "corn", + "eggplant", + "green chips", + "green cup" + ] + }, + { + "eva_hash": "2026-04-23-03-37-30-664000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.375, + "shared_objects": [ + "asparagus", + "blue plush", + "green cup" + ], + "eva_demo": [ + "asparagus", + "blue plush", + "green chips", + "green cup", + "orange screwdriver", + "pink bowl" + ] + }, + { + "eva_hash": "2026-04-23-03-42-31-355000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.375, + "shared_objects": [ + "asparagus", + "blue plush", + "green cup" + ], + "eva_demo": [ + "asparagus", + "blue plush", + "corn", + "green chips", + "green cup", + "pink bowl" + ] + } + ] + }, + { + "aria_hash": "2026-03-17-02-35-26-000000", + "aria_desc": "set 1 base data", + "aria_scene": [ + "corn", + "red bell pepper", + "white coffee", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-16-01-55-05-813000", + "eva_desc": "pick_place", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.429, + "shared_objects": [ + "corn", + "red bell pepper", + "white cup" + ], + "eva_demo": [ + "blue marker", + "cabbage", + "corn", + "pink plush", + "red bell 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"aria_hash": "2026-05-04-00-04-03-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "allen wrench", + "blue cup", + "cabbage", + "green chips", + "pink bowl", + "plug adaptor", + "white cup" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-04-00-13-46-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "blue cup", + "blue plush", + "corn", + "pink plate", + "red plush", + "white cup", + "yellow plate" + ], + "matches": [ + { + "eva_hash": "2026-03-15-23-36-23-243000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.375, + "shared_objects": [ + "blue plush", + "corn", + "white cup" + ], + "eva_demo": [ + "blue plush", + "corn", + "silver bowl", + "white cup" + ] + }, + { + "eva_hash": "2026-03-15-23-39-06-936000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.375, + "shared_objects": [ + "blue plush", + "corn", + "white cup" + ], + "eva_demo": [ + "blue plush", + "corn", + "croissant", + "white cup" + ] + }, + { + "eva_hash": "2026-03-15-23-33-57-140000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "blue plush", + "corn", + "white cup" + ], + "eva_demo": [ + "blue plush", + "corn", + "croissant", + "silver bowl", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-05-04-00-31-50-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "adapter", + "blue screwdriver", + "coffee pod", + "doritos", + "green bell pepper" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-04-00-43-53-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "allen wrench", + "blue marker", + "carrot", + "green bowl", + "orange screwdriver", + "red marker", + "white plate" + ], + "matches": [ + { + "eva_hash": "2026-03-03-06-37-47-140000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "blue marker", + "carrot", + "green bowl" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-03-03-06-40-10-619000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "blue marker", + "carrot", + "green bowl" + ], + "eva_demo": [ + "blue marker", + "carrot", + "green bowl", + "pink plush", + "red chips" + ] + }, + { + "eva_hash": "2026-03-03-06-43-14-995000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "blue marker", + "carrot", + "green bowl" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + } + ] + }, + { + "aria_hash": "2026-05-04-00-53-21-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "croissant", + "plug adaptor", + "red plush", + "silver bowl", + "yellow plate", + "yellow plush" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-04-01-02-48-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "bell pepper", + "brown plush", + "food tong", + "green bowl", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-03-05-20-29-363000", + "eva_desc": "pick place play data with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.429, + "shared_objects": [ + "brown plush", + "green bowl", + "white cup" + ], + "eva_demo": [ + "blue plush", + "brown plush", + "green bowl", + "white cup", + "yellow plush" + ] + }, + { + "eva_hash": "2026-03-03-05-29-34-981000", + "eva_desc": "pick place play data with large task variations", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.375, + "shared_objects": [ + "brown plush", + "green bowl", + "white cup" + ], + "eva_demo": [ + "blue plush", + "brown plush", + "green bowl", + "pink plate", + "white cup", + "yellow plush" + ] + } + ] + }, + { + "aria_hash": "2026-05-04-01-17-01-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "allen wrench", + "beige bowl", + "blue cup", + "blue soda can", + "brown plush", + "soda can" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-04-01-29-04-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "allen wrench", + "blue cup", + "green bowl", + "white cup" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-04-01-39-06-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "dark pink plush", + "gray plush", + "pink plush", + "plug adaptor", + "white plate", + "yellow plate" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-04-02-07-48-000000", + "aria_desc": "set 2 object gen eval", + "aria_scene": [ + "blue marker", + "blue screwdriver", + "carrot", + "doritos", + "green bell pepper" + ], + "matches": [ + { + "eva_hash": "2026-03-03-06-37-47-140000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.429, + "shared_objects": [ + "blue marker", + "carrot", + "doritos" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-03-03-06-43-14-995000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.429, + "shared_objects": [ + "blue marker", + "carrot", + "doritos" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-04-22-02-55-57-557000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.375, + "shared_objects": [ + "blue marker", + "blue screwdriver", + "carrot" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "brown plush", + "carrot", + "green cup" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-20-16-14-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "blue cup", + "green bell pepper", + "green bowl", + "green cup", + "pink bowl", + "red bell pepper" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-05-20-24-33-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "allen wrench", + "fuchsia pink plush", + "gray plush", + "green bowl", + "plug adaptor", + "white cup", + "yellow plate", + "yellow plush" + ], + "matches": [ + { + "eva_hash": "2026-03-14-20-57-22-308000", + "eva_desc": "pick place large number of objects", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.333, + "shared_objects": [ + "green bowl", + "white cup", + "yellow plush" + ], + "eva_demo": [ + "green bowl", + "pink plush", + "white cup", + "yellow plush" + ] + }, + { + "eva_hash": "2026-03-03-05-20-29-363000", + "eva_desc": "pick place play data with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.3, + "shared_objects": [ + "green bowl", + "white cup", + "yellow plush" + ], + "eva_demo": [ + "blue plush", + "brown plush", + "green bowl", + "white cup", + "yellow plush" + ] + }, + { + "eva_hash": "2026-03-14-20-20-01-584000", + "eva_desc": "pick place large number of objects", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.3, + "shared_objects": [ + "gray plush", + "green bowl", + "white cup" + ], + "eva_demo": [ + "doritos", + "gray plush", + "green bowl", + "red marker", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-20-40-39-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "beige bowl", + "corn", + "dark pink plush", + "light pink plush", + "white plate", + "yellow plate" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-05-20-48-13-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "bell pepper", + "blue cup", + "brown plush", + "eggplant", + "pink plate", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-15-23-25-31-934000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.375, + "shared_objects": [ + "bell pepper", + "eggplant", + "white cup" + ], + "eva_demo": [ + "beige bowl", + "bell pepper", + "eggplant", + "gray plush", + "white cup" + ] + }, + { + "eva_hash": "2026-03-03-05-29-34-981000", + "eva_desc": "pick place play data with large task variations", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.333, + "shared_objects": [ + "brown plush", + "pink plate", + "white cup" + ], + "eva_demo": [ + "blue plush", + "brown plush", + "green bowl", + "pink plate", + "white cup", + "yellow plush" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-20-58-15-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "allen wrench", + "blue adaptor", + "blue screwdriver", + "cabbage", + "green bowl", + "green chips", + "plug adaptor" + ], + "matches": [ + { + "eva_hash": "2026-04-21-19-50-19-707000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "blue screwdriver", + "cabbage", + "green bowl" + ], + "eva_demo": [ + "blue marker", + "blue screwdriver", + "cabbage", + "green bowl", + "white cup" + ] + }, + { + "eva_hash": "2026-04-21-23-54-17-885000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.333, + "shared_objects": [ + "cabbage", + "green bowl", + "green chips" + ], + "eva_demo": [ + "cabbage", + "croissant", + "green bowl", + "green chips", + "pink cup" + ] + }, + { + "eva_hash": "2026-04-21-19-48-12-404000", + "eva_desc": "set 2 data collection day 2", + "n_shared": 3, + "containment": 0.5, + "jaccard": 0.3, + "shared_objects": [ + "blue screwdriver", + "cabbage", + "green bowl" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "cabbage", + "green bowl", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-21-06-41-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "allen wrench", + "asparagus", + "blue marker", + "blue plush", + "green bowl", + "pink plush", + "red marker", + "silver bowl" + ], + "matches": [ + { + "eva_hash": "2026-03-15-23-49-02-171000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 4, + "containment": 0.8, + "jaccard": 0.444, + "shared_objects": [ + "asparagus", + "blue marker", + "green bowl", + "pink plush" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-03-03-06-37-47-140000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.3, + "shared_objects": [ + "blue marker", + "green bowl", + "pink plush" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-03-03-06-40-10-619000", + "eva_desc": "pick and place with large task variations", + "n_shared": 3, + "containment": 0.6, + "jaccard": 0.3, + "shared_objects": [ + "blue marker", + "green bowl", + "pink plush" + ], + "eva_demo": [ + "blue marker", + "carrot", + "green bowl", + "pink plush", + "red chips" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-21-22-07-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "blue cup", + "coffee pod", + "croissant", + "green bell pepper" + ], + "matches": [] + }, + { + "aria_hash": "2026-05-05-21-33-54-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "allen wrench", + "blue soda can", + "carrot", + "doritos", + "green bowl", + "pink cup", + "pink plush", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-03-06-37-47-140000", + "eva_desc": "pick and place with large task variations", + "n_shared": 4, + "containment": 0.8, + "jaccard": 0.444, + "shared_objects": [ + "carrot", + "doritos", + "green bowl", + "pink plush" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-03-03-06-43-14-995000", + "eva_desc": "pick and place with large task variations", + "n_shared": 4, + "containment": 0.8, + "jaccard": 0.444, + "shared_objects": [ + "carrot", + "doritos", + "green bowl", + "pink plush" + ], + "eva_demo": [ + "blue marker", + "carrot", + "doritos", + "green bowl", + "pink plush" + ] + }, + { + "eva_hash": "2026-04-21-03-35-01-274000", + "eva_desc": "set 2 data collection day 1", + "n_shared": 4, + "containment": 0.8, + "jaccard": 0.444, + "shared_objects": [ + "doritos", + "green bowl", + "pink cup", + "white cup" + ], + "eva_demo": [ + "doritos", + "green bowl", + "pink bowl", + "pink cup", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-21-57-44-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "allen wrench", + "blue marker", + "dark pink plush", + "lgiht pink plush", + "light pink plush", + "pink plate", + "pink plush", + "white plate", + "yellow plate", + "yellow plush" + ], + "matches": [ + { + "eva_hash": "2026-03-15-23-43-06-366000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.429, + "jaccard": 0.214, + "shared_objects": [ + "blue marker", + "pink plush", + "yellow plush" + ], + "eva_demo": [ + "asparagus", + "blue marker", + "blue screwdriver", + "pink bowl", + "pink plush", + "red chips", + "yellow plush" + ] + }, + { + "eva_hash": "2026-03-15-23-45-35-137000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.429, + "jaccard": 0.214, + "shared_objects": [ + "blue marker", + "pink plush", + "yellow plush" + ], + "eva_demo": [ + "blue marker", + "blue screwdriver", + "green asparagus", + "green bowl", + "pink bowl", + "pink plush", + "yellow plush" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-22-09-18-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "beige bowl", + "blue cup", + "carrot", + "green bell pepper", + "green bowl", + "pink cup", + "red bell pepper", + "white cup" + ], + "matches": [ + { + "eva_hash": "2026-03-15-23-30-29-803000", + "eva_desc": "pick and place diversity day 3 data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.333, + "shared_objects": [ + "beige bowl", + "red bell pepper", + "white cup" + ], + "eva_demo": [ + "beige bowl", + "eggplant", + "red bell pepper", + "white cup" + ] + }, + { + "eva_hash": "2026-03-16-03-46-31-025000", + "eva_desc": "pick and place day 3 of data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.333, + "shared_objects": [ + "carrot", + "pink cup", + "white cup" + ], + "eva_demo": [ + "asparagus", + "carrot", + "pink cup", + "white cup" + ] + }, + { + "eva_hash": "2026-03-16-03-48-47-173000", + "eva_desc": "pick and place day 3 of data collection", + "n_shared": 3, + "containment": 0.75, + "jaccard": 0.333, + "shared_objects": [ + "carrot", + "pink cup", + "white cup" + ], + "eva_demo": [ + "asparagus", + "carrot", + "pink cup", + "white cup" + ] + } + ] + }, + { + "aria_hash": "2026-05-05-22-16-59-000000", + "aria_desc": "set 3 object gen eval", + "aria_scene": [ + "allen wrench", + "blue cup", + "dark pink plush", + "green bell pepper", + "green bowl", + "plug adaptor" + ], + "matches": [] + } + ] + }, + "summary": { + "eva_episodes_matched_on": 195, + "aria_episodes": 106, + "best_match_object_overlap_histogram": { + "5": 2, + "4": 17, + "3": 53, + "0": 34 + }, + "min_shared_objects": 3, + "topk_per_aria": 3 + }, + "notes": "Object-set CONTAINMENT matching on normalized dense-language objects. Similar-task pairs share objects, NOT the same physical scene. For true same-scene pairs use tiers.true_pairs_alignment." +} \ No newline at end of file diff --git a/egomimic/scripts/inspect_episode_metadata.py b/egomimic/scripts/inspect_episode_metadata.py new file mode 100644 index 000000000..6463f3c2e --- /dev/null +++ b/egomimic/scripts/inspect_episode_metadata.py @@ -0,0 +1,146 @@ +#!/usr/bin/env python3 +""" +Read-only inspection of the app.episodes table to decide how human (Aria) and +robot (Eva) pick_place episodes can be paired for side-by-side eval. + +It answers three questions per embodiment: + 1. Are the `scene` / `objects` columns populated? (-> metadata-join pairing) + 2. What distinct `task_description` values exist? (-> the base/object/alignment + sub-protocols, and another field to match on) + 3. How many episodes are actually processed (non-empty zarr_processed_path)? + +No writes are performed; this only SELECTs via episode_table_to_df. + +Usage: + # needs the same DB creds as the rest of the pipeline (SECRETS_ARN or + # ~/.egoverse_env via setup_secret.sh) + python -m egomimic.scripts.inspect_episode_metadata + python -m egomimic.scripts.inspect_episode_metadata --task pick_place \ + --embodiments eva_bimanual aria_bimanual + python -m egomimic.scripts.inspect_episode_metadata --csv-out /tmp/episodes.csv +""" + +from __future__ import annotations + +import argparse + +import pandas as pd + +from egomimic.utils.aws.aws_sql import create_default_engine, episode_table_to_df + +# Columns we care about for pairing. Missing ones are reported, not fatal, +# because app.episodes is autoloaded from the live DB and may drift. +PAIRING_COLS = ["scene", "objects", "task_description"] + + +def _nonempty(series: pd.Series) -> pd.Series: + """Boolean mask of cells that are neither NaN nor empty/whitespace string.""" + return series.notna() & (series.astype(str).str.strip() != "") + + +def _value_counts(df: pd.DataFrame, col: str, limit: int) -> None: + if col not in df.columns: + print(f" [column '{col}' not present in app.episodes]") + return + filled = _nonempty(df[col]) + n_filled, n_total = int(filled.sum()), len(df) + pct = (100.0 * n_filled / n_total) if n_total else 0.0 + print(f" {col}: {n_filled}/{n_total} non-empty ({pct:.0f}%)") + if n_filled == 0: + return + vc = df.loc[filled, col].astype(str).str.strip().value_counts() + shown = vc.head(limit) + for val, cnt in shown.items(): + disp = val if len(val) <= 80 else val[:77] + "..." + print(f" {cnt:>5} {disp!r}") + if len(vc) > limit: + print(f" ... (+{len(vc) - limit} more distinct values)") + + +def _processed_count(df: pd.DataFrame) -> str: + if "zarr_processed_path" not in df.columns: + return "?" + return f"{int(_nonempty(df['zarr_processed_path']).sum())}/{len(df)} processed" + + +def inspect(task: str | None, embodiments: list[str], limit: int, csv_out: str | None): + engine = create_default_engine() + df = episode_table_to_df(engine) + if df is None or df.empty: + print("No rows in app.episodes.") + return + + print(f"\nLoaded {len(df)} total episodes. Columns: {sorted(df.columns)}\n") + + if "is_deleted" in df.columns: + before = len(df) + df = df[~df["is_deleted"].fillna(False).astype(bool)] + print(f"Dropped {before - len(df)} is_deleted rows -> {len(df)} live rows.") + + if task and "task" in df.columns: + df = df[df["task"].astype(str).str.strip() == task] + print(f"Filtered to task == {task!r}: {len(df)} episodes.") + + if csv_out: + df.to_csv(csv_out, index=False) + print(f"Wrote full filtered table to {csv_out}") + + if "embodiment" not in df.columns: + print("\n[!] No 'embodiment' column; cannot split by embodiment.") + return + + present = df["embodiment"].astype(str).str.strip().unique().tolist() + targets = embodiments or sorted(present) + print(f"\nEmbodiments present for this task: {sorted(present)}") + + for emb in targets: + sub = df[df["embodiment"].astype(str).str.strip() == emb] + print("\n" + "=" * 70) + print(f"EMBODIMENT: {emb} ({len(sub)} episodes, {_processed_count(sub)})") + print("=" * 70) + if sub.empty: + print(" (no episodes)") + continue + for col in PAIRING_COLS: + _value_counts(sub, col, limit) + + # --- verdict: which pairing route is viable ------------------------------- + print("\n" + "#" * 70) + print("# PAIRING-ROUTE VERDICT") + print("#" * 70) + scene_ok = "scene" in df.columns and bool(_nonempty(df["scene"]).any()) + objects_ok = "objects" in df.columns and bool(_nonempty(df["objects"]).any()) + if scene_ok and objects_ok: + print(" scene + objects are populated -> ROUTE A (metadata join) is viable:") + print(" pair Aria<->Eva rows sharing the same (scene, objects).") + elif scene_ok or objects_ok: + col = "scene" if scene_ok else "objects" + print(f" only '{col}' is populated -> partial metadata join possible on it.") + else: + print(" scene/objects are EMPTY -> ROUTE A not viable.") + print(" Fall back to ROUTE B (object/action signature from the language") + print(" annotations) or ROUTE C (latent nearest-neighbor) for pairing.") + print(" task_description always available as a secondary match key (see above).") + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--task", default="pick_place", help="task filter (or 'all')") + p.add_argument( + "--embodiments", + nargs="*", + default=["eva_bimanual", "aria_bimanual"], + help="embodiments to report (default: eva_bimanual aria_bimanual; " + "pass nothing after the flag to report all present)", + ) + p.add_argument("--limit", type=int, default=25, help="max distinct values to list") + p.add_argument( + "--csv-out", default=None, help="optional: dump filtered table to CSV" + ) + args = p.parse_args() + task = None if args.task == "all" else args.task + inspect(task, args.embodiments, args.limit, args.csv_out) + + +if __name__ == "__main__": + main() diff --git a/egomimic/scripts/pair_episodes_by_language.py b/egomimic/scripts/pair_episodes_by_language.py new file mode 100644 index 000000000..c77f141ae --- /dev/null +++ b/egomimic/scripts/pair_episodes_by_language.py @@ -0,0 +1,335 @@ +#!/usr/bin/env python3 +""" +Pair human (aria) and robot (eva) pick_place episodes for side-by-side eval. + +Produces two tiers of human<->robot pairs and writes them to JSON (+ CSV): + + 1. TRUE pairs - the "alignment data set" co-located captures: the same scenes + recorded by both the robot and a human, grouped into set 1 / set 2. Derived + from the app.episodes DB (task_description ~ "alignment data set N"). These + are the only genuinely same-scene human<->robot episodes in the dataset. + + 2. SIMILAR-TASK pairs - matched via the dense-language annotations. Each + episode's manipulated-object set is parsed from its annotation file + (s3://rldb/processed_annotations/_annotations.json), normalized with a + hand-built synonym map (see `canon`), and each aria scene is matched to eva + demos by object-set CONTAINMENT (is the short robot demo's object set + covered by the long human play scene?). These are "same objects / similar + task", NOT the same physical scene -- the bulk human and robot episodes were + collected independently from a shared ~50-object vocabulary, so they overlap + partially (best matches share ~4-5 objects) but never exactly. + +Why language and not the DB `scene`/`objects` columns: `objects` is literal +"{None}" and `scene` has 2 coarse values, so neither supports fine matching. + +Requires R2 + Postgres creds in ~/.egoverse_env (run setup_secret.sh). + +Usage: + python -m egomimic.scripts.pair_episodes_by_language \ + --out-json egomimic/scripts/human_robot_pairs.json +""" + +from __future__ import annotations + +import argparse +import csv +import json +import os +import re +from collections import Counter +from concurrent.futures import ThreadPoolExecutor + +from egomimic.utils.aws.aws_data_utils import get_boto3_s3_client, load_env +from egomimic.utils.aws.aws_sql import create_default_engine, episode_table_to_df + +BUCKET = "rldb" +ANN_PREFIX = "processed_annotations/" +HASH_RE = re.compile(r"(\d{4}-\d{2}-\d{2}-\d{2}-\d{2}-\d{2}-\d{6})_annotations\.json") +MIN_SHARED = 3 # min normalized objects in common to count as a similar-task pair +TOPK = 3 # eva matches kept per aria scene + +# --- object-name normalization (scene-level granularity) --------------------- +# Built by reading the corpus: annotators describe the same physical object many +# ways across episodes and embodiments (aria says "stuffed toy", eva says +# "stuffed animal"; "white coffee cup" / "white mug" / "white cup"; etc.). +BARE = { # color-less / ambiguous tokens dropped after normalization + "cup", + "plush", + "bowl", + "plate", + "can", + "chips", + "juice", + "marker", + "pen", + "screwdriver", + "canister", + "coffee", + "bread", + "yogurt", + "tomato", + "tong", + "tongs", + "cannedgoods", +} + + +def canon(o: str) -> str: + o = o.lower().strip().rstrip(".") + o = re.sub(r"\s+right[\s-]?side[\s-]?up$", "", o).strip() + o = re.sub(r"^(small|big|large|left|right)\s+", "", o) + o = re.sub(r"\bscrew driver\b", "screwdriver", o) + o = re.sub(r"\bcarrots\b", "carrot", o) + o = re.sub(r"\bgreen cabbage\b", "cabbage", o) + o = re.sub(r"\bstainless\b", "silver", o) + o = re.sub(r"\b(neon|mint|light|dark)\s+green\b", "green", o) + if "coffee pod" in o: # distinct object; do not fold into the cup family + return "coffee pod" + o = re.sub(r"\b(canned goods|canned good|can goods|canned)\b", "cannedgoods", o) + o = re.sub(r"\b(coffee cup|mug)\b", "cup", o) # vessel family, keyed by color + o = re.sub( + r"\b(stuffed animal|stuffed toy|stuff animal|teddy bear|duck toy|stuffed)\b", + "plush", + o, + ) + o = re.sub(r"\b([a-z]+) toy\b", r"\1 plush", o) + o = re.sub( + r"\b(bag of chips|pack of chips|potato chips|zapps potato chips)\b", "chips", o + ) + o = re.sub( + r"\b(juice pouch|juice pack|juice bag|bag of juice|snack pouch)\b", "juice", o + ) + o = re.sub(r"\b(pepsi can|coke can)\b", "soda can", o) + return re.sub(r"\s+", " ", o).strip() + + +# manipulated-object phrase = first determiner-led noun phrase before a +# preposition / spatial-relation boundary (so "put X behind the Y" yields X). +_OBJ_RE = re.compile( + r"\b(?:the|a|an)\s+([a-z][a-z \-]*?)\s+" + r"(?:from|to|onto|on|into|in|with|at|by|near|next|off|using|over|and|that|," + r"|behind|inside|beside|above|below|underneath|under|between|around|atop|aside)\b" +) +_STOP = {"entire", "whole", "full"} + + +def object_set(records: list[dict]) -> set[str]: + """Normalized set of manipulated objects in an episode. Uses the base (first) + paraphrase of each annotation span and keeps objects touched >=2x to drop + one-off mis-parses.""" + spans: dict[tuple, str] = {} + for r in records: + spans.setdefault((r["start_idx"], r["end_idx"]), r["text"]) + raw = Counter() + for text in spans.values(): + m = _OBJ_RE.search(text.lower().rstrip(".")) + if m: + o = " ".join(w for w in m.group(1).split() if w not in _STOP).strip() + if o: + raw[o] += 1 + kept = [o for o, c in raw.items() if c >= 2] or list(raw) + return {c for c in map(canon, kept) if c and c not in BARE} + + +# --- R2 annotation fetch ----------------------------------------------------- +def list_annotation_hashes(s3) -> list[str]: + out = [] + for page in s3.get_paginator("list_objects_v2").paginate( + Bucket=BUCKET, Prefix=ANN_PREFIX + ): + for obj in page.get("Contents", []): + m = HASH_RE.search(obj["Key"]) + if m: + out.append(m.group(1)) + return sorted(set(out)) + + +def download_all(s3, hashes: list[str], cache_dir: str) -> None: + os.makedirs(cache_dir, exist_ok=True) + + def _get(h): + dst = os.path.join(cache_dir, f"{h}_annotations.json") + if not (os.path.exists(dst) and os.path.getsize(dst) > 0): + s3.download_file(BUCKET, f"{ANN_PREFIX}{h}_annotations.json", dst) + + with ThreadPoolExecutor(max_workers=16) as ex: + list(ex.map(_get, hashes)) + + +# --- pairing ----------------------------------------------------------------- +def alignment_pairs(df) -> dict: + """The co-located 'alignment data set N' captures, grouped by set.""" + pp = df[df["task"].astype(str).str.strip() == "pick_place"].copy() + pp["td"] = pp["task_description"].astype(str).str.strip().str.lower() + al = pp[pp["td"].str.contains("alignment")] + out = {} + for s in ("1", "2"): + sub = al[al["td"].str.contains(f"set {s}")] + grp = {} + for emb in ("eva_bimanual", "aria_bimanual"): + rows = sub[sub["embodiment"] == emb].sort_values("episode_hash") + grp[emb] = [ + {"episode_hash": r["episode_hash"], "num_frames": int(r["num_frames"])} + for _, r in rows.iterrows() + ] + out[f"alignment_set_{s}"] = grp + out["note"] = ( + "Same scenes recorded by robot and human. Set 1 was an interleaved " + "same-session capture on 2026-04-14 (pair eva<->aria by capture time); " + "set-2 aria was recollected 2026-04-26. aria-alignment episodes have no " + "language annotations." + ) + return out + + +def language_pairs(aria_c: dict, eva_c: dict) -> tuple[list, Counter]: + rows, best_overlap = [], Counter() + for ah, (adesc, aset) in sorted(aria_c.items()): + cands = [] + for eh, (edesc, eset) in eva_c.items(): + inter = aset & eset + if len(inter) < MIN_SHARED: + continue + cands.append( + ( + len(inter), + len(inter) / len(eset), + len(inter) / len(aset | eset), + eh, + edesc, + inter, + eset, + ) + ) + cands.sort(key=lambda x: (x[0], round(x[1], 3), x[2]), reverse=True) + best_overlap[cands[0][0] if cands else 0] += 1 + rows.append( + { + "aria_hash": ah, + "aria_desc": adesc, + "aria_scene": sorted(aset), + "matches": [ + { + "eva_hash": eh, + "eva_desc": edesc, + "n_shared": ni, + "containment": round(contain, 3), + "jaccard": round(jac, 3), + "shared_objects": sorted(inter), + "eva_demo": sorted(eset), + } + for ni, contain, jac, eh, edesc, inter, eset in cands[:TOPK] + ], + } + ) + return rows, best_overlap + + +def main(): + ap = argparse.ArgumentParser(description=__doc__) + ap.add_argument( + "--cache-dir", default=os.path.expanduser("~/.cache/egoverse_annotations") + ) + ap.add_argument("--out-json", default="human_robot_pairs.json") + ap.add_argument("--out-csv", default="human_robot_pairs.csv") + args = ap.parse_args() + + load_env() + s3 = get_boto3_s3_client() + hashes = list_annotation_hashes(s3) + print(f"{len(hashes)} annotation files; syncing to {args.cache_dir} ...") + download_all(s3, hashes, args.cache_dir) + + df = episode_table_to_df(create_default_engine()) + df = df[~df["is_deleted"].fillna(False).astype(bool)] + meta = { + r["episode_hash"]: ( + str(r["embodiment"]).strip(), + str(r["task_description"]).strip(), + str(r.get("task", "")).strip(), + ) + for _, r in df.iterrows() + } + + eva_c, aria_c = {}, {} + for h in hashes: + if h not in meta or meta[h][2] != "pick_place": + continue + emb, desc, _ = meta[h] + objs = object_set( + json.load(open(os.path.join(args.cache_dir, f"{h}_annotations.json"))) + ) + if emb == "eva_bimanual" and len(objs) >= 3: + eva_c[h] = (desc, objs) + elif emb == "aria_bimanual": + aria_c[h] = (desc, objs) + + lang_rows, best_overlap = language_pairs(aria_c, eva_c) + align = alignment_pairs(df) + + result = { + "task": "pick_place", + "method": "human(aria)<->robot(eva) pairing for side-by-side eval", + "tiers": { + "true_pairs_alignment": align, + "similar_task_language_pairs": lang_rows, + }, + "summary": { + "eva_episodes_matched_on": len(eva_c), + "aria_episodes": len(aria_c), + "best_match_object_overlap_histogram": dict( + sorted(best_overlap.items(), reverse=True) + ), + "min_shared_objects": MIN_SHARED, + "topk_per_aria": TOPK, + }, + "notes": ( + "Object-set CONTAINMENT matching on normalized dense-language objects. " + "Similar-task pairs share objects, NOT the same physical scene. " + "For true same-scene pairs use tiers.true_pairs_alignment." + ), + } + + with open(args.out_json, "w") as f: + json.dump(result, f, indent=2) + + with open(args.out_csv, "w", newline="") as f: + w = csv.writer(f) + w.writerow( + [ + "aria_hash", + "aria_desc", + "rank", + "eva_hash", + "eva_desc", + "n_shared", + "containment", + "jaccard", + "shared_objects", + ] + ) + for row in lang_rows: + for rank, m in enumerate(row["matches"], 1): + w.writerow( + [ + row["aria_hash"], + row["aria_desc"], + rank, + m["eva_hash"], + m["eva_desc"], + m["n_shared"], + m["containment"], + m["jaccard"], + " / ".join(m["shared_objects"]), + ] + ) + + print(f"wrote {args.out_json} and {args.out_csv}") + print( + f" aria scenes: {len(aria_c)}; best-overlap histogram: " + f"{dict(sorted(best_overlap.items(), reverse=True))}" + ) + + +if __name__ == "__main__": + main() diff --git a/egomimic/trainHydra.py b/egomimic/trainHydra.py index bf62b5a62..09827e520 100644 --- a/egomimic/trainHydra.py +++ b/egomimic/trainHydra.py @@ -113,6 +113,10 @@ def train(cfg: DictConfig) -> Tuple[Dict[str, Any], Dict[str, Any]]: ) if train_viz_datasets: datamodule_kwargs["train_viz_datasets"] = train_viz_datasets + assert any( + name in cfg.data._target_ + for name in ("MultiDataModuleWrapper", "RiclDataModuleWrapper") + ), "cfg.data._target_ must be a MultiDataModuleWrapper (or subclass)" datamodule: LightningDataModule = hydra.utils.instantiate( cfg.data, **datamodule_kwargs )